CN114749922A - Intelligent manufacturing, machining and assembling automation control system and method - Google Patents
Intelligent manufacturing, machining and assembling automation control system and method Download PDFInfo
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- CN114749922A CN114749922A CN202210560364.XA CN202210560364A CN114749922A CN 114749922 A CN114749922 A CN 114749922A CN 202210560364 A CN202210560364 A CN 202210560364A CN 114749922 A CN114749922 A CN 114749922A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses an automatic control system and a method for intelligent manufacturing, processing and assembling, wherein the system comprises: blank work piece processing mechanism, transportation processing agency and unloading processing mechanism, the transportation processing agency includes the doubly fast chain in upper portion, and the doubly fast chain in upper portion is equipped with the dress position of fixed position in proper order, people's station, welding position, transports the position. Blank processing mechanism includes: the device comprises a first conveying line, a first six-axis robot, a second six-axis robot, a blank material frame, a workpiece machining center, an assembling sub-device and a visual positioning device; unloading processing mechanism includes: transport truss, second transfer chain, visual detection device, balanced heavy special plane of going, marking machine, third transfer chain, the unloading frame of the six axis robot of third. Through blank work piece processing mechanism, transportation processing agency and unloading processing mechanism for from the processing of blank to assembly, detection, the unloading of shaping product forms the assembly line, and then realizes the intelligent manufacturing of product, has improved production efficiency, has saved manpower and materials.
Description
Technical Field
The invention relates to the field of machining and assembling, in particular to an intelligent automatic control system and method for manufacturing, machining and assembling.
Background
In present machining assembly field, there are the assembly line in many enterprises and do not have the beat, the problem that the equilibrium rate is low, and each unit all is the autonomous working on the assembly line, does not have the process operation of assembly line, can not systematic carry out intelligent manufacturing processing assembly, in case a certain link goes wrong, causes the disorder of product very easily, and then influences the quality of product.
In addition, the existing assembly equipment does not realize the process path of the assembly line, so that the manpower and material resources are excessively consumed, and the operation cost burden of an enterprise is large.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent manufacturing, processing and assembling automatic control system and method, so that an intelligent production line can be formed from the processing of a blank piece to the blanking of a formed product for a workpiece, the production efficiency is improved, and manpower and material resources are saved.
The invention specifically discloses an intelligent automatic control system for manufacturing, processing and assembling, which comprises: the blank workpiece processing mechanism comprises an upper speed multiplying chain, and the upper speed multiplying chain is sequentially provided with an assembling position, a human station, a welding position and a transferring position at fixed positions; the system further comprises: the special riveting machine corresponds to the assembly position, and the special welding machine corresponds to the welding position.
Blank processing mechanism includes: the automatic blank machining device comprises a first conveying line, a first six-axis robot and a second six-axis robot, wherein a blank frame and a workpiece machining center are arranged in the extension range of the first six-axis robot, and the feeding end of the first conveying line is also in the extension range; and an assembling sub-part device and a visual positioning device are arranged in the extension range of the second six-axis robot, and the blanking end and the assembling position of the first conveying line are also in the extension range.
Unloading processing mechanism includes: transport the truss, the second transfer chain, visual inspection device, wherein, transport the truss and be equipped with the tight tilting mechanism of clamp that can act on the work piece, transport the position, the material loading end of second transfer chain, visual inspection device all is located the transportation range who presss from both sides tight tilting mechanism, be equipped with balanced heavy special plane of going after the unloading end of second transfer chain in proper order, marking machine, third transfer chain, the six axis robot of third, be equipped with the qualified finished product material frame of unloading and the unqualified product material frame of unloading in the six axis robot extension ranges of third.
Further, the system further comprises: the blank frame AGV is used for supplementing materials to the blank frame; the assembly sub AGV is used for supplementing materials to the assembly sub device; and the blanking frame AGV is used for replacing a fully-filled blanking qualified finished product frame and a blanking unqualified product frame. The blank material frame, the qualified finished product material frame of unloading and the unqualified product material frame of unloading are equipped with the inductive pick-up respectively.
Furthermore, the visual positioning device comprises a positioning platform, and a visual positioning camera is arranged on the positioning platform; the visual detection device comprises a detection platform, and a visual detection camera is arranged on the detection platform.
