CN112108867A

CN112108867A - Assembly machine of bamboo summer sleeping mat of buckle formula

Info

Publication number: CN112108867A
Application number: CN202010863969.7A
Authority: CN
Inventors: 刘天湖; 聂湘宁; 李桂棋; 陈晋贤; 何梦曦; 陈维斌
Original assignee: South China Agricultural University
Current assignee: South China Agricultural University
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-12-22
Anticipated expiration: 2040-08-25
Also published as: CN112108867B

Abstract

The invention discloses an assembly machine of a buckle type bamboo mat, which is characterized by comprising an intelligent part identification module, a control mechanism, a computer, a conveying mechanism, an assembly mechanism, a controller and a main body frame, wherein the intelligent part identification module, the control mechanism, a data processing mechanism, the conveying mechanism, the assembly mechanism and the controller are all arranged on the main body frame, the intelligent part identification module is connected with the computer, the control mechanism is connected with the computer, the controller is connected with the control mechanism, the controller is connected with the conveying mechanism, the controller is connected with the assembly mechanism, and the control mechanism is connected with the assembly mechanism through the conveying mechanism. The invention improves the production efficiency of making the bamboo summer sleeping mat cushion, reduces the manual working strength of workers, and realizes the purposes of increasing the yield, stabilizing the production rate and reducing the cost.

Description

Assembly machine of bamboo summer sleeping mat of buckle formula

Technical Field

The invention relates to the field of product production and manufacturing, in particular to an assembly machine of a buckle type bamboo summer sleeping mat.

Background

At present, bamboo summer sleeping mat seats have a very large market in tropical regions of China. But the production of the bamboo mat cushion is very time-consuming, tedious and repeated work. At present, the existing bamboo summer sleeping mat cushion is still mainly manually assembled, the labor cost is high, and the production efficiency is not high. With the increase of labor cost, the necessity of developing an automatic assembling machine for bamboo summer sleeping mat cushions may be more and more urgent. The production automation of the bamboo mat cushion can improve the production efficiency, reduce the manual labor intensity of workers, and realize the purposes of increasing the yield, stabilizing the production rate and reducing the cost. Therefore, the production of the bamboo summer sleeping mat cushion is urgently required to be changed from manual production to automatic production of a robot. At present, the technical development of China in the aspect of automatic production is still in a relatively lagged stage compared with the foreign advanced automatic technology, and the equipment for automatically producing the bamboo summer sleeping mat cushion has no specific application yet.

Disclosure of Invention

The invention aims to solve the problems of high labor cost and low production efficiency and provides an assembling machine of a buckle type bamboo summer sleeping mat.

The purpose of the invention is realized by the following technical scheme: an assembly machine of a buckle type bamboo summer sleeping mat is characterized by comprising a part intelligent identification module, a control mechanism, a data processing mechanism, a conveying mechanism, an assembly mechanism, a controller and a main body frame, the intelligent part identification module and the data processing mechanism are both arranged at the upper part of the main body frame, the control mechanism, the conveying mechanism and the assembling mechanism are arranged in the middle of the main body frame, the controller is arranged at the lower part of the main body frame, the intelligent part identification module is connected with the data processing mechanism, the control mechanism is connected with the data processing mechanism, the controller is connected with the control mechanism, the controller with conveying mechanism be connected, the controller with assembly devices be connected, control mechanism pass through conveying mechanism with assembly devices be connected.

Preferably, the intelligent part identification module comprises a rotating disk, a camera and a light source, wherein the camera and the light source are both positioned above the rotating disk, and the camera is connected with the data processing mechanism.

Preferably, the control mechanism comprises a first support, a first mechanical arm, a first control box and a sucker module, the sucker module is mounted on the first support through the first mechanical arm, the first mechanical arm is connected with the first control box, the first control box is connected with the data processing mechanism, and the sucker module is connected with the controller.

Preferably, the first mechanical arm comprises a first X-direction movement mechanism, a first Y-direction movement mechanism and a first Z-direction movement mechanism which are connected in sequence, the sucker module is installed at the lower end of the first Z-direction movement mechanism, and the first X-direction movement mechanism, the first Y-direction movement mechanism and the first Z-direction movement mechanism are all connected with the first control box.

