CN207522591U - A kind of puma manipulator of intelligent surface process for producing system - Google Patents
A kind of puma manipulator of intelligent surface process for producing system Download PDFInfo
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- CN207522591U CN207522591U CN201721402639.8U CN201721402639U CN207522591U CN 207522591 U CN207522591 U CN 207522591U CN 201721402639 U CN201721402639 U CN 201721402639U CN 207522591 U CN207522591 U CN 207522591U
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Abstract
The utility model is related to a kind of puma manipulators of intelligent surface process for producing system,Including central control system and ceiling mounting type manipulator,Central control system is equipped with robot drives module and the corresponding activation process time module of station with being surface-treated production system,First washing time module,Copper pre-plating time module,Alkali Copper treatment time module,Second washing time module,Without the white processing time module of nickel,Third washing time module,Passivation time module,4th washing time module,Predrainage, which is disputed, drenches time module,Hot water wash time module,Drying time module,Time value gripping roller of the ceiling mounting type manipulator according to set by each time module, which enters in corresponding station, periodically to be processed,Ceiling mounting type manipulator is easy for installation to occupy little space,Gripping workpiece, which is moved on corresponding station, completes processing,Full process automatization operates,It uses manpower and material resources sparingly,Reduce labor intensity,Accurate control process time,Improve product qualification rate,Guaranteed quality.
Description
Technical field
The utility model is related to production fields, and in particular to a kind of puma manipulator of intelligent surface process for producing system.
Background technology
In electroplating industry, it is electroplated and is broadly divided into rack plating, barrel plating, continuously plates and brush plating is several, wherein barrel plating refers to a spiral shell
Large quantities of small parts such as gadget are placed in dedicated roller on silk, luggage accessory, button, zipper accessory, automobile, in rolling condition
The lower mode being energized to conductor wire on workpiece make piece surface deposited metal coating, with reach incrustation protection and various productions
The requirement of product different functionalities is a kind of plating processing method, but uses the production line of above-mentioned barrel plating mode converted products just
It is barrel plating production line, barrel plating production line currently on the market mainly has following defect：First, manual work, labor intensity is big, from
Dynamicization degree is low, and working efficiency is low, can not meet production requirement；Second is that liquid medicine used in plating has human body certain wound
Evil, manual work are directly in contact with liquid, influence health, and acid mist, alkali mist in production process, contain in air
Cyanide, chromic anhydride etc. can all bring human body serious harm；Third, workshop is equipped with a large amount of personnel on site's converted products, once
The operating personnel of a certain process operate process time inaccuracy, lead to product surface overlong time or too short, will reduce product
Qualitative effects normally produce.
In order to solve drawbacks described above, it is necessary to a kind of environmentally friendly production system of fully-automatic intelligent surface treatment is researched and developed, to reduce
To the dependence of manpower in production process, and using which kind of handbarrow travelling workpiece and workpiece is accurately controlled in this production system
It is a great problem for being badly in need of solving in the process time of different station.
Utility model content
In view of the problems of the existing technology, the utility model provides a kind of intelligence of intelligent surface process for producing system
Manipulator can reduce employment and occupy little space, and can accurately control the process time of each station, and specific technical solution is as follows：
A kind of puma manipulator of intelligent surface process for producing system, including central control system and ceiling mounting type manipulator,
It is surface-treated production system and is successively equipped with upper material position, activation process station, the first wash station, copper pre-plating successively by manufacturing procedure
Station, the second wash station, handles station, third wash station, passivation station, the 4th washing without nickel at alkali Copper treatment station in vain
Station, predrainage, which are disputed, drenches station, hot water wash station, Drying station and feed station, and upper material position, which is equipped with, has detected whether roller
Sensor, central control system be equipped with robot drives module and activation process time module corresponding with above-mentioned station,
First washing time module, alkali Copper treatment time module, the second washing time module, is handled without nickel copper pre-plating time module in vain
Time module, third washing time module, passivation time module, the 4th washing time module, predrainage, which are disputed, drenches time module, heat
Washing time module, drying time module, when the sensor detection of upper material position has workpiece, robot drives module drive ceiling mounting type
Mechanical hand starting, time value gripping roller of the ceiling mounting type manipulator according to set by each time module enter timing in corresponding station
Processing.
