CN112562435A

CN112562435A - Intelligent manufacturing comprehensive training platform

Info

Publication number: CN112562435A
Application number: CN201910917087.1A
Authority: CN
Inventors: 邵一平
Original assignee: Shanghai Zhenda Machinery Co ltd
Current assignee: Shanghai Zhenda Machinery Co ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2021-03-26

Abstract

The invention provides an intelligent manufacturing comprehensive practical training platform, which comprises: the single-layer double-row annular conveying line comprises a first end conveying line, a second end conveying line, a first side conveying line and a second side conveying line, wherein the first side conveying line is arranged on the same side of the first end conveying line and the second end conveying line, and the second side conveying line is arranged on the other side of the first end conveying line and the second end conveying line; the assembly station is arranged outside the first end part conveying line of the single-layer double-row annular conveying line; the seven-axis robot system is arranged outside the second end conveying line of the single-layer double-row annular conveying line; a stereoscopic warehouse, a virtual machine control platform, an HMI control interaction system and a small precision lathe are sequentially arranged along the first side conveying line; a small precision machining center, a robot clamping quick-change work station, a 3D printer, a three-coordinate measuring instrument and a measuring station are sequentially arranged along the second side conveying line; and a small-sized connection station is arranged between the assembly station and the stereoscopic warehouse.

Description

Intelligent manufacturing comprehensive training platform

Technical Field

The invention relates to the field of intelligent manufacturing, in particular to an intelligent manufacturing comprehensive practical training platform.

Background

It is well known that:

1. concept of smart manufacturing and smart manufacturing integration system

Intelligent Manufacturing (IM) is a man-machine integrated Intelligent system composed of Intelligent machines and human experts, and is carried in the Manufacturing process to perform Intelligent activities, such as analysis, reasoning, judgment, conception and decision. By the cooperation of human and intelligent machine, the mental labor of human expert in the manufacturing process is enlarged, extended and partially replaced. The concept of manufacturing automation is updated, and the manufacturing automation is expanded to flexibility, intellectualization and high integration.

The intelligent integrated system for manufacturing is a man-machine integrated intelligent system formed from intelligent machine and human expert, and can utilize computer to simulate intelligent action of human expert to make analysis, inference, judgement, conception and decision-making, so that it can replace or extend partial mental labour of human in the manufacturing environment. At the same time, the intelligence of human experts is collected, stored, perfected, shared, integrated and developed.

Features of the intelligent manufacturing integration system are self-organizing capabilities; an autonomic capability; self-learning and self-maintenance capabilities; intelligence inherits throughout the manufacturing environment.

Department of education profession education and adult education serendipity stated the outstanding problem that manufacturing talent team had: (1) surplus structure and shortage exist, leadership and great craftsman are in short supply, and talents in the technical fields of basic manufacturing and advanced manufacturing are not enough; (2) talent culture and the actual industrial requirements are disjointed, and the labor and education are not deeply integrated; (3) the main role of enterprises in the development of talents in the manufacturing industry is not fully played.

The social status and the overall treatment of the manufacturing production front-line staff, particularly the technical skills talents are low, and the development channel is not smooth. Taking the mechanical industry as an example, about 60% of industrial workers in mechanical industry enterprises in China are under high school. The union of the chinese mechanical industry executes that the assistant conference is longer than the achnatherum: the skilled worker with the largest demand has more primary workers and less advanced workers; the traditional technicians are more, and the existing technicians are fewer; the single type has more mechanics, and the compound type has less mechanics; the rapid training is more, the system culture is less, and 'dead and acrobatics' appears in the broken gear. "

2. Urgency of intelligent manufacturing application type talent culture and professional construction of various universities and colleges

The importance of the technical skill talents in the intelligent manufacturing process is self-evident and important human resource guarantee. With the rapid development of the intelligent manufacturing equipment industry, the continuous rise of labor cost and the change of the labor state selection of workers, the industrial robot is promoted to enter each industrial post of an enterprise, and the workers who perform repetitive operation, precision operation and environment harsh operation are replaced. In the coming era of intelligent manufacturing, the adjustment of industrial structure, the change of production mode and the improvement of technical level, new requirements are put forward on technical skills and talents in the application type department, the high-tech, the middle-tech, and the like, and meanwhile, the necessity of upgrading and modifying the specialties such as the automation system integration technology, the intelligent manufacturing technology, the mechatronic technology, the robot application technology, the industrial automation technology and the like is promoted. Technical skill type talent culture needs to be repositioned in various schools, new content of talent culture targets is given, and the characteristics of intelligent manufacturing are embodied.

In view of this, the company provides an intelligent manufacturing comprehensive training platform to meet the requirements of intelligent manufacturing application-type talent cultivation in various universities and colleges.

Disclosure of Invention

The invention aims to solve the technical problems and provides an intelligent manufacturing comprehensive practical training platform suitable for teaching.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an intelligent manufacturing comprehensive practical training platform, comprising:

the single-layer double-row annular conveying line comprises a first end conveying line, a second end conveying line, a first side conveying line and a second side conveying line, wherein the first side conveying line is arranged on the same side of the first end conveying line and the second end conveying line, and the second side conveying line is arranged on the other side of the first end conveying line and the second end conveying line;

the assembly station is arranged outside the first end part conveying line of the single-layer double-row annular conveying line;

the seven-axis robot system is arranged outside the second end conveying line of the single-layer double-row annular conveying line;

a stereoscopic warehouse, a virtual machine control platform, an HMI control interaction system and a small precision lathe are sequentially arranged along the first side conveying line;

a small precision machining center, a robot clamping quick-change work station, a 3D printer, a three-coordinate measuring instrument and a measuring station are sequentially arranged along the second side conveying line;

and a small-sized connection station is arranged between the assembly station and the stereoscopic warehouse.

In the intelligent manufacturing comprehensive practical training platform, a FANUC simulating system is arranged at the small precision lathe.

In the intelligent manufacturing comprehensive practical training platform, a buffer area is arranged between the three-coordinate measuring instrument and the measuring station.

