CN207058025U - A kind of low-voltage air switch production line for automatically assembling - Google Patents
A kind of low-voltage air switch production line for automatically assembling Download PDFInfo
- Publication number
- CN207058025U CN207058025U CN201720897821.9U CN201720897821U CN207058025U CN 207058025 U CN207058025 U CN 207058025U CN 201720897821 U CN201720897821 U CN 201720897821U CN 207058025 U CN207058025 U CN 207058025U
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- station
- pneumatic
- pallet
- air switch
- robot
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Abstract
A kind of low-voltage air switch production line for automatically assembling, sortation process, assembly station, gland station and the carrying station being sequentially distributed including conveyer belt and along conveyer belt, sortation process include parallel robot, smart camera, sorting photoelectric sensor and sorting fixing device；Assembly station includes two six degree of freedom drag articulation assembly industry robots, assembling photoelectric sensor and assembling fixing device；Gland station includes SCARA robots, gland photoelectric sensor and gland fixing device, and carrying station includes six degree of freedom drag articulation cooperation transfer robot and carry photoelectric sensor.The utility model is designed reasonably, it is simple in construction, can realize low-voltage air switch automatic assembling function, reduce human resources using, reduce labor intensity, improve production efficiency, lifting product qualification rate and guarantee product quality.
Description
Technical field
Low-voltage air switch assembling field is the utility model is related to, especially a kind of low-voltage air switch automatic assembling production
Line.
Background technology
Low-voltage air switch is the significant components of low voltage power distribution network and electric drive system, and its main function is：1. connect
Touch and disjunction circuit；2. powered off when the dangerous situations such as short circuit, heavy overload and under-voltage occur for circuit or electrical equipment
Protection.
The assembling of existing low-voltage air switch more by the way of full man-made assembly there are human resources to take big, labor
The shortcomings such as fatigue resistance is big, low production efficiency and product quality uniformity are low, the theory of modern industry lean production is not met, it is also difficult
To be effectively reduced production cost.
The content of the invention
In order to overcome the human resources of existing low-voltage air switch assembly method to take, big, labor intensity is big, production efficiency
The low deficiency low with product quality uniformity, the utility model offer one kind is reasonable in design, simple in construction, can realize low pressure sky
Air cock automatic assembling function, reduce human resources using, reduce labor intensity, improves production efficiency, lifted product qualification rate
With the low-voltage air switch production line for automatically assembling for ensureing product quality.
Technical scheme is used by the utility model solves its technical problem：
A kind of low-voltage air switch production line for automatically assembling, including conveyer belt and the sorting work that is sequentially distributed along conveyer belt
Position, assembly station, gland station and carrying station, described sortation process include being used for the parallel manipulator for performing part sorting
People, the smart camera for shooting pallet image, he detects the sorting photoelectric sensing whether part pallet reaches sortation process
Device and part pallet to be positioned to the sorting fixing device of sortation process；Described assembly station includes being used to grip respectively
Two six degree of freedoms that air switch specified location is put into after the completion of binding post and static sets of contacts sheet metal and assembling are vertical
Joint assembly industry robot, detecting whether part pallet reaches the assembling photoelectric sensor of assembly station and to by zero
Part pallet is positioned at the assembling fixing device of assembly station；Described gland station includes being used to draw arc-chute, air switch
Top cover air switch specified location and extrude the assembling of top cover and base is completed SCARA robots, detecting part
Whether pallet reaches the gland photoelectric sensor of gland station and is fixed part pallet to be positioned to the gland of gland station
Device, described carrying station include be used for by assemble complete part pallet be carried to from conveyer belt finished product area six freely
Spend drag articulation cooperation transfer robot and to detect the carrying photoelectric sensor whether part pallet reaches carrying station.
Further, in described sortation process, the motion control of the parallel robot by smart camera vision algorithm
To be completed jointly with robot control cabinet, the parallel robot end effector is vacuum generator, by Visual servoing control,
The parallel robot can draw any specified location being placed on air switch part to the pallet on pallet；
The sorting fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control zero
Station where part pallet, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on specifying for sortation process
On position；The sorting photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches sorting work
During the operating position of position, sorting photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock
Cylinder stretches out.