Preferably, the sucker module comprises an electromagnetic valve, a vacuum generator and a vacuum sucker which are connected in sequence, the electromagnetic valve is connected with the controller, and the electromagnetic valve, the vacuum generator and the vacuum sucker are all installed on the first mechanical arm.

Preferably, the first control box comprises a first power supply, a first stepping motor driver and a first motion controller, the first power supply is connected with the first stepping motor driver, the first power supply is connected with the first motion controller, the first stepping motor driver is connected with the first arm, and the first motion controller is connected with the data processing mechanism.

Preferably, the assembling mechanism comprises a second support, a second mechanical arm, a second control box, a pressing plate module and a pushing claw, the pushing claw is mounted on the second support through the second mechanical arm, the pressing plate module is mounted at the bottom of the second support, the pushing claw is located above the pressing plate module, the second mechanical arm is connected with the second control box, and the pressing plate module is connected with the controller.

Preferably, the second mechanical arm comprises a second X-direction movement mechanism, a cross beam and a second Z-direction movement mechanism which are sequentially connected, the second X-direction movement mechanism is installed on the second support, the pushing claw is installed at the lower end of the second Z-direction movement mechanism, and the second X-direction movement mechanism and the second Z-direction movement mechanism are connected with the second control box.

More preferably, the clamp plate module includes that the frame module, the bamboo mat body and bottom plate are filled up, the frame module of pressing include cylinder, axis of rotation, dwang, clamp plate piece and shaft support, the axis of rotation pass through the shaft support install in the second support, the dwang both ends respectively with the one end of axis of rotation be connected, cylinder and clamp plate piece all install in the other end of dwang, the cylinder be located the top of clamp plate piece, the clamp plate piece be equipped with many guide rails, many the guide rail with rather than the bamboo mat body linking of quantity matching, many the bamboo mat body install in the bottom plate, the bottom plate install in the second support.

Preferably, the main body frame comprises an upper layer, a middle layer and a lower layer which are sequentially connected, the data processing mechanism and the intelligent part identification module are installed on the upper layer, the control mechanism, the conveying mechanism and the assembling mechanism are sequentially installed on the middle layer, and the controller is installed on the lower layer.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. according to the invention, the automatic production is realized by the intelligent part identification module, the control mechanism, the conveying mechanism, the assembling mechanism and the main body frame to replace manual production, the structural design is compact, the workshop space is saved, the installation is convenient, the automation degree of the whole assembling machine is higher, the efficiency of producing bamboo summer sleeping mat cushions with different patterns is greatly improved, and the production cost is saved.

2. The invention obtains the color and position information of the bamboo mat part by using the industrial camera, the light source and the image processing program of the intelligent part identification module.

3. According to the invention, the corresponding bamboo mat parts are absorbed by the control mechanism, the first mechanical arm is controlled to absorb the corresponding bamboo mat parts through the obtained information of the bamboo mat parts, and the bamboo mat parts are sequentially placed on the conveying mechanism, so that the reworking of defective products in the production process is reduced, and the production of diversified summer sleeping mat cushions is easier to realize.

4. According to the invention, the first mechanical arm and the second mechanical arm replace manpower, so that the operation is more flexible, the production efficiency is higher, the labor cost is reduced and the product percent of pass is improved.

5. The invention achieves the purpose of compressing the bamboo mat cushion frame through the pressing plate module, and prevents the bamboo mat cushion frame from being assembled failure caused by position change.

6. According to the invention, the main body frame adopts the national standard aluminum profiles of 80mm x 40mm and 40mm x 40mm as main raw materials, and the national standard aluminum profiles are assembled and fixed by matching with the corner piece connecting piece of 90 degrees, so that the whole body can be disassembled, and the later-stage transportation, installation and improvement are facilitated.