In the intelligent manufacturing comprehensive practical training platform, the first end part conveying line is provided with an FRID radio frequency identification system.

The intelligent manufacturing comprehensive training platform further comprises: MES master control system.

In the intelligent manufacturing comprehensive practical training platform, the first side conveying line is provided with a small truss work station.

An operator places orders from an MES software (namely an MES master control system in figure 2), each unit starts at the moment, a stereoscopic warehouse receives a radio frequency signal sent by a reader after a Tag enters a magnetic field according to the requirements of a part processing technology through an FRID intelligent Tag intelligent identification system (a basic working principle of an RFID technology), product information (a passive Tag or a passive Tag) stored in a chip is sent out by the aid of energy obtained by induction current, or a signal (an Active Tag or an Active Tag) with a certain frequency is actively sent by the Tag, the reader reads the information and decodes the information, then the information is sent to a central information system for related data processing, blank parts or semi-finished parts in the warehouse are grabbed and then placed on a tray on a single-layer double-row annular conveying line, and the information is conveyed to a 7-axis cache area (namely a cache area of a seven-axis robot system in figure 2), namely a clamping jaw library 7-6, a 7-axis robot grabs the part to a required processing location (comprising a numerical control lathe and a processing center), wherein the numerical control lathe is the small precision lathe shown in figure 2, the processing center is the small and medium precision processing center shown in figure 2, the processed part can be monitored in real time by online measurement during the part processing, if size deviation or deviation caused by cutter abrasion is found, the size deviation or the deviation is transmitted back to a main control system (MES system shown in figure 2) for big data calculation and analysis, then a compensation value is automatically sent to equipment (which can be a lathe or a processing center), secondary processing and correction are carried out according to the content definition of a task, after the online detection is qualified, a manipulator (clamping jaws on the seventh axis) can grab a part conveying line and convey the part to a three-coordinate measuring instrument cache area, a measuring station 6-axis robot grabs and places the part on a three-coordinate measuring platform for final detection, if the qualified products need to be assembled, the qualified products enter a cache region of an assembly station (a cache region on the assembly station), if the qualified products do not need to be assembled, the qualified products are conveyed to a cache region of a stereoscopic warehouse and are grabbed by a mechanical arm of the stereoscopic warehouse, finished product regions placed in the preset stereoscopic warehouse are identified through FRID, and otherwise, unqualified products are directly placed in unqualified product regions; if need optical detection, directly get into the assembly station and carry out optical measurement, qualified back needs laser then up to standard to transmit through sharp slip table and beat the mark position and beat the mark, and qualified products can carry the warehouse through the loop line, also can transport the warehouse through the AGV dolly, stores in a warehouse.

Compared with the prior art, the invention has the advantages that: the existing similar platform is relatively single, and each part can only operate independently.

The intelligent manufacturing is a method which can enable enterprises to become more intelligent in the aspects of research, development, production, management, service and the like, and the manufacturing intelligence can be understood as that the enterprises build a set of precise 'nervous system' on the basis of introducing production equipment such as numerical control machines, robots and the like and realizing production automation. The intelligent neural system uses management software such as ERP (enterprise resource planning system), MES (manufacturing process execution system) and the like to form a central nerve, uses components such as sensors, embedded chips, RFID tags, bar codes and the like as neurons, uses PLC (programmable logic controller) as a link to control synapses of the neurons, and uses communication technologies such as field bus, industrial Ethernet, NB-IoT and the like as nerve fibers. Enterprises can perceive the environment, acquire information and transmit instructions by means of a perfect 'nervous system', so that scientific decision-making, intelligent design and reasonable production arrangement are realized, the utilization rate of equipment is improved, the state of the equipment is monitored, the operation of the equipment is guided, and automatic production equipment is enabled to operate like an exercise finger

The intelligent manufacturing system is an extremely complex huge system covering the whole production process of design, logistics, warehousing, production, detection and the like, enterprises need to build a complete intelligent manufacturing system, and the most difficult and most core part is the digitization of the production process. Particularly, in the field of discrete manufacturing with complex production process and various raw materials and original devices, a product is often assembled by a plurality of parts through a series of discontinuous processes, the process contains many variation and uncertain factors, the difficulty and the matching complexity of discrete manufacturing production organization are increased to a certain extent, and the whole production process is difficult to realize digitalization, visualization and transparence.

Drawings

Fig. 1 is a perspective view of an intelligent manufacturing comprehensive practical training platform in the embodiment of the invention.

Fig. 2 is a top view of an intelligent manufacturing comprehensive practical training platform in the embodiment of the invention.

Fig. 3 is a perspective view of a small docking station.

Fig. 4 is a diagram of an installation effect of the small docking station on the intelligent manufacturing comprehensive practical training platform, and only a partial structure of the intelligent manufacturing comprehensive practical training platform is shown in the diagram.

Fig. 5 is a perspective view of a small-sized multifunctional stereoscopic warehouse.

Fig. 6 is an effect view of a small-sized multifunctional stereoscopic warehouse with a warehouse rack plate.

Fig. 7 is a schematic structural view of the X-axis moving unit.

Fig. 8 is a schematic structural view of the C-axis rotating unit.

Fig. 9 is a schematic structural view of a Z-axis moving unit.

Fig. 10 is a partially enlarged view of the Z-axis moving unit.

Fig. 11 is a schematic structural view of the Y-axis moving unit.

Fig. 12 is a diagram showing a state where the tray gripping section grips the tray.

Fig. 13 is a schematic view of the structure of the tray catching part not catching the tray. FIG. 14 is a front view of a compact universal tray.

FIG. 15 is a rear view of the compact universal tray.

FIG. 16 is a left side view of the compact universal tray.

FIG. 17 is a right side view of the compact universal tray.

FIG. 18 is a top view of a compact universal pallet.

FIG. 19 is a bottom view of the compact universal tray.

FIG. 20 is a perspective view of a small universal tray.

