CN204685882U - Full part punching line end boxing system - Google Patents

Full part punching line end boxing system Download PDF

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Publication number
CN204685882U
CN204685882U CN201520420783.9U CN201520420783U CN204685882U CN 204685882 U CN204685882 U CN 204685882U CN 201520420783 U CN201520420783 U CN 201520420783U CN 204685882 U CN204685882 U CN 204685882U
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robot
synchronous belt
charging basket
servo synchronous
servo
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张三义
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张三义
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Priority claimed from US15/029,283 external-priority patent/US9656316B2/en
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Abstract

The utility model discloses a kind of full part punching line end boxing system, comprise: robot system is separately positioned on servo synchronous belt system two ends, vision system is connected with PLC, robot system is connected with robot controller, PLC is connected with robot controller, and charging basket and charging basket are changed system and be connected; Part is transported by servo synchronous belt system, vision system obtains part position image information and judges part position deviation, PLC sends position deviation information to robot controller, robot controller control captures part, and puts into corresponding charging basket according to part shape.The utility model beneficial effect: the utility model is by image acquiring device determination part position deviation information, and robot adjusts the position capturing part automatically according to this position deviation information, realize the accurate location to every part part.

Description

Full part punching line end boxing system
Technical field
The utility model relates to automatic producing technology field, particularly relates to a kind of full part punching line end boxing system.
Background technology
Present automobile stamping line major part mounting robot all/manipulator replaces artificial production to form automatic stamping production line, greatly enhance productivity and decrease cost of labor, but after present automatic stamping production line line end part discharging be still hand stowage vanning or the automation vanning just achieving the heavy parts such as gusset, this method greatly hinders the production efficiency of production line, and need the manpower and materials of at substantial, easily cause potential safety hazard.
Chinese patent CN201410315136.1 discloses a kind of automatic assembly line structure of punching structure part, material is produced by production mechanism, and be passed to line tail cutting agency by connecting gear, line tail cutting agency comprises control device, blanking robot and material buttress transfer carriage, control device is connected with blanking robot, and the material that connecting gear is passed to by control device control blanking robot picks up and puts into material buttress transfer carriage.This technology can realize the automatic boxing of material, but, after the position deviation produced with belt conveyer in course of conveying after not considering part discharging and the last part discharging of line, due to the stochastic problems of the part position that artificial quality inspection causes; Meanwhile, the part that the program can only be fixed for shape size carries out the vanning of automation, when design of part changes to some extent, needs to change corresponding transfer carriage, can not realize the automatic boxing of the part for difformity size.Utility model content
The purpose of this utility model is exactly to solve the problem, and propose a kind of full part punching line end boxing system, this system takes into full account the uncertainty of line end part position and part dimension, achieves the automatic boxing of line end part.
To achieve these goals, the utility model adopts following technical scheme:
A kind of full part punching line end boxing system, comprising: servo synchronous belt system, vision system, PLC, robot system, robot controller, charging basket and charging basket change system;
Described robot system is separately positioned on servo synchronous belt system two ends, and vision system is connected with PLC, and robot system is connected with robot controller, and PLC is connected with robot controller, and charging basket and charging basket are changed system and be connected;
Part is transported by servo synchronous belt system, vision system obtains part position image information and judges part position deviation, PLC sends position deviation information to robot controller, robot controller control captures part, and puts into corresponding charging basket according to part shape.
Described servo synchronous belt system comprises: servo-driver, servo synchronous belt and position adjusting mechanism;
Described servo driver drives servo synchronous belt motion, the position of position adjusting mechanism adjustment servo synchronous belt;
Described position adjusting mechanism comprises: firm banking, guide rail and leading screw; Described guide rail is connected with servo synchronous belt, and described leading screw is connected with servo synchronous belt by feed screw nut, and for adjusting the spacing between servo synchronous belt, guide rail and leading screw are separately fixed on firm banking.