As a kind of preferred embodiment of the utility model, the ceiling mounting type manipulator include column, sliding rail, mobile mechanism and
Manipulator ontology, column are fixedly mounted on above the ground, are fixedly mounted sliding rail above column, and sliding rail is slidably connected manipulator sheet
Body, mobile mechanism's driving manipulator ontology are moved along sliding rail extending direction, and manipulator ontology includes base rotating mechanism, ancon revolves
Rotation mechanism, wrist rotating mechanism, finger rotating mechanism, base rotating mechanism drive ancon rotating mechanism, wrist rotating mechanism, hand
Refer to rotating mechanism to rotate integrally, ancon rotating mechanism drives wrist rotating mechanism, finger rotating mechanism to rotate integrally, wrist rotation
Mechanism drives finger rotating mechanism to rotate integrally, and finger rotating mechanism drives roller rotation.
As a kind of preferred embodiment of the utility model, the mobile mechanism include shift servo motor, gear, rack and
Sliding block, shift servo motor are fixedly mounted on sliding rail one end, shift servo motor output shaft connection gear, gear pinion rack,
Rack is fixedly mounted on the base back surface of manipulator ontology, and pedestal both ends are slidably connected sliding rail.
As a kind of preferred embodiment of the utility model, base rotating mechanism includes pedestal and base servo motor, ancon
Rotating mechanism includes ancon arm and ancon servo motor, and wrist rotating mechanism includes wrist arm and wrist servo motor, finger rotation
Rotation mechanism includes finger and finger servo motor, and base servo motor is mounted at pedestal upper center, and base servo motor is driven
Dynamic ancon arm rotation, ancon arm front end installation ancon servo motor, the driving wrist arm rotation of ancon servo motor, wrist arm front end
Wrist servo motor, the driving finger rotation of wrist servo motor, finger front end installation finger servo motor, finger servo electricity are installed
Machine drives workpiece to rotate by connecting flange.
As a kind of preferred embodiment of the utility model, the base servo motor, ancon servo motor, wrist servo electricity
Machine, finger Serve Motor Control analog circuit modulation system be PWM control.
As a kind of preferred embodiment of the utility model, the track route of ceiling mounting type manipulator gripping workpiece is S-shaped or U-shaped
Or L-shaped or a shape or O shapes or M shapes or double I I shapes or E shapes or T shapes or J-shaped or H-shaped or F shapes or V-arrangement or Y shape or D-shaped or A shapes or
C-shaped or X-shaped.
The beneficial effects of the utility model：Puma manipulator is made of central control system and ceiling mounting type manipulator, furred ceiling
Formula manipulator is easy for installation to occupy little space, and ceiling mounting type manipulator is set in advance according to each time module of central control system
The time parameter set, gripping workpiece, which is moved on corresponding station, completes processing, full process automatization operation, according to different productions
Product choose different puma manipulator traveling rail to adapt to produce, and use manpower and material resources sparingly, and reduce labor intensity, using PLC with
PCD computers connect flexibly accurate control process time, and choose distinct program in different processing stations produces using to coordinate, and improves
Product qualification rate accelerates speed of production and promotes the output value, guaranteed quality.
Description of the drawings
Fig. 1 is the puma manipulator track route schematic diagram of the utility model；
Schematic diagram when Fig. 2 is the furred ceiling manipulator installing mechanism embodiment 1 of the utility model；
Schematic diagram when Fig. 3 is the furred ceiling manipulator installing mechanism embodiment 2 of the utility model；
Schematic diagram when Fig. 4 is the furred ceiling manipulator installing mechanism embodiment 3 of the utility model；
Schematic diagram when Fig. 5 is the furred ceiling manipulator installing mechanism embodiment 4 of the utility model；
Schematic diagram when Fig. 6 is the furred ceiling manipulator installing mechanism embodiment 5 of the utility model；
Fig. 7 is the block diagram of the utility model；
Fig. 8 is the structure diagram of the furred ceiling manipulator of the utility model；
Fig. 9 is the structure diagram of the manipulator ontology of the utility model；
Figure 10 is the structure schematic diagram of the mobile mechanism of the utility model；
Figure 11 is the installation diagram of each servo motor of manipulator ontology of the utility model.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described further：
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instructions such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
The utility model must have specific with the position or element for simplifying description rather than instruction or hint meaning for ease of description
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally
Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it is above-mentioned that concrete condition understanding can be regarded
Concrete meaning of the term in the utility model.