Furthermore, a plurality of brackets for placing workpieces are arranged on the upper speed-multiplying chain, a lower speed-multiplying chain is arranged below the upper speed-multiplying chain in parallel, a second lifter is arranged behind the rear end of the upper speed-multiplying chain and used for descending and transferring the brackets on the upper speed-multiplying chain to the lower speed-multiplying chain, a second electric roller is arranged between the second lifter and the upper speed-multiplying chain and used for moving the brackets on the rear end of the upper speed-multiplying chain to the second lifter, and a second in-place sensor for detecting the brackets is arranged in the second lifter;
the first lifter is arranged in front of the front end of the upper speed-multiplying chain and used for lifting and transferring the bracket on the lower speed-multiplying chain to the upper speed-multiplying chain, a first electric roller is arranged between the first lifter and the upper speed-multiplying chain and used for conveying the bracket to the front end of the upper speed-multiplying chain, and a first in-place sensor for detecting the bracket is arranged in the first lifter.
Further, the assembly position, the human station, the welding position and the transfer position of the upper double-speed chain are all provided with one or more of the following: an in-position sensor; a workpiece detection sensor; a stopper; a jacking mechanism.
Further, first transfer chain, second transfer chain, third transfer chain all include: the automatic feeding device comprises a conveying device and a variable frequency motor for driving the conveying device to move, wherein a feeding workpiece detection sensor and a discharging workpiece detection sensor are respectively arranged at the front end and the rear end of the conveying device;
the conveying device is also provided with a blanking positioning mechanism for positioning the workpiece, and the blanking positioning mechanism is correspondingly provided with a blanking workpiece positioning detection sensor.
Further, the sub-assembly device comprises: the device comprises a servo motor, an encoder, a lower limit sensor, an origin sensor and an upper limit sensor.
The invention also discloses an intelligent manufacturing, processing and assembling automation control method, which comprises the following steps:
a first six-axis robot grabs a workpiece from the blank frame to a workpiece machining center for machining;
a first six-axis robot grabs a workpiece from a workpiece machining center and puts the workpiece into a feeding end of a first conveying line;
a second six-axis robot grabs the workpiece from the blanking end of the first conveying line to an assembly position of the upper speed-multiplying chain;
the second six-axis robot grabs the assembly sub-parts from the assembly sub-part device, adjusts the postures after positioning the assembly sub-parts by the visual positioning device, and installs the assembly sub-parts on the workpieces in the assembly position;
riveting the workpiece with the assembly position by a special riveting machine;
the upper double-speed chain transports the workpiece from the assembly position to a manual station for manual inspection of the workpiece;
the upper speed multiplying chain conveys the workpiece from a manual position to a welding position, and the special welding machine welds the workpiece;
the upper speed multiplying chain conveys the workpiece from the welding position to the transferring position;
a clamping turnover mechanism of the transfer truss grabs the workpiece on the transfer position and moves the workpiece to the visual detection device, and the clamping turnover mechanism overturns the workpiece so that the workpiece is parallel to the visual detection device;
after the visual detection device finishes detection, the transfer truss moves the workpiece to the feeding end of the second conveying line;
the second conveying line moves the workpiece to a balancing and de-weighting special machine for detection and balancing and de-weighting treatment;
the workpiece is moved to a marking machine and is marked based on the detection results of the visual detection device and the balance weight-removing special machine so as to mark whether the workpiece is qualified or not, and the workpiece which is marked is conveyed to the feeding end of a third conveying line;
and the third six-axis robot grabs the workpiece and puts the workpiece into a finished product frame with qualified blanking or an unqualified finished product frame with unqualified blanking according to whether the workpiece is qualified or not.
Further, the method also includes: detecting workpieces in the blank frame, and supplementing materials by a blank hole AGV in the empty process; detecting an assembly sub of the assembly sub device, and supplementing materials by an assembly sub AGV in the empty material process; and detecting workpieces in the finished material frames with qualified baiting and the material frames with unqualified baiting, and replacing the workpieces by a baiting AGV when the workpieces are full.
Further, before the second six-axis robot grabs the workpiece from the blanking end of the first conveying line to the assembly position of the upper double-speed chain, the method further comprises the following steps: the first lifter lifts the bracket transferred by the lower speed doubling chain, the bracket is conveyed to the front end of the upper speed doubling chain through the first electric roller, and the bracket for placing the workpiece is conveyed to the assembling position along with the movement of the upper speed doubling chain;
after "the work piece is transported to the position of transporting from the welding position to" upper portion doubly fast chain, "still include: the second electric roller conveys the bracket conveyed from the transfer position into the second lifter, and the second lifter drives the bracket to descend and convey the bracket into the lower double-speed chain.