Further, in described assembly station, wherein the gas of a six degree of freedom drag articulation assembly industry robot
Dynamic tong gripping binding post, the pneumatic tong of another six degree of freedom drag articulation industry assembling robot grip static contact
Group sheet metal, two six degree of freedom drag articulation assembly industry robots coordinate the cooperation for completing two parts, and ligand is put
Put the specified location in air switch；The motor program of two six degree of freedom drag articulation assembly industry robots is given birth to by teaching
Into being stored in motion planning and robot control cabinet；
The assembling fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control zero
Station where part pallet, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on specifying for assembly station
On position；The assembling photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches assembler
During the operating position of position, assembling photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock
Cylinder stretches out.
Further, in described gland station, the SCARA robot ends draw arc-chute, and arc-chute is put
The specified location in air switch is put, and draw air switchs top cover and is placed on the base of air switch, the SCARA
Robot end extrudes top cover to ensure that air switch top cover is fitted close with base, the motion journey of the SCARA robots
Sequence is generated by teaching, is stored in motion planning and robot control cabinet；
The gland fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control zero
Gland station where part pallet, Pneumatic tailstock are used for positioning of the pallet in gland station, ensure that pallet is fixed on gland work
In the specified location of position；The gland photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet arrives
During up to gland station operating position, gland photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control
Pneumatic tailstock cylinder stretches out.
In described carrying station, it is described carry photoelectric sensor to control Pneumatic tailstock cylinder stretch out opportunity, when
When part pallet reaches carrying station operating position, carry photoelectric sensor and receive workpiece signal in place, PLC is issued instructions to
Reversal valve control Pneumatic tailstock cylinder stretches out；When carrying photoelectric sensor receives workpiece arriving signal, PLC is to six degree of freedom
Drag articulation cooperation transfer robot enabling signal will be carried to finished product on the tray production line equipped with low-voltage air switch finished product
Area；The motor program of six degree of freedom drag articulation cooperation transfer robot is generated by teaching, is stored in motion planning and robot control cabinet.
The beneficial effects of the utility model are mainly manifested in：It is reasonable in design, simple in construction, low-voltage air switch can be realized
Automatic assembling function, reduce human resources using, reduce labor intensity, improve production efficiency, lift product qualification rate and guarantee
Product quality.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model, and 1 is vertical multi-joint six degree of freedom cooperation transfer robot, and 2 are
SCARA robots, 3 be vertical multi-joint six degree of freedom assembly industry robot, and 4 be part pallet, and 5 be parallel robot, and 6 are
Conveyer belt, 7 be Pneumatic tailstock (sc Standard Cylinders), and 8 be pneumatic baffle (twin shaft cylinder), and 9 be to carry photoelectric sensor.
Fig. 2 is top view of the present utility model.
Fig. 3 is the top view of part pallet, wherein, 11 be part arc-chute, and 12 be arc-chute locating slot, and 13 be terminals
Son, 14 be binding post locating slot, and 15 be pallet positioning hole, and 16 be static sets of contacts sheet metal, and 17 be static sets of contacts positioning
Groove, 18 be low-voltage air switch bottom, and 19 be low-voltage air switch top cover.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
1~Fig. 3 of reference picture, a kind of low-voltage air switch production line for automatically assembling, including sortation process, assembly station, pressure
Lid station and carrying station, it is solid that described sortation process includes parallel robot, smart camera, sorting photoelectric sensor and sorting
Determine device, described assembly station include two six degree of freedom drag articulation assembly industry robots, assembling photoelectric sensor and
Fixing device is assembled, described gland station includes SCARA robots, gland photoelectric sensor and gland fixing device, described
Carrying station include six degree of freedom drag articulation and cooperate transfer robot and to carry photoelectric sensor.
