CN113084478A - Intelligent electric cylinder assembling system - Google Patents
Intelligent electric cylinder assembling system Download PDFInfo
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- CN113084478A CN113084478A CN202110389952.7A CN202110389952A CN113084478A CN 113084478 A CN113084478 A CN 113084478A CN 202110389952 A CN202110389952 A CN 202110389952A CN 113084478 A CN113084478 A CN 113084478A
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- electric cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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Abstract
The present disclosure provides an electric cylinder intelligence assembly system, includes: the part positioning part is used for abutting and connecting all the electric cylinder parts according to the assembling positions to form an electric cylinder to be fastened; and the component fastening part is used for receiving the electric cylinder to be fastened and fastening and connecting the electric cylinder to be fastened through screws to finish the assembly of the electric cylinder. The intelligent electric cylinder assembling system can effectively reduce the workload of workers, and the assembly mode of a production line replaces the traditional manual assembly mode to realize intelligent electric cylinder assembling; the assembly efficiency of the electric cylinder can be greatly improved, and the manufacturing cost is reduced; the stability of the assembling quality of the electric cylinder is realized, and the rate of finished products of the electric cylinder assembly is improved.
Description
Technical Field
The utility model relates to an intelligence manufacturing technology field especially relates to an electric jar intelligence assembly system.
Background
Intelligence manufacturing, which is derived from the study of artificial intelligence, intelligence is the sum of knowledge, which is the basis of intelligence, and intelligence, which refers to the ability to acquire and apply knowledge to solve. Intelligent manufacturing should include intelligent manufacturing technologies and intelligent manufacturing systems, wherein the intelligent manufacturing systems can continuously enrich the knowledge base in practice, have self-learning function, can collect and understand environmental information and self information, and have the ability to analyze and judge the above information and plan self behavior.
Intelligent manufacturing has become a new trend of global manufacturing development, and in order to cope with increasing industrial manufacturing cost and intense industry competition situation, more and more traditional manufacturing industries start to change the past production, manufacturing and operation mode, and realize automatic production by introducing high-end intelligent manufacturing equipment, thereby improving industrial production efficiency and promoting the transformation and upgrading of industrial structure to the intelligent direction. An industrial robot is taken as a key in the intelligent manufacturing equipment technology, and has the advantages of high efficiency, stability, fine manufacturing and processing, flexible production and the like.
For the production of the electric cylinder, the assembly stage of the electric cylinder generally carries out assembly positioning and fixed connection on each component of the electric cylinder. Because the production of electric cylinder needs to set up a plurality of work positions in the assembly process, every work position need be equipped with a workman at least and carry out the operation. Not only required cost of labor is high for manual assembly, area is big, and often too much personnel of being in the assembly process of the hands, receive manual operation's restriction and lead to the possibility of artificial erroneous judgement to improve greatly, low in production efficiency, cause the condition of missed measure easily, make the off-the-shelf yields of part low, the demand that can not satisfy the development consequently needs to construct the needs of electric jar intelligence manufacturing line in order to satisfy production, need solve the problem of carrying out positioning and fixed connection to each part of electric jar in the electric jar assembly phase urgently.
Disclosure of Invention
Technical problem to be solved
Based on the above problem, this disclosure provides an electric jar intelligence assembly system to alleviate technical problem such as the cost of labor is high, production efficiency is low and assembly quality is unstable among the prior art.
(II) technical scheme
The utility model provides an electric jar intelligence assembly system includes:
the part positioning part is used for abutting and connecting all the electric cylinder parts according to the assembling positions to form an electric cylinder to be fastened;
and the component fastening part is used for receiving the electric cylinder to be fastened and fastening and connecting the electric cylinder to be fastened through screws to form a finished electric cylinder so as to finish the assembly of the electric cylinder.
