CN208444504U - A kind of intelligent manufacturing cell design of system integration teaching equipment - Google Patents
A kind of intelligent manufacturing cell design of system integration teaching equipment Download PDFInfo
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- CN208444504U CN208444504U CN201820111249.3U CN201820111249U CN208444504U CN 208444504 U CN208444504 U CN 208444504U CN 201820111249 U CN201820111249 U CN 201820111249U CN 208444504 U CN208444504 U CN 208444504U
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Abstract
The utility model belongs to intelligence manufacture equipment technical field more particularly to a kind of intelligent manufacturing cell design of system integration teaching equipment.Equipment includes multiple functional units being arranged independently of each other, is realized to the storage of workpiece, processing, detection or sort process process；Multiple units being arranged independently of each other include execution unit, tool unit, storage unit, processing unit, sanding unit, detection unit, sorting unit and Master Control Unit；Each unit can be laid out combination by connection on demand；Master Control Unit provides power supply and gas source for other functional units, is realized and is connected using fast wiring cable；Execution unit, storage unit, processing unit, sanding unit, detection unit and sorting unit realize the controller control action process by Master Control Unit by Industrial Ethernet.In equipment use process, the advantage of intelligent control technology can be embodied, increase equipment uses flexibility, has multifarious advantage in teaching process, can satisfy personalized, particularity teaching demand.
Description
Technical field
The utility model belongs to intelligence manufacture equipment technical field more particularly to a kind of intelligent manufacturing cell system integration is set
Count teaching equipment.
Background technique
With the propulsion of " made in China 2025 " strategical planning, accelerate intelligent Manufacturing Technology application, be implement industrialization and
Information-based depth integration, the important measures for making manufacturing power realize the key point of manufacturing industry transition and upgrade.Each middle School of High Profession Technology
School carries conveying and cultivates the substantial responsibility of the intelligence manufacture relevant speciality talent, for Dock With Precision Position equipment manufacture, culture
The demand for grasping the inter-disciplinary talent of manufacturing cell's intellectualized reconstruction and integrated technology is also more more and more intense.But presently relevant religion
Learn that equipment is very deficient, and function is relatively simple, far from meeting teaching demand.
Utility model content
(1) technical problems to be solved
For existing technical problem, the utility model provides a kind of intelligent manufacturing cell design of system integration teaching
Equipment, is able to solve that teaching equipment in the prior art is deficient, the problem of having a single function.
(2) technical solution
In order to achieve the above object, the main technical schemes of the utility model use include:
A kind of intelligent manufacturing cell design of system integration teaching equipment comprising multiple units being arranged independently of each other, it is real
Now to the storage of workpiece, processing, detection or sort process process；
The multiple unit being arranged independently of each other includes execution unit, tool unit, storage unit, processing unit, beats
Grind unit, detection unit, sorting unit and Master Control Unit；
Each unit can be laid out combination by connection on demand；
The execution unit, storage unit, processes unit, sanding unit, detection unit and sorting unit at tool unit
Power supply, gas supply are provided by Master Control Unit, and realize connection using fast wiring cable；
The execution unit, storage unit, processing unit, sanding unit, detection unit and sorting unit pass through industry
Ethernet realizes the motion flow that each unit is controlled with the controller communication of Master Control Unit, is realized and is communicated by fast wiring cable
Connection.
Preferably, all units are working platform type design, and function part is arranged on table surface or work-table
In cabinet；
For the workbench of all units with height, the side length on each side of workbench is the integral multiple for setting length.
Preferably, the execution unit includes workbench, industrial robot, translational slide, the Quick change module of execution unit
Flanged ends and the first remote I/O module；
The industrial robot includes industrial machine human body and industrial robot controller, the industrial machine human body
It is run under the control of industrial robot controller；
The translational slide is arranged on the table surface of execution unit, and the industrial machine human body setting is translating
On slide unit, the industrial robot controller and the first remote I/O module are arranged in the workbench cabinet of execution unit；
The Quick change module flanged ends is arranged on the 6th shaft flange of industrial machine human body, can be with tool unit
In different tools on be arranged Quick change module tool connecting pin matching, under the control of industrial robot controller realize connection
And separation；
The translational slide is arranged on the table surface of execution unit, by the control servo motor rotation of slide unit controller
Turn, after being slowed down by speed reducer, synchronous belt driving ball-screw realizes that rotary motion is changed into linear motion, makes mounting platform edge
Linear guide sliding；
The slide unit controller is connect with industrial robot controller, and industrial robot controller passes to kinematic parameter
Slide unit controller makes industrial robot controller control mounting platform movement to change the position of industrial machine human body；
The industrial robot controller is connect with the first remote I/O module, and passes through the first remote I/O module and master control list
The interaction of the control signal between execution unit and Master Control Unit is realized in the controller communication connection of member.
Preferably, the tool unit includes the workbench of tool unit, Quick change module tool connecting pin, tool and tool
Library；
The tool is matched by Quick change module tool connecting pin with Quick change module flanged ends, and then is loaded into industry
On robot body；
The tool includes spoke clamping jaw, wheel hub clamping jaw, wheel rim inner ring clamping jaw, wheel rim outer ring clamping jaw, sucker tool, end face
Milling tools and side milling tools, Quick change module tool connecting pin are an integral structure with tool；
For the tool lab setting on the table surface of tool unit, the tool storage room includes that multiple tools place position,
Tool is placed on tool and places on position.
Preferably, the storage unit includes workbench, tiered warehouse facility and the second remote I/O module of storage unit；
The tiered warehouse facility and the second remote I/O module are arranged on the table surface of storage unit；
The tiered warehouse facility is separated out multiple independent feed bins by warehouse bracket, and feed bin instruction is provided in the feed bin
Lamp, feed bin sensor, pallet and pallet push rod cylinder；
The bottom of feed bin is arranged in the pallet, and can be along pallet linear guide relative to warehouse bracket slide；
The pallet push rod cylinder connect with pallet and is used to pallet is released or be withdrawn feed bin；
The lower part of pallet is arranged in the feed bin sensor, and for detecting, whether there is or not workpiece on pallet；
The upside or downside of feed bin is arranged in the feed bin indicator light, indicates have in feed bin by the different color of indicator light
Without workpiece；
The connection of the controller communication of second remote I/O module and Master Control Unit realizes storehouse by the controller of Master Control Unit
Signal output is fed back by the second remote I/O module and controlled to signal condition simultaneously by the action control of storage unit.
Preferably, the processing unit includes the workbench of processing unit, safety guard, numerically-controlled machine tool, simulation tool magazine, adds
Work status indicator lamp, digital control system operation panel and third remote I/O module；
The safety guard, numerically-controlled machine tool and numerical control system operatio panel are arranged on the table surface of processing unit；
The simulation tool magazine and machining state indicator light are arranged on safety guard；
The third remote I/O module is arranged in the workbench cabinet of processing unit；
The safety guard is frame-like structures and the surrounding that numerically-controlled machine tool is arranged in, in the front and back of numerically-controlled machine tool
It is each provided with machine safety door, the machine safety door includes door-plate, panel guide, safe door cylinder and safety door position sensing
Device, door-plate are opened and closed by safe door cylinder drives edge panel guide, and safe door position sensor can feed back beating for machine safety door
Closed state is opened or closed, the working control signal of safe door cylinder is provided by digital control system operation panel；
The numerically-controlled machine tool includes X-axis transmission device, Y-axis transmission, Z-axis transmission device, main shaft, cutter, pneumatic clamps
Tool and processing platform；Wherein, the X-axis transmission device, Y-axis transmission, Z-axis transmission device are servo motor driving ball
The structure that lead screw moves its mounting platform along linear guide；The work-table of processing unit is arranged in the Y-axis transmission
On face, the X-axis transmission device is arranged on Y-axis transmission, and the Z-axis transmission device is arranged on Y-axis transmission device, institute
Main shaft is stated to be arranged on Z-axis transmission device；The main shaft terminal is connect with cutter；Processing unit is arranged in the processing platform
Downside on table surface and positioned at main shaft, the air-actuated jaw, which is arranged on processing platform, to be located on the downside of main shaft；
The simulation tool magazine can show that current tool magazine state and tool-information, simulation tool magazine and digital control system operation panel are logical
News connection exports control signal by digital control system control panel and realizes that the switching of tool magazine state and tool changing act；
The numerically-controlled machine tool realizes action control by digital control system operation panel, and digital control system operation panel and third are long-range
The connection of I/O module signal, realizes the interaction of the control signal of processing unit and Master Control Unit, and digital control system operation panel passes through work
Industrial Ethernet realizes that status information interacts with MES system.
