CN112027552A - Robot training system for wireless charger processing - Google Patents

Robot training system for wireless charger processing Download PDF

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Publication number
CN112027552A
CN112027552A CN202010898980.7A CN202010898980A CN112027552A CN 112027552 A CN112027552 A CN 112027552A CN 202010898980 A CN202010898980 A CN 202010898980A CN 112027552 A CN112027552 A CN 112027552A
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CN
China
Prior art keywords
assembly
cylinder
wireless charger
robot
upper cover
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CN202010898980.7A
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Chinese (zh)
Inventor
崔智�
胡成满
徐强
金越云
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Rhine Koster Intelligent Technology Qingdao Co ltd
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Rhine Koster Intelligent Technology Qingdao Co ltd
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Application filed by Rhine Koster Intelligent Technology Qingdao Co ltd filed Critical Rhine Koster Intelligent Technology Qingdao Co ltd
Priority to CN202010898980.7A priority Critical patent/CN112027552A/en
Publication of CN112027552A publication Critical patent/CN112027552A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A real standard system of robot for wireless charger processing relates to wireless charger processing technology field. The wireless charger is used for solving the problem of low production efficiency of the wireless charger in the prior art. The robot practical training system for processing the wireless charger is characterized by comprising an upper cover stock bin assembly (1), a robot assembly table (2), an annular conveying assembly (3), an automatic wireless charger electric inspection assembly (4), a defective product offline assembly (5), a laser coding assembly (6), a boxing assembly (7), a finished product library assembly (8), an MIRADV and UR robot assembly (9) and a master control table assembly (10); the beneficial effect is that, be convenient for improve production efficiency.

Description

Robot training system for wireless charger processing
Technical Field
The invention relates to the technical field of automatic production of wireless chargers, in particular to a robot practical training system for processing a wireless charger.
Background
The existing wireless charger is produced and stored completely by manpower, and the manual production efficiency is low. In addition, the labor cost is high, and the conditions of poor production and storage material bump can occur.
Disclosure of Invention
The invention aims to provide a robot training system for wireless charger processing, which is used for solving the problem of low processing efficiency of a wireless charger in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the robot practical training system for processing the wireless charger comprises an upper cover bin assembly, a robot assembly table, an annular conveying assembly, an automatic wireless charger electric inspection assembly, a defective product unloading assembly, a laser coding assembly, a boxing assembly finished product library assembly, an MIRADV and UR robot assembly and a master control table assembly;
the upper cover bin assembly is used for placing an upper cover of a wireless charger, the MIRADV and UR robot assembly comprises an MIRADV and an UR robot arranged on the MIRADV, an upper cover material taking electric claw is arranged on the UR robot, and the MIRADV and UR robot assembly is used for transferring the wireless charging upper cover from the upper cover bin assembly to the robot assembly station;
the robot assembling table is used for assembling elements of the wireless charger to the upper cover of the wireless charger through screws;
the annular conveying assembly is provided with a tooling plate and is used for circularly conveying the tooling plate;
the robot assembly table is provided with an ABB1200 robot assembly for transferring the assembled wireless charger from the robot assembly table to the tooling plate;
the wireless charger automatic electric detection assembly is used for detecting a wireless charger on the tooling plate, the defective product offline assembly is used for taking out an unqualified wireless charger assembly, and the laser code printing assembly is used for printing codes on the wireless charger;
the boxing assembly is used for boxing the produced wireless chargers, and the finished product warehouse assembly is used for stacking the finished wireless chargers;
the master control console assembly is in communication connection with the annular conveying assembly, the wireless charger automatic electric inspection assembly, the defective product unloading assembly, the laser coding assembly, the boxing assembly finished product library assembly, the MIRADV and the UR robot assembly;
the master control console assembly is used for controlling the actions of the annular conveying assembly, the wireless charger automatic electric inspection assembly, the defective product offline assembly, the laser coding assembly, the boxing assembly finished product library assembly, the MIRAPV and UR robot assembly;
the master console assembly is used for synchronously demonstrating the processing work of the wireless charger in a video mode.
Furthermore, the upper cover bin assembly comprises an upper cover bin, an upper cover material taking disc, an upper cover clamping claw cylinder, a material taking disc linear slide rail, a material taking disc feeding cylinder, an upper cover bin rack, an electromagnetic valve assembly and an aluminum profile bin table frame;
the upper cover bin assembly comprises an upper cover bin, an upper cover material taking plate, an upper cover clamping claw cylinder, a material taking plate linear slide rail, a material taking plate feeding cylinder, an upper cover bin rack and an electromagnetic valve assembly which are respectively arranged on the aluminum profile bin table-board frame;
the upper cover feed bin is used for stacking the upper cover of the wireless charger, the upper cover material taking plate is connected to the material taking plate linear sliding rails in a sliding mode, the upper cover material taking plate is located below the upper cover feed bin, the upper cover material taking plate can slide out of the lower portion of the upper cover feed bin, the material taking plate feeding cylinder is used for driving the material taking plate to slide on the material taking plate linear sliding rails, and the upper cover clamping claw cylinder is used for clamping the upper cover of the wireless charger located at the bottommost portion of the upper cover feed bin.