In an embodiment of the present disclosure, the component positioning portion includes:
an assembly robot unit for carrying the respective electric cylinder components;
the positioning unit is used for accommodating all the electric cylinder components according to a set positioning position and can abut and connect all the electric cylinder components according to an assembling position;
the assembly robot unit can place each of the electric cylinder parts at the set positioning position.
In an embodiment of the present disclosure, the assembly robot unit includes:
assembling the robot body;
the positioning executing mechanism is connected with the wrist part of the assembly robot body and is used for respectively grabbing each electric cylinder part and placing the grabbed electric cylinder parts at the set positions;
the first intelligent camera is used for identifying the component position of each electric cylinder component and inputting the component position into the assembly robot body;
the assembly robot body can drive the positioning actuating mechanism to reach the set position;
the assembly robot body can sequentially grab the electric cylinder components through the component positions according to a set sequence through the positioning executing mechanism.
In an embodiment of the present disclosure, the positioning unit includes:
the positioning clamp group is used for containing the electric cylinder components and can determine the relative positions of the electric cylinder components;
the abutting device group can push the electric cylinder components which determine the relative positions to be in abutting connection;
wherein each of the electric cylinder parts includes: a cylinder shaft, a cylinder body and an end cover;
the positioning jig set includes:
the cylinder shaft clamp is used for accommodating the cylinder shaft and can determine the position of the cylinder shaft;
the cylinder clamp is used for containing the cylinder and can determine the position of the cylinder;
the end cover fixture is used for containing the end cover and can determine the position of the end cover;
the abutting device set includes:
the cylinder body locking mechanism is used for locking the cylinder body and fixing the position of the cylinder body;
the cylinder shaft pushing mechanism is used for pushing the electric cylinder shaft to abut against one end of the cylinder body;
the end cover pushing mechanism is used for pushing the end cover to abut against the other end of the cylinder body;
wherein, support to connect the back of accomplishing, cylinder body locking mechanism relaxs the cylinder body.
In an embodiment of the present disclosure, the component fastening portion includes:
the first fastening robot unit is used for grabbing the electric cylinder to be fastened and placing the electric cylinder to be fastened according to a set fastening position to form a positioning electric cylinder to be fastened;
and the second fastening robot unit is used for fastening and connecting the electric cylinder to be fastened through a screw.
In an embodiment of the present disclosure, the first fastening robot unit includes:
a first fastening robot body;
the fastening executing mechanism is connected with the wrist part of the first fastening robot body and used for clamping the electric cylinder to be fastened and loosening the electric cylinder to be fastened at the set fastening position;
the second intelligent camera is used for identifying the placement position of the electric cylinder to be fastened;
the first fastening robot body can drive the actuating mechanism to reach the set fastening position;
the first fastening robot body can grab the electric cylinder to be fastened through the fastening execution mechanism through the placing position.
In an embodiment of the present disclosure, the second fastening robot unit includes:
a second fastening robot body;
the screw fastening device is connected with the wrist part of the second fastening robot body and can perform screw fastening connection on the electric cylinder to be fastened at the set fastening position;
the second fastening robot body can drive the screw fastening device to reach the set fastening position.
In an embodiment of the present disclosure, the component fastening portion further includes:
the fastening auxiliary platform is used for accommodating the electric cylinder to be fastened placed on the first fastening robot unit;
wherein the fastening aid platform comprises:
the fastening and positioning clamp is used for accommodating the electric cylinder to be fastened, can determine the position to be fastened of the electric cylinder to be fastened and forms the positioning electric cylinder to be fastened; the position to be fastened corresponds to the set fastening position;
wherein the position to be fastened comprises: a first position to be fastened and a second position to be fastened;
the fastening and positioning clamp positions the electric cylinder to be fastened in the vertical direction relative to two ends of the electric cylinder to be fastened, and the first position to be fastened of the electric cylinder to be fastened is determined;
the second robot unit is used for fastening and connecting one end of the electric cylinder to be fastened through a screw to form a semi-fastened electric cylinder;
the first robot unit can grab the semi-fastening electric cylinder, exchange positions of two ends of the electric cylinder to be fastened in the vertical direction to form a transposition semi-fastening electric cylinder, and place the transposition semi-fastening electric cylinder according to a set position;
the fastening and positioning clamp can position the transposition semi-fastening electric cylinder and determine the second position to be fastened of the transposition semi-fastening electric cylinder;
and the second robot unit is used for performing screw fastening connection on the other end of the transposition semi-fastening electric cylinder.
