CN204504862U - A kind of industrial robot FMC - Google Patents
A kind of industrial robot FMC Download PDFInfo
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- CN204504862U CN204504862U CN201520156914.7U CN201520156914U CN204504862U CN 204504862 U CN204504862 U CN 204504862U CN 201520156914 U CN201520156914 U CN 201520156914U CN 204504862 U CN204504862 U CN 204504862U
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Abstract
The utility model proposes a kind of industrial robot FMC, comprise robot, automatic feed bin that ring-type is arranged on robot surrounding and Digit Control Machine Tool group, be arranged on on-line measuring device between Digit Control Machine Tool group, be arranged on the safety device of automatic feed bin side, be arranged on control device outside safety device, robot, automatic feed bin, Digit Control Machine Tool group, on-line measuring device are all connected with control device, and Digit Control Machine Tool group comprises the first Digit Control Machine Tool, the second Digit Control Machine Tool, the 3rd Digit Control Machine Tool; Control device comprises and is arranged on console outside safety device, is all arranged on host computer on console and I/O controller, host computer is provided with hub, the I/O module that I/O controller comprises master control PLC and is connected with master control PLC.The utility model utilizes information network technique to be connected together by production unit, has production efficiency high, and real-time tool wear compensation Product Precision is good, the advantage that security performance is high.
Description
Technical field
The utility model relates to a kind of industrial robot FMC, and particularly a kind of industrial robot FMC processing motor workpiece, belongs to industrial robot processing technique field.
Background technology
In recent years, in China's equipment manufacture, industrial robot is widely applied, as in the operations such as blank manufacture (punching press, die casting, forging etc.), loading and unloading, machining, welding, heat treatment, surface coating, assembling, detection and piling, have and used industrial robot to replace artificial successful case.Can predict, equipment manufacture will become the another large industrial robot application after automobile industry.
Based on the automatic machining cell of industrial robot, it is the first step that equipment manufacture makes the transition from traditional mode of production pattern to industrial automation.Use information technology and network technology on this basis, all automatic machining cells to be connected together and the large automatic production line formed is the Typical Representative of high-end equipment, that development advanced manufacturing technology realizes the digitlization of production line, networking and intelligentized important means, be the basis realizing the upgrading and optimization of industrial structure and " two change fusion ", its sharpest edges are the high efficiency and the consistency problem that solve production.
The processing of existing motor workpiece, assembling and packaging are all undertaken by manual operation Digit Control Machine Tool, machining accuracy is poor, manual operation load is large and dangerous, and production scale is also very limited, information technology is not used to connect together with network technology between each machining cell yet and the large automatic production line formed.For expanding the scale of production, improve the quality of production, production capacity and production efficiency, a kind of motor workpiece large automatic production line utilizing information network technique industrial robot and Digit Control Machine Tool to be combined of necessary research and development.
Utility model content
The utility model proposes a kind of industrial robot FMC, solve motor Workpiece Machining Accuracy in prior art poor, manual operation load is large and dangerous, and production scale is limited, does not use the technical problem that information network technique connects together between each machining cell.
The technical solution of the utility model is achieved in that a kind of industrial robot FMC, comprise robot, automatic feed bin that ring-type is arranged on described robot surrounding and Digit Control Machine Tool group, the control device that is arranged on on-line measuring device between described Digit Control Machine Tool group, is arranged on described Digit Control Machine Tool group side, described robot, described automatic feed bin, described Digit Control Machine Tool group, described on-line measuring device are all connected with described control device.Described Digit Control Machine Tool group comprises the first Digit Control Machine Tool, the second Digit Control Machine Tool, the 3rd Digit Control Machine Tool closing and be arranged on described robot surrounding.
As further technical scheme, described control device comprises console, is all arranged on host computer on described console and I/O controller, described host computer is provided with hub, the I/O module that described I/O controller comprises master control PLC and is connected with described master control PLC.
As further technical scheme, described first Digit Control Machine Tool, described second Digit Control Machine Tool, described 3rd Digit Control Machine Tool, described master control PLC are connected with described hub by TCP/IP mode.
As further technical scheme, described on-line measuring device is connected with described host computer by RS485 mode.
As further technical scheme, described robot, described automatic feed bin and described I/O model calling.
As further technical scheme, also comprise the safety device being arranged on described automatic feed bin side, described safety device comprises safe fence, the safety door be arranged on described safe fence, be arranged on described safety door and lock and audible-visual annunciator with the electricapparatus of described I/O model calling.