As shown in Fig. 1~7, a kind of puma manipulator of intelligent surface process for producing system, including 1 He of central control system
Ceiling mounting type manipulator 2, surface treatment production system by manufacturing procedure successively successively be equipped with upper material position 31, activation process station 32,
First wash station 33, alkali Copper treatment station 35, the second wash station 36, handles station 37, without nickel at copper pre-plating station 34 in vain
Three wash stations 38, passivation station 39, the 4th wash station 310, predrainage, which are disputed, drenches station 311, hot water wash station 312, drying
Station 313 and feed station 314, for those skilled in the art, upper material position 1, which is equipped with, detects whether roller 4
Sensor, sensor can be weighing sensor or fibre optical sensor, after workpiece is reached on the weighing platform of upper material position 1, weigh
Sensor sensing has the light beam that workpiece issues instructions to central control system 1 or fibre optical sensor is sent out to be stopped by workpiece
Afterwards, fibre optical sensor issues instructions to central control system 1, and activation process station 32, the first wash station 33, strike copper plating
Position 34, the second wash station 36, handles station 37, third wash station 38, passivation station without nickel at alkali Copper treatment station 35 in vain
39th, dispute leaching station 311, hot water wash station 312, Drying station 313 of the 4th wash station 310, predrainage is separately installed with activation
Processing unit, water washing device, copper plating device, alkali Copper treatment device, water washing device, without the white processing unit of nickel, water washing device, passivation
Dispute shower device, hot water cleaning device, drying device of device, water washing device, dehydration is the state of the art, no longer tired herein
It states, how the device of corresponding station, which has no effect on work pieces process puma manipulator gripping roller 4, is moved, and feed station 314 is pacified
Equipped with conveyer so that the workpiece processed is transported to next station.
Specifically, central control system 1 be equipped with robot drives module 11 and respectively with activation process station 32, the first water
It washes station 33, copper pre-plating station 34, alkali Copper treatment station 35, the second wash station 36, handle station 37, third washing in vain without nickel
Station 38, passivation station 39, the 4th wash station 310, predrainage dispute and drench station 311, hot water wash station 312, Drying station 313
Corresponding activation process time module 12, the first washing time module 13, copper pre-plating time module 14, alkali Copper treatment time mould
Block 15, the second washing time module 16, without the white processing time module 17 of nickel, third washing time module 18, passivation time module
19th, the 4th washing time module 110, predrainage, which are disputed, drenches time module 111, hot water wash time module 112, drying time module
113, operator can require according to the processing technology of different workpieces, by program setting in advance activation process time module 12,
First washing time module 13, copper pre-plating time module 14, alkali Copper treatment time module 15, the second washing time module 16, nothing
It is the white processing time module 17 of nickel, third washing time module 18, passivation time module 19, the 4th washing time module 110, pre- de-
Water is disputed the time drenched and each module is set in time module 111, hot water wash time module 112, drying time module 113, feeding
When the sensor detection of position 31 is equipped with the roller 4 of workpiece in place, robot drives module 11 drives ceiling mounting type manipulator 2 to start,
Time value gripping roller 4 of the ceiling mounting type manipulator 2 according to set by each time module, which enters in corresponding station, periodically to be processed, accurately
Process time is controlled, reduces error, improves product quality, qualification rate.
Specifically, the track route that ceiling mounting type manipulator 3 grips workpiece is S-shaped or U-shaped or L-shaped or a shape or O shapes or M shapes
Double I I shapes or E shapes or T shapes or J-shaped or H-shaped or F shapes or V-arrangement or Y shape or D-shaped or A shapes or C-shaped or X-shaped etc. it is a variety of, form is more
Sample, applied widely, the track route of workpiece is according to upper material position 31, activation process station 32, the first wash station 33, preplating
Coppersmith position 34, the second wash station 36, handles station 37, third wash station 38, passivation work without nickel at alkali Copper treatment station 35 in vain
The 39, the 4th wash station 310 of position, predrainage, which are disputed, drenches station 311, hot water wash station 312, Drying station 313 and feed station 314
Layout and the rail that sets coordinates production requirement, Fig. 1 is zigzag schematic diagram, when these stations arrange it is in alignment
When, 3, ceiling mounting type manipulator need one, one shape of track route.It is dotted portion in Fig. 1 that optimal track route, which is S-shaped, station
Layout is set as S-shaped, and ceiling mounting type manipulator 3 uses 3, the setting exchange position between adjacent machine hand, to prevent interfering, 3
Platform manipulator concurrently-acting driving drum 4 is processed in different station, is independent of each other, and efficiently uses space, accelerates production
Speed.