In an embodiment of the present disclosure, the intelligent electric cylinder assembling system further includes:
a part supply unit for supplying the assembly robot unit with a grip of each of the electric cylinder parts;
wherein, part supply unit is AGV or storage battery car that can load each electric jar part.
In the disclosed embodiment, the electric cylinder to be fastened is delivered to the component fastening portion by an AGV.
(III) advantageous effects
According to the technical scheme, the intelligent assembling system for the electric cylinder disclosed by the invention has at least one or part of the following beneficial effects:
(1) the workload of workers can be effectively reduced, and the traditional manual assembly mode is replaced by the assembly mode of a production line, so that the intelligent assembly of the electric cylinder is realized;
(2) the assembly efficiency of the electric cylinder can be greatly improved, and the manufacturing cost is reduced; and
(3) the stability of the assembling quality of the electric cylinder is realized, and the rate of finished products of the electric cylinder assembly is improved.
Drawings
Fig. 1 is a schematic layout diagram of an electric cylinder intelligent assembling system according to an embodiment of the present disclosure.
Fig. 2 is a schematic layout diagram of a component positioning portion of an electric cylinder intelligent assembling system according to an embodiment of the disclosure.
Fig. 3 is an electric cylinder shaft positioning schematic diagram of a component positioning portion of the electric cylinder intelligent assembling system according to the embodiment of the disclosure.
Fig. 4 is a schematic diagram of cylinder positioning of a component positioning portion of the electric cylinder intelligent assembling system according to the embodiment of the disclosure.
Fig. 5 is a schematic end cover positioning diagram of a component positioning portion of the electric cylinder intelligent assembling system according to the embodiment of the disclosure.
Fig. 6 is a schematic diagram of a buffer unit of a component positioning portion of the intelligent electric cylinder assembling system according to the embodiment of the disclosure for loading an electric cylinder to be fastened.
Fig. 7 is a schematic layout diagram of a component fastening portion of an electric cylinder intelligent assembling system according to an embodiment of the disclosure.
Fig. 8 is a schematic diagram of a first position to be fastened of a component fastening portion of an electric cylinder intelligent assembling system according to an embodiment of the disclosure.
Fig. 9 is a schematic diagram of a second position to be fastened of a component fastening portion of the electric cylinder intelligent assembling system according to the embodiment of the disclosure.
Fig. 10 is a schematic diagram of a finished electric cylinder formed by a component fastening part of the electric cylinder intelligent assembling system according to the embodiment of the disclosure.
Fig. 11 is an AGV diagram of an electric cylinder intelligent assembling system according to an embodiment of the present disclosure.
