CN115781275A

CN115781275A - Automatically controlled cabinet intelligence assembly line

Info

Publication number: CN115781275A
Application number: CN202211476601.0A
Authority: CN
Inventors: 陈俊; 顾俭; 王军; 黎重; 宋泽州
Original assignee: Suzhou Aoth Intelligent Technology Co ltd
Current assignee: Suzhou Aoth Intelligent Technology Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-03-14

Abstract

The invention discloses an intelligent assembly production line of an electric control cabinet, which comprises a conveying line, wherein a feeding and screwing station, a part clamping station and a blanking station are sequentially arranged on the conveying line; robots A and B are respectively arranged on two sides of a feeding and screwing station, and an execution end of the robot A is switchably connected with a plurality of clamping jaw tools A with different structures through a quick-change device; a screw tightening tool is arranged at the executing end of the robot B and used for fixing parts of the electric control cabinet through screws; a robot C is arranged on one side of the part clamping station, and the execution end of the robot C is connected with a clamping jaw tool C and used for clamping different electric control cabinet parts and clamping the electric control cabinet parts to corresponding positions; and a robot D is arranged on one side of the blanking station, and a clamping jaw tool D is connected to an execution end of the robot D and used for grabbing the bottom plate of the assembled electric control cabinet into the electric control box on one side. Compared with the prior art, the automatic assembling device has the advantages that the automatic assembling of the whole electric control cabinet is realized by designing different clamping jaw tools and conveying lines, the production cost is reduced, and the pollution to electric elements is reduced.

Description

Automatically controlled cabinet intelligence assembly line

Technical Field

The invention relates to the technical field of electric control cabinet production, in particular to an intelligent electric control cabinet assembly production line.

Background

With the development of society, electrical control gradually becomes an important component of various mechanical products, such as engineering machinery, agricultural machinery, heavy machinery, chemical machinery, intelligent manufacturing lines and the like, and relates to industries including agriculture, industrial petrochemical industry, electric power, automation, environmental protection and the like; the existing electric control system is usually assembled by using traditional low-voltage electric appliances such as various circuit breakers, contactors and relays and modern intelligent control equipment such as a PLC, a frequency converter and a touch screen to form an electric control cabinet, and meanwhile, the functions of control, measurement, signal, protection, regulation and the like of the control system are combined together and installed on a production site, equipment or in a control room.

Along with the continuous development of mechanical equipment, the requirements on automation, intellectualization, digitization and the like are higher and higher, the inside of an electric control cabinet is also more and more complex, and therefore the assembly process requirement of the control cabinet is more and more complex, but the assembly process is still mostly finished by manpower at present, and because the components and parts in the cabinet are various in types, the sizes of the parts are different, the weight difference is large, the wiring is complicated, so the problems of different assembly standards, low efficiency, high error rate, high assembly cost and the like often occur. In addition, the electric control cabinet is assembled manually, and the electric elements are polluted by carrying of material personnel.

Therefore, the assembly mode of the electric control cabinet is urgently required to be changed, the traditional mode is broken through, an automatic and intelligent electric control cabinet intelligent manufacturing production line is introduced, the production cost of products is reduced, and full-automatic control is realized.

Disclosure of Invention

The invention aims to: aiming at the problems in the prior art, the invention provides an intelligent electric control cabinet assembly production line, which realizes the automatic assembly of the whole electric control cabinet by designing different clamping jaw tools and utilizing a conveying line, reduces the production cost and reduces the pollution to electric elements.

The technical scheme is as follows: the invention provides an intelligent assembly production line of an electric control cabinet, which comprises:

the part clamping device comprises a conveying line, a plurality of tool supporting plates and a clamping device, wherein the tool supporting plates are arranged on the conveying line and move on the conveying line;

the automatic clamping device comprises a feeding and screwing station, wherein a robot A and a robot B are respectively arranged on two sides of the feeding and screwing station, and an execution end of the robot A is switchably connected with a plurality of clamping jaw tools A with different structures through a quick-change device and is used for clamping a bottom plate of an electric control cabinet and different electric control cabinet parts onto a tool supporting plate; a screw tightening tool is arranged at the executing end of the robot B and used for fixing parts of the electric control cabinet through screws;

the robot C is arranged on one side of the part clamping station, and an execution end of the robot C is connected with the clamping jaw tool C and used for clamping different electric control cabinet parts and clamping the electric control cabinet parts at corresponding positions;

the automatic feeding device comprises a feeding station, wherein a robot D is arranged on one side of the feeding station, and a clamping jaw tool D is connected to an execution end of the robot D and used for grabbing the bottom plate of the assembled electric cabinet into the electric cabinet on one side.

Further, the conveying line comprises a double-layer speed doubling chain, an elevator and a tooling supporting plate, the double-layer speed doubling chain comprises a double-layer transmission chain, a pair of elevators is arranged at two ends of the double-layer transmission chain, the motion directions of the double-layer transmission chain are opposite, the lowest lifting end of the elevator is flush with the lower transmission chain of the double-layer speed doubling chain, and the highest lifting end of the elevator is flush with the upper transmission chain of the double-layer speed doubling chain; the tooling supporting plate is arranged on the lifter; the elevator is further provided with a gear transmission mechanism for driving the tool supporting plate to move towards the double-layer speed-multiplying chain.