Fig. 21 is an effect view of the tooling member being disposed on the tray.

Fig. 22 is a front view of a roban lock tooling table.

Fig. 23 is a view of the roban lock tooling table from the back.

Fig. 24 is a left side view of the roban lock tooling table.

Fig. 25 is a roban lock tooling table right side view.

Fig. 26 is a top view of the roban lock tooling table.

Fig. 27 is a bottom view of the roban lock tooling table.

Fig. 28 is a perspective view of a roban lock tooling table.

Fig. 29 is a perspective view of the roban lock tooling table with the roban lock omitted.

Fig. 30 is a perspective view of a small truss rectangular coordinate slave station.

Fig. 31 is a state diagram of the use of the small truss rectangular coordinate slave station, which omits a part of the structure, such as a stay bar.

Figure 32 is an enlarged view of the rectangular coordinates of the mini-truss from the station's jaws.

Fig. 33 is a perspective view of a compact 7-axis quick-change platform.

Fig. 34 is an enlarged view of a clamping jaw warehouse at the small 7-shaft quick-change platform.

Fig. 35 is a use state diagram of the small 7-shaft quick-change platform.

Fig. 36 is a perspective view of a small-sized clamping jaw warehouse of a small-sized 7-shaft quick-change platform.

FIG. 37 is a schematic view of the bottom of a clamping jaw library platform in a small 7-axis quick-change platform

Fig. 38 is a state diagram of the small 7-shaft quick-change platform installed at the edge of the circulating line body.

Detailed Description

The technical solution adopted by the present invention will be further explained with reference to the schematic drawings.

As shown in fig. 1-2, an intelligent manufacturing comprehensive practical training platform includes: the three-dimensional robot assembly line comprises a single-layer double-row annular conveying line S1, an assembly station S2, a small 7-axis quick-change platform 7, a small multifunctional stereoscopic warehouse 9, a virtual machine control platform S3, an HMI (human machine interface) control interaction system S4, a small precision lathe S5, a small precision machining center S6, a robot clamping quick-change work station S7 (provided with the quick-change platform S15), a 3D printer S8, a three-coordinate measuring instrument S9 and a measuring station S10 which are sequentially arranged along a first side conveying line.

The single-layer double-row annular conveying line S1 comprises a first end conveying line S1-1, a second end conveying line S1-2, a first side conveying line S1-4 arranged on the same side of the first end conveying line and the second end conveying line, and a second side conveying line S1-3 arranged on the other side of the first end conveying line and the second end conveying line.

And the assembling station S2 is arranged outside the first end conveying line S1-1 of the single-layer double-row annular conveying line.

And the small 7-shaft quick-change platform 7 is arranged outside the second end conveying line S1-2 of the single-layer double-row annular conveying line.

A small-sized multi-functional stereoscopic warehouse 9, a virtual machine control platform S3, an HMI control interactive system S4, and a small-sized precision lathe S5 are sequentially arranged along the first side conveyor line S1-3.

A small precision machining center S6, a robot gripping quick-change work station S7, a 3D printer S8, a three-coordinate measuring machine S9, and a measuring station S10 are sequentially arranged along the second side conveyor line S1-4.

Wherein, a small-sized connection station 1 is arranged between the assembly station and the stereoscopic warehouse.

In the intelligent manufacturing comprehensive practical training platform, the small precision lathe is provided with an imitation FANUC system S11.

In the intelligent manufacturing comprehensive practical training platform, a buffer area S12 is arranged between the three-coordinate measuring instrument S9 and the measuring station S10.

In the intelligent manufacturing comprehensive practical training platform, the first end part conveying line S1-1 is provided with an FRID radio frequency identification system S13.

The intelligent manufacturing comprehensive training platform further comprises: MES Total control System S14.

With reference to fig. 3-4, the docking station includes two fixed docking conveyor devices and an AGV cart, only one fixed docking conveyor device is shown in fig. 1, and the other fixed docking conveyor device is not shown, because of the structural layout requirement of the intelligent manufacturing comprehensive practical training platform, the two fixed docking conveyor devices are respectively located at the stereoscopic warehouse and the assembly station, and the AGV cart moves from one fixed docking conveyor device to the other docking conveyor device along the track of the semicircular arc, so as to dock the article on one fixed docking conveyor device onto the other fixed docking conveyor device.

As shown in fig. 3, the small docking station comprises a docking station 1, said docking station 1 comprising: the device comprises two fixed connection conveying devices 1-1, wherein only one fixed connection conveying device is shown in fig. 3, the other fixed connection conveying device has the same structure as that shown in fig. 3, the fixed connection conveying device 1-1 comprises a conveying support 1-10, a first roller conveyor belt 1-11 arranged on the conveying support, the conveying support 1-10 is an aluminum profile frame, the aluminum profile frame is provided with four support legs and a first roller conveyor belt mounting platform arranged on the tops of the four support legs, the first roller conveyor belt mounting platform is provided with a first limiting baffle 1-12 which is arranged on the first roller conveyor belt and is oppositely arranged, and the conveying support is provided with a first detection element 1-13, such as a photoelectric switch, for detecting whether a conveyed object exists on the first roller conveyor belt.

An AGV trolley 1-2 is arranged between the two fixed conveying devices, an AGV track (not shown in figure 3) is arranged between the two fixed conveying devices, the AGV trolley 1-2 is provided with a second roller conveyor belt 1-20 capable of being butted with a first roller conveyor belt of the fixed conveying devices, the AGV trolley 1-2 is provided with a second limit baffle 1-21 which is positioned on the second roller conveyor belt and is oppositely arranged, and the AGV trolley is provided with a second detection element 1-22 for detecting whether a transmission object exists on the second roller conveyor belt, such as a photoelectric switch.

The first detection element and the second detection element in the small docking station are connected to the control module.

As can be seen from fig. 3, the output end and the input end of the first limiting baffle are of flaring structures, that is, a splayed opening is arranged at the end part of the first limiting baffle which is arranged oppositely, so that the article to be conveyed is received more efficiently, and good leading-in and leading-out effects can be achieved.