Described vision system comprises: image acquiring device and vision auxiliary light system;
Described image acquiring device is connected with PLC, and described image acquiring device and vision auxiliary light system are all arranged on the mounting bracket above servo synchronous belt.
Described robot system comprises: robot, base, end picking-up device for robot, vacuum generator and pressure-reducing valve;
Robot is fixed on servo synchronous belt system both sides by base, and robot is connected with end picking-up device for robot, and pressure-reducing valve is connected with vacuum generator, for end picking-up device for robot provides vacuum pressure to make end picking-up device for robot adsorbent parts.
Described end picking-up device for robot comprises: terminal-collecting machine pole, pole fixed disk, quick replacement manually joint, pneumatic quick-change coupler, sucker and tracheae;
Described terminal-collecting machine pole manually hydraulic quick coupler is fixed on pole fixed disk, and described pole fixed disk is connected with robot by pneumatic quick-change coupler; Each terminal-collecting machine pole arranges some suckers respectively, and described sucker is connected with pneumatic quick-change coupler by tracheae.
Described charging basket is respectively equipped with horizontal strut for placing porose part or for supporting atresia part, prevent part deformation automatically put reset supporting mechanism.
Described reset supporting mechanism of automatically putting comprises: the installation column being separately positioned on the inner left and right sides of charging basket, the installation column of the described left and right sides is oppositely arranged some opposed resets respectively support, described in put reset support and can rotate so that support part on installation column; Part is placed on the opposed reset be oppositely arranged and supports, and after putting into a part, the putting of next part part resets and support automatic in-position so that the putting into of next part part.
The beneficial effects of the utility model are:
The utility model is by image acquiring device determination part position deviation information, and robot adjusts the position capturing part automatically according to this position deviation information, realize the accurate location to every part part.
The utility model synchronous belt ensure part non-slip on belt feeder, realize part and belt feeder synchronous operation, also assures that belt and synchronizing wheel non-slip, the distance that belt is passed by and servomotor output distance.
The utility model can carry out position adjustment to adapt to various part demand when changing different part to servo synchronous belt according to data during pilot teaching.
The utility model, for porose part and atresia part, is provided with different charging baskets respectively, achieves the automatic discharge in good order of part.
Accompanying drawing explanation
Fig. 1 is the utility model overall structure schematic diagram;
Fig. 2 is the utility model servo synchronous belt position adjusting mechanism structural representation;
Fig. 3 is the utility model end picking-up device for robot structural representation;
Fig. 4 (a) is the utility model quick replacement manually joint female part structural representation;
Fig. 4 (b) is the utility model quick replacement manually joint male part structural representation;
Fig. 5 (a) puts reset supporting mechanism initial position structural representation automatically for the utility model;
Fig. 5 (b) automatically puts reset supporting mechanism for the utility model and places structural representation after part;
Wherein, 1. servo synchronous belt, 2. mounting bracket, 3. auxiliary light system, 4. smart camera, 5. position adjusting mechanism, 6. robot system, 7. charging basket, 8. security protection system, 9.AGV dolly, 10.AGV trolley track, 11. recovery areas, 12. guide rails, 13. leading screws, 14. feed screw nuts, 15. firm bankings, 16. start hydraulic quick coupler, 17. pole fixed disks, 18. quick replacement manually joints, 19. poles, 20. suckers, 21. tracheaes, 22. female part, 23. handles, 24. manual hold down gags, 25. holddown springs, 26. male part, 27. grooves, 28. install column, 29. put the support that resets, the part of 30. atresias.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the utility model is described further:
Be to be understood that, the quantity of servo synchronous belt 1, vision system, robot and the charging basket 7 related in the utility model embodiment is a kind of detailed description of the invention that the present embodiment provides, those skilled in the art have the ability to carry out sets itself to the quantity of each part according to actual needs, and have the ability according to the relative position of each part of corresponding quantity adjustment System.
A kind of full part punching line end boxing system, as shown in Figure 1, comprising: servo synchronous belt system, vision system, PLC, robot system 6, robot controller, charging basket 7, charging basket change system and security protection system 8;
Described robot system 6 is separately positioned on servo synchronous belt system two ends, and vision system is connected with PLC, and robot system 6 is connected with robot controller, and PLC is connected with robot controller, and charging basket 7 and charging basket are changed system and be connected;