Further, the lift includes lifting support, backup pad, lift cylinder execution end is connected with the backup pad, the backup pad with lifting support connects, lifting support upper surface is placed the frock layer board, be provided with the roll sprocket on the lifting support four corners, roll sprocket upper surface be higher than lifting support surface and with the contact of frock layer board.

Furthermore, a limiting plate is further arranged at one end of the lifting support far away from the double-layer speed-multiplying chain, and the limiting plate is located between the two gears of the rolling chain wheel.

Further, the clamping jaw tooling A comprises three groups;

a first group: the first group of clamping jaw tools A comprise a pair of bottom plate sucking disc claws, a pair of transformer clamping claws and a pair of large support clamping claws, wherein the pair of bottom plate sucking disc claws are connected with a pneumatic actuating mechanism, the pneumatic actuating mechanism is used for controlling the operation of the sucking discs, and each pair of bottom plate sucking disc claws is provided with a plurality of sucking discs; the transformer clamping claw and the large support clamping claw are respectively provided with a bidirectional cylinder for controlling the corresponding clamping claw to clamp the part;

second group: the second group of clamping tools A comprises a switching power supply clamping jaw and a small support clamping jaw, wherein two-way air cylinders are arranged on the switching power supply clamping jaw and the small support clamping jaw, the small support clamping jaw comprises an L-shaped clamping jaw block and an I-shaped clamping jaw block, and a small support is clamped between the L-shaped clamping jaw block and the I-shaped clamping jaw block; the switching power supply clamping jaw comprises a pair of inverted L-shaped clamping jaw strips, one clamping jaw strip is provided with a strip-shaped hole, and the strip-shaped holes are used for staggering mounting screws of a switching power supply;

third group: the third group of clamping tools A comprise guide rail clamping claws, wire groove clamping claws and overload protector clamping claws; the guide rail clamping jaw and the wire groove clamping jaw are connected to a base of the clamping tool A through an extension rod; the guide rail clamping jaw comprises a support and a pair of electromagnets embedded on the support, the electromagnets are connected with a power supply, and a sensor is arranged between the pair of electromagnets and used for sensing whether the pair of electromagnets is adsorbed to the guide rail; the end face of the support, which is in contact with the guide rail, is provided with a convex structure which is matched with the section of the guide rail; the wire casing clamping jaw comprises two pairs of supporting rods, each pair of supporting rods is arranged on one bidirectional cylinder, each pair of supporting rods is arranged in parallel, two pairs of supporting rods are arranged on the inner sides of two ends of the wire casing in a supporting mode, and the overload protector clamping jaw is identical to the transformer clamping jaw in structure.

Further, the screw tightening tool comprises a screw feeding mechanism, a screw feeding pipe and a tightening executing mechanism, the screw feeding mechanism is connected with the screw feeding pipe, the other end of the screw feeding pipe is connected with the tightening executing mechanism, the tightening executing mechanism comprises a screw bearing head, a tightening gun and a tightening shaft, the screw feeding mechanism arranges messy screws according to requirements through a gas circuit to utilize the screw feeding pipe to convey the screw bearing head, the tightening shaft is located above the screw bearing head, the tightening shaft is connected with the tightening gun, and the tightening gun is provided with an upper and lower adjusting mechanism for adjusting the upper and lower positions of the tightening gun.

Furthermore, clamping jaw frock C is special servo tongs, including servo motor, drive mechanism and card material finger, servo motor execution end is connected with card material finger through drive mechanism.

Further, the clamping jaw tool D comprises a sucker component and a gripper component, the sucker component adsorbs the upper surface of the bottom plate, the gripper component is a clamping jaw with the same structure as a clamping jaw of the transformer, and the transformer is clamped on the surface of the bottom plate; the clamping jaw tool D further comprises an electric cabinet clamping jaw, the electric cabinet clamping jaw comprises a pair of clamping plates, one clamping plate is arranged on the slide rail and connected with an air cylinder execution end, and rubber pads are arranged on the gripper assembly and the electric cabinet clamping jaw.

The clamping jaw fixture A is characterized by further comprising a quick-change support for placing the clamping jaw fixture A, wherein the quick-change support comprises three platforms, the three platforms are arranged on the cross-shaped support, a pair of limiting pins are arranged on each platform, and a sensor is further arranged on each platform; when the clamping jaw tool A is placed on the quick-change support, the limiting pin is inserted into a limiting hole of a quick-change device connected with the clamping jaw tool A.

Furthermore, the robot A, the robot B and the robot C are provided with visual components, each visual component comprises an inverted visual camera and a circular light source arranged on the periphery of the visual camera.

Has the advantages that:

1. the intelligent assembling line for the electric control cabinet can realize the assembly of parts of the electric control cabinet in a full-automatic telephone, the clamping of different parts of the electric control cabinet is realized by utilizing a plurality of clamping jaw tools which are designed autonomously, the tool supporting plate drives the bottom plate of the electric control cabinet to move through the conveying line, and the assembling work of the whole parts of the electric control cabinet is completed through the feeding station, the screw tightening station and the blanking station. Compare traditional manual assembly, utilize the robot to drive clamping jaw frock and assemble and can reduce the pollution to electrical element, reduce artificial intervention, improve the assembly accuracy, raise the efficiency. And, the clamping jaw frock of different structures has been designed according to concrete part needs, and the adaptability is stronger.

