CN209118612U - Industrial robot intelligence real training production line - Google Patents

Abstract

The utility model discloses a kind of industrial robot intelligence real training production lines, including the fence around the entire production line and the master control platform being arranged in outside the fence and execution system, it further include having intelligent repository, intelligent loading and unloading work station, intelligent engraving work station, intelligent spray coating operations station and transmission process production line, the transmission process production line respectively with the intelligent engraving work station, the intelligence spray coating operations station matches, the master control platform and the execution system be fixedly arranged on the outer outside middle of the fence and respectively with the intelligent repository, the intelligence loading and unloading work station, the intelligent engraving work station, the intelligence spray coating operations station, the transmission process production line electrical connection.The industrial robot intelligence real training production line occupied area of the utility model is small, overall structure is complete, needed for meeting school instruction, without putting into excessive cost, it not will cause excessive financial pressure, filled up the blank of intelligence manufacture personnel training equipment in domestic education sector.

Description

Industrial robot intelligence real training production line

Technical field

The utility model belongs to robot synthetic instruction technical field, specifically, being related to a kind of industrial robot intelligence Real training production line.

Background technique

Since international financial crisis, with the generation information communication technology fast development and with advanced manufacture skill The new round industry transformation using intelligence manufacture as representative, digitlization, networking, intelligence have been risen in the continuous depth integration of art, the whole world Change the main trend for having become the following development of manufacturing.To accelerate China's manufacturing industry transition and upgrade, upgrading synergy, State Council's hair Cloth implements " made in China 2025 ", and using intelligence manufacture as main direction.China marches toward manufacturing power from manufacture big country, to intelligence The demand for talent of energy manufacture view can be more more and more urgent and prominent, therefore, accelerates intelligent talent cultivation, establishes System for Cultivating, Promotion " made in China 2025 " is implemented, traditional manufacture transition and upgrade is promoted, realizes that manufacturing power target has great meaning Justice.

However, intelligence manufacture is all application industrially at present, in plant produced, it is difficult to realize off line teaching. And talk about stratagems on paper by all means departing from equipment, it is unfavorable for supporting for the talent.But for school, one intelligent plant of duplication is made for existing Generationization education, can not produce economic benefit, it is clear that be faced with biggish construction fund pressure.

Summary of the invention

The technical problem to be solved of the utility model is to provide a kind of standard according to intelligent plant and meets Industrial robot intelligence real training production line needed for the teaching of school.

The technical solution of the utility model solution above-mentioned technical problem are as follows:

A kind of industrial robot intelligence real training production line including the fence around the entire production line and is arranged in the fence Outer master control platform and execution system further includes having intelligent repository, intelligent loading and unloading work station, intelligent engraving work station, intelligence spray Work station and transmission process production line are applied, the intelligent repository is located at the fence inside left, the intelligent spray coating operations station, The transmission process production line and the intelligent engraving work station are arranged in order at the fence inner right side from top to bottom, The intelligence loading and unloading station connects the intelligence in fence bosom position, the intelligence loading and unloading work station Warehouse and the transmission process production line, the transmission process production line respectively with the intelligent engraving work station, the intelligence Spray coating operations station matches, the master control platform and the execution system be fixedly arranged on the outer outside middle of the fence and respectively with institute State intelligent repository, the intelligent loading and unloading work station, the intelligent engraving work station, the intelligent spray coating operations station, the biography Defeated process production line electrical connection.

Specifically, the intelligence loading and unloading work station includes logistics trolley, logistics track and loading and unloading robot, the object Trajectory road surrounds the U-shaped distribution of loading and unloading robot, and the side of the logistics track opening is towards the transmission technique stream The intelligent repository is closed in waterline, the other side, and the logistics trolley is placed on the logistics track and prolongs the logistics track It advances, the loading and unloading robot is layer adjacent at the transmission process production line, described in the loading and unloading robot connection Logistics trolley and the transmission process production line.

Specifically, the intelligent repository includes tiered warehouse facility, storehouse control platform, storage robot and storage track, the solid Warehouse and storage track are both placed on ground, and the storage track is located in the front of the tiered warehouse facility, the storage Robot is fixed in the storage track, and the tiered warehouse facility is arranged by array by several storage units and is fixed on storage It is formed on bracket, the storage unit is equipped with material detector, and the storehouse control platform is set to left end outside the fence, described Storehouse control platform is electrically connected with the tiered warehouse facility, the storage robot, the storage track respectively, the storehouse control platform respectively with institute State master control platform, execution system electrical connection.