Further, the robot assembly stand comprises a practical training cabinet aluminum profile table top, an ABB1200 robot assembly, a quick-change clamping jaw assembly, an AGV material placing disc, a wireless charger coil bottom shell placing stand, a charger overturning assembly, a cache bin, a wireless charger assembly panel and a screw bin;
the quick-change clamping jaw assembly comprises a composite clamping jaw quick-change assembly, a robot writing pen quick-change assembly, an electric gun quick-change assembly and a quick-change clamping jaw aluminum profile bracket;
the composite clamping jaw quick-change assembly comprises a quick-change connector, a sucking disc, a clamping jaw and a fixed seat;
the ABB1200 robot includes an ABB1200 robot and a vision camera assembly;
the charger overturning assembly comprises an overturning rodless cylinder, an overturning jacking cylinder rotating cylinder and an overturning clamping jaw cylinder, wherein the overturning rodless cylinder is connected to the rodless cylinder, the rodless cylinder is used for driving the overturning jacking cylinder to slide, the rotating cylinder is connected to the overturning jacking cylinder, the overturning jacking cylinder is used for driving the rotating cylinder to lift, the overturning clamping jaw cylinder is connected to the rotating cylinder, the rotating cylinder is used for driving the overturning clamping jaw cylinder (6b.4) to overturn, and the overturning clamping jaw cylinder is used for insisting on a workpiece;
the wireless charger assembly panel comprises an assembly screwing area, an assembly area cylinder clamping jaw, an assembly area cache correcting position area and an assembly panel frame assembly.
Furthermore, the annular conveying assembly is used for circularly conveying the tooling plate and comprises a turning assembly, a linear conveying assembly, the tooling plate, a stopping assembly and a jacking assembly, the turning assembly is arranged at the turning position of the annular conveying assembly, and the turning assembly is used for turning the tooling plate on the annular conveying assembly;
the stop component and the jacking component comprise a tooling plate stop block, a stop cylinder, a jacking positioning cylinder, an RFID reader and a proximity switch.
Further, the defective product offline assembly comprises an extending cylinder, a descending cylinder, a defective product sucker, a defective product bin and an aluminum profile bracket;
the extension cylinder level sets up, and the decline cylinder is connected on the extension cylinder, and the extension cylinder is used for driving the horizontal migration of decline cylinder, and the vertical setting of decline cylinder, defective products sucking disc are established on the decline cylinder, and the decline cylinder is used for driving defective products sucking disc and goes up and down, and the defective products sucking disc is used for snatching the defective products.
Further, cartoning assembly includes: the grabbing device comprises a rodless cylinder, a rodless cylinder limiting block and a grabbing electric cylinder, wherein the grabbing electric cylinder is arranged on the rodless cylinder, the rodless cylinder is horizontally arranged, and the rodless cylinder is used for driving the grabbing electric cylinder of the grabbing cylinder to slide in the horizontal direction; the sucking disc is arranged on the grabbing electric cylinder;
grabbing an upper cylinder and a lower cylinder;
the suckers are arranged on the grabbing upper cylinder and the grabbing lower cylinder;
snatch sideslip cylinder, packing carton and snatch subassembly frame and tow chain.
Further, the finished product warehouse assembly comprises an X-axis stepping motor, an X-axis synchronous pulley driving end assembly, an X-axis synchronous pulley driven end assembly, an X-axis aluminum profile beam assembly, a synchronous belt, an X-axis drag chain, a Z-axis stepping motor, a coupler, a ball screw bearing seat, a ball screw, a Y-axis cylinder, a clamping jaw cylinder assembly, an X-axis guide wheel and an aluminum profile frame assembly.
Further, the MIRADV and UR robot assembly comprises an MIRADV, a control cabinet aluminum profile frame, an UR robot and an upper cover material taking electric claw.
The beneficial effects are that:
the invention has the advantages of realizing the whole links of assembling, detecting, off-line of defective products, coding, packaging, warehousing and ex-warehouse of the wireless charger and realizing automatic production. Do benefit to and improve machining efficiency, simultaneously, also can be used for the real teaching work of instructing of production line, conveniently demonstrate and the teaching work to the production process.
Drawings
FIG. 1 is a schematic view of a portion of the present invention;
FIG. 2 is a schematic view of another portion of the present invention;
FIG. 3 is a schematic view of a lid magazine assembly;
FIG. 4 is a schematic view of a robotic assembly station;
FIG. 5 is a schematic view of a wireless charger mounting panel;
FIG. 6 is a schematic view of a quick change pawl assembly;
FIG. 7 is a schematic view of a bottom case flip assembly;
FIG. 8 is a schematic view of a defective take-off assembly;
FIG. 9 is a schematic view of a bottom box stock warehouse;
FIG. 10 is a schematic view of an electrical inspection station assembly;
FIG. 11 is a schematic diagram of a product library;
FIG. 12 is a schematic view of an endless transport assembly;
FIG. 13 is a schematic view of a stop assembly and a jack assembly.
FIG. 14 is a schematic illustration of MIRADV and UR robotic components;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 and fig. 2, the robot training system for wireless charger processing comprises an upper cover bin assembly 1, a robot assembly table 2, an annular conveying assembly 3, a wireless charger automatic electric inspection assembly 4, a defective product offline assembly 5, a laser coding assembly 6, a boxing assembly 7, a finished product library assembly 8, an MIRAGV and UR robot assembly 9 and a general control table assembly 10.
As shown in fig. 1, 2, 3 and 14, the upper cover stock bin assembly 1 is used for placing the upper cover of the wireless charger, the MIRAGV and UR robot assembly 9 comprises a MIRAGV1h and a UR robot 3h arranged on the MIRAGV1h, the UR robot 3h) is provided with an upper cover feeding electric claw 4h, and the MIRAGV and UR robot assembly (9) is used for transferring the wireless charging upper cover from the upper cover stock bin assembly 1 to the robot assembly table 2. The robot mounting station 2 is used to assemble the components of the wireless charger to the wireless charger upper cover by screws.