Drawings

Fig. 1 is a schematic overall structure diagram of an automatic bamboo summer sleeping mat and cushion assembling machine of the invention;

FIG. 2 is a schematic structural view of a control mechanism of the present invention;

FIG. 3 is a schematic diagram of a first robot of the control mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a first control box of the control mechanism of the present invention;

FIG. 5 is a schematic structural view of the conveying mechanism of the present invention;

FIG. 6 is a schematic structural view of an assembly mechanism of the present invention;

FIG. 7 is a schematic view of a second robotic arm of the assembly mechanism of the present invention;

FIG. 8 is a schematic structural view of a platen module of the present invention;

FIG. 9 is a schematic structural view of a second control box of the assembly mechanism of the present invention;

reference numbers for parts in the drawings: 1. an industrial camera; 2. rotating the disc; 3. a data processing mechanism; 4. a first control box; 41. a first power supply; 42. a first terminal; 43. a first stepper motor driver; 44. a first motion controller; 5. a second control box; 51. a second power supply; 52. a second step motor driver; 53. a second motion controller; 54. a second terminal; 6. a control mechanism; 60. a first robot arm; 61. a suction cup module; 62. a first X-axis linear module; 621. a first motor; 63. a first Y-axis linear module; 631. a second motor; 64. a second X-axis linear module; 641. a third motor; 642. a coupling; 643. a first sliding module; 644. a linear slide rail; 645. a ball screw; 646. a screw rod bracket base; 65. a first Z-axis linear module; 651. a fourth motor; 66. a first bracket; 7. a conveying mechanism; 71. a conveyor belt; 72. a transfer motor; 8. an assembly mechanism; 80. a second mechanical arm; 81. a third X-axis linear module; 82. a second Z-axis linear module; 821. a fifth motor; 83. a cross beam; 84. a fourth X-axis linear module; 841. a sixth motor; 842. a second sliding module; 843. a drive shaft; 85. pushing the claw; 86. a platen module; 860. a frame pressing module; 861. a guide rail; 862. pressing plates; 863. rotating the rod; 864 shaft support; 865. a rotating shaft; a 866 cylinder; 867. a base plate; 868 bamboo mat body; 87. a second bracket; 9. a main body frame.

Detailed Description

The following describes the object of the present invention in further detail with reference to the drawings and specific examples, which are not repeated herein, but the embodiments of the present invention are not limited to the following examples.

Example one

As shown in fig. 1, an assembly machine for a buckle type bamboo mat comprises a part intelligent identification module, a control mechanism 6, a data processing mechanism 3, a conveying mechanism 7, an assembly mechanism 8, a controller and a main frame 9, wherein the main frame 9 comprises an upper layer, a middle layer and a lower layer, the part intelligent identification module and the data processing mechanism 3 are both installed on the upper layer of the main frame 9, the control mechanism 6, the conveying mechanism 7 and the assembly mechanism 8 are both installed on the middle layer of the main frame 9, the controller is installed on the lower layer (not shown) of the main frame 9, the part intelligent identification module and the control mechanism 6 are both connected with the data processing mechanism 3, the conveying mechanism 7, the control mechanism 6 and the assembly mechanism 8 are all connected with the controller, a feeding end of the conveying mechanism 7 extends into the control mechanism 6, and a discharging end of the conveying mechanism 7 extends into the assembly mechanism 8.

And the part intelligent identification module is used for photographing finished bamboo summer sleeping mat cushions with different patterns and colors to acquire images and sending the images to the data processing mechanism 3 for image processing, and providing color and position information of all bamboo cushion parts for the control mechanism 6. The control mechanism 6 is used for sucking and placing target bamboo mat parts, controlling the first mechanical arm 60 to suck corresponding bamboo mat parts through the obtained bamboo mat part information, and sequentially placing the bamboo mat parts on the conveying mechanism 7. The conveying mechanism 7 is used for conveying the placed bamboo mat parts to the assembling mechanism 8; the assembling mechanism 8 is used for assembling the bamboo mat parts conveyed by the conveying mechanism 7. Main body frame 9 is used for providing the support to whole mechanism, upper strata and middle level are the main part of assembly machine, the controller is placed to the lower floor, this controller is the mitsubishi PLC controller, the lower floor mainly is the aluminium alloy, be used for supporting middle level mechanism, whole main body frame 9 mechanism is detachable device, use national standard aluminium alloy 80mm 40mm and national standard aluminium alloy 40mm as main raw and other materials, the corner fittings connecting piece of cooperation 90 assembles and fixes, wholly all can dismantle, so that the later stage is transported and installs the improvement additional.