In order to conveniently adjust the height of the fixed connection conveying device, adjustable feet 1-14 are arranged at the bottom of the aluminum profile frame, and the height and the levelness of the aluminum profile frame can be adjusted through the adjustable feet.

It should be pointed out that first detecting element 1-13 is connected in installing the controller (for example PLC) at transfer gantry, and it connects in total accuse PLC, and second detecting element 1-22 connects in AGV dolly controller, and AGV dolly controller connects in total accuse PLC equally, and the AGV dolly passes through AGV dolly controller (PLC), wireless Wifi is connected with total accuse PLC, through the relevant product of AGV dolly delivery to realize the transportation of product at two workstations.

Referring to fig. 4, the figure is an effect diagram of installing a small-sized docking station on an intelligent manufacturing comprehensive practical training platform, and the figure shows two fixed docking conveying devices 1-1 which are docked at respective working positions, AGV tracks 1-23 are arranged between the two fixed docking conveying devices 1-1 and distributed in a U shape, navigation magnetic stripes are arranged on the AGV tracks, the two end positions of the AGV tracks are respectively provided with the fixed docking conveying devices, one of the fixed docking conveying devices receives articles to be transported, the other fixed docking conveying device receives transported articles transferred from an AGV, and finally the transported articles are sent to a small-sized multifunctional stereoscopic warehouse.

The small-sized multi-purpose stereoscopic warehouse is described in detail below, and referring to fig. 5 to 13, the small-sized multi-purpose stereoscopic warehouse 9 includes: a warehouse vertical frame 9-1 and a universal tray storing and taking action mechanism arranged on the warehouse vertical frame.

In the state of arranging the small-sized multifunctional stereoscopic warehouse in the edge of the conveying loop line in the figure 5, in combination with the figure 6, a warehouse vertical frame 9-1 is provided with four laminates 9-2, each laminate is used for placing a universal tray, the laminates are provided with 5 universal tray placing positions, the universal tray placing positions are provided with positioning pieces 9-3, and the positioning pieces 9-3 are L-shaped pieces which are arranged on the laminates and used for limiting two corners of the universal tray on the diagonal line. Through the positioning piece, the universal tray placed on the laminate cannot be displaced. The bottom of the warehouse vertical frame is provided with a moving device 9-8, and the moving device 9-8 is a moving wheel.

Referring to fig. 7-13, the universal tray storing and taking mechanism installed on the warehouse rack includes: the warehouse vertical frame comprises an X-axis moving unit 9-4 arranged at the bottom of the warehouse vertical frame and used for moving transversely, a C-axis rotating unit 9-5 arranged on the X-axis moving unit and used for doing 360-degree limited motion, a Z-axis moving unit 9-6 arranged on the C-axis moving unit and used for moving up and down, and a Y-axis moving unit 9-7 arranged on the Z-axis moving unit and used for moving back and forth, wherein a material tray grabbing part is arranged on the Y-axis moving unit 9-7.

In this embodiment, the X-axis moving unit 9-4 adopts a linear guide rail + servo motor synchronous belt transmission manner, a linear guide rail 9-4a is shown in fig. 7, two ends of the linear guide rail 9-4a are fixed on two opposite vertical columns at the front side of the warehouse vertical frame, a synchronous belt 9-4b is arranged on the linear guide rail 9-4a, the synchronous belt is connected to a servo motor 9-4c fixed on the sliding table, the X-axis moving unit includes but is not limited to a synchronous belt linear guide rail and a screw rod linear guide rail, and other linear moving devices can be adopted.

In this embodiment, the C-axis rotating unit adopts a precise hollow rotating platform (driven by a servo motor), and includes: the rotating disc is rotatably arranged on the rotating disc 9-5a, and rotating teeth are arranged on the circumference of the rotating disc; and a rotating belt 9-5b connected to the rotating disc 9-5a and connected to a driving gear disc 9-5c connected to the servo motor 9-5 d.

In this embodiment, Z axle mobile unit adopts servo motor + sharp module transmission mode, and Z axle mobile unit includes: the up-down moving guide rail 9-6a is provided with an up-down moving part 9-6b which can move along the up-down moving guide rail, the up-down moving part is a guide rail slide block, the up-down moving part is connected with an up-down driving motor 9-6c, and the up-down driving motor is a servo motor.

In this embodiment, the Y-axis moving unit adopts linear guide + servo motor synchronous belt transmission mode, and the Y-axis moving unit includes: and a front and back movement part 9-7a installed on the Z-axis movement unit, wherein the front and back movement part is a linear guide rail, and the front end part of the front and back movement part is provided with two L-shaped claw bodies 9-7 b.

In this embodiment, the X-axis, the Y-axis, and the Z-axis adopt linear guide rails and linear modules to realize corresponding axial movement, and besides the structure mentioned in this embodiment, other linear motion mechanisms, such as a screw rod motion mechanism, a cylinder assembly, etc., may be adopted.

In this embodiment, the universal tray placed at the universal tray placement position is provided with an RFID tag.

The universal tray access mechanism is connected to a control unit, such as a PLC.

The working process of the small multifunctional stereoscopic warehouse is as follows: moving the X-axis (X-axis moving unit) for transverse movement; the Z axis (Z axis moving unit) can move up and down; the Y axis (Y axis moving unit) can move back and forth; the C shaft (C shaft rotating unit) can do limited motion of 360 degrees, when the command is received, the C shaft (C shaft rotating unit) moves each shaft to reach a warehouse location point to grab a material tray, and then moves each shaft to a position needing to be placed again to finish warehouse entry and warehouse exit work.

The small-sized universal pallet stored at the universal pallet storing position will be described in detail below in order to make it clear how the L-shaped claws grasp the small-sized universal pallet.