As shown in fig. 1, 2 and 12, the annular conveying assembly 3 is provided with a tooling plate 3c, and the annular conveying assembly 3 is used for circularly conveying the tooling plate 3 c; the robot assembly table 2 is provided with an ABB1200 robot component 2b for transferring the assembled wireless charger from the robot assembly table 2 to the tooling plate 3 c). The wireless charger automatic electric detection assembly 4 is used for detecting a wireless charger on the tooling plate, the defective product offline assembly 5 is used for taking out an unqualified wireless charger assembly, and the laser code printing assembly (6) is used for printing codes on the wireless charger; the boxing assembly 7 is used for boxing the produced wireless chargers, and the finished product library assembly is used for stacking the finished wireless chargers; the console assembly 10 is in communication connection with the annular conveying assembly 3, the wireless charger automatic electric inspection assembly 4, the defective product offline assembly 5, the laser coding assembly (6), the boxing assembly 7, the finished product warehouse assembly 8, the MIRADV and the UR robot assembly (9). The master control station component (10) is used for controlling the actions of the annular conveying component 3, the wireless charger automatic electric inspection component 4, the defective product offline component 5, the laser coding component (6), the boxing component 7, the finished product warehouse component 8, the MIRADV and the UR robot component (9). The master console assembly 10 is used to synchronize the processing of the video demonstration wireless charger.
As shown in fig. 1 and 3, the upper cover bin assembly 1 includes an upper cover bin 1a, an upper cover material taking disc 2a, an upper cover clamping jaw cylinder 3a, a material taking disc linear slide rail 4a, a material taking disc feeding cylinder 5a, an upper cover bin rack 6a, an electromagnetic valve assembly 7a, and a bin aluminum profile table top frame 8 a. The aluminum profile material taking device comprises an upper cover material bin 1a, an upper cover material taking disc 2a, an upper cover clamping cylinder 3a, a material taking disc linear slide rail 4a, a material taking disc feeding cylinder 5a, an upper cover material bin rack 6a and an electromagnetic valve assembly 7a which are respectively arranged on an aluminum profile material bin table-board frame 8 a. The upper cover feed bin 1a is used for stacking the upper cover of the wireless charger, the upper cover material taking disc 2a is connected to the material taking disc linear sliding rail 4a in a sliding mode, the upper cover material taking disc 2a is located below the upper cover feed bin 1a, the upper cover material taking disc 2a can slide out from the lower portion of the upper cover feed bin 1a, the material taking disc feeding cylinder 5a is used for driving the material taking disc to slide on the material taking disc linear sliding rail 4a, and the upper cover clamping claw cylinder (3a) is used for clamping the upper cover of the wireless charger located at the bottommost part of the upper cover feed bin 1 a.
As shown in fig. 1, 4, 5, 6 and 7, the robot assembly table 2 includes an aluminum profile table top 1b of the practical training cabinet, an ABB1200 robot assembly 2b, a quick-change clamping jaw assembly 3b, an AGV tray 4b, a wireless charger coil bottom shell placing table 5b, a charger turnover assembly 6b, a cache bin 7b, a wireless charger assembly panel 8b and a screw bin 9b. The quick-change clamping jaw component 3b comprises a composite clamping jaw quick-change component 3b.1, a robot writing pen quick-change component 3b.2, an electric gun quick-change component 3b.3 and a quick-change clamping jaw aluminum profile bracket 3 b.4. The composite clamping jaw quick-change assembly 3b.1 comprises a quick-change connector 3b.1.1, a sucking disc 3b.1.2, a clamping jaw 3b.1.3 and a fixed seat 3 b.1.4. ABB1200 robot 2b includes ABB1200 robot 2b.1 and vision camera assembly 2 b.2. Charger upset subassembly 6b includes upset rodless cylinder 6b.1, upset jacking cylinder 6b.2 revolving cylinder 6b.3, upset clamping jaw cylinder 6b.4, upset rodless cylinder 6b.1 is connected on rodless cylinder 6b.1, rodless cylinder 6b.1 is used for driving upset jacking cylinder 6b.2 to slide, revolving cylinder 6b.3 is connected on upset jacking cylinder 6b.2, upset jacking cylinder 6b.2 is used for driving revolving cylinder 6b.3 to go up and down, upset clamping jaw cylinder 6b.4 is connected on revolving cylinder 6b.3, revolving cylinder 6b.3 is used for driving upset clamping jaw cylinder 6b.4 to overturn, upset clamping jaw cylinder 6b.4 is used for insisting the work piece. The wireless charger assembly panel 8b comprises assembly screwing areas 8b.1, assembly area cylinder claws 8b.2, assembly area cache correction azimuth areas 8b.3 and assembly panel frames 8 b.4.
As shown in fig. 1, 12 and 13, the annular conveying assembly is used for circularly conveying tooling plates, the annular conveying assembly 3 includes a turning assembly 1c, a linear conveying assembly 2c, a tooling plate 3c, a stopping assembly and a jacking assembly 4c, the turning assembly 1c is arranged at a turning position of the annular conveying assembly 3, and the turning assembly 1c is used for turning the tooling plates on the annular conveying assembly. The stop and jacking assembly 4c comprises a tooling plate stop block 4c.1, a stop cylinder 4c.2, a jacking positioning cylinder 4c.3, an RFID reader 4c.4 and a proximity switch 4 c.5.
As shown in fig. 1 and 8, the defective product take-off unit 5 includes a projecting cylinder 1e, a descending cylinder 2e, a defective product suction cup 3e, a defective product box 4e, and an aluminum profile bracket 5 e. Stretch out cylinder 1e level setting, descending cylinder 2e connects on stretch out cylinder 1e, and stretch out cylinder 1e is used for driving descending cylinder 2e horizontal migration, and the vertical setting of descending cylinder 2e, defective products sucking disc 3e establish on descending cylinder 2e, and descending cylinder 2e is used for driving defective products sucking disc 3e and goes up and down, and defective products sucking disc 3e is used for snatching defective products.