Part intelligent recognition module includes rotary disk 2, industry camera 1 and light source, and industry camera 1 and light source adopt the slider to fix at the top on main body frame 9 layer, and rotary disk 2 installs in the below of industry camera 1, and industry camera 1 all is connected with data processing mechanism 3 with the light source.

The rotating disc 2 is used for rotating the shot object, and the industrial camera 1 can conveniently acquire the information of the shot object in 360 degrees. The industrial camera 1 is a large constant image MER-030-. The light source is used for providing a stable illumination environment for the industrial camera 1; the data processing mechanism 3 is a computer, an image processing program is written in the computer 3, and the computer 3 is installed on the right side of the upper layer of the main body frame 9, so that an operator can conveniently check the intelligent identification processing result of the bamboo mat part in real time.

As shown in fig. 2, the control mechanism 6 includes a first bracket 66, a first robot arm 60, a first control box 4 and a suction cup module 61, the first bracket 66 is installed at the middle layer of the main body frame 9, the first control box 4 is installed at the outer side of the middle layer of the main body frame 9, the suction cup module 61 is installed on the first bracket 66 through the first robot arm 60, the first robot arm 60 is connected with the first control box 4, the first control box 4 is connected with the computer 3, and the suction cup module 61 is connected with the mitsubishi PLC controller.

As shown in fig. 4, the first control box 4 includes a first power source 41, four first stepping motor drivers 43, and a first motion controller 44, the first power source 41 is connected to the four first stepping motor drivers 43 through first terminals 42, respectively, the first power source 41 is connected to the first motion controller 44 through the first terminals 42, the four first stepping motor drivers 43 are connected to the four motors of the first robot arm 60 through the first terminals 42, and the first motion controller 44 is connected to the computer 3 through the first terminals 42.

The first control box 4 is used as the core of the control system and can control and realize the positioning and the grabbing of the target bamboo mat part. The first power supply 41 is an RSP-750-24 power supply and supplies power to the whole control mechanism 6; the first stepping motor driver 43 functions to drive the stepping motor of the first robot arm 60 to operate, so as to realize the movement of the first robot arm 60; the first motion controller 44 is a two-lake electromechanical LHEM-2416-6PD-007 motion controller and is used for enabling the first mechanical arm 60 to perform high-speed high-precision continuous track motion; the purpose of first terminal 42 is to provide a secure, reliable, efficient connection of the conductors of all the components in first control box 4 for the convenience of wiring by the operator.

As shown in fig. 3, the first robot arm 60 is an XYZ-coordinate system robot, the XYZ-coordinate system robot includes a first X-direction moving mechanism, a first Y-direction moving mechanism and a first Z-direction moving mechanism, the first X-direction moving mechanism includes a first X-axis linear module 62 and a second X-axis linear module 64, the first Y-direction moving mechanism includes a first Y-axis linear module 63, the first Z-direction moving mechanism includes a first Z-axis linear module 65, the first X-axis linear module 62 is provided with a first motor 621, the second X-axis linear module 64 is provided with a third motor 641, the first Y-axis linear module 63 is provided with a second motor 631, and the first Z-axis linear module 65 is provided with a fourth motor 631. The first motor 621, the second motor 631, the third motor 641, and the fourth motor 651 are connected to four first stepping motor drivers 43, respectively. The XYZ coordinate robot of the control mechanism 6 is configured by a combination of the respective motion mechanisms, and the motion of the first robot arm 60 is realized. The XYZ coordinate system mechanical arm is low in price, and the cost of the equipment is reduced.

First X-axis straight line module 62, first Y-axis straight line module 63, first Z-axis straight line module 65 and second X-axis straight line module 64 all include ball screw type straight line module and limit switch, and limit switch passes through the connecting plate to be installed in the tip of straight line module. The ball screw type linear module comprises a linear slide rail 644, a ball screw 645, a screw support seat, a first sliding module 643, a coupling 642, a screw support seat 646 and a stepping motor (a first motor 621, a second motor 631, a third motor 641 or a fourth motor 651), wherein the sliding module 643 is installed on the screw support seat 646 through the ball screw 645, the sliding module 643 is sleeved on the linear slide rail 644, the screw support seat 646 is installed on an aluminum alloy section of a first bracket, and the stepping motor is connected with the ball screw 645 through the coupling 642.