2. In the tooling support plate circulation process, the two ends of the conveying lines utilize the lifters to realize the lifting circulation of the tooling support plate, when the tooling support plate drives the electric control cabinet bottom plate to leave the feeding and screwing station, the lifter on one side drives the tooling support plate on the tooling support plate to ascend, the tooling support plate ascends to the upper-layer conveying line to be leveled, the tooling support plate on the tooling support plate is driven to move to the feeding and screwing station by the gear transmission mechanism, and then the lifter descends to be leveled with the lower-layer conveying line to perform the ascending work of the tooling support plate of the next round. The lower layer conveying line drives the tool supporting plate on the lower layer conveying line to move to the lifter on one side to wait for the lifter to ascend. According to the conveying line designed by the invention, the station from the robot A to the station from the robot D can be connected in series by utilizing the conveying line, so that the circulation of the bottom plate of the electric control cabinet is realized, and the full-automatic back-and-forth circulation of the tooling supporting plate can be realized by the double-layer conveying line.

3. The lifting machine provided by the invention is driven by the air cylinder to realize lifting, and the lifting height of the lifting machine is controlled by the stroke of the air cylinder, so that the automatic control is facilitated. In addition, still set up the limiting plate on lifting support, satisfy the location of bottom plate and the assembly requirement of robot, realize that the bottom plate is long-pending to be put and carry, satisfy the storage and the transport requirement of assembly manufacturing line.

4. Three groups of clamping jaw tools A are designed, the clamping jaw tools A can be matched with parts in an electric control cabinet for assembly, quick replacement of the clamping jaw tools can be realized through a quick-replacement device purchased on the market, no person participates in the replacement of the clamping jaw tools, and the clamping jaw tools are more intelligent. The designed first group of clamping jaw tools are mainly used for realizing the assembly of parts of a bottom plate of an electric control cabinet, a transformer and a large support, and the corresponding clamping jaws are designed to be matched with the corresponding parts. The bottom plate passes through the sucking disc and realizes adsorbing the centre gripping, and transformer weight is great, realizes the centre gripping work of transformer through the high-power transformer gripper jaw of design, as for big support, can realize the centre gripping through a centre gripping big support side and remove. The second group of clamping tools mainly realize the clamping movement of the switching power supply and the small bracket, the third group of clamping tools mainly realizes the clamping of the wire slot, the guide rail and the overload protector, the guide rail is adsorbed by using an electromagnet for clamping the wire slot and the guide rail according to the characteristics of the structure, the wire slot is supported and fixed by using a support rod, and the overload protector is clamped by using a conventional clamping claw. In order to realize the switching of 3 group's centre gripping frocks for robot A, set up a quick change support in robot A one side, 3 that set up on the quick change support are totally the platform and can place 3 centre gripping frocks, carry out spacing fixed through the spacer pin.

5. The invention designs a screw tightening tool to complete the screw fixation of parts on an electric control cabinet, a screw feeding mechanism can be used for vibrating and arranging screws, the screws are conveyed to the tail end of a screw actuating mechanism through a screw conveying pipe, the existing screw vibrating structure can be used in the screw vibrating and arranging process, the screws are arranged in sequence, the screw conveying pipe realizes that the screws move to the position of a screw bearing head through air channel adsorption, a tightening shaft rotates through a tightening gun to drive the screws to rotate, the parts are fixed on a bottom plate, and the fixation of the parts is completed.

6. The clamping jaw tool C is used for clamping part of parts in the wire slot, so that a special servo gripper is adopted, a material clamping finger is driven by a servo motor to clamp part of the parts, and after the material clamping finger is inserted into the wire slot, the part can be loosened by the servo motor to clamp the part in the wire slot. Utilize servo motor can realize snatching and the card material of different components, the adaptability is better.

7. The clamping tool D provided by the invention is provided with 3 groups of clamping jaws, the blanking station aims to take down the assembled bottom plate and assemble the bottom plate into the electric control box, one set of the designed clamping jaws is an electric control box clamping jaw and is larger in structure, the electric control box can be clamped by a clamping plate, the stress is more uniform, the clamping jaw is driven by an air cylinder, electric control box bodies with different widths and a finished electric control cabinet after assembly can be grabbed through different strokes so as to realize feeding and discharging of the electric control cabinet, the electric control box can be placed on a side frame after being clamped, integral grabbing and moving of parts on the bottom plate and the bottom plate are realized through other sucker assemblies and gripper assemblies, and the bottom plate with the mounted elements is grabbed and placed into the electric control box through suction-clamping integrated composite grabbing.

8. The robot A, the robot B and the robot C are respectively provided with the visual components, the visual camera is provided with the positioning photographing positioning system, the visual components on the robot A can position the part in the process that the robot A grabs the part, the visual components on the robot B can realize photographing positioning when the screw is screwed down, the specific position of the screw is determined, and the guiding positioning of the robot B is met. As for the visual subassembly of robot C can realize the location of shooing of part chucking, realize robot C's guide location.