Referring to fig. 14-21, the small universal tray comprises a tray 5-10, which comprises a plate-shaped body 5-100 and a circumferential bearing part 5-101 circumferentially arranged on the plate-shaped body, wherein the plate-shaped body is provided with a plurality of circular openings 5-102 in a rectangular array manner; the grabbing/end rising part 5-11 is arranged on the tray and is provided with a fixed seat 5-110 and an I-shaped part 5-111 arranged on the fixed seat, and a grabbing/end rising hole 5-113 is arranged on a connecting body 5-112 between the I-shaped part and the fixed seat; and the positioning pins 5-13 are used for mounting the tooling part on the tray and are detachably mounted in the circular openings of the tray.

It should be noted that the circular opening is through the tray. The number of the positioning pins includes, but is not limited to, six as shown in the figure, the number of the positioning pins can be adjusted, when a plurality of tools need to be fixed, the number of the positioning pins matched with the tools can be selected, and it should be noted that the number of the tools needs to be adapted according to the bearing area of the surface of the tray. The work cell to be secured is omitted from fig. 10-16, while the work piece secured to the pallet (roban lock assembly tool) is shown in fig. 17.

As can be seen in fig. 14, the tray is square with 12 columns and 14 rows of pick/end holes arranged in a rectangular array on the square tray, and the pick/end holes may not be arranged at the pick/end 5-11 mounting locations to facilitate the fixing of the pick/end 5-11 to the tray by screws.

Referring to fig. 15, the pallet is provided with cross-shaped support frames 5 to 103, four ends of which are correspondingly connected to the inner walls of the square circumferential bearing parts 5 to 101, which is advantageous for improving the structural strength of the pallet.

The tooling may be, for example, the illustrated roban lock assembly tooling 5-12, which is provided with a horizontal roban lock receiving recess (rectangular) and a vertical roban lock receiving recess (substantially square), and the roban lock assembly tooling is provided with a dowel hole, through which the roban lock assembly tooling can be temporarily mounted on the tray, and the roban lock assembly tooling can temporarily place the roban lock. The locating pin includes: the circular trompil complex cylinder portion 5-130 with the tray, set up the reducing head 5-131 at cylinder portion top, and the reducing head includes: the constant diameter part is arranged on the top of the cylindrical part, and the reducing part is arranged on the constant diameter part and gradually reduces the outer diameter from bottom to top.

The use method of the small universal tray comprises the following steps: after the Luban lock assembly tool is temporarily fixed on the tray through the positioning pin, the robot can grab the I-shaped part of the grabbing/end-rising part on the tray and transfer the I-shaped part to a preset station to assemble the Luban lock, or the inserting plate is inserted into the grabbing/end-rising hole 5-113 of the grabbing/end-rising part to hold the whole tray to a preset supply to assemble the Luban lock.

The tray only plays a role of bearing the to-be-transferred piece, and the transfer is realized by matching with a tray grabbing part arranged on the Y-axis moving unit 9-7.

As can be seen from fig. 5, after the tray storing and taking mechanism grabs the small-sized universal tray, the tray moves to the connection conveying device 1-1, the small-sized universal tray is output through the conveying belt of the connection conveying device, and the small-sized universal tray can be input from the opposite direction to be put into the warehouse.

The roban lock assembly jig at the assembly station is described in detail below, and referring to fig. 22-29, the roban lock tooling station includes a rectangular table 2, the table 2 having a left edge 2-10, a right edge 2-11, a front edge 2-12, and a rear edge 2-13. The Luban lock comprises a first Luban lock 2-1, a second Luban lock 2-2, a third Luban lock 2-3, a fourth Luban lock 2-4, a fifth Luban lock 2-5 and a sixth Luban lock 2-6. In the specification, the first Luban lock and the first Luban lock have the same meaning, and the second Luban lock, the third Luban lock and the third Luban lock, the fourth Luban lock and the fourth Luban lock, the fifth Luban lock and the fifth Luban lock, and the sixth Luban lock have the same principle.

As shown in fig. 28 to 29, a sixth luban lock pushing cylinder mounting part 2 to 14 is arranged on the position, close to the front edge 2 to 12, of the workbench, and is an L-shaped mounting plate, a screw fixing hole is formed in a joint part of the L-shaped mounting plate and the workbench, and a screw assembling hole matched with the L-shaped mounting plate is formed in the workbench, so that the L-shaped mounting plate is fixed on the workbench through screws. The sixth Luban lock pushing cylinder mounting piece is provided with a sixth Luban lock pushing cylinder 2-15 through a screw structure, the sixth Luban lock pushing cylinder 2-15 is suspended above the workbench to facilitate pushing of a sixth Luban lock, a sixth cylinder pushing block 2-16 is arranged at the end part of a cylinder rod of the sixth Luban lock pushing cylinder, the sixth cylinder pushing block 2-16 is a vertically arranged rectangular block body, the sixth cylinder pushing block is provided with a sixth Luban lock pushing cushion block 2-17, the sixth Luban lock pushing cushion block 2-17 is a square cylinder body with a section smaller than that of the sixth Luban lock, a first Luban lock supporting block and a sixth Luban lock supporting block 2-18 are arranged behind the sixth Luban lock pushing cylinder (the sixth Luban lock pushing cylinder faces the rear edge direction of the workbench), and a sixth Luban lock supporting groove 2-19 is arranged at the top of the first Luban lock supporting block and the sixth Luban lock supporting block, the groove width of the sixth Luban lock pushing groove 2-19 is matched with the width of the sixth Luban lock, fig. 22-29 show the state that the sixth Luban lock is located in the sixth Luban lock pushing groove, in fig. 28, the sixth Luban lock is located on the upper surface of the first Luban lock, the first Luban lock end supporting groove 2-20 is arranged on the side of the first Luban lock supporting block and the sixth Luban lock supporting block, which are away from the sixth Luban lock pushing cylinder, the first Luban lock end supporting groove 2-20 and the first Luban lock end supporting block 2-32 mentioned below support the first Luban lock together, the first Luban lock is not movable in the state shown in fig. 28, the second Luban lock is locked into the first Luban lock, the second Luban lock is also not movable, and the second Luban lock is supported on the second Luban lock end supporting block 2-33 mentioned below (the side of the third Luban lock 2-31 is close to the sixth Luban lock side mentioned below End support blocks) and end caps 2-34.