The invention has at least the following beneficial effects:
the invention can be used in various workpiece processing occasions, and a flow line is formed from the processing, the assembly and the detection of blank parts to the blanking of formed products through the blank workpiece processing mechanism, the transportation processing mechanism and the blanking processing mechanism, thereby realizing the intelligent manufacturing of the products. The invention improves the production efficiency and saves manpower and material resources.
Other advantageous effects of the present invention will be described in detail in the detailed description section.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a general view of a process system of an intelligent manufacturing, processing, assembling and automation control system according to a preferred embodiment of the present invention.
Fig. 2 is a network block diagram of a control system of the intelligent manufacturing, processing, assembly automation control system disclosed in the preferred embodiment of the present invention.
Fig. 3 is a schematic block diagram of a speed chain of the intelligent manufacturing, assembling and automation control system according to the preferred embodiment of the present invention.
Fig. 4 is a schematic block diagram of the conveyor line configuration of the intelligent manufacturing, processing, assembly and automation control system disclosed in the preferred embodiment of the present invention.
Fig. 5 is a schematic block diagram of an assembly sub-assembly device of the intelligent manufacturing, processing, assembly and automation control system according to the preferred embodiment of the present invention.
Fig. 6 is a schematic block diagram of a three-axis truss structure of the intelligent manufacturing, machining, assembling and automation control system according to the preferred embodiment of the present invention.
Fig. 7 is a flow chart of a preparation phase of the intelligent manufacturing process assembly automation control method disclosed in the preferred embodiment of the present invention.
Fig. 8 is a flowchart of the intelligent manufacturing assembly automation control method of the preferred embodiment of the present invention.
FIG. 9 is a flowchart of the de-duplication labeling and classification phase of the intelligent manufacturing assembly automation control method disclosed in the preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in fig. 1, the present invention specifically discloses an intelligent manufacturing, machining and assembling automation control system, which comprises: blank work piece processing mechanism, transportation processing agency and unloading processing mechanism, wherein, the transportation processing agency includes the doubly fast chain in upper portion, and the doubly fast chain in upper portion is equipped with the assembly position of fixed position, people's station, welding position, transports the position in proper order. The system further comprises: the special riveting machine corresponds to the assembly position, and the special welding machine corresponds to the welding position.
Blank processing mechanism includes: the automatic blank machining device comprises a first conveying line, a first six-axis robot and a second six-axis robot, wherein a blank frame and a workpiece machining center are arranged in the extension range of the first six-axis robot, and the feeding end of the first conveying line is also in the extension range; and an assembling sub-part device and a visual positioning device are arranged in the extension range of the second six-axis robot, and the blanking end and the assembling position of the first conveying line are also in the extension range.
The blank frame is used for storing workpieces (blanks) to be processed. The workpiece machining center can adopt numerical control machine tool equipment for machining rough workpieces. The first six-axis robot is provided with a tail end clamp and used for grabbing workpieces in the blank frame, placing the workpieces to a workpiece machining center for machining, and taking out the workpieces to be placed to the first conveying line after machining is finished. The second six-axis robot is provided with a tail end clamp, and after the workpiece from the first conveying line to the blanking end is detected, the second robot grabs the workpiece to an assembly position of the upper speed-multiplying chain; then the second six-axis robot grabs the assembly sub-part from the assembly sub-part device to the visual positioning device to adjust the installation angle, and finally the assembly sub-part is installed on the workpiece of the assembly station. The visual positioning device can adopt a camera for detecting the angle of the second robot for grabbing the assembly sub-piece, so that the workpiece from the first conveying line can be accurately assembled. The special riveting machine is used for riveting operation on a rivet hole after the second six-axis robot is installed with the assembly sub-parts. The special welding machine is used for welding the assembled and riveted workpieces from the assembling position.
Unloading processing mechanism includes: transport the truss, the second transfer chain, visual detection device, wherein, transport the truss and be equipped with the tight tilting mechanism of clamp that can act on the work piece, transport the position, the material loading end of second transfer chain, visual detection device all is located the transport range who presss from both sides tight tilting mechanism, be equipped with balanced heavy special plane of removing, marking machine, third transfer chain, the six axis robot of third in proper order after the unloading end of second transfer chain, be equipped with the qualified finished product material frame of unloading and the unqualified product material frame of unloading in the six axis robot extension scope of third.