As shown in fig. 1 and 9, the cartoning assembly 7 includes: the device comprises a rodless cylinder 1f, a rodless cylinder limiting block 2f and a grabbing electric cylinder 3f, wherein the grabbing electric cylinder 3f is arranged on the rodless cylinder 1f, the rodless cylinder 1f is horizontally arranged, and the rodless cylinder 1f is used for driving the grabbing electric cylinder 3f of the grabbing cylinder to slide in the horizontal direction; and a suction cup 4f arranged on the grabbing electric cylinder 3 f. Grabbing an upper cylinder 6f and a lower cylinder 6 f; the sucking discs 5f are arranged on the grabbing upper and lower cylinders; a grabbing transverse moving cylinder 7f, a packing box grabbing component rack 8f and a drag chain 9 f.
As shown in fig. 1 and 11, the finished product library assembly 8 includes an X-axis stepping motor 1g, an X-axis synchronous pulley driving end assembly 2g, an X-axis synchronous pulley driven end assembly 3g, an X-axis aluminum profile beam assembly 4g, a synchronous belt 5g, an X-axis drag chain 6g, a Z-axis stepping motor 7g, a coupler 8g, a ball screw bearing seat 9g, a ball screw 10g, a Y-axis cylinder 11g, a clamping jaw cylinder assembly 12g, an X-axis guide wheel 13g, and an aluminum profile frame assembly 14 g.
As shown in fig. 1 and 14, the MIRAGV and UR robot assembly comprises a MIRAGV1h, a control cabinet aluminum profile frame 2h, a UR robot 3h and an upper cover material taking electric claw 4 h.
As shown in fig. 1 and 10, the automatic electric detection assembly of the wireless charger comprises a rodless cylinder (1d), a sucker upper and lower cylinder (2d), a servo motor (3d), a vacuum sucker (4d), a rodless cylinder limiting block (6d), an optical fiber sensor (7d), a detection cylinder (8d), a wireless charger positioning tool (9d), a wireless charger aging tester (10d), a wireless charger charging head (11d), a charging head plugging cylinder (12d) and an automatic electric detection rack (13 d).
As shown in fig. 1 to 14, the upper cover bins (1a) of the upper cover bin assembly (1) are divided into a left set and a right set, according to the order requirement, the upper cover bin assembly (1) obtains different blanking instructions, two upper cover bins (1a) are respectively full of upper covers with two different colors, an upper cover clamping claw cylinder (3a) is closed to clamp the last to last upper cover at the bottom of the upper cover bin (1a), the last upper cover is arranged in an upper cover material taking tray (2a), when the order is called, a photoelectric switch in the upper cover material taking tray (2a) monitors the upper cover, a material taking tray feeding cylinder (5a) with the corresponding color drives a material taking tray linear slide rail (4a) to push out the upper cover material taking tray (2a), an miv and a UR robot (9) move beside the upper cover bin assembly (1), and a UR robot (3h) acts to enable an upper cover material taking electric claw (4h) to take the upper cover material taking tray (2a), when an order calls materials, the upper cover clamping claw cylinder (3a) corresponding to the color of the upper cover is opened, the upper cover falls into the upper cover material taking plate (2a), the upper cover material taking plate (2a) detects the upper cover, the upper cover clamping claw cylinder (3a) is closed, and the material taking plate feeding cylinder (5a) corresponding to the color drives the material taking plate linear slide rail (4a) to push out the upper cover material taking plate (2a) to wait for the next material taking of the MIRADV and UR robot (9).
As shown in fig. 1 to 14, the MIRAGV and UR robot (9) moves to the side of the AGV tray (4b) of the robot assembly station (2), the UR robot (3h) acts to make the upper cover taking electric claw (4h) place the upper cover on the AGV tray (4b), and the MIRAGV and UR robot (9) returns to the upper cover bin assembly (1) to take the upper cover of the next order.
As shown in fig. 1 to 14, the ABB1200 robot (2b.1) of the ABB1200 robot component (2b) on the robot assembly table (2) moves to the position above the quick-change clamping jaw component (3b), the composite clamping jaw quick-change component (3b.1) is butted and adsorbed on the ABB1200 robot component (2b), the ABB1200 robot component (2b) moves to the position above the AGV discharging tray (4b), the visual camera component (2b.2) is used for carrying out visual recognition on the upper cover on the AGV discharging tray (4b), the visual system carries out calculation recognition processing on the screw position and the center of the upper cover, the suction disc (3b.1.2) of the composite clamping jaw quick-change component (3b.1) of the ABB1200 robot component (2b) is guided to suck the upper cover and rotates for a proper angle, the position of a screw hole of the lower cover is matched and placed on an assembly screw area (8b.1) of a wireless charger assembly panel (8b), and the ABB1200 robot component (2b) uses the visual camera component (2b) to beat the screw area (8b.1 b) The upper cover is subjected to visual identification, a visual system carries out calculation identification processing on the screw position and the center of the upper cover to match the position of a screw hole of the lower cover, the ABB1200 robot component (2b) moves to the position above a placing table (5b) of a coil bottom shell of a wireless charger and absorbs the lower cover of the wireless charger by using a sucker (3b.1.2) of a composite clamping jaw quick-change component (3b.1), the ABB1200 robot component (2b) moves to an assembly screwing area (8b.1) on an assembly panel (8b) of the wireless charger, the ABB1200 robot component (2b) uses the sucker (3b.1.2) of the composite clamping jaw quick-change component (3b.1) to buckle the lower cover of the wireless charger on the upper cover of the wireless charger, a clamping area clamping cylinder (8b.2) on the assembly panel (8b) of the wireless charger is pushed out to clamp the upper cover of the wireless charger, the ABB1200 robot component (2b) moves to the position above the composite clamping jaw quick-change component (3b.1), placing a composite clamping jaw quick-change assembly (3b.1) in situ, connecting an electric gun quick-change assembly (3b.3), moving an ABB1200 robot assembly (2b) to the position above a screw bin (9b.1) of a screw feeding bin (9b), blowing air to a gun head of the electric gun quick-change assembly (3b.3) to blow out possible residual screws in the electric gun head, moving an ABB1200 robot assembly (2b) to the position above a screw feeding disc (9b.2) of the screw feeding bin (9b), aligning the screw feeding position, sucking screws, moving the ABB1200 robot assembly (2b) to a wireless charger assembling panel (8b) to perform screw driving through an assembling screw driving area (8b.1) to perform screw driving on assembling of an upper cover and a lower cover of the wireless charger, wherein each screw needs to be moved to the screw bin (9b.1) of the screw feeding bin (9b) by the ABB1200 robot assembly (2b), and blowing air to blow out possible residual screws in the gun head of the electric gun quick-change assembly (3b.3), the ABB1200 robot component (2b) moves to the position above a screw feeding tray (9b.2) of the screw feeding bin (9b), is aligned with the position of screw feeding, absorbs the action of screws, and needs to drive four screws for assembling and driving the screws of the upper cover and the lower cover. After the screw driving is completed, the ABB1200 robot component (2b) is moved to the position above the electric gun quick-change component (3b.3), the position above the electric gun quick-change component (3b.3) is separated and placed in the original position, the electric gun quick-change component is moved to the position above the composite clamping jaw quick-change component (3b.1) to be butted, an assembly area air cylinder clamping jaw (8b.2) on the wireless charger assembly panel (8b) retracts, and the wireless charger is loosened.