[ description of main reference numerals in the drawings ] of the embodiments of the present disclosure
102 a cylinder shaft;
103 cylinder body;
104 an end cap;
2 a part positioning portion;
201 assembling a robot unit;
202 a first smart camera;
203 positioning an actuating mechanism;
204 positioning the clamp group;
205 against the set of devices;
206 cylinder locking mechanism;
207 electric cylinder to be fastened;
3 a component fastening part;
301 a first fastening robot unit;
302 a second fastening robot unit;
303 a second smart camera;
304 screw fastening means;
305 a first position to be fastened;
306 a second position to be fastened;
307, finished product electric cylinder;
8 AGV；
801 a first AGV clamp;
802 a second AGV clamp;
Detailed Description
The intelligent electric cylinder assembling system can effectively reduce the workload of workers, and replaces the traditional manual assembling mode with the assembly mode of a production line, so that the intelligent electric cylinder assembling is realized; the assembly efficiency of the electric cylinder can be greatly improved, and the manufacturing cost is reduced; the stability of the assembling quality of the electric cylinder is guaranteed, and the rate of finished products of the electric cylinder assembly is improved. Can overcome the main defects and shortcomings of the existing intelligent electric cylinder assembling device.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In an embodiment of the present disclosure, there is provided an electric cylinder intelligent assembling system, as shown in fig. 1, including: the component positioning part 2 is used for abutting and connecting all the electric cylinder components according to the assembling positions to form an electric cylinder 207 to be fastened; and the part fastening part 3 is used for receiving the electric cylinder 207 to be fastened and fastening and connecting the electric cylinder 207 to be fastened through screws to form a finished electric cylinder 307, so that the electric cylinder assembly is completed.
In the disclosed embodiment, the component positioning portion 2 includes: an assembly robot unit 201 for gripping or placing the respective cylinder components; the positioning unit is used for containing all the electric cylinder components according to a set positioning position and can abut and connect all the electric cylinder components according to an assembling position; the assembly robot unit 201 can place the respective electric cylinder components at the set positioning positions.
In the disclosed embodiment, the assembly robot cell 201 includes: assembling the robot body; a positioning actuator 203 connected to the end of the robot body for clamping the cylinder components and releasing the cylinder components at the set position; a first smart camera 201 for recognizing a component position of each of the cylinder components; the assembly robot body can drive the positioning actuator 203 to reach the set position; the assembly robot body can sequentially grab the cylinder components through the component positions by the positioning executing mechanism 203 according to a set sequence.
In the embodiment of the disclosure, each electric cylinder part has a one-to-one corresponding set position, and the robot grabs each electric cylinder part one by one through the execution terminal and places the electric cylinder part at the corresponding set position.
In an embodiment of the present disclosure, the positioning unit includes: the positioning clamp group 204 is used for containing the electric cylinder components and can determine the relative positions of the electric cylinder components; an abutting device group 205 capable of pushing the respective electric cylinder components determining the relative positions to make abutting connection;
in an embodiment of the present disclosure, each of the electric cylinder parts includes: cylinder shaft 102, cylinder 103, end cap;
in the embodiment of the present disclosure, the positioning clamp group 204 includes: a cylinder shaft jig for holding the cylinder shaft 102 and capable of determining the position of the cylinder shaft 102; a cylinder jig for holding the cylinder 103 and capable of determining a position of the cylinder 103; the end cover fixture is used for containing the end cover and can determine the position of the end cover;
in the disclosed embodiment, the set of abutting means 205 comprises: a cylinder locking mechanism 206 for locking the cylinder 103 and fixing the position of the cylinder 103; a cylinder shaft pushing mechanism for pushing the cylinder shaft 102 against one end of the cylinder 103; the end cover pushing mechanism is used for pushing the end cover to abut against the other end of the cylinder body 103; wherein, after the abutting connection is completed, the cylinder locking mechanism 206 releases the cylinder 103.
In the disclosed embodiment, the component fastening portion 3 includes: the first fastening robot unit 301 is used for grabbing the to-be-fastened electric cylinder 207 needing to be fastened by a screw, and placing the to-be-fastened electric cylinder 207 according to a set fastening position to form a positioning to-be-fastened electric cylinder; and a second fastening robot unit 302 for fastening the electric cylinder to be fastened through screws.