Wherein, the transfer truss can adopt a triaxial truss. The visual inspection device can adopt a camera for inspecting the assembly quality and welding quality of the workpieces from the indexing. The special balancing and weight-removing machine is used for balancing and weight-measuring the assembled and welded workpiece. The marking machine is used for marking the assembled and welded workpieces with serial numbers and whether the workpieces are qualified or not. For example, the two ends of the special balance-weight-removing machine are provided with short conveying lines, the marking machine is arranged on the short conveying line on the blanking end side of the special balance-weight-removing machine, and after the workpiece is blanked from the blanking end of the special balance-weight-removing machine, the marking machine marks the workpiece. And the third six-axis robot is used for grabbing the workpieces from the third conveying line and distinguishing which material frame the workpieces are placed in according to the results of the previous visual detection and balance detection.
In the present invention, the system further comprises: the blank frame AGV is used for supplementing materials to the blank frame; the assembly sub AGV is used for supplementing materials to the assembly sub device; and the blanking frame AGV is used for replacing a fully-filled blanking qualified finished product frame and a blanking unqualified product frame. And the blank part material frame, the blanking qualified finished product material frame and the blanking unqualified product material frame are respectively provided with an induction sensor.
In the present invention, the main control box may be used to connect the electric/electronic control components to achieve their respective corresponding functions, as shown in fig. 2, the communication modes of the main control box and the workpiece processing center, the first six-axis robot, the second six-axis robot, the third six-axis robot, the special riveting machine, the special welding machine, the first conveyor line frequency conversion, the second conveyor line frequency conversion, the third conveyor line frequency conversion, the upper double-speed chain frequency conversion, and the lower double-speed chain frequency conversion preferably use a Profinet communication mode, and also use other existing communication modes to connect. The main control box, a vision system (a vision detection device and a vision positioning device), the laser marking machine and the balance weight-removing special machine preferentially adopt a Modbus TCP communication mode, and can also adopt other communication modes. The main control box preferentially adopts a DI/DO control mode for the roller in the first lifter and the roller in the second lifter, and can also adopt other existing control modes. The main control box and the three-axis truss preferably adopt a pulse + direction control mode or other existing communication control modes. The main control box is in wireless communication connection with the blank material frame AGV, the assembly sub-piece AGV and the blanking frame AGV, so that wireless control is achieved.
In the invention, the visual positioning device comprises a positioning platform, and a visual positioning camera is arranged on the positioning platform; the visual detection device comprises a detection platform, and a visual detection camera is arranged on the detection platform.
As shown in fig. 3, the double speed chain part of the present invention mainly comprises: the device comprises an upper speed multiplying chain, a lower speed multiplying chain, a first lifter, a second lifter and a plurality of brackets. The device comprises an upper speed-multiplying chain, a plurality of brackets used for placing workpieces are arranged on the upper speed-multiplying chain, a lower speed-multiplying chain is arranged below the upper speed-multiplying chain in parallel, the running directions of the upper speed-multiplying chain and the lower speed-multiplying chain are opposite, a second lifter behind the rear end of the upper speed-multiplying chain is used for descending and transferring the brackets on the upper speed-multiplying chain to the lower speed-multiplying chain, a second electric roller is arranged between the second lifter and the upper speed-multiplying chain and used for moving the brackets on the rear end of the upper speed-multiplying chain to the second lifter, and a second in-place sensor used for detecting the brackets is arranged in the second lifter.
The first lifter is arranged in front of the front end of the upper speed multiplying chain and used for transferring the bracket on the lower speed multiplying chain to the upper speed multiplying chain in an ascending mode, a first electric roller is arranged between the first lifter and the upper speed multiplying chain and used for conveying the bracket to the front end of the upper speed multiplying chain, and a first in-place sensor for detecting the bracket is arranged in the first lifter.
In the invention, one or more of the following parts are arranged at the assembling position, the human station, the welding position and the transferring position of the upper double-speed chain: an in-position sensor; a workpiece detection sensor; a stopper; a jacking mechanism.