It preferably, further include having storage control cabinet, the storage control cabinet is set to top in the fence and closes on the intelligence The position in energy warehouse goes out, and the storage control cabinet is electrically connected with the storage robot, and the storehouse control platform controls the storage control Case processed.

Specifically, the transmission process production line includes transmission bracket, engraving transmission line, painting transfer line and transfer machine Structure, the engraving transmission line and the painting transfer line side-by-side registration are fixed on the transmission bracket, and the transfer mechanism is solid Be scheduled on the engraving transmission line on the end of the painting transfer line and be connected to the engraving transmission line and the painting transfer Line, the engraving transmission line middle part is equipped with engraving hoisting mechanism, is equipped in the middle part of the painting transfer line and sprays hoisting mechanism, described Engraving hoisting mechanism and the spraying hoisting mechanism are each attached on the transmission bracket and are located at the engraving transmission line and institute Below the middle part for stating painting transfer line, the master control platform controls the transmission process production line.

Specifically, the intelligent engraving work station matches with the engraving transmission line, the intelligent engraving work station packet Engraver's table and Sculpture robot are included, the engraver's table is disposed adjacent with the Sculpture robot and is placed on ground On, engraved die is equipped at the center of the engraver's table upper surface, the end carving clamp of the Sculpture robot is described Carving clamp matches with the engraved die.

It preferably, further include having engraving control cabinet, the engraving control cabinet is fixed in the fence at the lower right corner and faces The nearly intelligent engraving work station, the engraving control cabinet are electrically connected with the Sculpture robot, described in the master control platform control Carve control cabinet.

Specifically, the intelligence spray coating operations station matches with the painting transfer line, intelligence spray coating operations station packet Spray robot is included, it further includes having spraying water-screen cabinet and spraying feeding system that the spray robot, which is placed on the ground, described Spraying water-screen cabinet is placed on the ground for closing on the spray robot, and spraying positioner is equipped in the middle part of the spraying water-screen cabinet, The spray robot front end is equipped with fixtures for painting, and the fixtures for painting is equipped with spray head, the spray head and the spraying Positioner matches, the spraying feeding system be placed on the ground for closing on the spray robot and with the spray head phase Matching.

It preferably, further include having spray painting control case, the spray painting control case is fixed in the fence at the upper right corner and faces The nearly intelligent spray coating operations station, the spray painting control case are electrically connected with the spray robot, described in the master control platform control Spray painting control case.

Specifically, the fence offers entrance, the two sides of the entrance are equipped with safe grating, the safe grating It is electrically connected with the master control platform.

Having the advantages that for the utility model really simulates in intelligent plant to the engraving of different workpieces, spray Apply mixture manufacturing line slave feeding to engraving, spraying is fed to again to the process of storage, and then make school by the production line application Into the training of the intelligent plant type talent, enable student truly understanding intelligent plant swinging cross work debugging with Operation, while the intelligence real training production line occupied area is small, overall structure is complete, needed for meeting school instruction, without putting into More costs not will cause excessive financial pressure, fill up the sky of intelligence manufacture personnel training equipment in domestic education sector It is white.

Detailed description of the invention

Fig. 1 is the schematic perspective view of the utility model intelligence real training production line.

Fig. 2 is the schematic perspective view of the utility model intelligence loading and unloading work station.

Fig. 3 is the schematic perspective view of the utility model intelligent repository.

Fig. 4 is the schematic perspective view of the utility model storage fixture.

Fig. 5 is the schematic perspective view of the utility model storage track.

Fig. 6 is the schematic perspective view that the utility model feels testing agency.

Fig. 7 is the schematic perspective view that the utility model transmits process production line.

Fig. 8 is the vertical view face structural schematic diagram that the utility model transmits process production line.

Fig. 9 is the vertical section structure schematic diagram that the utility model transmits process production line.

Figure 10 is the schematic perspective view of the utility model intelligent engraving work station.

Figure 11 is the planar structure schematic diagram of the utility model carving clamp.

Figure 12 is the schematic perspective view of the utility model engraver's table.

Figure 13 is the structural schematic diagram at the utility model intelligence spray coating operations station.

Figure 14 is the schematic perspective view of the utility model fixtures for painting.