Part is transported by servo synchronous belt system, vision system obtains part position image information and judges part position deviation, PLC sends position deviation information to robot controller, robot controller control captures part, and puts into corresponding charging basket 7 according to part shape.
System components function is described below:
A, servo synchronous belt system, be made up of 4 servo synchronous belts 1 and position adjusting mechanism 5 thereof.The position of 4 servo synchronous belts 1 is adjusted to adapt to the demand of various part and the part of line end discharging is accurately transported to Mei Tai robot material grasping station position by position adjusting mechanism 5.Each servo synchronous belt 1 all passes through servo driver drives.
Position adjusting mechanism 5 comprises: firm banking 15, guide rail 12 and leading screw 13; Guide rail 12 is connected with servo synchronous belt 1, for supporting servo synchronous belt 1 and playing the guiding role when adjusting servo synchronous belt 1 position, leading screw 13 is connected with servo synchronous belt 1 by feed screw nut 14, for adjusting the spacing between servo synchronous belt 1, guide rail 12 and leading screw 13 are separately fixed on firm banking 15.
B, vision system, form by a set of vision acquisition device and with 12 cover vision auxiliary light systems 3.
Vision system comprises: image acquiring device and vision auxiliary light system 3; Image acquiring device is connected with PLC, and image acquiring device and vision auxiliary light system 3 are all arranged on the mounting bracket 2 above servo synchronous belt 1.
The major function of vision acquisition device is, when part is carried on servo synchronous belt 1, part is taken pictures, and calculate the differential location of current part with the standardized element position versus provided during debugging, and sending position deviation information to PLC, PLC sends position deviation information to robot controller; Vision auxiliary light system 3 major function is, it is different that accessorial visual acquisition device adapts to various weather light, meets the demand that vision acquisition device is taken pictures when exposing.
The present embodiment vision acquisition device selects COGNEX smart camera 4, and accessorial visual acquisition device selects PHILIPS vision auxiliary light.
C, robot system 6, comprise 4 cover punching press carrying special purpose robots, Mei Tao robot is separately fixed on corresponding base.Punching press carrying special purpose robot major function, after the positional information provided by COGNEX smart camera 4 is accurately located current part, carries the part of coming to be carried in charging basket 7 servo synchronous belt 1.The major function of mounting seat is the fixing punching press carrying special purpose robot of firm stable.
Robot system 6 also comprises end picking-up device for robot, and end picking-up device for robot provides vacuum pressure to carry out adsorbent parts by vacuum system, often overlaps end picking-up device for robot and forms primarily of 4 terminal-collecting machine poles 19, quick replacement manually joint 18, some suckers 20 and tracheae 21.Terminal-collecting machine pole 19 manually hydraulic quick coupler 18 is fixed on pole fixed disk 17, and pole fixed disk 17 is connected with robot by pneumatic quick-change coupler 16; Each terminal-collecting machine pole 19 arranges some suckers 20 respectively, sucker 20 is connected with pneumatic quick-change coupler 16 by tracheae 21, major function is according to various External Shape adjustment sucker 20 position, provides power to draw part so that robot transport by vacuum system.
Quick replacement manually joint 18 structure is as shown in Fig. 4 (a) He Fig. 4 (b), comprise: female and male two parts, female part 22 is bolted on terminal-collecting machine pole fixed disk 17, female mid portion is provided with the hole of inserting male, near the position in hole, manual hold down gag 24 is set, manual hold down gag 24 is provided with handle 23 and holddown spring 25, realizes the fixing of female and male and be separated by handle 23 by pressing spring; The groove 27 matched with manual hold down gag 24 is provided with at male part 26.
During use, press holddown spring 25 by handle 23, manual hold down gag 24 is pressed, manual hold down gag 24 is separated with hole, after inserting male, trip spring, manual hold down gag 24 snaps in the groove 27 li that male is arranged, and with this fixing male, male is fixedly connected with female; When needing to be separated, press holddown spring 25 by handle 23, manual hold down gag 24 is pressed, extracts male.
Often overlap vacuum system to be made up of two SCHMALZ vacuum generators and some tracheaes 21, tracheae 21 joint, vacuum system provides power by air-channel system, and air-channel system is made up of SMC filtering pressure reducing valve and some tracheaes 21.
D, charging basket 7 and charging basket change system, and charging basket 7 adds horizontal strut or mechanical type puts the needs that reset supporting mechanism meets robot vanning automatically.Take suspension type for porose part to deposit, namely in charging basket 7, increase by one or more horizontal strut, realize the suspension of part for the hole place of suspension hardware or lower recess; For atresia or keep flat plate and made mechanical type and automatically put reset support 29, the support automatic in-position of next part part after putting into a part is so that putting into of lower part part.