In the present invention, the conveying line section includes: the first transfer line, the second transfer line, and the third transfer line, as shown in fig. 4, all include: the automatic feeding device comprises a conveying device and a variable frequency motor used for driving the conveying device to move, wherein a feeding workpiece detection sensor and a discharging workpiece detection sensor are respectively arranged at the front end and the rear end of the conveying device. The conveying device is also provided with a blanking positioning mechanism for positioning the workpiece, and the blanking positioning mechanism is correspondingly provided with a blanking workpiece positioning detection sensor.
As shown in fig. 5, the sub-assembly device of the present invention comprises: servo motor, encoder, lower limit sensor, origin sensor, last limit sensor.
In the invention, the transfer truss is preferably a three-shaft truss, as shown in fig. 6, the three-shaft truss mainly comprises X, Y, Z shafts, and a turnover mechanism and a clamping mechanism are further arranged on the Z shaft. X, Y, Z, the shaft has servo motor, encoder, detecting sensor, etc. The clamping turnover mechanism mainly comprises a clamping mechanism and a turnover mechanism, wherein the turnover mechanism is used for turning over a detected workpiece so as to be parallel to the visual detection mechanism; the clamping mechanism is used for clamping a workpiece. The clamping and overturning mechanism can adopt the structure disclosed in the prior art, and the description is omitted. The detection sensor is used to define the extreme position of the shaft as well as the zero position.
The invention also discloses an intelligent manufacturing, machining and assembling automatic control method which is suitable for the intelligent manufacturing, machining and assembling automatic control system disclosed by the embodiments, and the method comprises the following steps:
s1: a first six-axis robot grabs a workpiece from the blank frame to a workpiece machining center for machining;
s2: a first six-axis robot grabs a workpiece from the workpiece machining center and puts the workpiece into a feeding end of a first conveying line;
s3: a second six-axis robot grabs the workpiece from the blanking end of the first conveying line to an assembly position of the upper speed-multiplying chain;
s4: the second six-axis robot grabs the assembly sub-parts from the assembly sub-part device, adjusts the posture after positioning the assembly sub-parts by the visual positioning device, and installs the assembly sub-parts on the workpiece of the assembly station;
s5: riveting the workpiece with the assembly position by a special riveting machine;
s6: the upper speed doubling chain transports the workpiece from the assembly position to a manual station for manual inspection of the workpiece;
s7: the upper speed multiplying chain transports the workpiece from a manual position to a welding position, and the special welding machine welds the workpiece;
s8: the upper speed multiplying chain transports the workpiece from the welding position to the transferring position;
s9: a clamping turnover mechanism of the transfer truss grabs the workpiece on the transfer position and moves the workpiece to the visual detection device, and the clamping turnover mechanism overturns the workpiece so that the workpiece is parallel to the visual detection device;
s10: after the visual detection device finishes detection, the transfer truss moves the workpiece to the feeding end of the second conveying line;
s11: the second conveying line moves the workpiece to a balance and weight removal special machine for detection and balance and weight removal treatment;
s12: the workpiece is moved to a marking machine, marking is carried out on the workpiece based on the detection results of the visual detection device and the balance weight-removing special machine so as to mark whether the workpiece is qualified or not, and the workpiece subjected to marking is conveyed to a feeding end of a third conveying line;
s13: and the third six-axis robot grabs the workpiece and puts the workpiece into a finished product frame with qualified blanking or an unqualified finished product frame with unqualified blanking according to whether the workpiece is qualified or not.
Further, the method also includes: detecting workpieces in the blank frame, and supplementing materials by a blank hole AGV in the empty process; detecting an assembly sub of the assembly sub device, and supplementing materials by an assembly sub AGV in the case of empty materials; and detecting workpieces in the finished material frames with qualified baiting and the material frames with unqualified baiting, and replacing the workpieces by a baiting AGV when the workpieces are full.
Further, before step S3, the method further includes: the first lifter lifts the bracket transferred by the lower double-speed chain, the bracket is conveyed to the front end of the upper double-speed chain through the first electric roller, and the bracket for placing the workpiece is conveyed to the assembly position along with the movement of the upper double-speed chain;
in the present invention, after the step S8, the method further includes: the second electric roller conveys the bracket conveyed from the transfer position into the second lifter, and the second lifter drives the bracket to descend and convey the bracket into the lower double-speed chain.