Figure 15 is the cross-sectional structure schematic diagram that the utility model sprays water-screen cabinet.

The meaning that each serial number indicates in attached drawing is as follows:

1 fence, 2 safe gratings, 3 master control platforms, 4 execution systems, 5 intelligent repositories, 51 storage brackets, 52 storage units, 53 Platform, 55 storage robots, 56 storage fixtures, 561 storage structures parts, 562 storage gripping fingers, 57 storages are controlled in material detector, 54 storehouses Track, 571 sliding racks, 572 motion sensors, 573 distance marks, 574 fixing glues, 58 vision-based detection mechanisms, 581 storage detections Unit, 582 storage inductors, 583 storage detection platforms, 6 intelligent loading and unloading work stations, 61 logistics trolleys, 62 logistics tracks, 63 Upper material position, 64 lower material positions, 65 loading and unloading robots, 7 transmission process production lines, 71 transmission brackets, 72 engraving transmission lines, 721 carvings Carve inductor, 722 engraving lifting-up supports, 723 engraving jacking motors, 724 engraving pre-determined bit devices, 725 engraving jacking locators, 73 Painting transfer line, 731 spraying inductors, 732 spraying lifting-up supports, 733 spraying jacking motors, 734 spraying pre-determined bit devices, 735 Spraying jacking locator, 74 transfer mechanisms, 741 transfer brackets, 742 transfer rails, 743 transfer machines, 744 transfer structural members, 745 move Gripping finger is carried, 75 discharging inductors, 8 intelligent engraving work stations, 81 engraver's tables, 811 engraved dies, 812 pneumatic pawls, 813 is anti- Splash rib, 82 Sculpture robots, 83 carving clamps, 831 engraving main shafts, 832 engraving members, 833 coolant connections, 834 engraving knots Component, 835 engraving material folding pawls, 9 intelligent spray coating operations stations, 91 spray robots, 92 fixtures for painting, 921 spray structure parts, 922 Spray head, 923 spraying material folding pawls, 93 spraying water-screen cabinets, 931 displacement disks, 932 retention beads, 933 displacement drivers, 934 sprayings Exhaust system, 935 air-heaters, 936 hot air ducts, 94 spraying feeding systems.

Specific embodiment

It elaborates with reference to the accompanying drawing to the utility model.

A kind of industrial robot intelligence real training production line of the utility model embodiment, including enclosing around the entire production line Column 1 and the master control platform 3 and execution system 4 being arranged in outside the fence 1 further include having intelligent repository 5, intelligent loading and unloading work station 6, intelligent engraving work station 8, intelligent spray coating operations station 9 and transmission process production line 7, the intelligent repository 5 are located at the fence 1 Inside left, the intelligence spray coating operations station 9, the transmission process production line 7 and the intelligent engraving work station 8 are from top to bottom It is arranged in order at 1 inner right side of fence, the intelligence loading and unloading work station 6 is located at the 1 bosom position of fence It sets, the intelligence loading and unloading work station 6 connects the intelligent repository 5 and the transmission process production line 7, the transmission technique stream Waterline 7 matches with the intelligent engraving work station 8, the intelligent spray coating operations station 9 respectively, and the master control platform 3 is held with described Row system 4 be fixedly arranged on the outside middle of the fence 1 and respectively with the intelligent repository 5, the intelligent loading and unloading work station 6, the intelligent engraving work station 8, the intelligent spray coating operations station 9, the transmission process production line 7 electrical connection.Master control platform 3 is real Border is PLC turn-key system, is made of Siemens S7-1500PLC, 4 ET200SP and TP120 touch screens.Whole line can carry out industry The integrated reality of robot base operation and debugging, off-line programming and simulation real training, industrial robot and PLC electric control system Instruction, industrial robot and automatic loading/unloading, positioning real training；Industrial robot engraving applies synthesis, paint application, industrial robot The comprehensive practical tranings such as loading and unloading, industrial robot intelligent storage, the installation of turn-key system and wiring real training, turn-key system and each work Stand joint debugging real training, the adjustment of automated production line generalization and maintenance.