A fourth Luban lock pushing cylinder mounting piece 2-21 is arranged at a position, close to the rear edge 2-13, of the workbench, the fourth Luban lock pushing cylinder mounting piece 2-21 is an L-shaped block body, a screw hole is formed in a part, in contact with the surface of the workbench, of the L-shaped block body, a fixing internal thread hole of the L-shaped block body is also formed in the workbench, so that the L-shaped block body can be fixed on the workbench through a screw, the fourth Luban lock pushing cylinder mounting piece is provided with a fourth Luban lock pushing cylinder 2-22, a fourth cylinder pushing block 2-23 is arranged at the end of a cylinder rod of the fourth Luban lock pushing cylinder, the fourth cylinder pushing block 2-23 is a vertically arranged rectangular block, and a fourth Luban lock supporting bracket 2-24 is arranged on the fourth cylinder pushing block 2-23, the fourth Luban lock support bracket 2-24 is U-shaped, a fourth Luban lock support notch 2-25 is formed in the U-shaped end of the fourth Luban lock support bracket, a fourth Luban lock bearing block 2-26 located on the workbench is arranged below the fourth Luban lock support bracket, the fourth Luban lock bearing block 2-26 is cuboid, the fourth Luban lock can be pushed into a buckling groove of the second Luban lock along the upper surface of the fourth Luban lock bearing block 2-26, it is required to be noticed that the fourth Luban lock advances towards the surface of one side of the end bearing table 2-34 along the first Luban lock, the fourth Luban lock bearing block 2-26 and the third Luban lock bearing block 2-31 mentioned below form an L-shaped structure, and the edge of the fourth Luban lock support block is provided with a Luban lock end portion 2-31 supporting one end of the first Luban lock far away from one end of the sixth air cylinder 32.

A third Luban lock pushing cylinder installation piece 2-27 is arranged at a position, close to the right edge 2-11, of the workbench, the third Luban lock pushing cylinder installation piece 2-27 is an L-shaped block body, and a fixing screw hole is formed in a part, attached to the workbench, of the third Luban lock pushing cylinder installation piece 2-27, so that the third Luban lock pushing cylinder installation piece 2-27 can be fixed to the workbench through screws and the like, and of course, the three cylinder installation pieces mentioned herein can also be welded and installed on the workbench. The third Luban lock pushing cylinder mounting piece is provided with a third Luban lock pushing cylinder 2-28, a third cylinder pushing block 2-29 is arranged at the end portion of a cylinder rod of the third Luban lock pushing cylinder, the third cylinder pushing block 2-29 is a vertical rectangular block, the third cylinder pushing block 2-29 is provided with a third Luban lock supporting bracket 2-30, the third Luban lock supporting bracket 2-30 is U-shaped, a third Luban lock supporting notch 2-35 is arranged at the U-shaped end portion of the third Luban lock supporting bracket, a third Luban lock supporting block 2-31 located on the workbench is arranged below the third Luban lock supporting bracket, the third Luban lock supporting block 2-31 is a square column body, and the third Luban lock can be pushed by the third Luban lock pushing cylinder 2-28 along the surface of the third Luban lock supporting block 2-31 to be fed on the surface And when the lock enters the buckling groove corresponding to the first Luban lock, end part supporting blocks 2-33 for respectively supporting the second Luban lock and the fifth Luban lock are symmetrically arranged on two sides of the third Luban lock supporting block, and in the figure 28, the second Luban lock is supported on one end part supporting block 2-33 and an end part bearing platform 2-34.

The workbench is provided with end bearing platforms 2-34 which are used for supporting one ends of the second Luban lock and the fifth Luban lock, which are far away from the third cylinder, near the left edge, and the tops of the end bearing platforms 2-34 are provided with stop protrusions extending upwards.

The Luban lock pushing cylinder number six 2-15, the Luban lock pushing cylinder number four 2-22 and the Luban lock pushing cylinder number three 2-28 are connected to a controller, and the controller is a PLC.

This Luban lock frock platform can use with different modes as required, can cooperate the manipulator to carry out the equipment of Luban lock, except that the Luban lock that the cylinder can move needs the cylinder to move, all the other Luban locks utilize the manipulator to assemble.

Referring to fig. 30-32, the small truss rectangular coordinate slave station is described in detail below, and comprises: the truss rectangular coordinates are mounted from the station to a transverse support plate 6-1 of a fixed mounting, shown in fig. 31, of the conveyor line, on which the transverse support plate is fixed. And the two Z-direction brackets are vertically arranged in parallel, and the two Z-direction brackets are arranged at two ends of the transverse supporting plate 6-2. The device comprises a transverse aluminum profile component 6-4 arranged at the top of a Z-direction support, a transverse moving mechanism arranged on the transverse aluminum profile component, a transverse moving mechanism limiting device 6-16 arranged on the transverse aluminum profile component, and a vertical moving mechanism arranged on the transverse moving mechanism and provided with a clamping jaw 6-5. When the conveying line conveys the small truss rectangular coordinate slave station, the clamping jaws can be used for clamping the tray on the conveying line and moving the tray to the temporary storage device at the edge of the conveying line.

As can be seen from FIG. 30, the Z-direction bracket is provided with a diagonal brace 6-3, wherein one end of the diagonal brace can be fixed on the Z-direction bracket, and the other end can be fixed on the fixed seat.

As can be seen in fig. 32, the jaw comprises: the pallet comprises two pallet clamping seats 6-50 and two L-shaped pallet heads 6-51 arranged side by side, wherein the pallet is provided with a grabbing structure matched with the L-shaped pallet heads, and therefore the pallet can be moved out of the conveying line by matching the pallet grabbing structures with the pallet heads.