Automatically reset supporting mechanism is put as shown in Figure 5, comprise: the installation column 28 being separately positioned on the inner left and right sides of charging basket 7, the installation column 28 of the described left and right sides is oppositely arranged some opposed reset supports 29 respectively, described in put reset support 29 can installation column 28 on rotate so that support part; Part is placed in the opposed reset support 29 that is oppositely arranged, after putting into a part, next part part put reset support 29 automatic in-position so that the putting into of next part part.
Often overlapping charging basket replacing system adopts AGV dolly 9 to change, and AGV dolly 9 runs along its orbit, and AGV trolley track 10 is through between full charging basket 7 district and empty charging basket 7 district.
The effect of E, PLC is the image location information receiving image acquiring device, and image location information and the standardized element positional information provided during debugging are compared, obtain the position deviation information of part, and gained position deviation information is sent to robot controller.Positional information is the location coordinate information of part in belt feeder plane.Comprise X-direction, Y-direction and the anglec of rotation around Z-direction.
The effect of robot controller is the part position deviation information according to receiving, and control accurately moves to part position, and captures part and deposit.
In addition, full part punching line end boxing system also comprises: some remote I/O substations, PROFACE touch-screen etc., to realize the Long-distance Control to boxing system.
The course of work of the utility model full part punching line end boxing system is specific as follows:
(1) carry out quality inspection to part, the part after quality inspection enters servo synchronous belt 1 and transmits; Whether quality inspection is quality inspection part is pieces O.K., and OK charging basket 7 put into by pieces O.K., puts into NG charging basket 7 for defective.
Use four narrow servo synchronous belts, 1 pair of part to transport, every bar servo synchronous belt 1 can according to the shape facility adjustment position of different part.
(2) obtain part image, judge whether image obtains successfully; If Image Acquisition success, judges part position information according to image information, part position information and the standardized element positional information provided during debugging are compared, draws part position deviation information;
If Image Acquisition is unsuccessful, then part enters recovery area 11;
(3) part enters robot and captures station, and robot captures part, and judges whether the part grabbed is porose part;
For porose part, put into the charging basket 7 with the horizontal strut for suspension hardware;
For the part 30 of atresia, put into the charging basket 7 with automatically putting reset supporting mechanism, after putting into a part, the support automatic in-position of next part part is so that putting into of next part part.
(4) if current charging basket 7 is full, then etc. after charging basket 7 to be replaced, then part is put into charging basket 7.
After the part discharging of line end, because whether needs artificial quality inspection inspection part is qualified, the part therefore after discharging may manually be crossed with conation and there is randomness position.The utility model uses smart camera 4 to take pictures to every part part, the position deviation information drawing every part part is compared again with part position during pilot teaching, the position deviation information drawn is sent to PLC, PLC sends information to robot controller, robot controller adjusts the position of part crawl automatically according to this position deviation information, realizes the accurate location to every part part.
Can produce position deviation with belt conveyer in course of conveying after part discharging, the position deviation information after causing vision to be taken pictures and physical location deviation inconsistent, robot accurately cannot capture part.The utility model uses servo synchronous belt 1, servo ensures the accurate distance that part is carried on belt feeder after vision is taken pictures, synchronous belt ensures part non-slip part and belt feeder synchronous operation on belt feeder, also assures that the distance that belt and the non-slip belt of synchronizing wheel are passed by and the distance that servomotor exports.
The different part height that varied has low shape indefinite, four narrow servo synchronous belts 1 are used in the utility model, every bar servo synchronous belt 1 can according to the shape facility adjustment position of different part, and the data according to the standardized element positional information provided during debugging carry out position adjustment to adapt to various part demand when changing different part to four servo synchronous belts 1.
Different part shape is different, same charging basket 7 cannot be used to deposit, take suspension type deposit in the utility model for porose part, namely in charging basket 7, increase by one or more horizontal strut, realizes the suspension of part for the hole place of suspension hardware or lower recess; For atresia or keep flat plate and made mechanical type and automatically put reset support 29, the support automatic in-position of next part part after putting into a part is so that putting into of lower part part.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.