Specifically, the intelligence loading and unloading work station 6 includes logistics trolley 61, logistics track 62 and loading and unloading robot 65, the logistics track 62 surrounds the U-shaped distribution of the loading and unloading robot 65, the side direction that the logistics track 62 is open The intelligent repository 5 is closed in the transmission process production line 7, the other side, and the logistics trolley 61 is placed on the logistics track On 62 and prolonging the traveling of logistics track 62, the loading and unloading robot 65 is layer adjacent at the transmission process production line 7, The loading and unloading robot 65 is connected to the logistics trolley 61 and the transmission process production line 7.Specifically, loading and unloading robot 65 be a six-shaft industrial robot, and logistics trolley 61 is AGV trolley, and 65 front end of loading and unloading robot is equipped with upper and lower material clamp, The structure of upper and lower material clamp is consistent with the storage structure of fixture 56, and U-shaped opening end one end of logistics track 62 is upper material position 63, The other end is lower material position 64.61 groundwork of logistics trolley is the instruction issued according to master station, workpiece from intelligent repository 5 It sets and is transported to material position 63, picked up workpiece by loading and unloading robot 65, after being placed on transmission process production line 7, logistics is small Vehicle 61 is then moved to lower material position 64, picks up the workpiece processed by loading and unloading robot 65 and reapposes logistics trolley 61 In, it is shipped back in intelligent repository 5 by logistics trolley 61.Workpiece specifically includes pallet and product, and product is placed on pallet, up and down It is the entire workpiece grabbing of even pallet and product when expecting that robot 65 grabs.

Specifically, the intelligent repository 5 includes tiered warehouse facility, storehouse control platform 54, storage robot 55 and storage track 57, institute State tiered warehouse facility and storage track 57 be both placed on ground, it is described storage track 57 be located at the tiered warehouse facility just before Side, the storage robot 55 are fixed in the storage track 57, and the tiered warehouse facility passes through battle array by several storage units 52 Column are arranged and are fixed on storage bracket 51 and form, and the storage unit 52 is equipped with material detector 53, and platform 54 is controlled in the storehouse Be set to the 1 outside left end of fence, the storehouse control platform 54 respectively with the tiered warehouse facility, the storage robot 55, described Track 57 of storing in a warehouse is electrically connected, and the storehouse control platform 54 is electrically connected with the master control platform 3, the execution system 4 respectively.Logistics trolley 61 U-shaped closed position close to storage track 57, the convenient crawl of storage robot 55 being located in storage track 57 or place workpiece, Storage robot 55 is seven axis robots, can effectively connect tiered warehouse facility and logistics trolley 61, realizes the taking-up of workpiece and puts Enter.Tiered warehouse facility can be divided into raw material area, finished product area and defective products area according to customized, and storage robot 55 is corresponding by raw material The workpiece grabbing in area, which is placed into transport in logistics trolley 61, goes to processing, and when storage robot 55 grabs in logistics trolley 61 When workpiece, after tested, finished product area and defective products area are put into classification.

Specifically, 55 front end of storage robot is equipped with storage fixture 56, the storage fixture 56 includes two storages The storage structures part 561 of gripping finger 562 and the fixed storage gripping finger 562, the storage structures part 561 and the storage robot 55 are fixedly connected, and two storage gripping fingers 562 are fixed on 561 two sides of storage structures part in mirror image.It is deposited in tiered warehouse facility The workpiece put is the combination of product and pallet, the corresponding pallet of storage gripping finger 562, to realize the mesh for entirely pressing from both sides out workpiece 's.Specifically, the storage track 57 is equipped with sliding rack 571, the storage robot 55 is fixed on the sliding rack 571 On, the sliding rack 571 is erected in the storage track 57 and can prolong the storage track 57 and slides.Preferably, the cunning Moving frame 571 is equipped with motion sensor 572 relative to the side of glide direction, and the induction end of the motion sensor 572 is towards institute Storage track 57 is stated, distance mark 573 is equipped in the middle part of the storage track 57, the motion sensor 572 is marked with the distance Show that 573 match, the motion sensor 572 is electrically connected with storehouse control platform 54.Motion sensor 572 is mainly used for and incudes Mobile marking obtains moving distance of the storage robot 55 in storage track 57, to realize into certainly position.Specifically, described 57 two sides of track store in a warehouse equipped with several fixing glues 574, the fixing glue 574 fixes the storage track 57 on the ground.Storehouse Storage track 57 is firm to be fixed on the ground, steady when the robot 55 that can guarantee to store in a warehouse is run, will not be made because center of gravity changes At tilting or topple over.