As shown in FIG. 8 and 9, ceiling mounting type manipulator 2 includes column 21, sliding rail 22, mobile mechanism 23 and manipulator ontology 24,
Column 21 is fixedly mounted on above the ground, and the top of column 21 is fixedly mounted sliding rail 22, and sliding rail 22 is slidably connected manipulator ontology 24,
23 driving manipulator ontology 24 of mobile mechanism is moved along 22 extending direction of sliding rail, and manipulator ontology 24 includes base rotating mechanism
241st, ancon rotating mechanism 242, wrist rotating mechanism 243, finger rotating mechanism 244, base rotating mechanism 241 drive ancon rotation
Rotation mechanism 242, wrist rotating mechanism 243, finger rotating mechanism 244 rotate integrally, and ancon rotating mechanism 242 drives wrist rotation
Mechanism 243, finger rotating mechanism 244 rotate integrally, and wrist rotating mechanism 243 drives finger rotating mechanism 244 to rotate integrally, hand
Referring to rotating mechanism 244 drives roller 4 to rotate.
As shown in Figure 10, mobile mechanism 23 includes shift servo motor 23a, gear 23b, rack 23c and sliding block 23d, moves
Dynamic servo motor 23a is fixedly mounted on 22 one end of sliding rail, shift servo motor output shaft connection gear 23b, gear 23b engaging tooths
23c, rack 23c are fixedly mounted on the pedestal 241a back sides of manipulator ontology 24, and pedestal 241a both ends are slidably connected sliding rail 22,
Servo motor 23a drive gears 23b is rotated, gear 23b drive racks 23c movements, and rack 23c is whole with manipulator ontology 24
It is mobile to be moved to corresponding processing stations so as to grip roller 4.
As shown in figs. 9 and 11, base rotating mechanism 241 includes pedestal 241a and base servo motor 241b, ancon rotation
Mechanism 242 includes ancon arm 242a and ancon servo motor 242b, and wrist rotating mechanism 243 includes wrist arm 243a and wrist is watched
Motor 243b is taken, finger rotating mechanism 244 includes finger 244a and finger servo motor 244b, base servo motor installation 241b
At pedestal 241a upper centers, base servo motor 241b driving ancon arm 242a rotations, ancon arm 242a front ends installation elbow
Portion servo motor 242b, ancon servo motor 242b driving wrist arm 243a rotations, wrist arm 243a front ends installation wrist servo
Motor 243b, wrist servo motor 243b driving finger 244a rotations, finger 244a front ends installation finger servo motor 244b, hand
Refer to servo motor 244b by connecting flange connect 4 rear-guard of roller start building part rotate.
Specifically, the simulation list that robot drives module 11 is compensated by PID control unit, high speed calculator and tape speed
Member composition, the analog circuit modulation of base servo motor, ancon servo motor, wrist servo motor, finger Serve Motor Control
Mode is controlled for PWM, and to ensure the rotation precision of each servo motor, the polarity for modulating pulse selects Bipolar control pattern,
The carrier frequency of SPWM waves uses 5KHz, becomes video sensor and frequency-converter power analytical equipment selects 30 KHz.
The above content is combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that the specific implementation of the utility model is confined to these explanations, for the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, several simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (6)
1. a kind of puma manipulator of intelligent surface process for producing system, it is characterised in that：Including central control system and furred ceiling
Formula manipulator, surface treatment production system are successively equipped with upper material position, activation process station, the first washing by manufacturing procedure successively
Station, alkali Copper treatment station, the second wash station, handles station, third wash station, passivation work without nickel at copper pre-plating station in vain
Dispute leaching station, hot water wash station, Drying station and feed station, upper material position of position, the 4th wash station, predrainage is equipped with detection
Whether have a sensor of roller, central control system be equipped with robot drives module and with the corresponding activation process of above-mentioned station
Time module, the first washing time module, copper pre-plating time module, alkali Copper treatment time module, the second washing time module, nothing
The white processing time module of nickel, third washing time module, passivation time module, the 4th washing time module, predrainage dispute leaching when
Between module, hot water wash time module, drying time module, the sensor detection of upper material position is when having workpiece, robot drives module
Ceiling mounting type machinery hand starting is driven, time value gripping roller of the ceiling mounting type manipulator according to set by each time module enters correspondence
It is periodically processed in station.