Preferably, the sanding unit includes the workbench of sanding unit, safety barrier, polishing station, rotary work station, turns over
Rotating tooling blows bits station and the 4th remote I/O module；
The safety barrier, rotary work station, overturning tooling, blows bits station and the setting of the 4th remote I/O module at polishing station
On polishing workbench table top；
Safety barrier is frame-like structures and is arranged in rotary work station, polishing station, overturning tooling, blows bits station and the 4th
The outside of remote I/O module；
The polishing station includes polishing station processing platform, polishing station positioning pin, polishing station pneumatic clamping jaw and beats
Workpiece can be fixed on polishing station processing platform, be passed through by the clamping for station pneumatic clamping jaw of polishing by grinder level sensor
The polishing station positioning pin on station processing platform of polishing realizes the positioning of workpiece to be processed, and polishing station sensor is detectable to work as
Whether there is workpiece on preceding polishing station processing platform；
The rotary work station includes rotary work station processing platform, rotary work station positioning pin, rotary work station Pneumatic clamping jaw, rotation
Workpiece can be fixed on rotation work by the clamping of rotary work station Pneumatic clamping jaw by station sensor and rotary work station rotary cylinder
On the processing platform of position, the positioning of workpiece is realized by the rotary work station positioning pin on rotary work station processing platform, rotary work station passes
Sensor can detect whether have workpiece on current rotary work station processing platform, and the rotary work station processing platform is arranged in rotary work station
It is realized on rotary cylinder and rotates integrally to drive workpiece rotation；
The overturning tooling includes overturning tooling lifting cylinder, overturning tooling rotary cylinder and overturns tooling clamping jaw, described
Overturning tooling lifting cylinder is fixed on the table surface of sanding unit, and the overturning tooling rotary cylinder is mounted on overturning work
The output end of lifting cylinder is filled, the overturning tooling clamping jaw is connect with the output end for overturning tooling rotary cylinder, the overturning work
It fills the carrying for workpiece between rotary work station and polishing station and realizes the overturning of workpiece；
The bits station that blows includes blowing bits cabinet and setting to blow the bits intracorporal bits blower of case；
The connection of the controller communication of 4th remote I/O module and Master Control Unit is beaten by the controller realization of Master Control Unit
It grinds the action control of unit and signal condition is fed back to by the 4th remote I/O module and controlled signal output.
Preferably, the detection unit includes the workbench of detection unit, intelligent vision camera, light source, vision-based detection control
Device processed and vision-based detection are shielded as the result is shown；
The intelligent vision camera and light source are arranged on the table surface of detection unit, and for acquiring image letter
Breath；
The intelligent vision camera is connect with vision-based detection controller communication, and for handling image information to extract workpiece
Data parameters；
The vision-based detection is shielded as the result is shown to be connect with vision-based detection controller communication, for showing vision-based detection result；
The vision-based detection controller and industrial robot controller communication connection simultaneously carry out signal interaction.
Preferably, the sorting unit includes the workbench, conveyer belt, mechanism for sorting, sortation process and of sorting unit
Five remote I/O modules；
The work-table of sorting unit is arranged in the conveyer belt, mechanism for sorting, sortation process and the 5th remote I/O module
On face, including multiple mechanism for sorting, and the sortation process of corresponding mechanism for sorting setting, the multiple mechanism for sorting, which is arranged, to be passed
The top of band is sent, neighbouring transmission end of tape is set gradually；
The mechanism for sorting includes that the vertical push rod cylinder of mechanism for sorting, mechanism for sorting horizontal push cylinder and mechanism for sorting pass
Sensor；The output end of the vertical push rod cylinder push-rod of mechanism for sorting is provided with baffle, the mechanism for sorting horizontal push cylinder
Output end be provided with push plate；Before the push plate of mechanism for sorting horizontal push cylinder is arranged in the mechanism for sorting sensor, it is used for
Whether detect on the conveyer belt of current location has workpiece；
The sortation process includes sorting road junction, sortation process positioning cylinder, sortation process sensor, the sorting road junction
Slideway inclination and neighbouring conveyer belt setting, for storing the workpiece of mechanism for sorting push, the sortation process positioning cylinder setting
In sorting road junction, and output end is provided with push plate, and the end at sorting road junction is arranged in for detecting in sortation process sensor
Whether this position has workpiece；
The communication connection of the controller of 5th remote I/O module and Master Control Unit is realized by the controller of Master Control Unit and is divided
It picks the action control of unit and signal condition is fed back to by the 5th remote I/O module and controlled signal output.
Preferably, the Master Control Unit includes workbench, controller, industrial switch, operation panel, the prison of Master Control Unit
Control platform and device state indicator lamp；
The controller, industrial switch, operation panel and monitor supervision platform are arranged on the table surface of Master Control Unit；
The industrial robot control that the controller passes through Industrial Ethernet and the remote I/O module, execution unit of other units
Device processed, the digital control system operation panel for processing unit carry out information exchange and action control；
The industrial switch is to connect transfer as all equipment communication lines communicated using Industrial Ethernet
Equipment；
The operation panel includes power knob, scram button and custom button, and the power knob can control master control
The on-off of unit power supply system, the scram button can control the operating status of all units to stop running immediately it, described
Custom button, which is connected on controller, is controlled by it simultaneously acquisition state signal；
The monitor supervision platform includes fixed terminal, MES system, mobile terminal and remote monitoring system；The MES system is
Software operates in fixed terminal, carries out information exchange by Industrial Ethernet with controller, the fortune for real-time monitoring equipment
Row state, and equipment running status information can be uploaded to internet data service device；The remote monitoring system is soft
Part, operation in the terminal, can be by accessing internet data service device real-time monitoring equipment operating status；
The device state indicator lamp can show that equipment overall operation state, equipment state refer to by different colours indicator light
Show that lamp is controlled by controller.
Preferably, the execution unit, tool unit, storage unit, processing unit, sanding unit, detection unit, sorting
It is connected and is spliced with screw by steel plate between unit and Master Control Unit.
(3) beneficial effect
The beneficial effects of the utility model are: intelligent manufacturing cell design of system integration teaching provided by the utility model is set
Standby, equipment in use, can select according to demand suitable unit to be combined use, to show different equipment shapes
The contents such as state, control mode, production procedure embody the advantage of intelligent control technology, and increase equipment uses flexibility, have teaching
Multifarious advantage in the process can satisfy personalized, particularity teaching demand.