Described sortation process includes Visual servoing control system, the sorting photoelectricity that parallel robot and smart camera form
Sensor and sorting fixing device.The motion control of parallel robot is total to by the vision algorithm and robot control cabinet of smart camera
With completion.End effector of robot is vacuum generator, and by Visual servoing control, robot, which can be drawn, to be arbitrarily placed in
The specified location on air switch part to pallet on pallet.Sorting fixing device includes two pairs of Pneumatic tailstock (sc Standard Gases
Cylinder) and a pair of pneumatic baffles (twin shaft cylinder).Pneumatic baffle is used to control the station where part pallet, and Pneumatic tailstock is used to hold in the palm
Positioning of the disk in station, ensures that pallet is fixed in the specified location of sortation process.Photoelectric sensor is sorted to control gas
On the opportunity that dynamic thimble cylinder stretches out, when part pallet reaches sortation process operating position, sorting photoelectric sensor receives work
Part is just signal, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder and stretched out.
Described assembly station include two drag articulation six degree of freedom assembly industry robots, assembling photoelectric sensor and
Assemble fixing device.The specific works of assembly station are：The pneumatic clamps of one drag articulation six degree of freedom assembly industry robot
Hand grips binding post, and the pneumatic tong of another drag articulation six degree of freedom assembly industry robot grips static sets of contacts gold
Belong to piece, two-shipper coordinates the cooperation for completing two parts.Ligand is placed on to the specified location of air switch.Two drag articulations six
The motor program of free degree assembly industry robot is generated by teaching, is stored in motion planning and robot control cabinet.Assemble photoelectric sensing
Device, the composition for assembling fixing device, effect and control method are identical with sortation process.
Described gland station includes SCARA robots, gland photoelectric sensor and gland fixing device.Gland station
Specific works are：1.SCARA robot ends draw arc-chute, and arc-chute is placed on to the specified location of air switch.2.
Draw air switchs top cover and is placed on the base of air switch.3. extruding top cover, ensure that air switch top cover and base are tight
Close fit.The motor program of SCARA robots is generated by teaching, is stored in motion planning and robot control cabinet.Gland photoelectric sensor,
The composition of gland fixing device, effect and control method are identical with sortation process.
Described carrying station includes six degree of freedom drag articulation cooperation transfer robot and carries photoelectric sensor, and it is led
Act on is that PLC will be equipped with low pressure sky to robot enabling signal when carrying photoelectric sensor receives workpiece arriving signal
AGV is carried on the tray production line of air cock finished product.Six degree of freedom drag articulation cooperation transfer robot motor program by
Teaching generates, and is stored in motion planning and robot control cabinet.The process is final process, therefore is not provided with fixing device, is only being transmitted
The terminal of band is provided with baffle plate.
Before assembling low-voltage air switch, low-voltage air switch top cover and low-voltage air switch bottom are positioned over Fig. 3 first
On specified location, and part arc-chute, static sets of contacts sheet metal and binding post are arbitrarily positioned on part pallet.Will
Part pallet is positioned over transmission rim end, starts low-voltage air switch assembling work.Part pallet reaches parallel robot in Fig. 1
5 positions, i.e., into sortation process.Sortation process include the Visual servoing control system that parallel robot and smart camera form and
Fixing device.Pneumatic baffle cylinder on station stretches out, and pallet is rested in sortation process, photoelectric sensor receives pallet
It is just signal, PLC control Pneumatic tailstocks extend through pallet positioning hole 15 in Fig. 3, complete the positioning of pallet.Robot end holds
Row device is vacuum generator, and by Visual servoing control, robot can draw any air switch zero being placed on pallet
Specified location on part to pallet, i.e., arc-chute in Fig. 3 11 is positioned in Fig. 3 in arc-chute locating slot 12；Wiring in Fig. 3
Terminal 13 is positioned in Fig. 3 middle connecting terminals locating slot 14；Static sets of contacts sheet metal 16 is positioned in Fig. 3 static touch in Fig. 3
In head group sheet metal locating slot 17.After completing all sorting works, PLC control station pneumatics thimble, baffle plate retraction, pallet is with biography
Band is sent to transmit rearward.Part pallet reaches the vertical position of multi-joint six degree of freedom assembly industry robot 3 in Fig. 1, that is, enters dress
With station.Pneumatic baffle cylinder on station stretches out, and pallet is rested in sortation process, and assembling photoelectric sensor receives letter
Number, Pneumatic tailstock extends through pallet positioning hole, completes the positioning of pallet.One vertical multi-joint six degree of freedom assembly industry machine