In the disclosed embodiment, the first fastening robot unit 301 includes: a first fastening robot body; the fastening executing mechanism is connected with the tail end of the first fastening robot body, is used for clamping the electric cylinder 207 to be fastened and can loosen the electric cylinder 207 to be fastened at the set fastening position; the second intelligent camera 303 is used for identifying the placing position of the electric cylinder 207 to be fastened and inputting a placing position signal into the first fastening robot body;
in the embodiment of the disclosure, the first fastening robot body can drive the actuating mechanism to reach the set fastening position;
in the embodiment of the present disclosure, the first fastening robot body can grasp the electric cylinder 207 to be fastened through the fastening actuator through the placement position.
In the disclosed embodiment, the second fastening robot unit 302 includes: a second fastening robot body; a screw fastening device 304 connected to the end of the second fastening robot body and capable of fastening the electric cylinder 207 to be fastened at the set fastening position with a screw;
in the embodiment of the present disclosure, the second fastening robot body can drive the screw fastening device 304 to the set fastening position.
In the disclosed embodiment, the component fastening portion 3 further includes: the fastening auxiliary platform is used for accommodating the electric cylinder 207 to be fastened placed on the first fastening robot unit 301; wherein the fastening aid platform comprises: the fastening and positioning clamp is used for containing the electric cylinder 207 to be fastened, can determine the position of the electric cylinder 207 to be fastened, and forms the electric cylinder to be fastened; the position to be fastened corresponds to the set fastening position, so that the second robot unit can perform screw fastening connection on the electric cylinder 207 to be fastened at the set position;
in an embodiment of the present disclosure, the position to be fastened includes: a first to-be-fastened position 305 and a second to-be-fastened position 306; the fastening positioning clamp positions the electric cylinder 207 to be fastened in the vertical direction relative to the two ends of the electric cylinder 207 to be fastened, and determines the first position 305 to be fastened; the second robot unit performs screw fastening connection on one end of the electric cylinder 207 to be fastened to form a semi-fastening electric cylinder; the first robot unit can grab the semi-fastening electric cylinder, exchange positions of two ends of the electric cylinder 207 to be fastened in the vertical direction to form a transposition semi-fastening electric cylinder, and place the transposition semi-fastening electric cylinder according to a set position; the fastening and positioning clamp can position the transposition semi-fastening electric cylinder and determine the second position to be fastened 306; and the second robot unit is used for performing screw fastening connection on the other end of the transposition semi-fastening electric cylinder.
In an embodiment of the present disclosure, the intelligent electric cylinder assembling system further includes: a parts supply unit for supplying the assembly robot unit 201 with the grasping of each of the cylinder components;
in the embodiment of the present disclosure, the parts supply unit is an AGV capable of loading the respective electric cylinder components.
In the embodiment of the present disclosure, the electric cylinder 207 to be fastened is conveyed to the component fastening portion 3 by an AGV.
AGV (automated Guided vehicles), also known as automated Guided vehicles, laser Guided vehicles. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can ensure that the system can automatically run along a preset route under the condition of no need of manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. Another characteristic of AGVs is that the flexibility is good, degree of automation is high and the level of intellectuality is high, and the route of travel of AGVs can change and nimble the change according to storage goods position requirement, production technology flow etc. to the expense that the route of travel changed compares very cheaply with traditional conveyer belt and rigid transmission line. The AGV is generally provided with a loading and unloading mechanism, and can be automatically interfaced with other logistics equipment to realize the automation of the whole process of loading, unloading and carrying goods and materials.
In addition, the AGV still has clean production's characteristics, and the AGV relies on the battery of taking certainly to provide power, and the operation in-process is noiselessness, pollution-free, can use in many places that require operational environment cleanness.
Specifically, in the embodiment of the present disclosure, the operation process of the electric cylinder intelligent assembling system is as follows:
as shown in fig. 1, the operating state of the electric cylinder intelligent assembling system.