As shown in fig. 1 to 14, the turnover rodless cylinder (6b.1) of the charger turnover assembly (6b) extends, the clamping jaw of the turnover clamping jaw cylinder (6b.4) is clamped, the turnover jacking cylinder (6b.2) extends, the turnover rodless cylinder (6b.1) retracts, the rotary cylinder (6b.3) rotates for 180 degrees, namely, the infinite charger clamped by the clamping jaw of the turnover clamping jaw cylinder (6b.4) is driven to rotate, the screw surface of the wireless charger faces downwards, the turnover rodless cylinder (6b.1) extends, the turnover jacking cylinder (6b.2) retracts, the clamping jaw of the turnover clamping jaw cylinder (6b.4) is driven to loosen, and the wireless charger is placed in the original position.
As shown in fig. 1 to 14, the ABB1200 robot assembly (2b) uses the suction cup (3b.1.2) of the composite clamping jaw quick-change assembly (3b.1) to suck the wireless charger, and the wireless charger has two circulation directions, one is a full flow and the other is a half flow.
As shown in fig. 1 to 14, in the half process, the ABB1200 robot component (2b) uses the suction cup (3b.1.2) of the composite clamping jaw quick-change component (3b.1) to suck the wireless charger, places the wireless charger in the assembly area cache correction azimuth area (8b.3) of the assembly panel (8b) of the wireless charger, moves the ABB1200 robot component (2b) to the side of the assembly area cache correction azimuth area (8b.3), uses the clamping jaw (3b.1.3) of the composite clamping jaw quick-change component (3b.1) to clamp the wireless charger, moves the wireless charger to the vicinity of the cache bin (7b), and stores the wireless charger. When a wireless charger is needed, the wireless charger in the cache bin (7b) is preferentially selected, the ABB1200 robot component (2b) takes out the wireless charger by using the clamping jaw (3b.1.3) of the composite clamping jaw quick-change component (3b.1) and places the wireless charger in the cache correction azimuth area (8b.3) of the assembly area of the wireless charger assembly panel (8b), the ABB1200 robot component absorbs the wireless charger by using the sucking disc (3b.1.2) of the composite clamping jaw quick-change component (3b.1), and the wireless charger is placed in the tool plate (3c) after fine positioning of the wireless charger feeding area of the round belt component (3).
As shown in fig. 1 to 14, the whole process is that the wireless charger does not enter the buffer storage bin (7b) after production is completed, the ABB1200 robot assembly (2b) directly uses the suction cup (3b.1.2) of the composite clamping jaw quick-change assembly (3b.1) to suck the wireless charger, and the wireless charger is placed on the tool plate (3c) after fine positioning in the wireless charger feeding area of the round belt assembly (3).
As shown in fig. 1 to 14, a tooling plate (3c) circularly reciprocates anticlockwise on an annular conveying assembly (3), the annular conveying assembly (3) consists of four turning assemblies (1c), four linear conveying assemblies (2c), a tooling plate (3c), a stopping assembly and a jacking assembly (4c), the working principle of the stopping assembly and the jacking assembly (4c) is that the tooling plate (3c) runs on the annular conveying assembly (3), a blocking cylinder (4c.2) is in a normally closed state, the tooling plate (3c) is stopped, a proximity switch (4c.5) detects a metal induction sheet (3c.1) on the tooling plate (3c), an RFID reader (4c.4) reads and writes information of an RFID built-in chip (3c.2) of the tooling plate (3c), the jacking positioning cylinder (4c.3) jacks the tooling plate (3c), and jacks up the tooling plate (3c) to the upper surface of the tooling plate (3c) to contact with the blocking block (4c.1), the positional accuracy of the tooling plate (3c) is ensured.