Detailed description of the invention
Fig. 1 is the typical combination signal between a kind of multiple-unit that specific embodiment of the present invention provides
Figure；
Fig. 2 is the structural schematic diagram for the execution unit that specific embodiment of the present invention provides；
Fig. 3 is the partial structural diagram of execution unit；
Fig. 4 is the cabinet schematic diagram of internal structure of execution unit workbench；
Fig. 5 is the structural schematic diagram for the tool unit that specific embodiment of the present invention provides；
Fig. 6 A is the structural schematic diagram for the spoke clamping jaw that specific embodiment of the present invention provides；
Fig. 6 B is the structural schematic diagram of the method for clamping for the spoke clamping jaw that specific embodiment of the present invention provides；
Fig. 7 A is the structural schematic diagram for the wheel hub clamping jaw that specific embodiment of the present invention provides；
Fig. 7 B is the structural schematic diagram of the method for clamping for the wheel hub clamping jaw that specific embodiment of the present invention provides；
Fig. 8 A is the structural schematic diagram for the wheel rim inner ring clamping jaw that specific embodiment of the present invention provides；
Fig. 8 B is the structural schematic diagram of the method for clamping for the wheel rim inner ring clamping jaw that specific embodiment of the present invention provides；
Fig. 9 A is the structural schematic diagram for the wheel rim outer ring clamping jaw that specific embodiment of the present invention provides；
Fig. 9 B is the structural schematic diagram of the method for clamping for the wheel rim outer ring clamping jaw that specific embodiment of the present invention provides；
Figure 10 A is the structural schematic diagram for the sucker tool that specific embodiment of the present invention provides；
Figure 10 B is the structural schematic diagram of the method for clamping for the sucker tool that specific embodiment of the present invention provides；
Figure 11 A is the structural schematic diagram for the end face milling tools that specific embodiment of the present invention provides；
Figure 11 B is the structural representation of the method for clamping for the end face milling tools that specific embodiment of the present invention provides
Figure；
Figure 12 A is the structural schematic diagram for the side milling tools that specific embodiment of the present invention provides；
Figure 12 B is the structural representation of the method for clamping for the side milling tools that specific embodiment of the present invention provides
Figure；
Figure 13 is the structural schematic diagram for the storage unit that specific embodiment of the present invention provides；
Figure 14 is the partial structural diagram of storage unit；
Figure 15 is the structural schematic diagram for the processing unit that specific embodiment of the present invention provides；
Figure 16 is the structural schematic diagram for processing the machine safety door of unit；
Figure 17 is the structural schematic diagram for processing the numerically-controlled machine tool of unit；
Figure 18 A is the partial structural diagram for processing a kind of angle of numerically-controlled machine tool of unit；
Figure 18 B is the partial structural diagram for processing another angle of numerically-controlled machine tool of unit；
Figure 19 is the structural schematic diagram for the sanding unit that specific embodiment of the present invention provides；
Figure 20 is the structural schematic diagram for the polishing station that specific embodiment of the present invention provides；
Figure 21 is the structural schematic diagram for the rotary work station that specific embodiment of the present invention provides；
Figure 22 is the structural schematic diagram for the overturning tooling that specific embodiment of the present invention provides；
Figure 23 is the structural schematic diagram for the detection unit that specific embodiment of the present invention provides；
Figure 24 is the structural schematic diagram for the sorting unit that specific embodiment of the present invention provides；
Figure 25 A is a kind of partial structurtes signal of the angle for the sorting unit that specific embodiment of the present invention provides
Figure；
Figure 25 B is the partial structurtes signal of another angle for the sorting unit that specific embodiment of the present invention provides
Figure；
Figure 26 is the structural schematic diagram for the Master Control Unit that specific embodiment of the present invention provides；
The structural schematic diagram of connection type between the unit that Figure 27 provides for specific embodiment of the present invention；
[description of symbols]
1: execution unit；
11: the workbench of execution unit；12: industrial robot；13: translational slide；14: Quick change module flanged ends；
15: the first remote I/O modules；16 communication line connecting interfaces；
121: industrial machine human body；122: industrial robot controller；
131: slide unit controller；132: servo motor；133: synchronous belt；134: ball screw framework；135: linear guide；
136: mounting platform；137: cable drag chain；138: position instruction arrow；139: position instruction scale；
2: tool unit；
21: the workbench of tool unit；22: Quick change module tool connecting pin；23: tool；24: tool storage room；
231: spoke clamping jaw；232: wheel hub clamping jaw；233: wheel rim inner ring clamping jaw；234: wheel rim outer ring clamping jaw；235: sucker
Tool；236: end face milling tools；237: side milling tools；
3: storage unit；
31: the workbench of storage unit；32: tiered warehouse facility；33: the second remote I/O modules；
321: warehouse bracket；322: feed bin indicator light；323: feed bin sensor；324: pallet；325: pallet push rod cylinder；
326: pallet linear guide；
4: processing unit；
41: processing the workbench of unit；42: safety guard；43: numerically-controlled machine tool；44: simulation tool magazine；45: machining state refers to
Show lamp；46: digital control system operation panel；47: third remote I/O module；
421: door-plate；422: panel guide；423: safe door cylinder；424: safe door position sensor；
431:X shaft drive；432:Y shaft drive；433:Z shaft drive；434: main shaft；435: cutter；
436: air-actuated jaw；437: processing platform；
4311:X axis servo motor；4312:X axis synchronous belt；4313:X axis ball-screw；4314:X axis linear guide；
4315:X axis mounting platform；4316:X axis cable drag chain；
4321:Y axis servo motor；4322:Y axis synchronous belt；4323:Y axis ball-screw；4324:Y axis linear guide；
4325:Y axis mounting platform；4326:Y axis cable drag chain；
4331:Z axis servo motor；4332:Z axis synchronous belt；4333:Z axis ball-screw；4334:Z axis linear guide；
4335:Z axis mounting platform；4336:Z axis cable drag chain；
5: sanding unit；
51: the workbench of sanding unit；52: safety barrier；53: polishing station；54: rotary work station；55: overturning tooling；
56: blowing bits station；57: the four remote I/O modules；
531: polishing station processing platform；532: polishing station pneumatic clamping jaw；533: polishing station positioning pin；534: polishing
Station sensor；
541: rotary work station processing platform；542: rotary work station Pneumatic clamping jaw；543: rotary work station positioning pin；544: rotation
Station sensor；545: rotary work station rotary cylinder；
551: overturning tooling lifting cylinder；552: overturning tooling rotary cylinder；553: overturning tooling clamping jaw；
6: detection unit；
61: the workbench of detection unit；62: intelligent vision camera；63: light source；64: vision-based detection controller；65: vision
Testing result display screen；
7: sorting unit；
71: the workbench of sorting unit；72: conveyer belt；73: mechanism for sorting；74: sortation process；75: the five remote I/O moulds
Block；
731: the vertical push rod cylinder of mechanism for sorting；732: mechanism for sorting horizontal push cylinder；733: mechanism for sorting sensor；
741: sorting road junction；742: sortation process positioning cylinder；743: sortation process sensor；
8: Master Control Unit；
81: the workbench of Master Control Unit；82: controller；83: industrial switch；84: operation panel；85: monitor supervision platform；
86: equipment run indicator；
841: power switch；842: scram button；843: custom button；
851: fixed terminal；852: mobile terminal；
91: steel plate, 92: screw；93: workpiece.
Specific embodiment
It is with reference to the accompanying drawing, right by specific embodiment in order to understand in order to preferably explain the utility model
The utility model is described in detail.
Referring to figs. 1 to shown in Figure 27, present embodiments provide for a kind of teaching of intelligent manufacturing cell design of system integration to set
It is standby comprising multiple units being arranged independently of each other are realized to the storage of workpiece, processing, detection or sort process process.
Multiple units being arranged independently of each other include execution unit 1, tool unit 2, storage unit 3, processing unit 4, beat
Grind unit 5, detection unit 6, sorting unit 7 and Master Control Unit 8.
Each unit can be laid out combination by connection on demand.It is laid out the meaning of combination by connection on demand herein
It is: in use, the combination for carrying out different layout configurations in whole or in part in said units can be chosen to realize
Corresponding instructional function can embody intelligent control to show the contents such as different equipment states, control mode, production procedure
It is flexible to increase using for equipment for the advantage of technology.
Execution unit 1, tool unit 2, storage unit 3, processing unit 4, sanding unit 5, detection unit 6 and sorting unit
7 power supply supplies by the offer of Master Control Unit 8, and realizes connection using fast wiring cable.
Execution unit 1, storage unit 3, processing unit 4, sanding unit 5, detection unit and sorting unit 7 pass through industry
Ethernet realizes the motion flow that each unit is controlled with the controller communication of Master Control Unit 8, is realized by fast wiring cable logical
The connection of news.
Referring to Figure 27, spliced between multiple units by steel plate 91 and the connection of screw 92, after the completion of unit spliced,
The workbench of adjacent cells is linked together using steel plate 91 and screw 92.
Referring to Fig.1, the typical combination of teaching equipment is: including execution unit 1, tool unit 2, storage unit 3, adding
Work order member 4, sanding unit 5, detection unit 6, sorting unit 7 and Master Control Unit 8, said units are combined, and pass through steel plate
91 and screw 92 connect.
Above-mentioned multiple units at least partly can mean that said units can be single by what connection was combined as needed
It solely uses, be partially applied in combination or be all combined use, the quantity of said units, combined meaning can also be increased without limitation
Think of is that multiple units can mutually cooperate during the work time.
By the setting of multiple units in present embodiment, and multiple units can be used alone or cooperate,
It by the exclusive uses of said units or is used cooperatively, the course of work of multiple intelligent equipments can be shown, make to teach
Learning equipment has the advantages that functional diversity, can complete a variety of teaching demands.
Divide below is that each unit is described in detail respectively:
Workbench
All units be working platform type design, function part be arranged on table surface or workbench cabinet in, institute
The workbench of unit is stated with high, and the side length on each side is the integral multiple for setting length, such as sets length as a, the side of workbench
Length can be a, 1a, 2a, 3a ..., and the physical length of workbench can be needed according to scene or the ruler of each unit constitution equipment
Very little determination, as long as side length meets above-mentioned condition.Specifically, work top away from ground level be 1000mm, set length a as
The dimensions of 680mm, workbench can be 680mm × 680mm × 1000mm or 680mm × 1360mm × 1000mm etc..