The ball screw 645 type linear module is an FUYU FSL40-600 ball screw type linear module, and the limit switch is used for enabling the first mechanical arm 60 to move to a target position to stop and giving a Mitsubishi PLC controller control input signal to cooperate and control to realize the coordinated operation of the whole mechanism.

The suction cup module 61 includes an electromagnetic valve, a vacuum generator and a vacuum suction cup which are connected in sequence, the electromagnetic valve is connected with the controller, and the electromagnetic valve, the vacuum generator and the vacuum suction cup are all installed at the lower end of the first Z-axis linear module 65 of the first mechanical arm 60.

The suction cup module 61 works on the principle that the vacuum suction cup sucks the bamboo mat part on the basis that the air compressor provides a power source through the matching of the electromagnetic valve and the vacuum generator. The electromagnetic valve is used for controlling the on-off of gas in the pipeline, and the vacuum generator is used for generating negative pressure; the vacuum chuck is a Miao Decorrugate buffer hardware PJYS-10-4-S type vacuum chuck, the electromagnetic valve is an Oyleyk 4V310-10 electromagnetic valve, and the vacuum generator is an STCN ZK-06 vacuum generator.

As shown in fig. 6, the assembling mechanism 8 includes a second bracket 87, a second robot arm 80, a second control box 5, a pressing plate module 86 and a pushing claw 85, the second bracket 87 is installed at the middle layer of the main body frame 9, the second control box 5 is installed at the outer side of the middle layer of the main body frame 9, the second robot arm 80 is installed at the second bracket 87, the pushing claw 85 is installed at the lower end of the second Z-axis linear module of the second robot arm 80, the pushing claw 85 is located above the pressing plate module 86, the pressing plate module 86 is installed at the second bracket 87, the second robot arm 80 is connected with the second control box 5, and the pressing plate module 86 is connected with the controller.

As shown in fig. 7, the second robot arm 80 is an XZ coordinate system robot including a second X-direction moving mechanism, a second Z-direction moving mechanism and a cross beam, the second X-direction moving mechanism includes a third X-axis linear module 81 and a fourth X-axis linear module 84, the second Z-direction moving mechanism includes a second Z-axis linear module 82, the third X-axis linear module 81 and the fourth X-axis linear module 84 are both mounted on the top of the second bracket 87, the third X-axis linear module 81 and the fourth X-axis linear module 84 share a fifth motor 821 through a transmission shaft 843 and a coupling 642, a sixth motor 841 is mounted on the upper end of the second Z-axis linear module 82, a push claw 85 is mounted on the lower end of the second Z-axis linear module 82, the other end of the second Z-axis linear module 82 is mounted in the middle of the cross beam 83, one end of the cross beam 83 is mounted on the third X-axis linear module 81, the other end of the beam 83 is mounted on a fourth X-axis linear module 84. The fifth motor 821 and the sixth motor 841 are connected to the two second stepping motor drivers 52, respectively. The third X-axis linear module 81 and the fourth X-axis linear module 84 each include a synchronous belt type linear module and a limit switch, and the limit switch is mounted at the tail of the linear module through a connecting plate, and constitutes an XZ coordinate type manipulator of the assembly mechanism 8 through the combination of the respective moving mechanisms, and realizes the movement of the second robot arm 80. The price of the XZ coordinate system mechanical arm is low, and the cost of the equipment is reduced.

The third X-axis linear module 81 and the fourth X-axis linear module 84 include a synchronous belt type linear module and a limit switch, and the limit switch is installed at the end of the linear module through a connecting plate. The synchronous belt type linear module includes a linear slide rail 644, a driving belt (not shown), a second sliding module 842, a coupler 642, and a stepping motor (a fifth motor 821), wherein the second sliding module 842 is installed on the linear slide rail 644, and the fifth motor 821 is connected to the second sliding module 842 through the driving belt and the coupler 642. The fifth motor 821 drives a drive belt (not shown) along the linear slide 644. The limit switch is used for enabling the second mechanical arm 80 to move to a target position and stop, and the Mitsubishi PLC controller is controlled by input signals to realize the coordinated operation of the whole mechanism in a matching manner. The second Z-axis linear module 82 includes a ball screw type linear module and a limit switch, which is mounted at the end of the linear module through a connecting plate. The ball screw 645 type linear module comprises a linear slide rail 644, a ball screw 645, a screw bracket seat 646, a first sliding module 643, a coupling 642 and a sixth motor 841, wherein the first sliding module 643 is installed on the screw bracket seat 646 through the ball screw 645, the sliding module 643 is sleeved on the linear slide rail 644, the screw bracket seat 646 is installed on an aluminum alloy section of the first bracket 66, and the sixth motor 841 is connected with the ball screw 645 through the coupling 642.