As shown in fig. 1 to 14, the jacking positioning cylinder (4c.3) descends, the tooling plate (3c) falls on the annular conveying assembly (3) and continues to be conveyed along the annular conveying assembly, and when the tooling plate passes through the wireless charger electric detection area, the stop assembly and the jacking assembly (4c) in the area perform fine positioning on the tooling plate (3 c). A sucker upper and lower cylinder (2d) descends, a vacuum sucker (4d) arranged on the sucker upper and lower cylinder (2d) sucks the wireless charger (5d) through the control of a vacuum generator, a rodless cylinder (1d) moves rightwards to transversely move the sucker upper and lower cylinder (2d) arranged on the rodless cylinder (1d), a servo motor (3d) arranged on the sucker upper and lower cylinder (2d) drives the vacuum sucker (4d) to rotate the wireless charger (5d) for a rotation angle, an optical fiber sensor (7d) senses the edge of the wireless charger (5d), when a charging socket of the wireless charger (5d) is rotated to the sensing range of the optical fiber sensor (7d) by the servo motor (3d), the optical fiber sensor (7) senses the weakened light intensity of the socket and feeds back a signal to a PLC of an automatic electric detection mechanism, and the PLC controls the sucker upper and lower cylinder (2) to descend, place wireless charger (5d) in wireless charger location frock (9d), the head that charges is pulled out and is inserted cylinder (12d) and gos forward, insert wireless charger (5d) with the head that charges in, wireless charger (5d) work, it releases to detect cylinder (8d), wireless charger aging tester (10d) on locating detection cylinder (8d) are pushed away to wireless charger (5d) top, begin to detect and give signal feedback to PLC, if qualified pilot lamp bright green light, unqualified bright red light and buzzing.
As shown in fig. 1 to 14, the jacking positioning cylinder (4c.3) in the electrical inspection area descends, the tooling plate (3c) falls on the annular conveying assembly (3) and continues to be conveyed along the annular conveying assembly, when a defective product offline area is passed, if the wireless charger is a qualified product, the RFID reader (4c.4) reads and writes the RFID chip (3c.2) on the tooling plate (3c), reads the qualified information of the product, the cylinder (4c.2) is prevented from being relieved, the tooling plate (3c) flows into the code printing area, if the RFID reader reads (4c.4) and writes the information of the RFID chip (3c.2) on the tooling plate (3c) to be defective, the stop assembly and the jacking assembly (4c) in the area perform fine positioning on the tooling plate (3 c). The extension cylinder (1e) of the defective product offline component (5) extends out, the descending cylinder (2e) descends, the defective product sucker (3e) sucks air, the defective product wireless charger is sucked, the extension cylinder (1e) retracts, the descending cylinder (2e) retracts, the defective product sucker (3e) stops sucking air, the defective product wireless charger is placed into the defective product box (4e), the RIID chip (3c.2) of the empty tooling plate (3c) is in a bad state, and the tooling plate (3c) flows back to the wireless charger feeding area.
As shown in fig. 1 to 14, a tooling plate (3c) flows into a code printing area, a stop component and a jacking component (4c) perform fine positioning on the tooling plate (3c), a laser code printing component (6) performs code printing processing on the upper surface of a wireless charger according to customized information, and after the code printing is completed, the tooling plate (3c) is released.
As shown in fig. 1 to 14, a tooling plate (3c) flows into a boxing area, a stop component and a jacking component (4c) perform fine positioning on the tooling plate (3c), the tooling plate carries a wireless charger and is positioned at an equipment designated position, a grabbing transverse moving cylinder (7f) is pushed out, grabbing upper and lower cylinders (10f) are pushed out, a sucker (5f) arranged on the grabbing cylinder sucks the wireless charger, the grabbing upper and lower cylinders (10f) retract, and the grabbing transverse moving cylinder (7f) retracts. The rodless cylinder (1f) transversely moves to a rodless cylinder limiting block (2f), a bottom box pushing cylinder assembly (15f) pushes a bottom box out of a bottom box bin (10f), a packing box centering cylinder (13f) clamps and centers the bottom box, a grabbing electric cylinder (3f) arranged on the rodless cylinder (1f) descends, a sucking disc (4f) arranged on the grabbing electric cylinder (3f) sucks the bottom box, the packing box centering cylinder (13f) retracts, the grabbing electric cylinder (3f) ascends, the rodless cylinder (1f) retracts, the grabbing electric cylinder (3f) descends, the sucking disc (3f) arranged on the grabbing electric cylinder (3f) releases the bottom box to a specified position, the grabbing transverse cylinder (7f) pushes out, the grabbing upper cylinder (10f) and the lower cylinder (10f) push out, and a sucking disc (5f) arranged on the grabbing cylinder releases a strong wireless charger into the bottom box. The rodless cylinder (1f) transversely moves to a rodless cylinder limiting block (2f), an upper cover pushing cylinder assembly (14f) pushes the upper cover out of an upper cover bin (11f), a packing box centering cylinder (13f) clamps the upper cover to center, a grabbing electric cylinder (3f) arranged on the rodless cylinder (1f) descends, a sucking disc (4f) arranged on the grabbing electric cylinder (3f) sucks the upper cover, the packing box centering cylinder (13f) retracts, the grabbing electric cylinder (12f) ascends, the rodless cylinder (1f) retracts, the grabbing electric cylinder (3f) descends, the sucking disc (4f) arranged on the grabbing electric cylinder (3f) releases the upper cover, packaging is completed, all cylinders reset, and the next cycle is carried out.