The pneumatic tong gripping binding post of device people, the pneumatic tong folder of another vertical multi-joint six degree of freedom assembly industry robot
Static sets of contacts sheet metal is taken, completes the cooperation of two parts, and ligand is placed on to the specified location of air switch bottom.Dress
After the completion of allotment of labor makees, station pneumatic thimble, baffle plate recovery, pallet transmit rearward with conveyer belt.Part pallet is reached in Fig. 1
The position of SCARA robots 2, i.e., into gland station.Pneumatic baffle cylinder on station stretches out, and pallet is rested on sortation process
On, gland photoelectric sensor receives signal, and Pneumatic tailstock extends through pallet positioning hole, completes the positioning of pallet.SCARA machines
Arc-chute is drawn in device people end, and arc-chute is placed on to the specified location of air switch, then air switch is drawn into top cover simultaneously
It is placed on the base of air switch, finally extrudes top cover, ensures that air switch top cover is fitted close with base.Gland has worked
Cheng Hou, station pneumatic thimble, baffle plate recovery, pallet transmit rearward with conveyer belt.Part pallet reaches the conveying robot that cooperated in Fig. 1
The position of people 1, that is, enter and carry station, carry photoelectric sensor and receive signal, robot draws low-voltage air switch finished product
Pallet, and pallet is carried to finished product area (AGV) from production line, assembly work all terminates.Source of the gas is by one in said process
Platform air compressor provides.
Claims (5)
- A kind of 1. low-voltage air switch production line for automatically assembling, it is characterised in that：The production line includes conveyer belt and along biography Sortation process, assembly station, gland station and the carrying station that band is sequentially distributed are sent, described sortation process includes being used to perform The parallel robot of part sorting, the smart camera for shooting pallet image, detecting whether part pallet reaches sorting The sorting photoelectric sensor of station and part pallet to be positioned to the sorting fixing device of sortation process；Described assembler Position includes being used for gripping binding post and static sets of contacts sheet metal respectively and is put into air switch specified location after the completion of assembling Two six degree of freedom drag articulation assembly industry robots, detecting the assembling light whether part pallet reaches assembly station Electric transducer and part pallet to be positioned to the assembling fixing device of assembly station；Described gland station includes being used to inhale Arc-chute, air switch top cover are taken in air switch specified location and extrudes the SCARA machines for make it that top cover is completed with base assembling Device people, he detects whether part pallet reaches the gland photoelectric sensor of gland station and part pallet is positioned at into pressure The gland fixing device of lid station, described carrying station include being used to carry the part pallet for assembling completion from conveyer belt To the six degree of freedom drag articulation cooperation transfer robot of finished product area and to detect whether part pallet reaches carrying station Carry photoelectric sensor.
- A kind of 2. low-voltage air switch production line for automatically assembling as claimed in claim 1, it is characterised in that：Described sorting work In position, the motion control of the parallel robot is completed jointly by the vision algorithm and robot control cabinet of smart camera, described Parallel robot end effector is vacuum generator, and by Visual servoing control, the parallel robot can be drawn arbitrarily The specified location being placed on air switch part to the pallet on pallet；The sorting fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Station where disk, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on the specified location of sortation process On；The sorting photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches sortation process work When making position, sorting photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder Stretch out.
- A kind of 3. low-voltage air switch production line for automatically assembling as claimed in claim 1 or 2, it is characterised in that：Described dress With in station, wherein the pneumatic tong gripping binding post of a six degree of freedom drag articulation assembly industry robot, Ling Yitai The pneumatic tong of six degree of freedom drag articulation industry assembling robot grips static sets of contacts sheet metal, and two six degree of freedoms are vertical Joint assembly industry robot coordinates the cooperation for completing two parts, and ligand is placed on to the specified location of air switch；Two The motor program of platform six degree of freedom drag articulation assembly industry robot is generated by teaching, is stored in motion planning and robot control cabinet；The assembling fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Station where disk, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on the specified location of assembly station On；The assembling photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches assembly station work When making position, assembling photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder Stretch out.