Drawings

FIG. 1 is a top view of the whole structure of the intelligent assembly line of the electric control cabinet of the present invention;

FIG. 2 is a schematic view of the conveyor line structure of the present invention;

FIG. 3 is a schematic view of the elevator of the present invention;

FIG. 4 is a schematic structural view of a first group of clamping jaws of the clamping jaw tooling A of the present invention;

FIG. 5 is a schematic structural view of a second group of clamping jaws of the clamping jaw tooling A of the present invention;

FIG. 6 is a schematic structural view of a third group of clamping jaws of the clamping jaw tooling A of the present invention;

fig. 7 is a schematic structural view of the quick-change bracket of the invention, wherein the first group of clamping claws and the third group of clamping claws are arranged on the quick-change bracket;

FIG. 8 is a schematic structural view of a screw tightening tool according to the present invention;

FIG. 9 is a schematic structural view of a clamping fixture C according to the present invention;

FIG. 10 is a schematic structural view of a clamping fixture D according to the present invention;

FIG. 11 is an enlarged view taken at A in FIG. 6;

FIG. 12 is an enlarged view of FIG. 7 at B;

FIG. 13 is an enlarged view at C of FIG. 7;

FIG. 14 is an enlarged view of FIG. 7 at D;

FIG. 15 is an enlarged view at E of FIG. 8;

fig. 16 is an enlarged view at F in fig. 8.

Wherein, 1-conveying line, 101-tooling pallet, 102-double-layer speed doubling chain, 103-lifting support, 104-support plate, 105-lifting cylinder, 106-limiting plate, 107-rolling chain wheel, 2-loading screwing station, 3-part clamping station, 4-blanking station, 5-robot A, 6-robot B, 7-robot C, 8-robot D, 9-quick-change support, 901-platform, 902-cross support, 903-limiting pin, 10-clamping jaw tooling A, 1001-bottom plate chuck jaw, 1002-transformer chuck jaw, 1003-large support chuck jaw, 1004-switching power supply chuck jaw, 1005-small support chuck jaw, 1006-L chuck jaw block, 1007-I chuck block, 1008-inverted L chuck strip, 1009-strip hole, 1010-guide rail chuck jaw, 1011-trunking chuck jaw, 1012-overload protector chuck jaw, 1013-extension bar, 1014-clamping jaw A base, 1015-clamping jaw, 1016-support, 1016-7-sensor, 10111-clamping screw clamping jaw, 1103-lifting screw clamping mechanism, 1103-lifting cylinder, 13-lifting cylinder, 1103-1202-electromagnet chuck jaw, 13-lifting cylinder, 901-clamping mechanism, 201-clamping mechanism, 1304-clamping plate, 1305-slide rail, 1306-cylinder, 1307-rubber pad, 14-vision assembly, 1401-vision camera, 1402-light source, 15-bottom plate, 16-electric cabinet, 17-guide rail, 18-wire groove, 19-transformer, 20-large bracket and 21-small bracket.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

The invention discloses an intelligent assembly production line of electric control cabinets, which mainly comprises the following structures as shown in figures 1 to 10:

the conveying line 1 is provided with a plurality of tool supporting plates 101 moving on the conveying line 1, and a feeding screwing station 2, a part clamping station 3 and a discharging station 4 are sequentially arranged on the conveying line 1.

A feeding and screwing station 2, wherein a robot A5 and a robot B6 are respectively arranged on two sides of the feeding and screwing station 2, and an execution end of the robot A5 is switchably connected with a plurality of clamping jaw tools A10 with different structures through a quick-change device and is used for clamping an electric control cabinet bottom plate 15 and different electric control cabinet parts onto a tool supporting plate 101; and a screw tightening tool 11 is arranged at the executing end of the robot B6 and used for fixing electric control cabinet parts through screws. Note that the quick-change device used in the present invention is a commercially available quick-change device, one part of which is installed at the robot executing end, and the other part of which is installed on the gripper tool, and the fixation between the two parts of the quick-change device can be controlled by pneumatic control. The robot quick-change device has the electricity, the gas switching function promptly, realizes the requirement of the quick automatic change of operation instrument, and the built-in sensor of quick change body can accept CHUCK end, unchuck end, connects 3 kinds of signals of affirmation end to form the interlocking return circuit. This structure is not the focus of the improvement of the present invention, and will not be described herein.

Part chucking station

3, 3 one sides of part chucking station are provided with robot C7, and the clamping jaw frock C12 is connected to robot C7 execution end for press from both sides and get different automatically controlled cabinet parts and with its chucking in corresponding position.

Unloading station 4, unloading station 4 one side is provided with robot D8, and robot D8 execution end is connected with clamping jaw frock D13 for in the electric cabinet bottom plate 15 snatching the electric cabinet 16 of placing one side of assembling.