For further explanation of the present invention, the following embodiments disclose the flow line process of the intelligent manufacturing, assembling and automation control system with reference to fig. 7 to 9:
the intelligent manufacturing, machining and assembling automatic control system can adopt a single-machine control mode and an automatic control mode. In the single-machine control mode, each part in fig. 1 can be independently controlled.
When the automatic control mode, whether there is the blank material in the response sensor detection on the blank material frame, when not having the blank material, the position of blank material frame is put to the blank that blank material frame AGV will need processing, waits for a six axis robot to snatch the blank material. When the workpiece machining center does not have materials being machined, the first six-axis robot can grab the workpieces in the blank frame and place the workpieces in the blank frame in the workpiece machining center to machine the materials. After the workpiece machining center finishes machining the workpiece, the first six-axis robot is controlled to grab the machined workpiece from the workpiece machining center, and the machined workpiece is placed at the feeding end of the first conveying line.
And after the first conveying line conveys the processed workpiece to the discharging end and positioning is finished, if the six-axis robot does not perform other work, the workpiece at the discharging end of the first conveying line is grabbed to a bracket of the assembly position. After the second six-axis robot places the processed workpiece, the assembly sub-part is grabbed to the position of the assembly sub-part, the assembly sub-part is positioned at the camera positioning position of the visual positioning device, then the second six-axis robot carries out corresponding posture adjustment, and the assembly sub-part is installed on the processed workpiece.
The sensors on the assembly sub-assembly device comprise a lower limit sensor, an origin sensor and an upper limit sensor, and are used for limit and zero point position calibration. When the assembly sub is used up, the AGV can automatically convey materials to the assembly sub device according to the received instruction information so as to be ready for the next six-axis robot to grab.
After the assembly sub-piece is installed, the special riveting machine performs riveting operation, and rivets are loaded into the assembly sub-piece and the machined workpiece, so that subsequent welding operation can be conveniently performed.
After the assembly of the assembly position is finished, all the stoppers are put down, and because the upper part multiple-speed chain runs all the time, after the stoppers are put down, the bracket drives the workpiece to move to the manual position, and the manual position mainly checks the assembly condition manually. While the rest of the carriers are moved in sequence to the next station. The bracket of transporting the position removes the second lift, and after the proximity sensor that the second lift set up sensed the bracket, the electric cylinder corotation of second lift drove inside the bracket removed the lift. When the in-place sensor on the second lift senses the pallet, the second lift lowers to the bottom while moving the pallet out onto the lower double speed chain. The lower double speed chain runs all the time and conveys the bracket to the first lifter position.
After the work piece in the fitting station is carried to the welding station, the empty pallet on the first elevator is automatically moved out to the fitting station position, and the fitting operation of the second six-axis robot is awaited. Meanwhile, after the workpiece is moved out by the first lifter, the first lifter waits for an empty bracket conveyed by the lower speed doubling chain. When the proximity switch of the first lifter acts, the electric roller of the first lifter rotates forwards to move the empty bracket into the lifter, and when the in-place sensor of the lifter senses a signal, the first lifter automatically rises to the top and waits for the completion of the assembly position work to move the bracket out.
And when the new workpiece is assembled at the assembling position and the rivet is driven, all the stoppers are closed. The corresponding carriage is moved to the next unit. When a workpiece detection sensor on the welding position detects that a workpiece exists, the jacking mechanism acts, and after jacking is in place, the special welding machine performs welding work on the position where the rivet is punched.
And when the workpiece completes the assembly work at the assembly position and the workpiece completes the welding work at the welding position, all the stoppers are closed. The carriage moves to the next unit. When the workpiece detection sensor on the transfer position detects the workpiece, the three-shaft truss starts to transfer. And moving an X axis and a Y axis of the transfer truss, enabling the clamping mechanism to be right above the transfer position, and then moving a Z axis to fall down to grab the workpiece. After the workpiece is grabbed, the workpiece is moved to the position of the visual detection device, and the turnover mechanism is operated to enable the workpiece to be parallel to the visual detection camera of the visual detection device and is used for assembling and welding the workpiece to be detected by comparing the qualified product parameters stored in the visual system. And after the detection is finished, sending the detection result to the control system, and moving the workpiece to the material end of the second conveying line. The existing image processing, comparison and other methods can be adopted for comparing qualified product parameters according to the images shot by the visual detection camera, and the description is not repeated.