- A kind of 4. low-voltage air switch production line for automatically assembling as claimed in claim 1 or 2, it is characterised in that：Described pressure In lid station, the SCARA robot ends draw arc-chute, and arc-chute is placed on to the specified location of air switch, with And draw air switchs top cover and is placed on the base of air switch, the SCARA robot ends extrude top cover to protect Demonstrate,prove air switch top cover to be fitted close with base, the motor program of the SCARA robots is generated by teaching, is stored in robot fortune In dynamic switch board；The gland fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Gland station where disk, Pneumatic tailstock are used for positioning of the pallet in gland station, ensure that pallet is fixed on gland station In specified location；The gland photoelectric sensor is pressed to control the opportunity that Pneumatic tailstock cylinder stretches out when part pallet reaches During lid station operating position, gland photoelectric sensor receives workpiece signal in place, and it is pneumatic that PLC issues instructions to reversal valve control Thimble cylinder stretches out.
- A kind of 5. low-voltage air switch production line for automatically assembling as claimed in claim 1 or 2, it is characterised in that：Described removes Transport in station, the photoelectric sensor of carrying is carried to control the opportunity that Pneumatic tailstock cylinder stretches out when part pallet reaches During station operating position, carry photoelectric sensor and receive workpiece signal in place, PLC issues instructions to the pneumatic top of reversal valve control Pin cylinder stretches out；When carrying photoelectric sensor receives workpiece arriving signal, PLC gives six degree of freedom drag articulation to cooperate and carried Pallet equipped with low-voltage air switch finished product is carried to finished product area by robot enabling signal from production line；Six degree of freedom is vertical The motor program of joint cooperation transfer robot is generated by teaching, is stored in motion planning and robot control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720897821.9U CN207058025U (en) | 2017-07-24 | 2017-07-24 | A kind of low-voltage air switch production line for automatically assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720897821.9U CN207058025U (en) | 2017-07-24 | 2017-07-24 | A kind of low-voltage air switch production line for automatically assembling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207058025U true CN207058025U (en) | 2018-03-02 |
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ID=61517153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720897821.9U Expired - Fee Related CN207058025U (en) | 2017-07-24 | 2017-07-24 | A kind of low-voltage air switch production line for automatically assembling |
Country Status (1)
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| CN (1) | CN207058025U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378476A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of low-voltage air switch production line for automatically assembling |
| CN108788756A (en) * | 2018-08-01 | 2018-11-13 | 福建天广消防有限公司 | A kind of indoor hydrant valve body automatic production line |
| CN109132460A (en) * | 2018-07-11 | 2019-01-04 | 芜湖隆深机器人有限公司 | A kind of robot is from movable pendulum intestines production line |
| CN113910209A (en) * | 2021-11-02 | 2022-01-11 | 南京航空航天大学 | Self-adaptive intelligent assembly system and method for multi-source sensing array antenna |
-
2017
- 2017-07-24 CN CN201720897821.9U patent/CN207058025U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378476A (en) * | 2017-07-24 | 2017-11-24 | 浙江工业大学 | A kind of low-voltage air switch production line for automatically assembling |
| CN107378476B (en) * | 2017-07-24 | 2023-06-27 | 浙江工业大学 | Automatic assembly production line for low-pressure air switch |
| CN109132460A (en) * | 2018-07-11 | 2019-01-04 | 芜湖隆深机器人有限公司 | A kind of robot is from movable pendulum intestines production line |
| CN108788756A (en) * | 2018-08-01 | 2018-11-13 | 福建天广消防有限公司 | A kind of indoor hydrant valve body automatic production line |
| CN113910209A (en) * | 2021-11-02 | 2022-01-11 | 南京航空航天大学 | Self-adaptive intelligent assembly system and method for multi-source sensing array antenna |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180302 Termination date: 20210724 |