The specific structure is shown in attached figures 2 to 10, a conveying line 1 designed by the invention comprises a double-layer speed-multiplying chain 102, a lifter and a tooling supporting plate 101, wherein the double-layer speed-multiplying chain 102 comprises a double-layer transmission chain, a pair of lifters is arranged at two ends of the double-layer transmission chain, the moving directions of the double-layer transmission chain are opposite, the lowest lifting end of the lifter is flush with the lower layer of the double-layer speed-multiplying chain, and the highest lifting end of the lifter is flush with the upper layer of the double-layer speed-multiplying chain; the elevator is provided with a tooling supporting plate 101; the elevator is also provided with a gear transmission mechanism for driving the tool supporting plate 101 to move towards the double-layer speed-multiplying chain. Referring to fig. 2 and 3, the upper transmission chain of the double-layer speed-multiplying chain 102 moves to the left to drive the tooling support plate 101 and the electric control cabinet bottom plate 15 on the tooling support plate 101 to move forward, and sequentially passes through the feeding tightening station 2, the part clamping station 3 and the discharging station 4, and the left side of the feeding tightening station 2 and the discharging station 4 are provided with elevators. When the tooling supporting plate 101 is fed, the elevator drives the tooling supporting plate 101 to ascend, the gear transmission mechanism drives the tooling supporting plate 101 to move to the upper-layer transmission chain, and the elevator descends to be flush with the lower-layer conveying chain after the tooling supporting plate 101 is moved.

The lifting machine comprises a lifting support 103, a support plate 104 and a lifting cylinder 105, wherein the execution end of the lifting cylinder 105 is connected with the support plate 104, the support plate 104 is connected with the lifting support 103, the lifting support 103 is horizontally arranged, a tooling support plate 101 is placed on the upper surface of the lifting support 103, four corners of the lifting support 103 are provided with rolling chain wheel 107 structures, the upper surface of each rolling chain wheel 107 is higher than the surface of the lifting support 103 and is in contact with the tooling support plate 101, in the embodiment, each rolling chain wheel 107 is a double-layer multiple chain conveyor, and the rolling chain wheels 107 rotate to drive the tooling support plate 101 to move forwards. The four corner rolling chain wheels 107 are driven by a driving motor, the output end of the driving motor is connected with the central end of a gear of the rolling chain wheel 107 far away from the double-layer speed-multiplying chain 102, the driving motor drives one gear to rotate, the gear drives the other gear to rotate through a transmission shaft, and thus multi-gear rotation is realized through a chain.

In addition, a limit plate 106 is further provided at one end of the lifting bracket 103 away from the double-layer speed-multiplying chain 102, and the limit plate 106 is located between two gears of the rolling sprocket 107. In the process that the upper-layer transmission chain or the lower-layer transmission chain drives the tooling supporting plate 101 to move, the tooling supporting plate 101 moves to bring the lifting support 103 and then the limiting plate 106 plays a limiting role, limits the tooling supporting plate 101 and is placed to move forward under the action of the rolling chain wheel 107.

Referring to fig. 4 to 6, the jaw tooling a10 includes three sets.

The first group is shown in FIG. 4: the first group of clamping jaw tooling A comprises a pair of bottom plate sucker claws 1001, a pair of transformer clamping claws 1002 and a pair of large support clamping claws 1003, wherein a pneumatic actuating mechanism is connected to the pair of bottom plate sucker claws 1001, the operation of the suckers is controlled through the pneumatic actuating mechanism, and a plurality of suckers are arranged on each pair of bottom plate sucker claws 1001. Specifically, the suction and release of the suction cup can be controlled by the vacuum control device, which is not the focus of the present invention and will not be described herein. The transformer clamping jaw 1002 and the large support clamping jaw 1003 are respectively provided with a bidirectional cylinder for controlling the corresponding clamping jaws to clamp the transformer 19 and the large support 20.

Second group see fig. 5: the second group of clamping tools A comprises a switching power supply clamping claw 1004 and a small support clamping claw 1005, wherein the switching power supply clamping claw 1004 and the small support clamping claw 1005 are both provided with a bidirectional cylinder, the small support clamping claw 1005 comprises an L-shaped clamping jaw block 1006 and an I-shaped clamping jaw block 1007, and the small support 21 is clamped between the L-shaped clamping jaw block 1006 and the I-shaped clamping jaw block 1007; the switching power supply clamping claw 1004 comprises a pair of inverted L-shaped clamping jaw strips 1008, a clamping jaw strip 1008 is provided with a strip-shaped hole 1009, and the strip-shaped hole 1009 is used for staggering mounting screws of the magnetic switching power supply.

The third group is shown in fig. 6: the third group of clamping tools a comprises guide rail clamping claws 1010, wire groove clamping claws 1011 and overload protector clamping claws 1012. The guide rail clamping jaw 1010 and the wire groove clamping jaw 1011 are connected to a clamping jaw tool A base 1014 through an extension bar 1013; the rail clamping claw 1010 comprises a support 1015 and a pair of electromagnets 1016 embedded on the support 1015, the electromagnets 1016 are connected with a power supply, a sensor 1017 is further arranged between the pair of electromagnets 1016 and used for sensing whether the rail 17 is adsorbed, and the diagram of the rail 17 is shown in fig. 7. The end surface of the support 1015 contacting with the guide rail 17 is provided with a convex structure which is matched with the section of the guide rail 17; the wire duct clamping claw 1011 comprises two pairs of support rods 1018, each pair of support rods 1018 is arranged on a bidirectional cylinder, each pair of support rods 1018 is arranged in parallel, and two pairs of support rods 1018 are arranged on the inner sides of two ends of the wire duct 18 in a supporting mode, and the drawing for clamping the wire duct 18 is shown in figure 7. The overload protector clamp 1012 has the same structure as the transformer clamp 1002, and will not be described herein.