It using the workbench of such form, be free to carry out Modularized splice, guarantee that docking side length is unified when splicing,
It occupies little space after splicing, the advantage that integration is strong.
Execution unit 1, tool unit 2, storage unit 3, processing unit 4, sanding unit 5, detection unit 6, sorting unit 7
Independent workbench is all had with Master Control Unit 8, each unit is mutually indepedent, realizes connection by steel plate 91 and screw 92.
Workbench is cabinet type structure, and side is provided with door-plate, and inside has storage space, i.e. cabinet, and upper plane is work
Make table top, surrounding is provided with the wire casing for route arrangement.
Execution unit
Shown in referring to Figure 2 to Figure 4, execution unit 1 includes that the workbench 11, industrial robot 12, translation of execution unit are slided
Platform 13, Quick change module flanged ends 14 and the first remote I/O module 15.
Industrial robot 12 includes industrial machine human body 121 and industrial robot controller 122, industrial machine human body
121 run under the control of industrial robot controller 122.
Translational slide 13 is arranged on 11 table top of workbench of execution unit, and the setting of industrial machine human body 121 is translating
On the mounting platform 136 of slide unit 13, the work of execution unit is arranged in industrial robot controller 122 and the first remote I/O module 15
Make in 11 cabinet of platform.
Quick change module flanged ends 14 is arranged on the 6th shaft flange of industrial machine human body 121, can be with tooling order
The Quick change module tool connecting pin 22 being arranged on tool 23 in member 2 matches, real under the control of industrial robot controller 122
It now connects and separates.
Translational slide 13 is arranged on 11 table top of workbench of execution unit, controls servo motor by slide unit controller 131
132 rotations, after being slowed down by speed reducer, synchronous belt 133 drives ball-screw 134 to realize that rotary motion is changed into linear motion,
It slides mounting platform 136 along linear guide 135, realizes that fine positioning movements, mounting platform 136 are worked as in effective travel
The position scale that front position can be indicated on position indicator scale 139 by checking position instruction arrow 138, industrial robot sheet
The cable that body 121 and industrial robot controller 122 communicate realizes flexible fixation by cable drag chain 137.
Slide unit controller 131 is connect with industrial robot controller 122, and industrial robot controller 122 is by kinematic parameter
Slide unit controller 131 is passed to, industrial robot controller 122 is made to control the movement of mounting platform 136 to change industrial machine
The position of human body 121.
Industrial robot controller 122 is connect with the first remote I/O module 15, and by the first remote I/O module 15 and always
82 communication connection of controller of unit 8 is controlled, realizes the interaction of the control signal between execution unit 1 and Master Control Unit 8.First is remote
15 supporting industry ethernet communication of journey I/O module meets field device signals acquisition and function control, supports digital quantity and simulation
Amount signal is output and input.
Tool unit
Referring to Fig. 5 to Figure 12 B, tool unit 2 includes tool unit workbench 21, Quick change module tool connecting pin 22, work
Tool 23 and tool storage room 24.
Tool storage room 24 is arranged on the workbench 21 of tool unit, and tool storage room 24 includes that multiple tools place position, tool 23
Tool is placed on to place on position.
Tool 23 has quick change function, is divided into seven kinds of tools: spoke clamping jaw 231, wheel hub clamping jaw according to realization function difference
232, wheel rim inner ring clamping jaw 233, wheel rim outer ring clamping jaw 234, sucker tool 235, end face milling tools 236 and side milling tools
237, achievable industrial machine human body 121 is to the various forms of pickups of the different location of workpiece 93 and processing respectively: spoke side
The clamping of face position, the clamping of wheel hub cylinder location, the clamping of wheel rim inner ring position, the clamping of wheel rim outer ring position, spoke front position are inhaled
It takes, end face polishing, side polishing.
Quick change module tool connecting pin 22 is an integral structure with tool 23, can be connected with Quick change module flanged ends 22
And release, and then on quick load to industrial machine human body 121, to realize that industrial machine human body 121 utilizes different works
Tool 23 completes required movement content.
Storage unit
Referring to Fig.1 3 to Figure 14, storage unit 3 includes workbench 31, tiered warehouse facility 32 and the second remote I/O of storage unit
Module 33.
Tiered warehouse facility 32 and the second remote I/O module 33 are arranged on 31 table top of workbench of storage unit.Tiered warehouse facility 32
Multiple independent feed bins are separated out by warehouse bracket 321, wherein feed bin indicator light 322, feed bin sensor are provided on feed bin
323, pallet 324, pallet push rod cylinder 325 and pallet linear guide 326.
The bottom of feed bin is arranged in pallet 324, and can be along pallet linear guide 326 relative to 321 water of warehouse bracket
It is smooth dynamic.
The bottom of pallet 324 is arranged in pallet push rod cylinder 325, and pallet 324 can be made horizontal on warehouse bracket 321
Sliding, pallet 324 is for placing workpiece 93.
The lower part of pallet 324 is arranged in feed bin sensor 323, and for detecting, whether there is or not workpiece 93, feed bin instructions on pallet 324
Lamp 322 is arranged on warehouse bracket 321, indicates that whether there is or not workpiece 93 in feed bin by the different color of indicator light.
82 communication connection of controller of second remote I/O module 33 and Master Control Unit 8, it is real by the controller 82 of Master Control Unit 8
Now store in a warehouse unit 3 action control and by the second remote I/O module 33 by signal condition feed back and control signal output, such as expect
Storehouse indicator light 322 turns on/off, 325 releases of pallet push rod cylinder/retraction, feed bin sensor 323 with/without.Second remote I/O module 33
Supporting industry ethernet communication meets field device signals acquisition and function control, supports the defeated of digital quantity and analog signals
Enter and exports.
Process unit
Referring to Fig.1 5 to Figure 18 B, processing unit 4 includes workbench 41, the safety guard 42, numerically-controlled machine tool of processing unit
43, tool magazine 44, machining state indicator light 45, digital control system operation panel 46, third remote I/O module 47 are simulated；
41 table top of workbench of processing unit is arranged in safety guard 42, numerically-controlled machine tool 43 and numerical control system operatio panel 46
On.
It simulates tool magazine 44 and machining state indicator light 45 is arranged on safety guard 42.
Third remote I/O module 47 is arranged in 41 cabinet of workbench of processing unit.
Safety guard 42 is frame-like structures and the surrounding that numerically-controlled machine tool 43 is arranged in, front and back in numerically-controlled machine tool 43
Face is each provided with machine safety door, and machine safety door is connected with safe door cylinder 423 and safe door position sensor 424, numerical control
System operatio panel 46 controls door-plate 421 along the opening and closing of panel guide 422 by safe door cylinder 423, passes through safety door position
The detection door-plate 421 of sensor 424 opens or closes state.I.e. when workpiece 93, which is fixed on, to be processed in numerically-controlled machine tool 43
It waits, door-plate 421 is in close state；When industrial machine human body 121 carries out the operation of feeding and discharging of workpiece 93, at door-plate 421
In opening state.The working control signal of safe door cylinder 423 is provided by digital control system operation panel.
Numerically-controlled machine tool includes X-axis transmission device 431, Y-axis transmission 432, Z-axis transmission device 433, main shaft 434, cutter
435, air-actuated jaw 436 and processing platform 437；Wherein, X-axis transmission device 431, Y-axis transmission 432, Z-axis transmission device
433 be the structure that servo motor driving ball-screw moves its mounting platform along linear guide；Y-axis transmission 432 is set
It sets on 41 table top of workbench of processing unit, X-axis transmission device 431 is arranged on Y-axis transmission 432, Z-axis transmission device
433 are arranged on Y-axis transmission device 432, and main shaft 434 is arranged on Z-axis transmission device 433；By taking X-axis transmission device 431 as an example,
Digital control system operation panel 46 controls X-axis servo motor 4311 and rotates, and spinning movement is transmitted to X-axis by X-axis synchronous belt 4312 and rolls
On ballscrew 4313, make X-axis mounting platform 4315 along X-axis linear guide by the motion transform of X-axis ball-screw 4313
4314 round-trip linear movements, to drive the Z-axis transmission device 433 being arranged on X-axis mounting platform 4315 mobile.
434 terminal of main shaft is connect with cutter 435, and machining is realized in the main shaft 434 high-speed rotation band rotation of cutter 435.