Specifically, further including having vision-based detection mechanism 58, the vision-based detection mechanism 58, which is placed on, closes on the storage ground On the ground of rail 57, the vision-based detection mechanism 58 matches with the storage robot 55, the vision-based detection mechanism 58 with The storehouse control platform 54 is electrically connected.Specifically, the vision-based detection mechanism 58 includes storage detection unit 581, storage inductor 582 With storage detection platform 583, the storage detection unit 581 is fixed on 58 upper end of vision-based detection mechanism, the storage inspection The middle part that platform 583 is fixed on the vision-based detection mechanism 58 is surveyed, the storage inductor 582 is fixed flat with storage detection At 583 top surface edge of platform, the storage detection unit 581 is suspended from the top of the storage detection platform 583.Vision testing machine Structure 58 be mainly used for after processing workpiece carry out vision-based detection, judge whether to process, usually by storage robot 55 from It after clamping out workpiece on logistics trolley 61, is directly sent in storage detection platform 583, when storage inductor 582 senses workpiece When, starting storage detection unit 581 carry out vision-based detection, after detection, storage robot 55 workpiece is taken out again, execute into Library operation, and the information fed back according to vision-based detection mechanism 58, workpiece is correspondingly placed into finished product area or defective products area.

It preferably, further include having storage control cabinet, the storage control cabinet is set to top in the fence 1 and closes on the intelligence The position in energy warehouse 5 goes out, and the storage control cabinet is electrically connected with the storage robot 55, and the storehouse control platform 54 controls the storehouse Store up control cabinet.Storage control cabinet is the controlling terminal of storage robot 55, is commanded by storehouse control platform 54.

Specifically, the transmission process production line 7 include transmission bracket 71, engraving transmission line 72, painting transfer line 73 with Transfer mechanism 74, the engraving transmission line 72 are fixed on the transmission bracket 71 with 73 side-by-side registration of painting transfer line, The transfer mechanism 74 be fixed on the engraving transmission line 72 on the end of the painting transfer line 73 and be connected to the engraving Transmission line 72 and the painting transfer line 73 are equipped in the middle part of the engraving transmission line 72 and carve hoisting mechanism, the painting transfer Spraying hoisting mechanism is equipped in the middle part of line 73, the engraving hoisting mechanism and the spraying hoisting mechanism are each attached to the transmission branch On frame 71 and it is located at below the middle part of the engraving transmission line 72 and the painting transfer line 73, the master control platform 3 controls described Transmit process production line 7.Engraving lifting body matches with intelligent engraving work station 8, when workpiece is transmitted in engraving transmission line 72 When to close to incised work station, lifting body can be engraved and jacked up toward top, and then facilitate crawl of the incised work station to workpiece, Incised work station is also facilitated to reappose the workpiece carved on engraving transmission line 72 simultaneously, after the completion of engraving, engraving Lifting body can restore, and falling in workpiece again on engraving transmission line 72, carved transmission line 72 drives toward transfer mechanism 74 in turn Advance, after close to transfer mechanism 74, transfer mechanism 74 just by workpiece grabbing, makes workpiece from engraving 72 transfer of transmission line to spraying Transmission line 73, and then sprayed under the drive of painting transfer line 73 close to intelligence spray coating operations station 9, spraying lifting body and intelligence Work station 9 matches, and workpiece can be sprayed-on lifting body and jack up toward top at this time, to facilitate grabbing for intelligent spray coating operations station 9 Material and blowing.Corresponding, the start bit of the corresponding engraving transmission line 72 of the upper material position 63 of intelligent loading and unloading work station 6, blanking is pair The stop bits of painting transfer line 73 is answered, loading and unloading robot 65 is exactly the start bit that workpiece grabbing is placed into engraving transmission line 72 Above or by the workpiece being located on the stop bits of painting transfer line 73 it remove.

Specifically, the engraving hoisting mechanism includes engraving lifting-up support 722 and engraving jacking motor 723, the engraving Jacking motor 723 is fixed on the transmission bracket 71, and the engraving jacking motor 723 drives the engraving lifting-up support 722, The U-shaped upward opening of the engraving lifting-up support 722 simultaneously extends to 72 two sides of engraving transmission line, the spraying elevator Structure includes spraying lifting-up support 732 and spraying jacking motor 733, and the spraying jacking motor 733 is fixed on the transmission bracket On 71, spraying jacking motor 733 drives the spraying lifting-up support 732, the spraying lifting-up support 732 it is U-shaped to Upper opening simultaneously extends to 73 two sides of painting transfer line.Spraying lifting body and engraving lifting body are by jacking workpiece Pallet realizes the jacking to workpiece.