The quick-change bracket 9 is structured as shown in fig. 7, the quick-change bracket 9 includes three platforms 901, which are disposed on a cross-shaped bracket 902, each platform 901 is provided with a pair of limit pins 902, and the platform is further provided with a sensor 1017; when the clamping jaw tooling a10 is placed on the quick-change bracket 9, the limit pin 902 is inserted into the limit hole of the quick-change device connected with the clamping jaw tooling a 10.

Referring to fig. 8, a schematic structural diagram of a screw tightening tool is shown, the screw tightening tool 11 includes a screw feeding mechanism 1101, a screw feeding tube 1102, and a tightening actuator, the screw feeding mechanism 1101 is connected to the screw feeding tube 1102, the other end of the screw feeding tube 1102 is connected to the tightening actuator, the tightening actuator includes a screw bearing head 1103, a tightening gun 1104, and a tightening shaft 1105, and the screw feeding mechanism arranges disordered screws as required and delivers the disordered screws to the screw bearing head 1103 by using the screw feeding tube 1102 through an air path. A tightening shaft 1105 is located above the screw carrier head 1103, the tightening shaft 1105 is connected to the tightening gun 1104, and the end of the tightening shaft 1105 mates with the screw structure. In this embodiment, a space is provided inside the screw bearing head 1103, the space can bear one screw, the screw feeding pipe 1102 is connected with the screw bearing head 1103 in an inclined manner, after the screw is fed to the screw bearing head 1103, an air passage in the screw feeding pipe 1102 is disconnected, the screw falls into the screw bearing head 1103 from one end of the screw feeding pipe 1102, and the screw is vertically arranged. The tightening gun 1104 is provided with an up-down adjustment mechanism for adjusting the up-down position of the tightening gun 1104. In this embodiment, the up-down adjusting mechanism is controlled by a pair of adjusting cylinders, the first adjusting cylinder 1106 can drive the whole tightening actuating mechanism to move downwards and move to a target position, the second adjusting cylinder 1107 is used for driving the tightening gun 1104 and the tightening shaft 1105 thereon to move downwards and approach to a screw, and the tightening gun 1104 works to drive the tightening shaft 1105 to rotate, so as to tighten the screw.

Referring to fig. 9, the clamping jaw tooling C12 is designed to be a dedicated servo gripper, and includes a servo motor 1201, a transmission mechanism 1202 and a material clamping finger 1203, wherein an execution end of the servo motor 1201 is connected with the material clamping finger 1203 through the transmission mechanism 1202. Grasping and releasing of the material clamping fingers 1203 are achieved through positive rotation and reverse rotation of the servo motor 1201, the servo motor 1201 is utilized to drive the material clamping fingers 1203 to adjust the rotating distance of the servo motor 1201 in real time according to the external shapes of different elements and the feedback force on the material clamping fingers 1203, and grabbing and material clamping of different elements are facilitated. Referring to fig. 9, in the present embodiment, the transmission mechanism is a conveyor belt, two material clamping fingers 1203 are slidably disposed on a slide rail, the conveyor belt is connected to two rollers, and the two material clamping fingers 1203 are disposed on different sides of the conveyor belt between the two opposite rollers, so that the material clamping fingers 1203 move in opposite directions. The servo motor 1201 drives the transmission belt to drive the two material clamping fingers 1203 to move oppositely, so that clamping work is achieved.

Referring to fig. 10, the clamping jaw tool D13 includes a suction cup assembly 1301 and a gripping hand assembly 1302, the suction cup assembly adsorbs the upper surface of the bottom plate 15, the suction cup structure of the suction cup assembly 1301 designed in the present invention is a cross-shaped suction cup structure, the periphery of the suction cup structure is an arc structure, the suction cup structure is connected with a vacuum pump, and the suction cup adsorption is realized through vacuum, the suction cup structure designed in the present embodiment has stronger adsorption force, and can adsorb the bottom plate 15 assembled with parts, and the gripping hand assembly 1302 is designed, and the gripping hand assembly 1302 is a clamping jaw having the same structure as the transformer clamping jaw 1002 and is used for clamping the transformer 19 fixed on the surface of the bottom plate 15. Thus, the sucker assembly 1301 and the gripper assembly 1302 work together to complete the grabbing of the whole bottom plate 15, and the sucking and clamping integrated composite grabbing grabs the bottom plate with the mounted components and puts the bottom plate into the electric cabinet 16. The clamping jaw tool D13 further comprises an electric cabinet clamping jaw 1303, the electric cabinet clamping jaw 1303 comprises a pair of clamping plates 1304, one clamping plate 1304 is arranged on the sliding rail 1305 and connected with an air cylinder execution end, and rubber pads 1306 are arranged on the gripper assembly 1302 and the electric cabinet clamping jaw 1303. During operation, after the electric cabinet 16 is clamped, the electric cabinet can be placed on a shelf on one side, and the whole grabbing and moving of the bottom plate 15 and parts on the bottom plate 15 are achieved through the other sucker component 1301 and the gripper component 1302.