As further technical scheme, also comprise and be arranged on the other casual inspection device of described automatic feed bin, described casual inspection device comprises the sampling observation conveyer belt being arranged on described automatic feed bin side, and described sampling observation conveyer belt one end is provided with the off-line detection device that RS485 mode is connected with described host computer.
As further technical scheme, described automatic feed bin comprises feed bin base, the feed bin rotating disk be arranged on described feed bin base, circumference are arranged on feed bin station on described feed bin rotating disk, be arranged on described feed bin base and near the blank feeding device of described feed bin station and finished parts blanking device.
As further technical scheme, described robot comprises and lands the robot base arranging installation, the robot hand be arranged on described robot base.
The utility model beneficial effect is:
1, adopt the advantages such as " island " work sheet metaset High-efficient Production, stable operation, saving space in one, being suitable for various space situations carries out operation, the operation of particularly common narrow space occasion.
2, also use information technology connect together with network technology and form automatic production line between each machining cell, expand production scale, improve the quality of production, production capacity and production efficiency.
3, the dimensional accuracy of on-line checkingi processing work, real-time tool wear compensation is carried out according to data result, thus ensure that machining accuracy, and on-line checkingi does not take Digit Control Machine Tool process time in Digit Control Machine Tool outside, not by the Accuracy of Digit Control Machine Tool own, production efficiency is high, and accuracy of detection is good.
4, the process of workpiece is all in safe fence inside and carries out, whole operation area is for closing depopulated zone, there is the advantage of handling safety, audible-visual annunciator is as the security system aid of whole line safety device, can in equipment start-stop, fault, reload, the various unusual condition such as loading and unloading fault and equipment alarm notifies that operating personnel process when occurring in time, has the advantage that security is high.
5, all production informations transmit by network, and manager can the ruuning situation of the automatic machining cell of remote real-time monitoring, and the automatic record of all creation data historical production datas, can be had access at any time by network, greatly facilitate production management.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model control structure frame line chart;
Fig. 3 is utility model works flow chart.
In figure: 1-robot, 11-robot base, 12-robot hand, 2-automatic feed bin, 21-feed bin base, 22-feed bin rotating disk, 23-feed bin station, 24-blank feeding device, 25-finished parts blanking device, 3-Digit Control Machine Tool group, 31-first Digit Control Machine Tool, 32-second Digit Control Machine Tool, 33-the 3rd Digit Control Machine Tool, 4-on-line measuring device, 5-safety device, 51-safe fence, 52-safety door, 53-electricapparatus is locked, 54-audible-visual annunciator, 6-control device, 61-console, 62-host computer, 63-I/O controller, 631-master control PLC, 632-I/O module, 64-hub, 7-casual inspection device, 71-inspects conveyer belt by random samples, 72-off-line detection device.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Fig. 1 ~ Fig. 2, a kind of industrial robot FMC embodiment that the utility model proposes, it comprises:
The control device 6 that robot 1, ring-type be arranged on the automatic feed bin 2 of robot 1 surrounding and Digit Control Machine Tool group 3, be arranged on on-line measuring device 4 between Digit Control Machine Tool group 3, be arranged on Digit Control Machine Tool group 3 side, robot 1, automatic feed bin 2, Digit Control Machine Tool group 3, on-line measuring device 4 are all connected with control device 6.Digit Control Machine Tool group 3 comprises the first Digit Control Machine Tool 31, second Digit Control Machine Tool 32, the 3rd Digit Control Machine Tool 33 that are arranged on robot 1 surrounding, three Digit Control Machine Tools are digital control flexible machining tool, can automatically change cutter and fixture as required, process different workpiece.
Robot 1 is six axle joint type transportation industrial robots of model JL020, Digit Control Machine Tool group 3 is the oblique lathe bed Digit Control Machine Tool of model C K40, wherein the 3rd Digit Control Machine Tool 33 adopt can self centering high-precision hydraulic mandrel (rotating accuracy 0.003mm) as grip unit, be used for meeting the requirement of workpiece turn-over working axiality high (0.012mm).Whole automation machining cell adopts " island " structure to arrange, robot 1 adopts console mode to install, centered by robot 1, Digit Control Machine Tool group 3, automatic feed bin 2 and on-line measuring device 4 do annular configuration around robot 1, the Workpiece transfer of equipment room is carried out by robot 1, the advantages such as " island " work sheet metaset High-efficient Production, stable operation, saving space are in one, and being suitable for various space situations carries out operation, the operation of particularly common narrow space occasion.