The downside on 41 table top of workbench of processing unit and being located at main shaft 434, air-actuated jaw is arranged in processing platform 437
436 are arranged on processing platform 437 positioned at 434 downside of main shaft, for positioning in process and stepping up workpiece 93.
Simulation tool magazine 44 can show 435 information of current tool magazine state and cutter, simulation tool magazine and digital control system operation panel
46 communication connections export control signal by digital control system control panel 46 and realize that the switching of simulation 44 state of tool magazine and tool changing act.
Numerically-controlled machine tool 43 realizes that action control, digital control system operation panel 46 are remote with third by digital control system operation panel 46
The interaction of the control signal of processing unit 4 and Master Control Unit 8, digital control system operation panel are realized in the connection of 47 signal of journey I/O module
46 realize that status information interacts with MES system by Industrial Ethernet.47 supporting industry ethernet communication of third remote I/O module,
Meet field device signals acquisition and function control, supports outputting and inputting for digital quantity and analog signals.
Sanding unit
Referring to Fig.1 9 to 22, sanding unit 5 includes the workbench 51, safety barrier 52, polishing station 53, rotation of sanding unit
Switching stations 54, blow bits station 56 and the 4th remote I/O module 57 at overturning tooling 55.
Safety barrier 52, rotary work station 54, overturning tooling 55, blows bits station 56 and the 4th remote I/O mould at polishing station 53
Block 57 is arranged on 51 table top of workbench of sanding unit.
Safety barrier 52 is frame-like structures and is arranged in polishing station 53, rotary work station 54, overturning tooling 55, blows bits work
The outside of position 56 and the 4th remote I/O module 57.
Station 53 of polishing includes polishing station processing platform 531, polishing station pneumatic clamping jaw 532, polishing station positioning pin
Workpiece 93 can be fixed on polishing station by the clamping for station pneumatic clamping jaw 532 of polishing with polishing station sensor 534 by 533
On processing platform 531, the accurate positionin of workpiece is realized by the polishing station positioning pin 533 on polishing station processing platform 531,
Whether there is workpiece 93 on the detectable current polishing station processing platform 531 of polishing station sensor 534.
Rotary work station 54 includes rotary work station processing platform 541, rotary work station Pneumatic clamping jaw 542, rotary work station positioning pin
543, rotary work station sensor 544 and rotary cylinder 545 can be consolidated workpiece 93 by the clamping of rotary work station Pneumatic clamping jaw 542
It is scheduled on rotary work station processing platform 541, work is realized by the rotary work station positioning pin 543 on rotary work station processing platform 541
The positioning of part 93, whether rotary work station sensor 544 can detect workpiece, the rotation on current rotary work station processing platform 541
Switching stations processing platform 541, which is arranged on rotary work station rotary cylinder 545, realizes integral-rotation to drive workpiece 93 to rotate.
Overturning tooling 55 includes overturning tooling lifting cylinder 551, overturning tooling rotary cylinder 552 and overturning tooling clamping jaw
553, overturning tooling lifting cylinder 551 is fixed on the workbench 51 of sanding unit, and overturning tooling rotary cylinder 552, which is mounted on, to be turned over
The driving end of rotating tooling lifting cylinder 551, overturning tooling clamping jaw 553 and the drive connection for overturning tooling rotary cylinder 552, overturning
Tooling 56 is for workpiece 93 in the carrying polished between station 53 and rotary work station 54 and the overturning for realizing workpiece 93.
Blowing bits station 56 includes blowing bits cabinet and setting to blow the bits intracorporal bits blower of case, industrial machine human body 121
Workpiece 93 after clamping polishing, which enters, to be blown in bits cabinet, and bits blower cleans out the flying chip that workpiece 93 is generated through polishing.
The communication connection of 4th remote I/O module 57 and the controller 82 of Master Control Unit 8, by the controller 82 of Master Control Unit 8
It realizes the action control of sanding unit 5 and is fed back sensor detecting state by the 4th remote I/O module 57 and to control signal defeated
Out.4th remote I/O module, 57 supporting industry ethernet communication meets field device signals acquisition and function control, supports number
Amount is output and input with analog signals.
Detection unit
Referring to Figure 23, detection unit 6 includes the workbench 61, intelligent vision camera 62, light source 63, vision inspection of detection unit
It surveys controller 64 and vision-based detection shields 65 as the result is shown.
Intelligent vision camera 62 and light source 63 are arranged on the workbench 61 of detection unit, for acquiring image information, intelligence
Energy vision camera 62 and 64 communication connection of vision-based detection controller extract the data ginseng of workpiece 93 for handling image information
Number, data parameters herein refer to the parameters such as color, profile, outer dimension, the marker characteristic of workpiece 93.
Vision-based detection shields 65 and 64 communication connection of vision-based detection controller as the result is shown, and for showing vision-based detection knot
Fruit.
Vision-based detection controller 64 and industrial robot controller communication connection simultaneously carry out signal interaction.
In conclusion technical grade intelligent vision camera, there is independent vision-based detection controller 64, system can detect workpiece
The data such as color, profile, outer dimension, marker characteristic；Vision-based detection controller 64 can be interacted with industrial robot controller 122
Signal；Vision-based detection is shielded 65 display vision-based detection results as the result is shown and is checked for operator.
Arbitrary source is provided for intelligent vision camera 62 by light source 63 in vision inspection process, external light source is avoided to interfere intelligence
The testing result of energy vision camera.
Sorting unit
Referring to Figure 24 to Figure 25 B, sorting unit 7 include the workbench 71 of sorting unit, conveyer belt 72, mechanism for sorting 73,
Sortation process 74 and the 5th remote I/O module 75；
The work of sorting unit is arranged in conveyer belt 72, mechanism for sorting 73, sortation process 74 and the 5th remote I/O module 75
On 71 table top of platform.Sorting unit 7 includes multiple mechanism for sorting 73, and corresponds to the sortation process 74 that mechanism for sorting 73 is arranged, more
The top of conveyer belt 72 is arranged in a mechanism for sorting 73, and neighbouring 72 end of conveyer belt is set gradually.
Conveyer belt 72 is fixed on transmission workbench 71, and the workpiece 93 for completing vision-based detection is placed into biography by industrial robot
It send on band 72, starts the sorting process of workpiece 93.
Mechanism for sorting 73 includes the vertical push rod cylinder 731 of mechanism for sorting, mechanism for sorting horizontal push cylinder 732 and sorter
Structure sensor 733, the output end of the vertical push rod cylinder push-rod 731 of mechanism for sorting are provided with baffle, mechanism for sorting horizontal push gas
The output end of cylinder 732 is provided with push plate, and the push plate of mechanism for sorting horizontal push cylinder 732 is arranged in mechanism for sorting sensor 733
Before, whether there is workpiece 93 on the conveyer belt 72 for detecting current location.
Sortation process 74 includes sorting road junction 741, sortation process positioning cylinder 742 and sortation process sensor 743, sorting
The inclination of 741 slideway of road junction and the neighbouring setting of conveyer belt 72, for receiving the workpiece 93 of the push of mechanism for sorting 73, sortation process positioning
The setting of cylinder 742 is in sorting road junction 741, and output end is provided with push plate, and sortation process sensor 743 is arranged in sorting
The end of mouth 741 is for detecting whether this position has workpiece 93.
The controller 82 of 5th remote I/O module 75 and Master Control Unit 8 communicates to connect, real by the controller 82 of Master Control Unit 8
The action control of existing sorting unit 7 is simultaneously fed back sensor detecting state by the 5th remote I/O module 75 and to control signal defeated
Out.5th remote I/O module, 75 supporting industry ethernet communication meets field device signals acquisition and function control, supports number
Amount is output and input with analog signals.
Master Control Unit
Referring to Figure 26, Master Control Unit 8 includes workbench 81, controller 82, the industrial switch 83, operating surface of Master Control Unit
Plate 84 and monitor supervision platform 85.
The workbench 81 of Master Control Unit is arranged in controller 82, industrial switch 83, operation panel 84 and monitor supervision platform 85
On.
Controller 82 passes through Industrial Ethernet and the first remote I/O module 15, the second remote I/O module 33, third remote I/O
Module 47, the 4th remote I/O module 57, the 5th remote I/O module 75, digital control system operation panel 46 carry out information exchange and movement
Control, all communication connections pass through 83 transfer of industrial switch.
Operation panel 84 includes power knob 841, scram button 842 and custom button 843, and power knob 841 is controllable
The on-off of 8 power supply module of Master Control Unit processed, scram button 842 can control the operating status of all units that it is made to stop fortune immediately
Row, custom button 843 are connected on controller 82, are controlled by it simultaneously acquisition state signal.