Claims (7)

1. a full part punching line end boxing system, is characterized in that, comprising: servo synchronous belt system, vision system, PLC, robot system, robot controller, charging basket and charging basket change system;
Described robot system is separately positioned on servo synchronous belt system two ends, and vision system is connected with PLC, and robot system is connected with robot controller, and PLC is connected with robot controller, and charging basket and charging basket are changed system and be connected;
Part is transported by servo synchronous belt system, vision system obtains part position image information and judges part position deviation, PLC sends position deviation information to robot controller, robot controller control captures part, and puts into corresponding charging basket according to part shape.
2. a kind of full part punching line end as claimed in claim 1 boxing system, it is characterized in that, described servo synchronous belt system comprises: servo-driver, servo synchronous belt and position adjusting mechanism;
Described servo driver drives servo synchronous belt motion, the position of position adjusting mechanism adjustment servo synchronous belt;
Described position adjusting mechanism comprises: firm banking, guide rail and leading screw; Described guide rail is connected with servo synchronous belt, and described leading screw is connected with servo synchronous belt by feed screw nut, and for adjusting the spacing between servo synchronous belt, guide rail and leading screw are separately fixed on firm banking.
3. a kind of full part punching line end as claimed in claim 1 boxing system, it is characterized in that, described vision system comprises: image acquiring device and vision auxiliary light system;
Described image acquiring device is connected with PLC, and described image acquiring device and vision auxiliary light system are all arranged on the mounting bracket above servo synchronous belt.
4. a kind of full part punching line end as claimed in claim 1 boxing system, it is characterized in that, described robot system comprises: robot, base, end picking-up device for robot, vacuum generator and pressure-reducing valve;
Robot is fixed on servo synchronous belt system both sides by base, and robot is connected with end picking-up device for robot, and pressure-reducing valve is connected with vacuum generator, for end picking-up device for robot provides vacuum pressure to make end picking-up device for robot adsorbent parts.
5. a kind of full part punching line end as claimed in claim 4 boxing system, it is characterized in that, described end picking-up device for robot comprises: terminal-collecting machine pole, pole fixed disk, quick replacement manually joint, pneumatic quick-change coupler, sucker and tracheae;
Described terminal-collecting machine pole manually hydraulic quick coupler is fixed on pole fixed disk, and described pole fixed disk is connected with robot by pneumatic quick-change coupler; Each terminal-collecting machine pole arranges some suckers respectively, and described sucker is connected with pneumatic quick-change coupler by tracheae.
6. part punching line end as claimed in claim 1 a kind of full boxing system, is characterized in that, described charging basket is respectively equipped with horizontal strut for placing porose part or for supporting atresia part, prevent part deformation automatically put reset supporting mechanism.
7. a kind of full part punching line end as claimed in claim 6 boxing system, it is characterized in that, described reset supporting mechanism of automatically putting comprises: the installation column being separately positioned on the inner left and right sides of charging basket, the installation column of the described left and right sides is oppositely arranged some opposed resets respectively support, described in put reset support and can rotate so that support part on installation column; Part is placed on the opposed reset be oppositely arranged and supports, and after putting into a part, the putting of next part part resets and support automatic in-position so that the putting into of next part part.
CN201520420783.9U 2015-06-17 2015-06-17 Full part punching line end boxing system Active CN204685882U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520420783.9U CN204685882U (en) 2015-06-17 2015-06-17 Full part punching line end boxing system