As shown in fig. 2 to 6, the part positioning portion 2 conveys the cylinder shaft 102 conveyed by the AGV8 by the assembly robot unit 201 of the part positioning portion 2, wherein the first smart camera 202 provided in the assembly robot unit 201 recognizes the part position of the cylinder part such as the cylinder shaft 102, the cylinder block 103, and the end cap 104, the assembly robot unit 201 passes through the part position, the positioning actuator 203 is connected to the wrist portion of the assembly robot unit 201, the positioning actuator 203 is used for grasping the cylinder part such as the cylinder part cylinder shaft 102, the cylinder block 103, and the end cap 104, and the cylinder part such as the cylinder shaft 102, the cylinder block 103, and the end cap 104 can be grasped and abutted against each other according to the set order to form the cylinder 207 to be fastened.
As shown in fig. 2, the component positioning portion 2 is in an initial state.
As shown in fig. 3, wherein the assembly robot unit 201 grasps the cylinder shaft 102 and places it on the cylinder shaft 102 clamp, as shown in fig. 4, the cylinder 103 is grasped by the assembly robot unit 201 and placed on the positioning clamp group 204, the cylinder 103 is locked by the cylinder 103 locking mechanism, and the cylinder shaft 102 is pushed against one end of the cylinder 103 by the cylinder shaft 102 pushing mechanism of the abutting device group 205.
As shown in fig. 5, after the electric cylinder shaft 102 and the cylinder 103 are connected in an abutting manner, the end cover 104 is grabbed by the assembly robot unit 201 and placed on the positioning fixture group 204, at this time, the cylinder locking mechanism 206 still locks the cylinder 103, and the end cover 104 is pushed by the end cover 104 pushing mechanism of the abutting device group 205 to abut against the other end of the cylinder 103, so that the electric cylinder 207 to be fastened is formed. The assembly robot unit 201 carries the electric cylinder 207 to be fastened to the AGV 8.
As shown in fig. 6, if the assembly robot unit 201 cannot convey the electric cylinder to be fastened 207 to the AGV8, the assembly robot unit 201 can place the electric cylinder to be fastened 207 in the buffer unit provided in the component positioning portion 2.
As shown in fig. 7 to 9, the component fastening section 3 grips the electric cylinder 207 to be fastened which the AGV8 is transported from by the first fastening robot unit 301, wherein the electric cylinder 207 to be fastened is recognized by the second smart camera 303 provided by the first fastening robot unit 301 and placed in the first position 305 to be fastened, then the electric cylinder 207 to be fastened in the first position 305 to be fastened is screw-fastened by the screw fastening means 304 attached to the wrist of the second fastening robot unit 302, then the electric cylinder 207 to be fastened which the first position 305 to be fastened is turned to the second position 306 to be fastened by the first fastening robot unit 301, and then the electric cylinder in the second position 306 to be fastened is screw-fastened by the screw fastening means 304 attached to the wrist of the second fastening robot unit 302 to form the electric cylinder 307 to be manufactured. The first fastening robot unit 301 carries the finished electric cylinder 307 onto the AGV 8.
As shown in fig. 7, the member fastening portion 3 is in an initial state.
As shown in fig. 8, the first position to be fastened 305 is vertical to both ends of the electric cylinder to be fastened; as shown in fig. 9, the second position to be fastened 306 is in a vertical direction reversed from the first position to be fastened 305.
As shown in fig. 10, if the first fastening robot unit 301 cannot convey the electric finished product cylinder 307 to the AGV8, the first fastening robot unit 301 can place the electric finished product cylinder 307 in a buffer unit for the component fastening portion 3 to be provided.
As shown in fig. 11, the AGV8 is provided with a first AGV jig 801 and a second AGV jig 802, wherein the first AGV jig 801 can carry electric cylinder components such as the cylinder shaft 102, the cylinder block 103, and the end cover 104, and the second AGV jig 802 can carry the abutting connection electric cylinder 207.
The AGV8 is a general purpose indoor robot moving platform that can bear a weight of 60kg at most when operating. The AGV8 may be automatically guided and charged using an automated docking station.