Monitor supervision platform includes fixed terminal 851, MES system, mobile terminal 852 and remote monitoring system.MES system is soft
Part operates in fixed terminal 851, carries out information exchange by Industrial Ethernet with controller 82, is used for real-time monitoring equipment
Operating status, and equipment running status information can be uploaded to internet data service device；Remote monitoring system is soft
Part operates in mobile terminal 852, can be by accessing internet data service device real-time monitoring equipment operating status.
Above-mentioned workpiece 93 is wheel workpiece, using wheel workpiece merely to the function to each unit is said
It is bright, naturally it is also possible to use other workpiece.
In order to which above-mentioned teaching equipment is further detailed, present embodiment additionally provides teaching equipment each unit
The course of work.
Execution unit
Industrial robot controller 122 controls industrial machine human body 121 and executes the movement set and lead to external
Letter；
When industrial robot 12 needs attitudes vibration, industry is controlled using movement instruction by industrial robot controller 122
Each axis of robot body 121 movement, to realize 121 attitudes vibration of industrial machine human body.
When industrial robot 12 needs to realize that position is mobile using translational slide 13, by 122 benefit of industrial robot controller
Kinematic parameter is transferred in slide unit controller 131 with move, servo motor 132 is controlled by slide unit controller 131 and is rotated
And then it is mobile to drive mounting platform 136, to realize that 121 position of industrial machine human body is mobile.
When industrial robot 12 needs replacing tool 23, make industry using control instruction by industrial robot controller 122
Robot body 121 is moved to 23 position of outfit, and connect Quick change module flanged ends 14 with Quick change module tool
End 22 is connected or is detached from, to realize the loading or release of 121 pairs of industrial machine human body different tools 23.
When industrial robot 12 needs tool 23 to act, make to specify using control instruction by industrial robot controller 122
Gas circuit or circuit conducting, thus the movement of implementation tool 23；
When industrial robot 12 needs to communicate, realized and master control list by industrial robot controller 122 using communication instruction
The controller 82 of member 8 and the vision-based detection controller 64 of detection unit 6 realize the interaction of control signal.
Tool unit
According to functional requirement, is placed in the tool of tool storage room 24 and place required tool 23 on position.
Each tool 23 can be loaded or be discharged by the industrial robot 12 in execution unit 1.
Storage unit
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 2 operating position of tool unit；
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to loading spoke clamping jaw
231 specified posture, and output action instruction installs spoke clamping jaw 231 to industrial machine human body 121, then exports movement
Instruction makes industrial machine human body 121 move to specified value posture；
Industrial robot controller 122 is inquired the current storage unit 3 stored in the controller 82 of Master Control Unit 8 and is stored
The state of workpiece 93 selects required pallet 324 to number, and number information is transferred to industrial robot controller 122；
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To storage 3 operating position of unit；
The control storage unit 3 of controller 82 of Master Control Unit 8, by the specified required taking-up of industrial robot controller 122
Workpiece 93 where pallet 324 released using pallet push rod cylinder 325；
Industrial robot controller 122 controls industrial machine human body 121 and refers to according to specified posture crawl tiered warehouse facility 32
Determine the workpiece 93 in pallet 324；
The control storage unit 3 of controller 82 of Master Control Unit 8, utilizes pallet push rod for the pallet 324 for having taken out workpiece 93
Cylinder 325 retracts original position；
After the crawl for completing workpiece 93, industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121
Move to specified value posture；
Process unit
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To processing 4 operating position of unit；
Digital control system operation panel 46 controls the front machine safety door board 421 that safe door cylinder 423 will process unit 4
It opens, the air-actuated jaw 436 of numerically-controlled machine tool is set in releasing orientation；
Industrial robot controller 122, which exports movement instruction, to be moved to industrial machine human body 121 to place workpiece 93
Air-actuated jaw 436 is set as clamped condition by the specified posture on to air-actuated jaw 436, digital control system operation panel 46, is stablized
After clamping workpiece 93, the clamping to workpiece 93 is unclamped in the instruction of 122 output action of industrial robot controller；
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to specified value posture,
After exiting 43 safety guard of numerically-controlled machine tool, 42 region, digital control system operation panel 46 controls safe door cylinder 423 and closes lathe peace
Air cock door-plate 421；
The multiple numerical control processing G code programs processed required for having been pre-stored in digital control system operation panel 46,
MES system selects suitable processing program, cutter according to production requirement；
Digital control system operation panel 46 controls numerically-controlled machine tool 43 and executes selected numerical control processing G code, completes determining for workpiece
Inhibition and generation engraving/Milling Process；The speed of mainshaft in process, the information such as whether complete the process can be by digital control system operation panel
46 transmit with MES software communication, and by 851 real-time display of fixed terminal；
After numerically-controlled machine tool 43 completes the customization processing to workpiece 93, digital control system operation panel 46 controls safe door cylinder
423 open machine safety door board 421, and industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121
The specified posture of picking up work piece 93 is moved to, digital control system operation panel 46 controls air-actuated jaw 436 and unclamps, industrial robot control
122 output action of device instruction processed and movement instruction make industrial machine human body 121 take out workpiece 93 and move to specified value appearance
State exits 43 safety guard of numerically-controlled machine tool, 42 region.
Digital control system operation panel 46, which controls safe door cylinder 423, closes machine safety door board 421.
Sanding unit
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 5 operating position of sanding unit.
Industrial robot controller 122, which exports movement instruction, to be moved to industrial machine human body 121 to place workpiece 93
To the specified posture of polishing station 53, after output action instruction will unclamp workpiece 93, output movement instruction makes industrial robot sheet
Body 121 moves to specified value posture.
It is flat in polishing station processing that the control polishing station pneumatic clamping jaw 532 of controller 82 of Master Control Unit 8 clamps workpiece 93
Platform 531.
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 2 operating position of tool unit.
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to release spoke clamping jaw
231 specified posture, and spoke clamping jaw 231 is discharged into tool and placed on position by output action instruction, then is exported movement instruction and made
Industrial machine human body 121 moves to the specified posture for loading end face milling tools 236, and output action instruction polishes end face work
In 236 installation to industrial machine human body 121 of tool, then exporting movement instruction makes industrial machine human body 121 move to specified mark
Quasi- posture.
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 5 operating position of sanding unit.
122 output action of industrial robot controller instruction starting end face is polished 236 tools, and is exported movement instruction and made work
Industry robot body 121 requires the polishing completed using end face milling tools 236 to 93 designated position of workpiece to process according to technique
Afterwards, the instruction of 122 output action of industrial robot controller stops 236 tools of end face polishing.
The control polishing of controller 82 station 53, rotary work station 54 and the overturning tooling 55 of Master Control Unit 8, by overturning tooling
Clamping jaw 553 clamps workpiece 93, while station pneumatic clamping jaw 532 of polishing unclamps workpiece 93, and the overturning starting of tooling lifting cylinder 551 rises
High tumble tooling clamping jaw 553 and workpiece 93, the overturning starting overturning of tooling rotary cylinder 552, overturning tooling lifting cylinder 551 start
Lower general who has surrendered's workpiece 93 is placed on rotary work station 54, and rotary work station air-actuated jaw 542 clamps workpiece, 553 pine of overturning tooling clamping jaw
Go into operation part 93.
122 output action of industrial robot controller instruction starting end face milling tools 236, and export movement instruction and make work
Industry robot body 121 requires the polishing completed using end face milling tools 236 to 93 designated position of workpiece to process according to technique
Afterwards, the instruction of 122 output action of industrial robot controller stops 236 tools of end face polishing.
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 2 operating position of tool unit.
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to the polishing of release end face
The specified posture of tool 236, and end face milling tools 236 is discharged into tool and placed on position by output action instruction, then exports fortune
Dynamic instruction makes industrial machine human body 121 move to the specified posture for loading sucker tool 235, and output action is instructed sucker work
In 235 installation to industrial machine human body 121 of tool, then exporting movement instruction makes industrial machine human body 121 move to specified mark
Quasi- posture.
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 5 operating position of sanding unit.
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to picking up work piece 93
Specified posture, after the controller 82 of Master Control Unit 8 controls the release workpiece 93 of rotary work station air-actuated jaw 542, industrial robot
122 output action of controller instructs picking up work piece.