Referring to fig. 30, the lateral movement mechanism includes: the transverse moving guide wheels are arranged at two ends of the transverse aluminum profile through transverse moving guide wheel seats 6-6, and transverse synchronous belts 6-7 are arranged between the two transverse moving guide wheels, one transverse moving guide wheel is connected with a transverse moving stepping motor 6-8, and the transverse moving stepping motor is arranged at the left end part of the transverse aluminum profile through a motor support.

Referring to fig. 30, the vertical moving mechanism includes: the vertical parts 6-9, such as vertical aluminum profiles, are mounted on the vertical moving guide wheels at the two ends of the vertical parts through vertical moving guide wheel seats 6-10, and vertical synchronous belts 6-11 are mounted between the two vertical moving guide wheels, wherein one vertical moving guide wheel is connected to a vertical moving stepping motor 6-12.

It should be noted that the transverse synchronous belt of the transverse moving mechanism is provided with a transverse moving member 6-13 which can move along with the transverse synchronous belt, the vertical synchronous belt of the vertical moving mechanism is provided with a connecting member 6-14, and the transverse moving member is connected to the connecting member 6-14 through a transition plate 6-15. When the transverse moving stepping motor 6-8 drives the transverse synchronous belt 6-7 to move, the transverse moving piece can be driven to transversely move, and therefore the transverse movement of the clamping jaw is realized; when the vertical moving stepping motor (Z-direction moving stepping motor) drives the vertical synchronous belt (Z-direction synchronous belt), the vertical synchronous belt (Z-direction synchronous belt) is fixed on the connecting piece 6-14 (the connecting piece is connected to the transverse moving piece), and at the moment, the vertical synchronous belt (Z-direction synchronous belt) can drive the vertical piece 6-9 (Z-direction piece) to move up and down, so that the clamping jaw can move up and down.

In addition, the transverse moving mechanism limiting devices 6-16 are photoelectric switches mounted on the transverse aluminum profile component, the photoelectric switches are connected to a control element, such as a PLC, and the control element is connected to a transverse moving stepping motor of the transverse moving mechanism. The vertical part is provided with a vertical moving mechanism limiting device which is also a photoelectric switch (connected to a control element), the transverse aluminum profile is provided with a transverse moving member 6-13, a first photoelectric switch at the tail end of a leftward movement stroke and a second photoelectric switch at the tail end of a rightward movement stroke, when the transverse moving member moves to the first photoelectric switch or the second photoelectric switch, the control element stops the transverse moving mechanism from continuously moving, and similarly, the vertical part is provided with a connecting member 6-14, a third photoelectric switch at the tail end of an upward movement stroke and a fourth photoelectric switch at the tail end of a downward movement stroke, and when the connecting member moves to the third photoelectric switch or the fourth photoelectric switch, the control element stops the vertical moving mechanism from continuously moving and performing overtravel movement.

Referring to fig. 30-32, the jaws 6-5 are mounted to the transverse aluminum profile assembly by L-shaped connectors 6-17.

In fig. 31, the mini-truss cartesian slave station is mounted on a conveyor loop whose pallet on the conveyor belt can be gripped by a gripper to move to a station at the edge of the mini-truss cartesian slave station.

The transverse moving mechanism and the vertical moving mechanism in the small-sized truss rectangular coordinate slave station are controlled by being connected to a PLC (control element).

The working principle of the small truss rectangular coordinate slave station is as follows: send the instruction for the motor through PLC, the motor rotates and passes to the hold-in range through synchronous pulley, drives the slip table and does horizontal or Z to the displacement, snatchs the tray and removes the assigned position, carries out position feedback through the FRID label after placing to accomplish whole process.

The compact 7-axis quick-change platform is described in detail below, and with reference to fig. 33-38, the compact 7-axis quick-change platform 7 includes: the movable base 7-1 is of a frame structure, the bottom of the movable base adopting the frame structure is provided with a moving device 7-2, the moving device comprises three sets of horse wheels arranged at the bottom of the movable base, two end parts of the movable base are respectively provided with one set of horse wheels, and the middle position of the movable base is provided with one set of horse wheels, so that the movable base can be well supported and stabilized and reliably. The linear module 7-3 is arranged on the movable base and serves as a seventh axis, the six-joint robot 7-4 is arranged on the linear module, the quick-change main disc 7-5 is arranged on the six-joint robot 7-4, and clamping jaws on the quick-change main disc can be replaced according to requirements through the clamping jaw warehouse 7-6 arranged on the movable base.

Referring to fig. 34, the gripper library 7-6 comprises a gripper library support 8-1 which is a frame structure, a clamping placement platform is arranged at the top of the gripper library support of the frame structure, and the gripper library support 8-1 is connected to the movable base through a bottom connecting rod, so that the gripper library support and the movable base can form an integral structure for synchronous movement. The clamping jaw library platform 8-2 installed on the clamping jaw library support is of a square structure, arc chamfers are arranged at four corners of the square structure, a sliding cylinder 8-3 arranged on the clamping jaw library platform is provided with a first quick-change tool plate 8-4, the sliding cylinder is placed perpendicular to a linear module, the sliding cylinder is arranged close to the left edge of the clamping jaw library platform 8-2, a transition four-jaw cylinder 8-5 arranged on the clamping jaw library platform is arranged close to the right edge of the clamping jaw library platform, and a second quick-change tool plate 8-6 is arranged on the transition four-jaw cylinder 8-5.

Referring to fig. 35, there is shown a quick-change main plate 7-5, which is opened by external pressure applied by ventilation, and which is engaged with a tool plate (quick-change tool plate) and then is reversely pushed by ventilation in the opposite direction to lock the tool plate to the main plate. The quick-change main disc and the quick-change tool disc can refer to the prior art.