The AGVs 8 comprise a plurality of AGVs 8, and the AGVs 8 can reach the appointed units according to instructions to transport materials.
The AGV8 cart has an emergency stop button that when pressed turns the red latch button off the platform motor power and cuts off the emergency stop power port power 1 second later to allow the software time to warm up and shut down the platform. To reset the emergency stop button, the button is twisted slightly to eject it. The motor is then explicitly enabled via a pop-up dialog box or ON button (except when AGV8 has docked or has encountered a critical travel fault). The above function can be handled by MobilePlanner (Map > Show Robot on).
The AGV8 cart has an OFF button that turns all systems OFF (except for the charging hardware circuitry). The software system of the platform may prevent data loss upon shutdown and save the last known location of the platform to facilitate automatic location after the next power up to the saved location before power down. The OFF button may be disabled by a key switch, which may be locked.
The AGV8 cart has an ON button for power-up after the OFF button is pressed and the software completes the AIV shutdown. In addition, the ON button is also used to resume power-ON after the emergency stop button is pressed.
The AGV8 described above has a brake release button that is yellow for manual movement of the platform, and can be pressed for a long time to propel the car when the car is stationary due to a malfunction or other reason.
The AGV8 cart described above is illustrated in the specific case as follows:
the equipment is in failure and gives an alarm, and after the problem is solved, the equipment can continue to work;
when the equipment is in an automatic running state, a stop button is pressed, and the robot stops after the current task is executed.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should have clear recognition of the disclosed electric cylinder intelligent assembling system.
In conclusion, the intelligent electric cylinder assembling system can effectively reduce the workload of workers, and the assembly mode of a production line replaces the traditional manual assembly mode to realize intelligent electric cylinder assembling; the assembly efficiency of the electric cylinder can be greatly improved, and the manufacturing cost is reduced; the stability of the assembling quality of the electric cylinder is realized, and the rate of finished products of the electric cylinder assembly is improved.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Unless otherwise indicated, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing quantities of ingredients, reaction conditions, and so forth used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.
Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Also in the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. An electric cylinder intelligent assembly system comprising:
the part positioning part is used for abutting and connecting all the electric cylinder parts according to the assembling positions to form an electric cylinder to be fastened;
and the component fastening part is used for receiving the electric cylinder to be fastened and fastening and connecting the electric cylinder to be fastened through screws to form a finished electric cylinder so as to finish the assembly of the electric cylinder.
2. The electric cylinder intelligent assembling system according to claim 1, wherein the component positioning portion includes:
an assembly robot unit for carrying the respective electric cylinder components;
the positioning unit is used for accommodating all the electric cylinder components according to a set positioning position and can abut and connect all the electric cylinder components according to an assembling position;
the assembly robot unit can place each of the electric cylinder parts at the set positioning position.
3. The electric cylinder intelligent assembly system of claim 2, wherein the assembly robot unit comprises:
assembling the robot body;
the positioning executing mechanism is connected with the wrist part of the assembly robot body and is used for respectively grabbing each electric cylinder part and placing the grabbed electric cylinder parts at the set positions;
the first intelligent camera is used for identifying the component position of each electric cylinder component and inputting the component position into the assembly robot body;
the assembly robot body can drive the positioning actuating mechanism to reach the set position;
the assembly robot body can sequentially grab the electric cylinder components through the component positions according to a set sequence through the positioning executing mechanism.