As shown in fig. 1 to 14, a tooling plate (3c) flows into a finished product warehouse area stopping assembly and a jacking assembly (4c) to perform fine positioning on the tooling plate (3c), a wireless charger after a box is loaded is arranged on the tooling plate (3c), an X-axis stepping motor (1g) drives an X-axis synchronous pulley driving end assembly (2g) and an X-axis stepping motor (1g) to rotate, an X-axis synchronous pulley driven end assembly (3g) drives a synchronous belt (5g) to drag a Z-axis to move, a Z-axis stepping motor (7g) rotates, a ball screw (10g) is driven by a coupler (8g) to control the upper part and the lower part of a Y-axis cylinder, the X-axis and the Z-axis can freely move in a material loading area of a finished product warehouse assembly (8), the X-axis stepping motor (1g) and the Z-axis stepping motor (7g) drive a clamping jaw cylinder assembly (12g) to move to the upper part of a packing box, the packaging box is pressed close to a clamping jaw air cylinder assembly (12g), the clamping jaw air cylinder assembly (12g) clamps the packaging box, a Z shaft ascends, a Y shaft air cylinder (11g) retracts to drive the clamping jaw air cylinder assembly (12g) to retract, an X shaft transversely moves, the Z shaft ascends to move to a specified position, the Y shaft air cylinder (11g) stretches out to drive the clamping jaw air cylinder assembly (12g) to loosen, the packaging box is placed on a storage position, the Y shaft air cylinder (11g) retracts to circulate the action, when an inner mechanism of a finished product warehouse places materials on the wireless charger packaging box, a PLC records the point position of the placement position, when a user takes the materials of the corresponding order, the inner mechanism of the finished product warehouse takes the materials of the wireless charger packaging box corresponding to the order and places the wireless charger packaging box at the position of. The whole link of assembling, detecting, discharging defective products, printing codes, packaging, warehousing and ex-warehouse of the wireless charger is carried out circularly. The key technology of the patent is that the whole links of assembling, detecting, discharging defective products, printing codes, packaging, warehousing and ex-warehouse of the wireless charger are realized, and automatic production is realized.

Claims (8)

1. The robot practical training system for processing the wireless charger is characterized by comprising an upper cover stock bin assembly (1), a robot assembly table (2), an annular conveying assembly (3), an automatic wireless charger electric inspection assembly (4), a defective product offline assembly (5), a laser coding assembly (6), a boxing assembly (7), a finished product library assembly (8), an MIRADV and UR robot assembly (9) and a master control table assembly (10);
the upper cover bin assembly (1) is used for placing an upper cover of a wireless charger, the MIRADV and UR robot assembly (9) comprises a MIRADV (1h) and a UR robot (3h) arranged on the MIRADV (1h), an upper cover material taking electric claw (4h) is arranged on the UR robot (3h), and the MIRADV and UR robot assembly (9) is used for transferring the wireless charging upper cover from the upper cover bin assembly (1) to the robot assembly table (2);
the robot assembling table (2) is used for assembling elements of the wireless charger to an upper cover of the wireless charger through screws;
the annular conveying assembly (3) is provided with a tooling plate (3c), and the annular conveying assembly (3) is used for circularly conveying the tooling plate (3 c);
an ABB1200 robot component (2b) is arranged on the robot assembly table (2) and is used for transferring the assembled wireless charger from the robot assembly table (2) to the tooling plate (3 c);
the wireless charger automatic electric detection assembly (4) is used for detecting a wireless charger on the tooling plate, the defective product offline assembly (5) is used for taking out an unqualified wireless charger assembly, and the laser code printing assembly (6) is used for printing codes on the wireless charger;
the boxing assembly (7) is used for boxing the produced wireless chargers, and the finished product library assembly is used for stacking the finished wireless chargers;
the master control console assembly (10) is in communication connection with the annular conveying assembly (3), the wireless charger automatic electric inspection assembly (4), the defective product offline assembly (5), the laser coding assembly (6), the boxing assembly (7), the finished product library assembly (8) and the MIRADV and UR robot assembly (9);
the master control console assembly (10) is used for controlling the actions of the annular conveying assembly (3), the wireless charger automatic electric inspection assembly (4), the defective product offline assembly (5), the laser coding assembly (6), the boxing assembly (7), the finished product warehouse assembly (8) and the MIRADV and UR robot assembly (9);
the master control console assembly (10) is used for synchronously demonstrating the processing work of the wireless charger through videos.
2. The robot practical training system for the wireless charger processing according to claim 1, wherein the upper cover bin assembly (1) comprises an upper cover bin (1a), an upper cover material taking plate (2a), an upper cover clamping cylinder (3a), a material taking plate linear slide rail (4a), a material taking plate feeding cylinder (5a), an upper cover bin rack (6a), an electromagnetic valve assembly (7a) and a bin aluminum profile table top frame (8 a);
the upper cover bin assembly (1) comprises an upper cover bin (1a), an upper cover material taking disc (2a), an upper cover clamping claw cylinder (3a), a material taking disc linear slide rail (4a), a material taking disc feeding cylinder (5a), an upper cover bin rack (6a) and an electromagnetic valve assembly (7a) which are respectively arranged on the bin aluminum profile table-board frame (8 a);
upper cover feed bin (1a) is used for stacking wireless charger upper cover, upper cover charging tray (2a) sliding connection is on charging tray linear slide rail (4a), upper cover charging tray (2a) is located the below of upper cover feed bin (1a), upper cover charging tray (2a) can follow the below roll-off of upper cover feed bin (1a), charging tray pay-off cylinder (5a) are used for driving the charging tray to slide on charging tray linear slide rail (4a), upper cover clamping claw cylinder (3a) are used for clamping the wireless charger upper cover that is located upper cover feed bin (1a) bottommost.