After the workpiece is detected by the material end of the second conveying line, the second conveying line runs to move the workpiece to the special balance and de-weight machine, and the special balance and de-weight machine detects the workpiece and performs balance and de-weight processing. And after the balance detection is finished, sending the detection result to the control system. And the workpiece is conveyed to the position of the marking machine, and the marking machine marks the date and the product serial number according to the detection result (qualified or unqualified). After marking is finished, the workpiece is conveyed to a third conveying line, and after a material end workpiece detection sensor on the third conveying line detects the workpiece, the third conveying line operates to move the workpiece to the tail end of the third conveying line. After the third conveying line tail end detection sensor detects the workpiece, the positioning mechanism acts to position the workpiece so as to facilitate the action of a third six-axis robot. When the third conveyor line end positioning sensor detects the workpiece and the workpiece is positioned. And the control system sends information to the third six-axis robot, and the third six-axis robot puts the workpiece into a corresponding material frame according to whether the workpiece is qualified or not.
When a certain material frame is full, the control system sends the system to the material frame AGV. The blanking frame AGV will actively transport the full material to the finishing area.
It should be noted that the present invention realizes the effect of efficient processing of an intelligent pipeline by improving the system structure, wherein the related technologies such as image analysis, robot control, etc. may adopt the existing methods or computer programs, and are not the improved technical solutions for solving the technical problems of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention.
Claims (10)
1. An intelligent manufacturing, processing and assembly automation control system, the system comprising: the blank workpiece processing mechanism comprises an upper speed multiplying chain, and the upper speed multiplying chain is sequentially provided with an assembling position, a human station, a welding position and a transferring position at fixed positions; the system further comprises: the special riveting machine corresponds to the assembly position, and the special welding machine corresponds to the welding position;
blank processing mechanism includes: the automatic blank machining device comprises a first conveying line, a first six-axis robot and a second six-axis robot, wherein a blank frame and a workpiece machining center are arranged in the extension range of the first six-axis robot, and the feeding end of the first conveying line is also in the extension range; an assembly sub-part device and a visual positioning device are arranged in the extension range of the second six-axis robot, and the blanking end and the assembly position of the first conveying line are also in the extension range;
unloading processing mechanism includes: transport the truss, the second transfer chain, visual detection device, wherein, transport the truss and be equipped with the tight tilting mechanism of clamp that can act on the work piece, transport the position, the material loading end of second transfer chain, visual detection device all is located the transport range who presss from both sides tight tilting mechanism, be equipped with balanced heavy special plane of removing, marking machine, third transfer chain, the six axis robot of third in proper order after the unloading end of second transfer chain, be equipped with the qualified finished product material frame of unloading and the unqualified product material frame of unloading in the six axis robot extension scope of third.
2. The intelligent manufacturing, processing and assembly automation control system of claim 1, further comprising: the blank frame AGV is used for supplementing materials to the blank frame; the assembly sub AGV is used for supplementing materials to the assembly sub device; the blanking frame AGV is used for replacing a fully-filled blanking qualified finished product frame and a blanking unqualified product frame;
the blank material frame, the qualified finished product material frame of unloading and the unqualified product material frame of unloading are equipped with the inductive pick-up respectively.
3. The intelligent manufacturing, machining and assembling automation control system of claim 1, wherein the vision positioning device comprises a positioning platform, and a vision positioning camera is arranged on the positioning platform; the visual detection device comprises a detection platform, and a visual detection camera is arranged on the detection platform.
4. The intelligent manufacturing, processing and assembling automation control system of claim 1, wherein a plurality of carriages for placing workpieces are arranged on the upper speed-multiplying chain, the lower speed-multiplying chain is arranged below the upper speed-multiplying chain in parallel, a second lifter is arranged behind the rear end of the upper speed-multiplying chain and used for transferring the carriages on the upper speed-multiplying chain to the lower speed-multiplying chain in a descending manner, a second electric roller is arranged between the second lifter and the upper speed-multiplying chain and used for transferring the carriages on the rear end of the upper speed-multiplying chain to the second lifter, and a second in-place sensor for detecting the carriages is arranged in the second lifter;
the first lifter is arranged in front of the front end of the upper speed-multiplying chain and used for lifting and transferring the bracket on the lower speed-multiplying chain to the upper speed-multiplying chain, a first electric roller is arranged between the first lifter and the upper speed-multiplying chain and used for conveying the bracket to the front end of the upper speed-multiplying chain, and a first in-place sensor for detecting the bracket is arranged in the first lifter.