Control device 6 comprises console 61, is all arranged on host computer 62 on console 61 and I/O controller 63, host computer 62 is provided with the I/O module 632 that hub 64, I/O controller 63 comprises master control PLC631 and is connected with master control PLC631.
First Digit Control Machine Tool 31, second Digit Control Machine Tool 32, the 3rd Digit Control Machine Tool 33, master control PLC631 are connected with hub 64 by TCP/IP mode, on-line measuring device 4 is connected with host computer 62 by RS485 mode, and robot 1, automatic feed bin 2 are connected with I/O module 632.
On-line measuring device 4 is used for detecting the dimensional accuracy of processing work intermediate bearing aperture position and with o ring recess seam, and host computer 62 will be sent to after data number, the digital control system of corresponding Digit Control Machine Tool is fed back to again by host computer 62, digital control system carries out real-time tool wear compensation according to the data received, and ensures the machining accuracy of next workpiece.If workpiece sensing result is within the margin of tolerance required, it is qualified to assert, if testing result is defective, then system gives the alarm, notify that staff checks respective counts controlled machine, avoid the generation of substandard products in batch, and detect action and carry out in Digit Control Machine Tool outside, do not take Digit Control Machine Tool process time, not by the Accuracy of Digit Control Machine Tool own, production efficiency is high, and accuracy of detection is good.
Embodiment also comprises the safety device 5, the safety device 5 that are arranged on automatic feed bin 2 side and comprises the safe fence 51 got up by equipment enclosing, the safety door 52 be arranged on safe fence 51, to be arranged on safety door 52 and the electricapparatus be connected with I/O module 632 locks 53 and audible-visual annunciator 54.
Audible-visual annunciator 54 as the security system aid of whole line safety device 5, can in equipment start-stop, fault, reload, the various unusual condition such as loading and unloading fault and equipment alarm notifies that operating personnel process when occurring in time.The process of workpiece is all in safe fence 51 inside, and whole operation area is for closing depopulated zone, and anyone wants to enter this region can only by safety door 52.Safety door 52 is locked 53 by the electricapparatus be connected with I/O module 632 and is locked with master control PLC631, thus detects the open and-shut mode of safety door 52.When safety door 52 is opened, robot is anxious to stop, and prevents personnel's injury accident.The emergent stop signal of master control PLC631, the safety interlocking signal of Digit Control Machine Tool group 3, robot 1, automatic feed bin 2 and on-line measuring device 4 is all connected into master control PLC631, carries out interlocking control by the program of master control PLC631.
Embodiment also comprises the casual inspection device 7 being arranged on automatic feed bin 2 side, and casual inspection device 7 comprises the sampling observation conveyer belt 71 being arranged on automatic feed bin 2 side, and sampling observation conveyer belt 71 one end is provided with the off-line detection device 72 that RS485 mode is connected with host computer 62.
Automatic feed bin 2 comprises feed bin base 21, the feed bin rotating disk 22 be arranged on feed bin base 21, circumference are arranged on feed bin station 23 on feed bin rotating disk 22, be arranged on feed bin base 21 and near the blank feeding device 24 of feed bin station 23 and finished parts blanking device 25.
Automatic feed bin 2 adopts six station turnplate formula automatic feed bins, feed bin has six stations, each station can put ten workpiece, and wherein workpiece is carried out lifting by blank feeding device 24 and finished parts blanking device 25 by two stations, and these two stations are blank feeding station and finished parts discharge station.Before going into operation, by operating personnel, five stations of other except finished parts discharge station are put blank, a workpiece, at blank feeding station material grasping, is often caught away by robot 1, blank feeding device 24, by automatic for station lifting, makes robot capture all at same position at every turn; Machine rear robot 1 and workpiece is put into finished parts discharge station, often place a finished product, station sinks automatically, makes each blowing of robot 1 also at same position.After the workpiece of a station all captures, automatic feed bin 2 automatic rotation station, hole capital after selling all securities becomes finished parts discharge station, next station becomes blank feeding station, processing continues circulation and goes down, until whole blank completion of processing, system-down, operating personnel take off whole workpiece, replace with blank, carry out the processing of next batch, in addition, after feed bin rotates 3 times, operating personnel also can take out exposing the workpiece that two stations of safe fence 51 have machined and change unprocessed blank, make automation cell can not shut down running continuously to go down, significantly reduce the labour intensity of workman, improve production efficiency.
Be provided with sampling observation conveyer belt 71 automatic feed bin 2 is other, the workpiece machined can be placed into sampling observation conveyer belt 71 takes out by robot 1 and test.Generally can inspect by random samples every 5 or 10 workpiece, can prevent from like this causing substandard products in bulk because Digit Control Machine Tool goes wrong to form, ensure that the quality of work pieces process.