3. The robot practical training system for the wireless charger processing according to claim 1, wherein the robot assembly table (2) comprises a practical training cabinet aluminum profile table top (1b), an ABB1200 robot assembly (2b), a quick-change clamping jaw assembly (3b), an AGV material placing disc (4b), a wireless charger coil bottom case placing table (5b), a charger overturning assembly (6b), a cache bin (7b), a wireless charger assembly panel (8b) and a screw bin (9 b);
the quick-change clamping jaw component (3b) comprises a composite clamping jaw quick-change component (3b.1), a robot writing pen quick-change component (3b.2), an electric gun quick-change component (3b.3) and a quick-change clamping jaw aluminum profile bracket (3 b.4);
the composite clamping jaw quick-change assembly (3b.1) comprises a quick-change connector (3b.1.1), a sucker (3b.1.2), a clamping jaw (3b.1.3) and a fixed seat (3 b.1.4);
the ABB1200 robot (2b) comprises an ABB1200 robot (2b.1) and a vision camera component (2 b.2);
the charger overturning assembly (6b) comprises an overturning rodless cylinder (6b.1), an overturning jacking cylinder (6b.2) a rotary cylinder (6b.3) and an overturning clamping jaw cylinder (6b.4), wherein the overturning rodless cylinder (6b.1) is connected to the rodless cylinder (6b.1), the rodless cylinder (6b.1) is used for driving the overturning jacking cylinder (6b.2) to slide, the rotary cylinder (6b.3) is connected to the overturning jacking cylinder (6b.2), the overturning jacking cylinder (6b.2) is used for driving the rotary cylinder (6b.3) to lift, the overturning clamping jaw cylinder (6b.4) is connected to the rotary cylinder (6b.3), the rotary cylinder (6b.3) is used for driving the overturning clamping jaw cylinder (6b.4) to overturn, and the overturning clamping jaw cylinder (6b.4) is used for insisting on a workpiece;
the wireless charger assembly panel (8b) comprises an assembly screwing area (8b.1), an assembly area cylinder claw (8b.2), an assembly area cache correction azimuth area (8b.3) and an assembly panel frame (8b.4) assembly.
4. The robot training system for the wireless charger processing as claimed in claim 1, wherein the annular conveying assembly is used for circularly conveying tooling plates, the annular conveying assembly (3) comprises a turning assembly (1c), a linear conveying assembly (2c), a tooling plate (3c), a stopping assembly and a jacking assembly (4c), the turning assembly (1c) is arranged at a turning position of the annular conveying assembly (3), and the turning assembly (1c) is used for turning the tooling plate on the annular conveying assembly;
the stop component and the jacking component (4c) comprise a tooling plate stop block (4c.1), a stop cylinder (4c.2), a jacking positioning cylinder (4c.3), an RFID reader (4c.4) and a proximity switch (4 c.5).
5. The robot practical training system for the wireless charger processing as claimed in claim 1, wherein the defective product offline component (5) comprises a stretching cylinder (1e), a descending cylinder (2e), a defective product sucker (3e), a defective product bin (4e) and an aluminum profile bracket (5 e);
stretch out cylinder (1e) level setting, descending cylinder (2e) are connected on stretching out cylinder (1e), stretch out cylinder (1e) and are used for driving descending cylinder (2e) horizontal migration, the vertical setting of descending cylinder (2e), establish on descending cylinder (2e) defective products sucking disc (3e), descending cylinder (2e) are used for driving defective products sucking disc (3e) and go up and down, defective products sucking disc (3e) are used for snatching the defective products.
6. The robot training system for wireless charger processing according to claim 1, wherein the boxing assembly (7) comprises: the device comprises a rodless cylinder (1f), a rodless cylinder limiting block (2f) and a grabbing electric cylinder (3f), wherein the grabbing electric cylinder (3f) is arranged on the rodless cylinder (1f), the rodless cylinder (1f) is horizontally arranged, and the rodless cylinder (1f) is used for driving the grabbing electric cylinder (3f) of the grabbing cylinder to slide in the horizontal direction; a sucker (4f) arranged on the grabbing electric cylinder (3 f);
an upper cylinder and a lower cylinder (6f) are grabbed;
a sucker (5f) arranged on the grabbing upper and lower cylinders;
snatch sideslip cylinder (7f), packing carton snatch subassembly frame (8f) and tow chain (9 f).
7. The robot practical training system for wireless charger processing according to claim 1, wherein the finished product library assembly (8) comprises an X-axis stepping motor (1g), an X-axis synchronous pulley driving end assembly (2g), an X-axis synchronous pulley driven end assembly (3g), an X-axis aluminum profile beam assembly (4g), a synchronous belt (5g), an X-axis drag chain (6g), a Z-axis stepping motor (7g), a coupler (8g), a ball screw bearing seat (9g), a ball screw (10g), a Y-axis cylinder (11g), a clamping jaw cylinder assembly (12g), an X-axis guide wheel (13g) and an aluminum profile frame assembly (14 g).
8. The robot training system for wireless charger processing as claimed in claim 1, wherein the MIRADV and UR robot assembly comprises a MIRADV (1h), a control cabinet aluminum profile frame (2h), a UR robot (3h) and an upper cover material taking electric claw (4 h).
CN202010898980.7A 2020-08-31 2020-08-31 Robot training system for wireless charger processing Pending CN112027552A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113035006A (en) * 2021-03-30 2021-06-25 山东哈博特机器人有限公司 Intelligent manufacturing system integration application platform

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JPH0929566A (en) * 1995-07-24 1997-02-04 Hitachi Ltd Assembly cell for two-dimensional actuator
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CN105118370A (en) * 2015-09-08 2015-12-02 四川烟草工业有限责任公司 Modular tobacco logistics production line practical training device
CN110666524A (en) * 2019-11-04 2020-01-10 宁波华数机器人有限公司 Automatic production line of double-station wireless charger
CN110687879A (en) * 2019-09-23 2020-01-14 淮安信息职业技术学院 Multifunctional industrial robot intelligent manufacturing system and manufacturing method

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Publication number Priority date Publication date Assignee Title
JPH0929566A (en) * 1995-07-24 1997-02-04 Hitachi Ltd Assembly cell for two-dimensional actuator
DE102009003492A1 (en) * 2008-02-15 2009-08-20 Fachhochschule Aschaffenburg Modular manufacturing plant
CN203204923U (en) * 2013-03-14 2013-09-18 浙江天煌科技实业有限公司 Industrial robot, intelligent vision and RFID data transmission teaching training system
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Application publication date: 20201204