Industrial robot controller 122, which controls industrial machine human body 121 and is placed in workpiece 93, blows bits station 56, will polish
Clast is blown down by workpiece surface；
Industry robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to specified value posture.
Detection unit
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 6 operating position of detection unit.
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to the specified posture of detection,
Workpiece 93 is set to be located at the regulation visual field position of intelligent vision camera 62.
Industrial robot controller 122, which exports communication instruction, makes vision-based detection controller 64 complete detection operation, and by work
The color parameter information of 93 designated position of part is transmitted back to industrial robot controller 122.
Industrial robot controller 122, which exports movement instruction, makes industrial machine human body 121 move to specified value posture.
Sorting unit
The instruction of 122 output mobile of industrial robot controller makes translational slide 13 drive industrial machine human body 121 mobile
To 7 operating position of sorting unit.
Industrial robot controller 122 export movement instruction make industrial machine human body 121 move to place workpiece 93 arrive
The specified posture of 72 starting point of conveyer belt, and output action instruction release workpiece 93 fall on it on conveyer belt 72 after, output fortune
Dynamic instruction makes industrial machine human body 121 move to specified value posture.
The controller 82 of Master Control Unit 8 controls conveyer belt 72 and moves, before workpiece 93 is transmitted to specified mechanism for sorting 73.
The vertical push rod cylinder 731 of the mechanism for sorting of specified mechanism for sorting 73 is fallen interception by the controller 82 of Master Control Unit 8
Firmly workpiece 93 after mechanism sensor 733 to be sorted detects workpiece 93, control mechanism for sorting horizontal push cylinder 732 for workpiece
93 push-in sorting road junctions 741.
The controller 82 of Master Control Unit 8 controls sortation process positioning cylinder 742 and acts, and will be located in sorting road junction 741
Workpiece 93, which is accurately positioned, arrives road junction end.
Master Control Unit
When all processes are realized, the action process between each unit realizes control by the controller 82 of Master Control Unit 8, and completes
The interaction and transmitting of control instruction and information data between each unit.
Operate in fixed terminal 851 MES system can all units of real-time monitoring operating condition, and to current workpiece
The information such as machining state, following process process are shown.
Operate in mobile terminal 852 remote monitoring system can real-time detection to equipment running status.
Technical principle of the utility model has been described above with reference to specific embodiments, these descriptions are intended merely to explain this reality
With novel principle, it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on explaining herein, ability
The technical staff in domain, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model, these
Mode is fallen within the protection scope of the utility model.
Claims (11)
1. a kind of intelligent manufacturing cell design of system integration teaching equipment, it is characterised in that: be arranged independently of each other including multiple
Unit is realized to the storage of workpiece, processing, detection or sort process process；
The multiple unit being arranged independently of each other includes execution unit, tool unit, storage unit, processing unit, polishing list
Member, detection unit, sorting unit and Master Control Unit；
Each unit can be laid out combination by connection on demand；
The execution unit, tool unit, storage unit, the confession for processing unit, sanding unit, detection unit and sorting unit
Electricity, gas supply are provided by Master Control Unit, are realized and are connected using fast wiring cable；
The execution unit, storage unit, processing unit, sanding unit, detection unit and sorting unit pass through industrial ether
Net realizes the motion flow that each unit is controlled with the controller communication of Master Control Unit, and the company of communication is realized by fast wiring cable
It connects.
2. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: all units
Be working platform type design, function part be arranged on table surface or workbench cabinet in；
For the workbench of all units with height, the side length on each side of workbench is the integral multiple for setting length.
3. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the execution
Unit includes workbench, industrial robot, translational slide, Quick change module flanged ends and the first remote I/O mould of execution unit
Block；
The industrial robot includes industrial machine human body and industrial robot controller, and the industrial machine human body is in work
It is run under the control of industry robot controller；
The translational slide is arranged on the table surface of execution unit, and the industrial machine human body is arranged in translational slide
Mounting platform on, the workbench cabinet of execution unit is arranged in the industrial robot controller and the first remote I/O module
It is interior；
The Quick change module flanged ends is arranged on the 6th shaft flange of industrial machine human body, can in tool unit
The Quick change module tool connecting pin matching being arranged on tool, realizes connection and separation under the control of industrial robot controller；
The translational slide is arranged on the table surface of execution unit, by the control servo motor rotation of slide unit controller, leads to
After crossing speed reducer deceleration, synchronous belt driving ball-screw realizes that rotary motion is changed into linear motion, makes mounting platform along straight
The sliding of line guide rail；
The slide unit controller is connect with industrial robot controller, and kinematic parameter is passed to slide unit by industrial robot controller
Controller makes industrial robot controller control mounting platform straight line back and forth movement to change the position of industrial machine human body
It sets；
The industrial robot controller is connect with the first remote I/O module, and passes through the first remote I/O module and Master Control Unit
The interaction of the control signal between execution unit and Master Control Unit is realized in controller communication connection.
4. intelligent manufacturing cell design of system integration teaching equipment according to claim 3, it is characterised in that: the tool
Unit includes the workbench of tool unit, Quick change module tool connecting pin, tool and tool storage room；
The tool is matched by Quick change module tool connecting pin with Quick change module flanged ends, and then is loaded into industrial machine
On human body；
The tool includes spoke clamping jaw, wheel hub clamping jaw, wheel rim inner ring clamping jaw, wheel rim outer ring clamping jaw, sucker tool, end face polishing
Tool and side milling tools, Quick change module tool connecting pin are an integral structure with tool；
For the tool lab setting on the table surface of tool unit, the tool storage room includes that multiple tools place position, tool
Tool is placed on to place on position.
5. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the storage
Unit includes workbench, tiered warehouse facility and the second remote I/O module of storage unit；
The tiered warehouse facility and the second remote I/O module are arranged on the table surface of storage unit；
The tiered warehouse facility is separated out multiple independent feed bins by warehouse bracket, and feed bin indicator light, material are provided in the feed bin
Storehouse sensor, pallet and pallet push rod cylinder；
The bottom of feed bin is arranged in the pallet, and can be along pallet linear guide relative to warehouse bracket slide；
The pallet push rod cylinder connect with pallet and is used to pallet is released or be withdrawn feed bin；
The lower part of pallet is arranged in the feed bin sensor, and for detecting, whether there is or not workpiece on pallet；
The upside or downside of feed bin is arranged in the feed bin indicator light, indicates that whether there is or not works in feed bin by the different color of indicator light
Part；
The connection of the controller communication of second remote I/O module and Master Control Unit realizes landing account by the controller of Master Control Unit
Signal output is fed back by the second remote I/O module and controlled to signal condition simultaneously by the action control of member.
6. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the processing
Unit includes workbench, safety guard, numerically-controlled machine tool, simulation tool magazine, the machining state indicator light, digital control system behaviour of processing unit
Make panel and third remote I/O module；
The safety guard, numerically-controlled machine tool and numerical control system operatio panel are arranged on the table surface of processing unit；
The simulation tool magazine and machining state indicator light are arranged on safety guard；
The third remote I/O module is arranged in the workbench cabinet of processing unit；
The safety guard is frame-like structures and the surrounding that numerically-controlled machine tool is arranged in, and is respectively set in the front and back of numerically-controlled machine tool
It is equipped with machine safety door, the machine safety door includes door-plate, panel guide, safe door cylinder and safe door position sensor,
Door-plate is opened and closed by safe door cylinder drives edge panel guide, safe door position sensor can feed back machine safety door opening or
The working control signal of closed state, safe door cylinder is provided by digital control system operation panel；
The numerically-controlled machine tool include X-axis transmission device, Y-axis transmission, Z-axis transmission device, main shaft, cutter, air-actuated jaw and
Processing platform；Wherein, the X-axis transmission device, Y-axis transmission, Z-axis transmission device are servo motor driving ball-screw
The structure for moving its mounting platform along linear guide；The Y-axis transmission is arranged on the table surface of processing unit,
The X-axis transmission device is arranged on Y-axis transmission, and the Z-axis transmission device is arranged on Y-axis transmission device, the master
Axis is arranged on Z-axis transmission device；The main shaft terminal is connect with cutter；The work of processing unit is arranged in the processing platform
Downside on platform table top and positioned at main shaft, the air-actuated jaw, which is arranged on processing platform, to be located on the downside of main shaft；
The simulation tool magazine can show current tool magazine state and tool-information, and simulation tool magazine and the communication of digital control system operation panel connect
It connects, control signal is exported by digital control system control panel and realizes that the switching of tool magazine state and tool changing act；
The numerically-controlled machine tool realizes action control, digital control system operation panel and third remote I/O mould by digital control system operation panel
Block signal connection, realize processing unit and Master Control Unit control signal interaction, digital control system operation panel by industry with
Too net realizes that status information interacts with MES system.
7. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the polishing
Unit includes the workbench of sanding unit, safety barrier, polishing station, rotary work station, overturning tooling, blows bits station and the 4th far
Journey I/O module；
The safety barrier, polishing station, rotary work station, overturning tooling, blow bits station and the 4th remote I/O module setting beating
On the table surface for grinding unit；
Safety barrier is frame-like structures and is arranged in polishing station, rotary work station, overturning tooling, blows bits station and the 4th long-range
The outside of I/O module；
The polishing station includes polishing station processing platform, polishing station positioning pin, polishing station pneumatic clamping jaw and polishing work
Workpiece can be fixed on polishing station processing platform by the clamping for station pneumatic clamping jaw of polishing, pass through polishing by level sensor
Polishing station positioning pin on station processing platform realizes the positioning of workpiece, the detectable current polishing station of polishing station sensor
Whether there is workpiece on processing platform；
The rotary work station includes rotary work station processing platform, rotary work station positioning pin, rotary work station Pneumatic clamping jaw, rotary work station
Workpiece can be fixed on rotary work station and be added by sensor and rotary work station rotary cylinder by the clamping of rotary work station Pneumatic clamping jaw
On work platform, the positioning of workpiece, rotary work station sensor are realized by the rotary work station positioning pin on rotary work station processing platform
Whether current rotary work station processing platform on have workpiece, the rotary work station processing platform setting is rotated in rotary work station if can detect
It is realized on cylinder and rotates integrally to drive workpiece rotation；
The overturning tooling includes overturning tooling lifting cylinder, overturning tooling rotary cylinder and overturning tooling clamping jaw, the overturning
Tooling lifting cylinder is fixed on the table surface of sanding unit, and the overturning tooling rotary cylinder is mounted on overturning tooling liter
The output end of sending down abnormally ascending cylinder, the overturning tooling clamping jaw are connect with the output end for overturning tooling rotary cylinder, and the overturning tooling is used
In carrying of the workpiece between rotary work station and polishing station and realize the overturning of workpiece；
The bits station that blows includes blowing bits cabinet and setting to blow the bits intracorporal bits blower of case；
The connection of the controller communication of 4th remote I/O module and Master Control Unit realizes that polishing is single by the controller of Master Control Unit
Signal output is fed back by the 4th remote I/O module and controlled to signal condition simultaneously by the action control of member.
8. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the detection
Unit include the workbench of detection unit, intelligent vision camera, light source, vision-based detection controller and vision-based detection as the result is shown
Screen；
The intelligent vision camera and light source are arranged on the table surface of detection unit, and for acquiring image information；
The intelligent vision camera is connect with vision-based detection controller communication, and for handling image information to extract the number of workpiece
According to parameter；
The vision-based detection is shielded as the result is shown to be connect with vision-based detection controller communication, for showing vision-based detection result；
The vision-based detection controller and industrial robot controller communication connection simultaneously carry out signal interaction.
9. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: the sorting
Unit includes workbench, conveyer belt, mechanism for sorting, sortation process and the 5th remote I/O module of sorting unit；
The conveyer belt, mechanism for sorting, sortation process and the 5th remote I/O module are arranged on the table surface of sorting unit,
It is arranged including multiple mechanism for sorting, and the sortation process of corresponding mechanism for sorting setting, the multiple mechanism for sorting in conveyer belt
Top, neighbouring transmission end of tape sets gradually；
The mechanism for sorting includes the vertical push rod cylinder of mechanism for sorting, mechanism for sorting horizontal push cylinder and mechanism for sorting sensing
Device；The output end of the vertical push rod cylinder push-rod of mechanism for sorting is provided with baffle, the mechanism for sorting horizontal push cylinder
Output end is provided with push plate；Before the push plate of mechanism for sorting horizontal push cylinder is arranged in the mechanism for sorting sensor, for examining
Whether survey on the conveyer belt of current location has workpiece；
The sortation process includes sorting road junction, sortation process positioning cylinder, sortation process sensor, sorting road junction slideway
It tilts simultaneously neighbouring conveyer belt to be arranged, for storing the workpiece of mechanism for sorting push, the sortation process positioning cylinder setting is dividing
It picks in road junction, and output end is provided with push plate, the end at sorting road junction is arranged in for detecting this position in sortation process sensor
Whether set has workpiece；
The communication connection of the controller of 5th remote I/O module and Master Control Unit realizes that sorting is single by the controller of Master Control Unit
Signal output is fed back by the 5th remote I/O module and controlled to signal condition simultaneously by the action control of member.
10. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: described total
Control workbench, controller, industrial switch, operation panel, monitor supervision platform and the equipment state instruction that unit includes Master Control Unit
Lamp；
The controller, industrial switch, operation panel and monitor supervision platform setting are on control table surface；
The controller is controlled by the industrial robot of the remote I/O module of Industrial Ethernet and other units, execution unit
Device, the digital control system operation panel for processing unit carry out information exchange and action control；
The industrial switch is to connect relay device as all equipment communication lines communicated using Industrial Ethernet；
The operation panel includes power knob, scram button and custom button, and the power knob can control Master Control Unit
The on-off of power supply system, the scram button can control the operating status of all units to stop running immediately it, described to make by oneself
Adopted button, which is connected on controller, is controlled by it simultaneously acquisition state signal；
The monitor supervision platform includes fixed terminal, MES system, mobile terminal and remote monitoring system；The MES system is soft
Part operates in fixed terminal, carries out information exchange by Industrial Ethernet with controller, the operation for real-time monitoring equipment
State, and equipment running status information can be uploaded to internet data service device；The remote monitoring system is software,
Operation in the terminal, can be by accessing internet data service device real-time monitoring equipment operating status；
The device state indicator lamp can show equipment overall operation state, device state indicator lamp by different colours indicator light
It is controlled by controller.
11. intelligent manufacturing cell design of system integration teaching equipment according to claim 1, it is characterised in that: described to hold
Lead between row unit, tool unit, storage unit, processing unit, sanding unit, detection unit, sorting unit and Master Control Unit
It crosses steel plate and is connected with screw and spliced.
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| CN201820111249.3U CN208444504U (en) | 2018-01-23 | 2018-01-23 | A kind of intelligent manufacturing cell design of system integration teaching equipment |
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| CN201820111249.3U CN208444504U (en) | 2018-01-23 | 2018-01-23 | A kind of intelligent manufacturing cell design of system integration teaching equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039113A (en) * | 2018-01-23 | 2018-05-15 | 北京华航唯实机器人科技股份有限公司 | A kind of intelligent manufacturing cell design of system integration teaching equipment |
| CN110428719A (en) * | 2019-09-02 | 2019-11-08 | 广东汇邦智能装备有限公司 | A kind of mechanical hand operation teaching method |
| CN110449924A (en) * | 2019-07-23 | 2019-11-15 | 南京工程学院 | A kind of numerically-controlled machine tool with Double-linkage workbench |
| CN110919383A (en) * | 2019-12-24 | 2020-03-27 | 深圳市景方盈科技有限公司 | Mechanical claw welding and milling assembly equipment |
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
| CN108039113B (en) * | 2018-01-23 | 2024-05-03 | 北京华航唯实机器人科技股份有限公司 | Intelligent manufacturing unit system integrated design teaching equipment |
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2018
- 2018-01-23 CN CN201820111249.3U patent/CN208444504U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108039113A (en) * | 2018-01-23 | 2018-05-15 | 北京华航唯实机器人科技股份有限公司 | A kind of intelligent manufacturing cell design of system integration teaching equipment |
| CN108039113B (en) * | 2018-01-23 | 2024-05-03 | 北京华航唯实机器人科技股份有限公司 | Intelligent manufacturing unit system integrated design teaching equipment |
| CN110449924A (en) * | 2019-07-23 | 2019-11-15 | 南京工程学院 | A kind of numerically-controlled machine tool with Double-linkage workbench |
| CN110428719A (en) * | 2019-09-02 | 2019-11-08 | 广东汇邦智能装备有限公司 | A kind of mechanical hand operation teaching method |
| CN110919383A (en) * | 2019-12-24 | 2020-03-27 | 深圳市景方盈科技有限公司 | Mechanical claw welding and milling assembly equipment |
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
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