5. The intelligent manufacturing, processing and assembling automation control system of claim 4, wherein one or more of the following are arranged at the assembly position, the human station, the welding position and the transfer position of the upper double-speed chain: an in-position sensor; a workpiece detection sensor; a stopper; a jacking mechanism.
6. The intelligent manufacturing, processing and assembling automation control system of claim 1, wherein the first conveyor line, the second conveyor line and the third conveyor line each comprise: the automatic feeding device comprises a conveying device and a variable frequency motor for driving the conveying device to move, wherein a feeding workpiece detection sensor and a discharging workpiece detection sensor are respectively arranged at the front end and the rear end of the conveying device;
the conveying device is also provided with a blanking positioning mechanism for positioning the workpiece, and the blanking positioning mechanism is correspondingly provided with a blanking workpiece positioning detection sensor.
7. The intelligent manufacturing, machining and assembling automation control system of claim 1, wherein the assembling sub-assembly device comprises: servo motor, encoder, lower limit sensor, origin sensor, last limit sensor.
8. An intelligent manufacturing, processing and assembling automation control method is characterized by comprising the following steps:
a first six-axis robot grabs a workpiece from the blank frame to a workpiece machining center for machining;
a first six-axis robot grabs a workpiece from a workpiece machining center and puts the workpiece into a feeding end of a first conveying line;
a second six-axis robot grabs the workpiece from the blanking end of the first conveying line to an assembly position of the upper speed-multiplying chain;
the second six-axis robot grabs the assembly sub-parts from the assembly sub-part device, adjusts the posture after positioning the assembly sub-parts by the visual positioning device, and installs the assembly sub-parts on the workpiece of the assembly station;
riveting the workpiece with the assembly position by a special riveting machine;
the upper speed doubling chain transports the workpiece from the assembly position to a manual station for manual inspection of the workpiece;
the upper speed multiplying chain transports the workpiece from a manual position to a welding position, and the special welding machine welds the workpiece;
the upper speed multiplying chain transports the workpiece from the welding position to the transferring position;
a clamping turnover mechanism of the transfer truss grabs the workpiece on the transfer position and moves the workpiece to the visual detection device, and the clamping turnover mechanism overturns the workpiece so that the workpiece is parallel to the visual detection device;
after the visual detection device finishes detection, the transfer truss moves the workpiece to the feeding end of the second conveying line;
the second conveying line moves the workpiece to a balance and weight removal special machine for detection and balance and weight removal treatment;
the workpiece is moved to a marking machine, marking is carried out on the workpiece based on the detection results of the visual detection device and the balance weight-removing special machine so as to mark whether the workpiece is qualified or not, and the workpiece subjected to marking is conveyed to a feeding end of a third conveying line;
and the third six-axis robot grabs the workpiece and puts the workpiece into a finished product frame with qualified blanking or an unqualified finished product frame with unqualified blanking according to whether the workpiece is qualified or not.
9. The intelligent manufacturing assembly automation control method of claim 8, the method further comprising: detecting workpieces in the blank frame, and supplementing materials by a blank hole AGV in the empty process; detecting an assembly sub of the assembly sub device, and supplementing materials by an assembly sub AGV in the empty material process; and detecting workpieces in the finished material frames with qualified baiting and the material frames with unqualified baiting, and replacing the workpieces by a baiting AGV when the workpieces are full.
10. The intelligent manufacturing, processing and assembling automation control method as claimed in claim 8, wherein before the second six-axis robot grabs the workpiece from the blanking end of the first conveyor line to the assembling position of the upper double-speed chain, the method further comprises: the first lifter lifts the bracket transferred by the lower speed doubling chain, the bracket is conveyed to the front end of the upper speed doubling chain through the first electric roller, and the bracket for placing the workpiece is conveyed to the assembling position along with the movement of the upper speed doubling chain;
after "the work piece is transported to the position of transporting from the welding position to" upper portion doubly fast chain, "still include: the second electric roller conveys the bracket transferred from the transfer position into the second lifter, and the second lifter drives the bracket to descend and convey the bracket into the lower double-speed chain.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115338648A (en) * | 2022-07-20 | 2022-11-15 | 南昌大学 | Intelligent manufacturing demonstration production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115338648A (en) * | 2022-07-20 | 2022-11-15 | 南昌大学 | Intelligent manufacturing demonstration production line |
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