Referring to fig. 36-37, the jaw magazine 7-6 includes: the clamping jaw library bracket 8-1 comprises a square bottom frame 8-1a, a square top frame 8-1b and four upright posts 8-1c arranged between the square top frame and the square bottom frame. And the clamping jaw library platform 8-2 is arranged on the clamping jaw library bracket and is fixed on the clamping jaw library bracket through a screw. The clamping jaw warehouse comprises a guide rail sliding table cylinder 8-3 arranged on a clamping jaw warehouse platform, the guide rail sliding table cylinder is arranged close to the left edge of the clamping jaw warehouse platform, a first quick-change tool disc 8-4 is arranged on the guide rail sliding table cylinder, and a first clamping jaw 8-3a is installed on the sliding portion of the guide rail sliding table cylinder. And the transition four-claw cylinder 8-5 is arranged on the clamping jaw library platform and is close to the right edge of the clamping jaw library platform, the transition four-claw cylinder is provided with a second quick-change tool plate 8-6, and the clamping jaw library platform is provided with a supporting table for supporting the transition four-claw cylinder. The clamping jaw library platform is provided with a first opening 8-2a for matching and installing a guide rail sliding table cylinder and a second opening 8-2b for matching and installing a four-jaw cylinder, and the second opening is in a cross shape.

Fig. 38 shows the effect of the small 7-axis quick-change platform being arranged at the edge of the conveyor loop, which in fig. 38 only shows the U-turn at the end.

The working principle of the small 7-shaft quick-change platform is as follows: 6 Fuma wheels 7-2 are mounted below an aluminum profile frame 7-1, a seventh shaft is mounted on the aluminum profile frame 7-1, a six-joint robot 7-4 is mounted on the seventh shaft (a linear module) and can rapidly move in a forward and reverse direction, when clamping jaws need to be replaced, the six-joint robot is rapidly moved to a position 7-6 of a clamping jaw library, a quick-change main disc 7-5 at the front end of the robot is in butt joint with any clamping jaw on the clamping jaw library 7-6 by changing coordinate points of each joint of the six-joint robot 7-4, and the clamping jaws after the butt joint are moved to a preset position to perform a task of a next link according to different tasks.

The purchase information of the related components of the present invention is as follows:

the working process of the invention is as follows:

1. the universal pallet storing and taking action mechanism arranged on the warehouse stand firstly takes out unprocessed parts from a stereoscopic warehouse and places the unprocessed parts on an annular conveying line (a single-layer double-row annular conveying line), the unprocessed parts are conveyed to a seventh shaft station (a small 7-shaft quick-change platform 7), clamping jaws of different types are used by a robot according to the shapes of the different parts, and the parts of different types are respectively conveyed to a lathe or a processing center processing area through a mechanical arm and seven shafts to complete processing; the part that processing was accomplished is placed on the return circuit again, carry three-coordinate detection area S9 and carry out the precision measurement, qualified product if need carry out the part assembly, then enter into the assembly website, accomplish the assembly through robotic arm and anchor clamps cooperation, then remove the part that the assembly was accomplished through sharp module and carry out laser marking to the laser marking region, the part of marking the completion enters into visual detection system (one end at the assembly station is equipped with visual detection area, CCD has been arranged in this region and has been detected, qualified product is carried back finished product warehouse (stereoscopic warehouse) through annular transfer chain or AGV dolly respectively, accomplish whole production line work flow.

2 small-size truss workstation (small-size truss rectangular coordinate slave station) can accomplish independent operation under the cooperation of annular transfer chain, through the use of the small-size rectangular coordinate robot of PLC programming control.

The invention can let the operator order from MES software, at this moment, each unit starts, the stereoscopic warehouse grabs the blank part or semi-finished part in the warehouse through FRID intelligent label intelligent identification system according to the need of the process of processing the part, then places on the tray on the single-layer double-row ring conveyor line, transports to 7-axis buffer area, grabs the part to the required processing area (including numerical control lathe, processing center) to process by 7-axis robot, can monitor the processed part in real time by on-line measurement during the part processing, if the size deviation or the deviation caused by cutter abrasion is found, transmits back to the main control system to carry out big data calculation and analysis, then automatically sends the compensation value to the equipment to carry out secondary processing and correction, after the on-line detection is qualified for the first time, the manipulator will grab the part conveyor line and transport to the three-coordinate measuring instrument buffer area, a 6-axis robot of the measuring station is used for grabbing and placing on a three-coordinate measuring platform for the last detection, if the qualified products need to be assembled, the qualified products enter a buffer area of an assembling station, if the qualified products do not need to be assembled, the qualified products need to be put in a warehouse, the qualified products are conveyed to a buffer area of a stereoscopic warehouse, the qualified products are grabbed by a mechanical arm of the stereoscopic warehouse and are placed in a finished product area of the preset stereoscopic warehouse through FRID identification, and otherwise, the unqualified products are directly placed in an unqualifie; if need optical detection, directly get into the assembly station and carry out optical measurement, qualified back needs laser then up to standard to transmit through sharp slip table and beat the mark position and beat the mark, qualified products can carry the warehouse through the loop line, also can transport the warehouse through the AGV dolly, can realize two-way conveying, AGV add great improvement conveying efficiency, so far realized from MES control, the warehouse-out, parts machining, on-line measuring, feedback compensation, three-coordinate measurement, the assembly, laser marking, optical detection, AGV transportation, a flexible intelligent manufacturing system of full closed loop of warehousing.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an intelligent manufacturing synthesizes real standard platform which characterized in that, it includes:

2. The intelligent manufacturing comprehensive practical training platform as claimed in claim 1, wherein a faux FANUC system is arranged at the small precision lathe.

3. The intelligent manufacturing comprehensive practical training platform according to claim 1, wherein a buffer area is arranged between the three-coordinate measuring instrument and the measuring station.

4. The intelligent manufacturing comprehensive practical training platform according to claim 1, wherein the first end conveyor line is provided with an FRID radio frequency identification system.

5. The intelligent manufacturing comprehensive practical training platform according to claim 1, further comprising: MES master control system.

6. The intelligent manufacturing comprehensive practical training platform according to claim 1, wherein the first side conveying line is provided with a small truss work station.