Specifically, the robot A5, the robot B6 and the robot C7 are respectively provided with a visual component 14, the visual components 14 are directly fixed at the executing end of the robot, and each visual component comprises an inverted visual camera 1401 and a circular light source 1402 arranged at the periphery of the visual camera 1401. See the visual component structure in fig. 4, 7.

The working principle is as follows:

when the electric control cabinet is assembled, firstly, the tooling support plate 101 is sequentially placed at the corresponding position of the double-layer speed-multiplying chain 102, the lifter at one side is started to drive the tooling support plate 101 on the tooling support plate to rise to be flush with the upper-layer conveying line, meanwhile, the rolling chain wheel 107 drives the tooling support plate 101 to pass through the feeding and tightening station 2, the robot A5 is started, the first group of clamping jaw tooling A is utilized to sequentially clamp the bottom plate 15, the transformer 19 and the large support 20 from the bottom plate trolley, the switching power supply trolley and the wire groove guide rail trolley to the corresponding positions, and the transformer 19 and the large support 20 are arranged on the bottom plate 15. The robot A5 utilizes the quick-change support 9 to switch over the second group of clamping jaw frock A, and the switching power supply on the centre gripping switching power supply dolly in proper order and the corresponding position of little support 21 to bottom plate 15 switch over to the third group clamping jaw frock A at last, and guide rail 17, wire casing 18, overload protection ware etc. on the centre gripping wire casing rail dolly in proper order place the corresponding position of bottom plate 15. In the clamping process, the vision component 14 on the robot A5 performs photographing positioning, so that the clamping jaw tool A10 can perform guiding positioning clamping conveniently. Note that: the floor trolley, the switching power supply trolley, the trunking guide rail trolley and the like mentioned in the patent are labeled in a relevant way in figure 1, but the part is not a part needing important protection in the production line, and the trolley structure is not a key point for the production line, so that the trolley is not described in detail in the patent.

After the loading is finished, the robot B6 and the screw feeding mechanism 1101 work, the screw feeding mechanism 1101 sends screws to the position of the screw bearing head 1103 through the screw feeding pipe 1102, the up-down adjusting mechanism drives the tightening gun 1104 to move downwards and drives the tightening shaft 1105 to move downwards to be close to the screws, and the tightening gun 1104 works to drive the tightening shaft 1105 to rotate so as to achieve screw tightening. In the screw positioning process, the vision component 14 on the robot B6 performs photographing positioning, and the robot B6 moves the screw tightening tool 11 to a corresponding position according to a positioning result to perform screw tightening work.

After the screw tightening is completed, robot B6 completes the work, and transfer chain 1 drives the frock layer board 101 on the material loading screws up station 2 and automatically controlled cabinet bottom plate 15 on it and moves forward to part chucking station 3, and robot C7 work utilizes the part chucking that needs the chucking to corresponding position on the clamping jaw frock C12 centre gripping electrical components dolly, and when the chucking, the location of shooing is carried out to vision subassembly 14 on the robot C7, and robot C7 carries out the chucking location according to location structure. Note that: the electric component cart is labeled in fig. 1, but this part is not the part of the production line that needs to be protected in an important way, and the cart structure is not important for the production line, so that the detailed description is not repeated in this patent.

After the part clamping station 3 is completed, the part clamping station moves forwards under the action of the conveying line 1, the part clamping station moves to the blanking station 4, the robot D8 works at the blanking station 4, the whole bottom plate 15 and parts on the bottom plate are clamped and grabbed by the sucker assembly 1301 and the gripper assembly 1302, and then the whole bottom plate and the parts are moved into the electric cabinet 16 which is placed well. The assembly work of the electric cabinet 16 is completed.

After the blanking station 4 is finished, the conveying line 1 continues to move to drive the tooling pallet 101 to move towards the downstream elevator, the elevator drives the tooling pallet 101 on the elevator to descend to be flush with the lower-layer conveying chain, the rolling chain wheel 107 rolls to drive the tooling pallet 101 on the elevator to move towards the lower-layer conveying chain, and the whole assembly process is finished.

The above embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.

Claims

1. The utility model provides an automatically controlled cabinet intelligence assembly line which characterized in that includes:

the conveying line is provided with a plurality of supporting plates moving on the conveying line, and the conveying line is sequentially provided with a feeding and screwing station, a part clamping station and a discharging station;

the automatic assembling device comprises a blanking station, wherein a robot D is arranged on one side of the blanking station, and a clamping jaw tool D is connected to an execution end of the robot D and used for grabbing the bottom plate of the assembled electric control cabinet into the electric control box on one side.

2. The intelligent assembling production line of the electric control cabinets according to claim 1, wherein the conveying line comprises a double-layer speed doubling chain, an elevator and a tooling supporting plate, the double-layer speed doubling chain comprises a double-layer transmission chain, a pair of elevators is arranged at two ends of the double-layer transmission chain, the moving directions of the double-layer transmission chain are opposite, the lowest lifting end of the elevator is flush with the lower transmission chain of the double-layer speed doubling chain, and the highest lifting end of the elevator is flush with the upper transmission chain of the double-layer speed doubling chain; the tooling supporting plate is arranged on the lifter; the elevator is further provided with a gear transmission mechanism for driving the tool supporting plate to move towards the double-layer speed-multiplying chain.