4. The electric cylinder intelligent assembly system of claim 2, wherein the positioning unit comprises:
the positioning clamp group is used for containing the electric cylinder components and can determine the relative positions of the electric cylinder components;
the abutting device group can push the electric cylinder components which determine the relative positions to be in abutting connection;
wherein each of the electric cylinder parts includes: a cylinder shaft, a cylinder body and an end cover;
the positioning jig set includes:
the cylinder shaft clamp is used for accommodating the cylinder shaft and can determine the position of the cylinder shaft;
the cylinder clamp is used for containing the cylinder and can determine the position of the cylinder;
the end cover fixture is used for containing the end cover and can determine the position of the end cover;
the abutting device set includes:
the cylinder body locking mechanism is used for locking the cylinder body and fixing the position of the cylinder body;
the cylinder shaft pushing mechanism is used for pushing the electric cylinder shaft to abut against one end of the cylinder body;
the end cover pushing mechanism is used for pushing the end cover to abut against the other end of the cylinder body;
wherein, support to connect the back of accomplishing, cylinder body locking mechanism relaxs the cylinder body.
5. The electric cylinder intelligent assembling system of claim 1, wherein the part fastening portion comprises:
the first fastening robot unit is used for grabbing the electric cylinder to be fastened and placing the electric cylinder to be fastened according to a set fastening position to form a positioning electric cylinder to be fastened;
and the second fastening robot unit is used for fastening and connecting the electric cylinder to be fastened through a screw.
6. The electric cylinder intelligent assembly system of claim 5, wherein the first fastening robot unit comprises:
a first fastening robot body;
the fastening executing mechanism is connected with the wrist part of the first fastening robot body and used for clamping the electric cylinder to be fastened and loosening the electric cylinder to be fastened at the set fastening position;
the second intelligent camera is used for identifying the placing position of the electric cylinder to be fastened and inputting a placing position signal into the first fastening robot body;
the first fastening robot body can drive the actuating mechanism to move to the set fastening position;
the first fastening robot body can grab the electric cylinder to be fastened through the fastening execution mechanism through the placing position.
7. The electric cylinder intelligent assembly system of claim 5, wherein the second fastening robot unit comprises:
a second fastening robot body;
the screw fastening device is connected with the wrist part of the second fastening robot body and can perform screw fastening connection on the electric cylinder to be fastened at the set fastening position;
the second fastening robot body can drive the screw fastening device to reach the set fastening position.
8. The electric cylinder intelligent assembling system of claim 5, wherein the part fastening portion further comprises:
the fastening auxiliary platform is used for accommodating the electric cylinder to be fastened placed on the first fastening robot unit;
wherein the fastening aid platform comprises:
the fastening and positioning clamp is used for accommodating the electric cylinder to be fastened, can determine the position to be fastened of the electric cylinder to be fastened and forms the positioning electric cylinder to be fastened; the position to be fastened corresponds to the set fastening position;
wherein the position to be fastened comprises: a first position to be fastened and a second position to be fastened;
the fastening and positioning clamp positions the electric cylinder to be fastened in the vertical direction relative to two ends of the electric cylinder to be fastened, and the first position to be fastened of the electric cylinder to be fastened is determined;
the second robot unit is used for fastening and connecting one end of the electric cylinder to be fastened through a screw to form a semi-fastened electric cylinder;
the first robot unit can grab the semi-fastening electric cylinder, exchange positions of two ends of the electric cylinder to be fastened in the vertical direction to form a transposition semi-fastening electric cylinder, and place the transposition semi-fastening electric cylinder according to a set position;
the fastening and positioning clamp can position the transposition semi-fastening electric cylinder and determine the second position to be fastened of the transposition semi-fastening electric cylinder;
and the second robot unit is used for performing screw fastening connection on the other end of the transposition semi-fastening electric cylinder.
9. The electric cylinder intelligent assembly system of claim 2, further comprising:
a part supply unit for supplying the assembly robot unit with a grip of each of the electric cylinder parts;
wherein, part supply unit is AGV or storage battery car that can load each electric jar part.
10. The electric cylinder intelligent assembly system of claim 1, wherein said electric cylinder to be fastened is transported to a component fastening section by said AGV.
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| CN114001954A (en) * | 2021-10-25 | 2022-02-01 | 天津中德应用技术大学 | Intelligent detection device of electric cylinder |
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| CN113084478B (en) | 2023-03-14 |
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