2. a kind of puma manipulator of intelligent surface process for producing system according to claim 1, it is characterised in that：It is described
Ceiling mounting type manipulator includes column, sliding rail, mobile mechanism and manipulator ontology, and column is fixedly mounted on above the ground, on column
Sliding rail is fixedly mounted in side, and sliding rail is slidably connected manipulator ontology, and mobile mechanism's driving manipulator ontology is moved along sliding rail extending direction
Dynamic, manipulator ontology includes base rotating mechanism, ancon rotating mechanism, wrist rotating mechanism, finger rotating mechanism, pedestal rotation
Mechanism drives ancon rotating mechanism, wrist rotating mechanism, finger rotating mechanism to rotate integrally, and ancon rotating mechanism drives wrist rotation
Rotation mechanism, finger rotating mechanism rotate integrally, and wrist rotating mechanism drives finger rotating mechanism to rotate integrally, finger rotating mechanism
Drive roller rotation.
3. a kind of puma manipulator of intelligent surface process for producing system according to claim 2, it is characterised in that：It is described
Mobile mechanism includes shift servo motor, gear, rack and sliding block, and shift servo motor is fixedly mounted on sliding rail one end, mobile
Servo motor output shaft connection gear, gear pinion rack, rack are fixedly mounted on the base back surface of manipulator ontology, pedestal two
Hold the sliding rail that is slidably connected.
4. a kind of puma manipulator of intelligent surface process for producing system according to claim 2, it is characterised in that：Pedestal
Rotating mechanism includes pedestal and base servo motor, and ancon rotating mechanism includes ancon arm and ancon servo motor, wrist rotation
Mechanism includes wrist arm and wrist servo motor, and finger rotating mechanism includes finger and finger servo motor, base servo motor
At pedestal upper center, base servo motor driving ancon arm rotation, ancon arm front end installation ancon servo motor, elbow
Portion's servo motor driving wrist arm rotation, wrist arm front end installation wrist servo motor, the driving finger rotation of wrist servo motor,
Finger servo motor is installed in finger front end, and finger servo motor drives workpiece to rotate by connecting flange.
5. a kind of puma manipulator of intelligent surface process for producing system according to claim 4, it is characterised in that：It is described
Base servo motor, ancon servo motor, wrist servo motor, finger Serve Motor Control analog circuit modulation system be
PWM is controlled.
6. a kind of puma manipulator of intelligent surface process for producing system according to claim 2, it is characterised in that：Furred ceiling
The track route of formula manipulator gripping workpiece is S-shaped or U-shaped or L-shaped or a shape or O shapes or M shapes or double I I shapes or E shapes or T shapes
Or J-shaped or H-shaped or F shapes or V-arrangement or Y shape or D-shaped or A shapes or C-shaped or X-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721402639.8U CN207522591U (en) | 2017-10-27 | 2017-10-27 | A kind of puma manipulator of intelligent surface process for producing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721402639.8U CN207522591U (en) | 2017-10-27 | 2017-10-27 | A kind of puma manipulator of intelligent surface process for producing system |
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| Publication Number | Publication Date |
|---|---|
| CN207522591U true CN207522591U (en) | 2018-06-22 |
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ID=62571225
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| CN201721402639.8U Active CN207522591U (en) | 2017-10-27 | 2017-10-27 | A kind of puma manipulator of intelligent surface process for producing system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696016A (en) * | 2017-10-27 | 2018-02-16 | 东莞市希锐自动化科技股份有限公司 | A kind of puma manipulator of intelligent surface process for producing system |
| CN110885998A (en) * | 2019-12-06 | 2020-03-17 | 隆鑫通用动力股份有限公司 | Station system for automatic out-of-tank electroplating of cylinder body |
| CN111975640A (en) * | 2020-08-24 | 2020-11-24 | 青岛理工大学 | Multi-process integrated automatic production line for hard alloy blades under robot scheduling |
-
2017
- 2017-10-27 CN CN201721402639.8U patent/CN207522591U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696016A (en) * | 2017-10-27 | 2018-02-16 | 东莞市希锐自动化科技股份有限公司 | A kind of puma manipulator of intelligent surface process for producing system |
| CN110885998A (en) * | 2019-12-06 | 2020-03-17 | 隆鑫通用动力股份有限公司 | Station system for automatic out-of-tank electroplating of cylinder body |
| CN111975640A (en) * | 2020-08-24 | 2020-11-24 | 青岛理工大学 | Multi-process integrated automatic production line for hard alloy blades under robot scheduling |
| CN111975640B (en) * | 2020-08-24 | 2021-09-03 | 青岛理工大学 | Multi-process integrated automatic production line for hard alloy blades under robot scheduling |
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