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
CN201520420783.9U CN204685882U (en) 2015-06-17 2015-06-17 Full part punching line end boxing system
US15/029,283 US9656316B2 (en) 2015-06-17 2015-11-02 Automatic packing system and method at press line full-part end
DE212015000199.7U DE212015000199U1 (en) 2015-06-17 2015-11-02 Automatic magazine loading system for any parts at the end of a punching line
JP2016600102U JP3207214U (en) 2015-06-17 2015-11-02 Automatic boxing equipment for all parts at the end of the press line
PCT/CN2015/093585 WO2016045645A1 (en) 2015-06-17 2015-11-02 System and method for automatically packing all parts at end of stamping line
MX2017015363A MX2017015363A (en) 2015-06-17 2015-11-02 System and method for automatically packing all parts at end of stamping line.
JP2017183125A JP6506808B2 (en) 2015-06-17 2017-09-25 How to operate an automatic boxing system for all parts at the end of a press line

Publications (1)

Publication Number Publication Date
CN204685882U true CN204685882U (en) 2015-10-07

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CN201520420783.9U Active CN204685882U (en) 2015-06-17 2015-06-17 Full part punching line end boxing system

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104942178A (en) * 2015-06-17 2015-09-30 张三义 Automatic packing system in full-component press line end and method
WO2016045645A1 (en) * 2015-06-17 2016-03-31 济南达宝文汽车设备工程有限公司 System and method for automatically packing all parts at end of stamping line
CN107992000A (en) * 2017-11-13 2018-05-04 河南森源电气股份有限公司 A kind of intelligent industrial production method and system for merging autonomous navigation vehicle
CN109911705A (en) * 2018-12-09 2019-06-21 江苏一澜智能科技有限公司 A kind of automatic transfer method of paper tube
CN110442082A (en) * 2019-07-19 2019-11-12 东风小康汽车有限公司重庆分公司 The method for improving boxing system precision

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104942178A (en) * 2015-06-17 2015-09-30 张三义 Automatic packing system in full-component press line end and method
WO2016045645A1 (en) * 2015-06-17 2016-03-31 济南达宝文汽车设备工程有限公司 System and method for automatically packing all parts at end of stamping line
US9656316B2 (en) 2015-06-17 2017-05-23 Jinan Doublewin Automobile Equipment Engineering Co., Ltd. Automatic packing system and method at press line full-part end
CN107992000A (en) * 2017-11-13 2018-05-04 河南森源电气股份有限公司 A kind of intelligent industrial production method and system for merging autonomous navigation vehicle
CN109911705A (en) * 2018-12-09 2019-06-21 江苏一澜智能科技有限公司 A kind of automatic transfer method of paper tube
CN110442082A (en) * 2019-07-19 2019-11-12 东风小康汽车有限公司重庆分公司 The method for improving boxing system precision
CN110442082B (en) * 2019-07-19 2020-08-14 东风小康汽车有限公司重庆分公司 Method for improving precision of automatic boxing system

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