Robot 1 comprises and lands the robot base 11 arranging installation, the robot hand 12 be arranged on robot base 11.
Host computer 62 comprises display and the PC control software of man-machine interaction, and PC control software mainly contains lathe monitoring function, feed bin monitoring function, supervisory control of robot function, master control PLC monitoring function, checkout gear controlling functions, in real time automatic tool integrated abrasion compensation, production management function etc.; Host computer 62 carries out detection control as the industrial computer of on-line measuring device 4 to the crudy of workpiece; Master control PLC631 is responsible for the process, condition monitoring, safeguard protection etc. of interactive signal between several robot 1, automatic feed bin 2, controlled machine group 3, safety device 5.
Master control PLC631 provides condition monitoring to Digit Control Machine Tool group 3 and controlling functions, comprise warning, alarm history, register, cutter benefit, machine tool position, procedure, feeding multiplying power, rapid traverse multiplying power, main shaft multiplying power etc., the real-time running state of automatic feed bin 2 and robot 1 can be monitored, control between each unit mutual, guarantee each unit safety, reliably process operation, control on-line measuring device 4 according to machining state simultaneously and detect workpiece, the wearing and tearing of auto-compensation cutter, improve machining accuracy.
The workflow of whole machining cell is determined by the program of robot in master control PLC631, and the I/O signal of each equipment carries out communication and logical operation by master control PLC631, coordinates the sequence of movement of each equipment, and that guarantees processing carries out the safety with equipment smoothly.
Host computer 62 mainly realizes the real time monitoring of system, by being that the Ethernet of communication modes is connected with master control PLC631 with three lathes of Digit Control Machine Tool group 3 with TCP/IP, on-line monitoring also records the duty, parameter, I/O signal etc. of the equipment such as Digit Control Machine Tool group 3, robot 1, automatic feed bin 2, programming count processing work quantity, finished product quantity, quantity scrapped.On-line measuring device 4 and off-line detection device 72 are contacted by RS485 interface (MODBUS bus protocol) and host computer 62, host computer 62 is sent to carry out showing and record the workpiece data detected and other detection signal etc., host computer 62 will detect data feedback to the machine tool numerical control system of each lathe in Digit Control Machine Tool group 3, automatic tool benefit is carried out, without the need to manual operation again according to the detection data of feedback.All production informations transmit by network, manager can the ruuning situation of the automatic machining cell of remote real-time monitoring, and the automatic record of all creation data historical production datas, can be had access at any time by network, greatly facilitate production management, for enterprise MES system provides the foundation condition.
As shown in Figure 3, for the course of work of the utility model processing motor front end cover, whole process motor front end cover need through clamping, twice manufacturing procedure, in process, workpiece needs to carry out turn-over operation, and the first manufacturing procedure time was probably the twice of the second manufacturing procedure time, namely the process time of the first manufacturing procedure and the second manufacturing procedure is the relation of 2:1, so arrange the first Digit Control Machine Tool 31, second Digit Control Machine Tool 32 all carries out the first manufacturing procedure, 3rd Digit Control Machine Tool 33 carries out the second manufacturing procedure, the processing beat of such three number of units controlled machines is connected closely, after entering recurrent state, Digit Control Machine Tool does not have the time of idle waiting substantially, ensure that the maximise operating efficiency of Digit Control Machine Tool.Twice clamping operation in process has been come by robot 1, and turn-over operation has been come by on-line measuring device 4.