As shown in fig. 8, the press plate module 86 includes a press frame module 860, a bamboo mat body 868 and a bottom plate 867, the press frame module 860 includes two air cylinders 866, two magnet sensors (not shown), a throttle valve (not shown), two rotating shafts 865, a rotating rod 863, a press plate 862 and two shaft supports 864, seven guide rails 861 are arranged on the press plate 862, the seven guide rails 861 are installed on the bottom plate 867 through a connecting plate and nuts, the seven guide rails 861 are engaged with the bamboo mat body 868, the bamboo mat body 868 is installed on the bottom plate 867, and the bottom plate 867 is installed at the bottom of the second support 87. Two axis of rotation 865 are installed on second support 87 through pivot mount 864 respectively, cylinder 866 is installed on the one end upper portion of axis of rotation 865, the one end lower part of axis of rotation 865 is connected with the guide rail 861 of clamp plate 862, the both ends of dwang 863 are connected with the other end of two axis of rotation 865 respectively, install the magnetite sensor on the cylinder 866, the magnetite sensor is connected with mitsubishi PLC controller, the business turn over gas port of cylinder 866 passes through choke valve and solenoid valve and air compressor intercommunication, the PLC controller passes through the switch of the business turn over gas port of solenoid valve control cylinder 866.

The guide rail 861 is used for preventing the left and right position of the bamboo mat component from changing when the second mechanical arm 80 drives the pushing claw 85 to push the bamboo mat component. When the frame pressing module 860 starts to operate, the air cylinder 866 drives the rotating rod 863 and the pressing plate block 862 to press the bamboo mat cushion frame through the rotating shaft 865, so that the bamboo mat cushion frame is prevented from being assembled due to position change. The switch of the air cylinder 866 is sensed by the magnet sensor and transmits a signal to the mitsubishi PLC controller to control the solenoid valve (not shown in the figure). The air inlet and the air outlet of the air cylinder 866 are provided with throttle valves (not shown in the figure) for adjusting the expansion speed so as to achieve the coordination among different mechanisms of the whole instrument. The bamboo mat body 868 is fixed on the bottom plate 867 together with the guide rail 861, and functions to inform workers of the position where the bamboo mat frame to be assembled needs to be placed, so as to facilitate assembly.

As shown in fig. 9, the second control box 5 includes a second power source 51, a second stepping motor driver 52, and a second motion controller 53, the second power source 51 being connected to the second stepping motor driver 52 through a second terminal 54, the second power source 51 being connected to the second motion controller 53 through the second terminal 54, the second motion controller 53 being connected to the second stepping motor driver 52 through the second terminal 54, and the second stepping motor driver 52 being connected to the second robot arm 80 through the second terminal 54.

The second control box 5 is used as the core of the assembly system and can control the assembly mechanism 8 to assemble the bamboo mat parts. The second power supply 51 is an RSP-750-24 power supply and supplies power to the whole assembly mechanism 8; the second stepper motor driver 52 is used for driving the stepper motor in the linear module to operate so as to realize the motion of the second mechanical arm 80; the second motion controller 53 is a two-lake electromechanical LHEM-2416-6PD-007 motion controller and is used for enabling the second mechanical arm 80 to perform high-speed high-precision continuous track motion; the second terminal 54 functions to provide a secure, reliable, and effective connection of the conductors of all the components in the second control box 5 for the convenience of wiring by the operator.