3. The intelligent assembling line for the electric control cabinets according to claim 2, wherein the elevator comprises an elevating support, a support plate and an elevating cylinder, the execution end of the elevating cylinder is connected with the support plate, the support plate is connected with the elevating support, the tooling support plate is placed on the upper surface of the elevating support, rolling chain wheels are arranged on four corners of the elevating support, and the upper surface of each rolling chain wheel is higher than the surface of the elevating support and contacts with the tooling support plate.

4. The intelligent assembly line of electric control cabinets according to claim 3, characterized in that a limiting plate is further arranged at one end of the lifting support far away from the double-layer speed-multiplying chain, and the limiting plate is located between two gears of the rolling chain wheel.

5. The intelligent assembling line for electric control cabinets according to claim 1, wherein the clamping jaw tooling A comprises three groups;

a first group: the first group of clamping jaw tools A comprise a pair of bottom plate sucker claws, a pair of transformer sucker claws and a pair of large support sucker claws, wherein the pair of bottom plate sucker claws are connected with a pneumatic actuating mechanism, the pneumatic actuating mechanism is used for controlling the suckers to work, and each pair of bottom plate sucker claws are provided with a plurality of suckers; the transformer clamping claw and the large support clamping claw are respectively provided with a bidirectional cylinder for controlling the corresponding clamping claws to clamp the part;

second group: the second group of clamping tools A comprises a switching power supply clamping jaw and a small support clamping jaw, wherein the switching power supply clamping jaw and the small support clamping jaw are both provided with a bidirectional cylinder, the small support clamping jaw comprises an L-shaped clamping jaw block and an I-shaped clamping jaw block, and a small support is clamped between the L-shaped clamping jaw block and the I-shaped clamping jaw block; the switching power supply clamping jaw comprises a pair of inverted L-shaped clamping jaw strips, one clamping jaw strip is provided with a strip-shaped hole, and the strip-shaped hole is used for staggering mounting screws of the switching power supply;

third group: the third group of clamping tools A comprises a guide rail clamping jaw, a wire groove clamping jaw and an overload protector clamping jaw; the guide rail clamping jaw and the wire groove clamping jaw are connected to a base of the clamping tool A through an extension rod; the guide rail clamping jaw comprises a support and a pair of electromagnets embedded on the support, the electromagnets are connected with a power supply, and a sensor is arranged between the pair of electromagnets and used for sensing whether the pair of electromagnets is adsorbed to the guide rail; the end face of the support, which is in contact with the guide rail, is provided with a convex structure which is matched with the section of the guide rail; the wire casing clamping jaw comprises two pairs of supporting rods, each pair of supporting rods is arranged on one bidirectional cylinder, each pair of supporting rods is arranged in parallel, two pairs of supporting rods are arranged on the inner sides of two ends of the wire casing in a supporting mode, and the overload protector clamping jaw is identical to the transformer clamping jaw in structure.

6. The intelligent assembling line for the electric control cabinets according to claim 1, wherein the screw tightening tool comprises a screw feeding mechanism, a screw feeding pipe and a tightening executing mechanism, the screw feeding mechanism is connected with the screw feeding pipe, the other end of the screw feeding pipe is connected with the tightening executing mechanism, the tightening executing mechanism comprises a screw bearing head, a tightening gun and a tightening shaft, the screw feeding mechanism is used for arranging disorderly screws according to requirements and conveying the screws to the screw bearing head through the screw feeding pipe through a gas path, the tightening shaft is located above the screw bearing head and connected with the tightening gun, and the tightening gun is provided with an up-down adjusting mechanism for adjusting the up-down position of the tightening gun.

7. The intelligent assembly line of electric control cabinets according to claim 1, wherein the clamping jaw tooling C is a special servo gripper and comprises a servo motor, a transmission mechanism and a material clamping finger, and the actuating end of the servo motor is connected with the material clamping finger through the transmission mechanism.

8. The intelligent assembling line of electric control cabinets according to claim 1, wherein the clamping jaw tooling D comprises a sucker component and a gripping component, the sucker component adsorbs the upper surface of the bottom plate, the gripping component is a clamping jaw with the same structure as a clamping jaw of a transformer, and the clamping jaw clamps the transformer fixed on the surface of the bottom plate; the clamping jaw tool D further comprises an electric cabinet clamping jaw, the electric cabinet clamping jaw comprises a pair of clamping plates, one clamping plate is arranged on the slide rail and connected with an air cylinder execution end, and rubber pads are arranged on the gripper assembly and the electric cabinet clamping jaw.

9. The intelligent assembling line for the electric control cabinets according to claim 5, further comprising a quick-change bracket for placing the clamping jaw tooling A, wherein the quick-change bracket comprises three platforms which are arranged on a cross-shaped bracket, a pair of limiting pins is arranged on each platform, and a sensor is further arranged on each platform; when the clamping jaw tool A is placed on the quick-change support, the limiting pin is inserted into a limiting hole of a quick-change device connected with the clamping jaw tool A.

10. The intelligent assembly line of electric control cabinets according to claim 1, characterized in that the robots A, B and C are provided with vision components, the vision components comprise inverted vision cameras and circular light sources arranged at the periphery of the vision cameras.