During work, motor front end cover blank is first taken off clamping from automatic feed bin 2 by robot 1, then is moved to the first Digit Control Machine Tool 31 and carry out the first manufacturing procedure, robot 1 takes off blank clamping from automatic feed bin 2 more afterwards, then is moved to the second Digit Control Machine Tool 32 and carry out the first manufacturing procedure equally, carry out the first Digit Control Machine Tool 31 afterwards and change part, robot 1 takes off blank clamping from automatic feed bin 2 and moves to the first Digit Control Machine Tool 31 and carry out the first manufacturing procedure, the workpiece simultaneously the first Digit Control Machine Tool 31 being completed the first manufacturing procedure takes off, and move to on-line measuring device 4 and carry out turn-over operation and detection, detect qualified rear robot 1 to be moved to the 3rd Digit Control Machine Tool 33 and carry out the second manufacturing procedure, move to automatic feed bin 2 after process finishing and carry out blowing, carry out the second Digit Control Machine Tool 32 afterwards and change part, robot 1 takes off blank clamping from automatic feed bin 2 and moves to the second Digit Control Machine Tool 32 and carry out the first manufacturing procedure, the workpiece simultaneously the second Digit Control Machine Tool 32 being completed the first manufacturing procedure takes off, and move to on-line measuring device 4 and carry out turn-over operation and detection, detect qualified rear robot 1 to be moved to the 3rd Digit Control Machine Tool 33 and carry out the second manufacturing procedure, move to automatic feed bin 2 after process finishing and carry out blowing, above step circulates successively, if on-line measuring device 4 testing result is defective, then robot 1 defective workpiece is put into blank feeding station wait for again process to realize automatic makeup cutter function, if the number of times carrying out the second manufacturing procedure is the multiple of five, so, workpiece is delivered to sampling observation conveyer belt 71 and is moved to off-line detection device 72 and carry out offline inspection by robot 1.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (9)
1. an industrial robot FMC, it is characterized in that: comprise robot (1), automatic feed bin (2) that ring-type is arranged on described robot (1) surrounding and Digit Control Machine Tool group (3), the control device (6) that is arranged on on-line measuring device (4) between described Digit Control Machine Tool group (3), is arranged on described Digit Control Machine Tool group (3) side, described robot (1), described automatic feed bin (2), described Digit Control Machine Tool group (3), described on-line measuring device (4) are all connected with described control device (6); Described Digit Control Machine Tool group (3) comprises the first Digit Control Machine Tool (31), the second Digit Control Machine Tool (32), the 3rd Digit Control Machine Tool (33) that are arranged on described robot (1) surrounding.
2. a kind of industrial robot FMC according to claim 1, it is characterized in that: described control device (6) comprises console (61), is all arranged on host computer (62) on described console (61) and I/O controller (63), described host computer (62) is provided with hub (64), the I/O module (632) that described I/O controller (63) comprises master control PLC (631) and is connected with described master control PLC (631).
3. a kind of industrial robot FMC according to claim 2, is characterized in that: described first Digit Control Machine Tool (31), described second Digit Control Machine Tool (32), described 3rd Digit Control Machine Tool (33), described master control PLC (631) are connected with described hub (64).
4. a kind of industrial robot FMC according to claim 2, is characterized in that: described on-line measuring device (4) is connected with described host computer (62).
5. a kind of industrial robot FMC according to claim 2, is characterized in that: described robot (1), described automatic feed bin (2) are connected with described I/O module (632).
6. a kind of industrial robot FMC according to claim 2, it is characterized in that: also comprise the safety device (5) being arranged on described automatic feed bin (2) side, described safety device (5) comprises safe fence (51), the safety door (52) be arranged on described safe fence (51), be arranged on that described safety door (52) is upper and the electricapparatus be connected with described I/O module (632) locks (53) and audible-visual annunciator (54).
7. a kind of industrial robot FMC according to claim 2, it is characterized in that: also comprise and be arranged on the other casual inspection device (7) of described automatic feed bin (2), described casual inspection device (7) comprises the sampling observation conveyer belt (71) being arranged on described automatic feed bin (2) side, and described sampling observation conveyer belt (71) one end is provided with the off-line detection device (72) be connected with described host computer (62).
8. a kind of industrial robot FMC according to claim 1, is characterized in that: described automatic feed bin (2) comprises feed bin base (21), the feed bin rotating disk (22) be arranged on described feed bin base (21), circumference are arranged on feed bin station (23) on described feed bin rotating disk (22), it is upper and near the blank feeding device (24) of described feed bin station (23) and finished parts blanking device (25) to be arranged on described feed bin base (21).
9. a kind of industrial robot FMC according to claim 1, is characterized in that: described robot (1) comprises and lands the robot base (11) arranging installation, the robot hand (12) be arranged on described robot base (11).
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| CN106125670A (en) * | 2016-07-29 | 2016-11-16 | 深圳市艾宇森自动化技术有限公司 | A kind of CNC board management system |
| CN107511544A (en) * | 2017-07-06 | 2017-12-26 | 东莞市隆凯塑胶五金制品有限公司 | Mould steel material automates processing unit module |
| CN107538091A (en) * | 2017-07-06 | 2018-01-05 | 东莞市隆凯塑胶五金制品有限公司 | Mould graphite automates processing unit module |
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| CN110202388A (en) * | 2019-05-17 | 2019-09-06 | 成都飞机工业（集团）有限责任公司 | A kind of small size part automatic production line and production method |
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