As shown in fig. 5, the conveying mechanism 7 includes a conveying motor 72 and a conveying belt 71, the conveying motor 72 is connected with the conveying belt 71, a feeding end of the conveying belt 71 is installed in the first bracket 66 of the control mechanism 6 through a corner fitting, a discharging end of the conveying belt 71 is installed in the second bracket 87 of the assembling mechanism 8 through a corner fitting, and the conveying motor 72 is connected with the mitsubishi PLC controller through a relay.

The conveying mechanism 7 is used for conveying the bamboo mat parts from the first bracket 66 of the control mechanism 6 to the second bracket 87 of the assembly mechanism 8 under the driving of the conveying motor 72. The movement of the conveyor belt 71 is realized by controlling a power switch of the conveyor motor 72 through a Mitsubishi PLC controller and a relay, wherein the Mitsubishi PLC controller is a Mitsubishi FX3u-48M programmable controller.

The automatic assembly machine for the bamboo summer sleeping mat cushion has the following specific processes:

before starting, a plurality of material boxes are installed at the feeding end of the control mechanism 6, different bamboo mat parts are respectively placed on the material boxes manually, and a bamboo mat cushion frame is placed on the bamboo mat body 868 manually. When the device is started, the mitsubishi PLC controller controls the air cylinder 866 to press down and simultaneously drives the rotating shaft 865 to rotate around the shaft bracket 864, and the pressing plate 862 and the rotating rod 863 press the head of the bamboo mat cushion frame under the driving of the rotating shaft 865. The computer 3 obtains color and position information of all bamboo mat parts through the industrial camera 1, after the color and position information is processed through a program arranged in the computer 3, the related information is sent to the first motion controller 44, the first motion controller 44 sends an instruction to the first stepping motor driver 43 to drive the first mechanical arm 60 to move, the first mechanical arm 60 places the bamboo mat parts on the conveyor belt 71 of the conveying mechanism 7 from different material boxes through the suction cup module 61, and the first mechanical arm 60 repeats the action until the bamboo mat parts on the conveyor belt 71 reach one line. When the bamboo mat parts on the conveyor belt 71 reach a row, the Mitsubishi PLC controller sends a command to the conveyor motor 72 to move, and after the row of bamboo mat parts is transported to the assembling mechanism 8 from the control mechanism 6, the conveying mechanism 7 stops moving. The control mechanism 6 continues to place the bamboo mat parts on the conveyor belt 71 of the conveying mechanism 7 until the bamboo mat parts on the conveyor belt 71 reach a row and the first mechanical arm 60 of the control mechanism 6 stops moving. Meanwhile, the second motion controller 53 of the second control box 5 sends a command to the second stepping motor driver 52 to drive the second mechanical arm 80 to move, the second mechanical arm 80 drives the pushing claw 85 to assemble the bamboo mat parts into the bamboo mat cushion frame along the guide rail 861, after one row of bamboo mat parts on the conveyor belt 71 is assembled, the mitsubishi PLC controller sends a command to the conveyor motor 72 to move again, the other row of bamboo mat parts on the conveyor belt 71 in the control mechanism 6 is transported into the assembling mechanism 8, the second controller 53 of the second control box 5 sends a command to the second stepping motor driver 52 to drive the second mechanical arm 80 to move again, the second mechanical arm 80 drives the pushing claw 85 to assemble the other row of bamboo mat parts into the bamboo mat cushion frame along the guide rail 861, and after the other row of bamboo mat parts is completely assembled, the assembling mechanism stops operating. The control mechanism 6, the conveying mechanism 7 and the assembling mechanism 8 are sequentially and repeatedly executed until the installation of the bamboo mat cushion frame is finished. After the bamboo mat cushion frame is installed, the Mitsubishi PLC controller sends an instruction to enable the air cylinder 866 to drive the pressing plate 862 to loosen the head of the bamboo mat cushion frame, and the bamboo mat cushion body 868 is taken out after the artificial detection is correct to finish the assembly operation.

Example two

The present embodiment has the same technical features as those of the first embodiment except for the following technical features:

the ABB multi-joint robot in this embodiment replaces an XYZ coordinate system robot and an XZ coordinate system robot to be installed in the control mechanism 6 and the assembly mechanism 8, and is more flexible and higher in precision.

The above-mentioned embodiments are preferred embodiments of the present invention, and the present invention is not limited thereto, and any other modifications or equivalent substitutions that do not depart from the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. An assembly machine of a buckle type bamboo summer sleeping mat is characterized by comprising a part intelligent identification module, a control mechanism, a data processing mechanism, a conveying mechanism, an assembly mechanism, a controller and a main body frame, the intelligent part identification module and the data processing mechanism are both arranged at the upper part of the main body frame, the control mechanism, the conveying mechanism and the assembling mechanism are arranged in the middle of the main body frame, the controller is arranged at the lower part of the main body frame, the intelligent part identification module is connected with the data processing mechanism, the control mechanism is connected with the data processing mechanism, the controller is connected with the control mechanism, the controller with conveying mechanism be connected, the controller with assembly devices be connected, control mechanism pass through conveying mechanism with assembly devices be connected.

2. The assembly machine of claim 1, wherein the intelligent part identification module comprises a rotating disk, a camera and a light source, the camera and the light source are both located above the rotating disk, and the camera is connected with the data processing mechanism.

3. The assembly machine of claim 1, wherein the control mechanism comprises a first support, a first mechanical arm, a first control box and a sucker module, the sucker module is mounted on the first support through the first mechanical arm, the first mechanical arm is connected with the first control box, the first control box is connected with the data processing mechanism, and the sucker module is connected with the controller.

4. The assembly machine of a buckle type bamboo summer sleeping mat according to claim 3, wherein the first mechanical arm comprises a first X-direction movement mechanism, a first Y-direction movement mechanism and a first Z-direction movement mechanism which are connected in sequence, the sucker module is installed at the lower end of the first Z-direction movement mechanism, and the first X-direction movement mechanism, the first Y-direction movement mechanism and the first Z-direction movement mechanism are all connected with the first control box.

5. An assembly machine for a snap-on bamboo mat as claimed in claim 3, wherein the suction cup module comprises a solenoid valve, a vacuum generator and a vacuum cup which are connected in sequence, the solenoid valve is connected with the controller, and the solenoid valve, the vacuum generator and the vacuum cup are all installed on the first mechanical arm.

6. The assembly machine of a buckle type bamboo summer sleeping mat according to claim 3, wherein the first control box comprises a first power supply, a first stepping motor driver and a first motion controller, the first power supply is connected with the first stepping motor driver, the first power supply is connected with the first motion controller, the first stepping motor driver is connected with the first mechanical arm, and the first motion controller is connected with the data processing mechanism.

7. The assembly machine of claim 1, wherein the assembly mechanism comprises a second support, a second mechanical arm, a second control box, a pressing plate module and a pushing claw, the pushing claw is mounted on the second support through the second mechanical arm, the pressing plate module is mounted at the bottom of the second support, the pushing claw is located above the pressing plate module, the second mechanical arm is connected with the second control box, and the pressing plate module is connected with the controller.

8. The assembly machine of claim 7, wherein the second mechanical arm comprises a second X-direction movement mechanism, a cross beam and a second Z-direction movement mechanism which are sequentially connected, the second X-direction movement mechanism is installed on the second support, the pushing claw is installed at the lower end of the second Z-direction movement mechanism, and the second X-direction movement mechanism and the second Z-direction movement mechanism are both connected with the second control box.

9. An assembly machine of buckle type bamboo summer sleeping mat according to claim 7, characterized in that, the clamp plate module includes press frame module, bamboo mat body and bottom plate, the press frame module include cylinder, axis of rotation, dwang, clamp plate piece and pivoting support, the axis of rotation pass through the pivoting support install in the second support, the dwang both ends respectively with the one end of axis of rotation be connected, cylinder and clamp plate piece all install in the other end of dwang, the cylinder be located the top of clamp plate piece, the clamp plate piece be equipped with many guide rails, many the guide rail with rather than the bamboo mat body that matches in quantity link up, many the bamboo mat body install in the bottom plate, the bottom plate install in the second support.

10. The assembly machine of claim 1, wherein the main frame comprises an upper layer, a middle layer and a lower layer which are connected in sequence, the data processing mechanism and the intelligent part identification module are installed on the upper layer, the control mechanism, the conveying mechanism and the assembly mechanism are installed on the middle layer in sequence, and the controller is installed on the lower layer.