Specifically, the transfer mechanism 74 includes transfer bracket 741, transfer machine 743 and load moving fixture, the transfer bracket 741 are fixed on two sides of the painting transfer line 73 with the engraving transmission line 72 towards the external world, set on the transfer bracket 741 There is transfer rail 742, the transfer machine 743 is set on transfer rail 742, and the load moving fixture is fixed under the transfer machine 743 The engraving transmission line 72 and/or painting transfer line 73 simultaneously close in side, and the load moving fixture includes transfer structural member 744 and two Transfer gripping finger 745, two 745 mirror images of transfer gripping finger are fixed on the two sides of the transfer structural member 744, the transfer structure Part 744 is fixed on 743 lower end of transfer machine.The pallet of load moving fixture and workpiece matches, i.e., is clamped by transfer gripping finger 745 Pallet and then drive workpiece progress transfer.

Specifically, the engraving transmission line 72 is equipped with engraving pre-determined bit device 724 and engraving jacking locator 725, it is described Engraving pre-determined bit device 724 and engraving jacking locator 725 are separately fixed on transmission bracket 71 and the prominent engraving passes Defeated 72 upper surface of line, the engraving pre-determined bit device 724 are located at the leading portion of engraving 72 transmission direction of transmission line, the engraving top Locator 725 is risen to be located at the back segment of engraving 72 transmission direction of transmission line and close on the engraving lifting body, the spraying Transmission line 73 is equipped with spraying pre-determined bit device 734 and spraying jacking locator 735, the spraying pre-determined bit device 734 and the spray It applies jacking locator 735 and is separately fixed on transmission bracket 71 and protrudes 73 upper surface of painting transfer line, the spraying is pre- Locator 734 is located at the leading portion of 73 transmission direction of painting transfer line, and the spraying jacking locator 735 is located at the spraying The back segment of 73 transmission direction of transmission line simultaneously closes on the spraying lifting body.Engraving pre-determined bit device 724 is to make only one every time Workpiece can be moved to the position of engraving jacking locator 725, and carve jacking locator 725 and engraving lifting body phase Match, be parked in workpiece accurately above engraving lifting body, facilitate jacking, likewise, spraying pre-determined bit device 734 is to make every time only One workpiece can be moved to the position of spraying jacking locator 735, and spray jacking locator 735 and spraying lifting body phase Matching is parked in workpiece accurately above spraying lifting body, facilitates jacking

Preferably, it is equipped with engraving inductor 721 at the engraving pre-determined bit device 724, the engraving inductor 721 is fixed on On the transmission bracket 71 and the prominent engraving transmission line 72, the spraying are pre-positioned at device 734 equipped with spraying inductor 731, the spraying inductor 731 is fixed on the transmission bracket 71 and the prominent painting transfer line 73, the engraving pass The transmission direction tail end of defeated line 72 is equipped with discharging inductor 75, and the discharging inductor 75 is fixed on the transmission bracket 71 simultaneously The prominent painting transfer line 73.The effect of engraving inductor 721 is to identify whether have the carved jacking locator 725 of workpiece fixed Position, determinings then start engraving lifting body, the effect for spraying inductor 731 is to identify whether have workpiece to be sprayed-on jacking locator 735 positioning, it is determinings then start spraying lifting body, and the inductor 75 that discharges is located at the position that painting transfer line 73 approaches end Workpiece can be removed transmission process production line 7 by loading and unloading robot 65 after recognizing the workpiece processed by place.

Specifically, the intelligent engraving work station 8 matches with the engraving transmission line 72, the intelligent engraving work station 8 include engraver's table 81 and Sculpture robot 82, and the engraver's table 81 is disposed adjacent simultaneously with the Sculpture robot 82 It is placed on the ground, engraved die 811, the end of the Sculpture robot 82 is equipped at the 81 upper surface center of engraver's table Carving clamp 83 at portion, the carving clamp 83 match with the engraved die 811.Specifically, the carving clamp 83 wraps The structural member 834 containing engraving, engraving main shaft 831 and engraving material folding pawl 835, the engraving main shaft 831 are fixed on the engraving structure On part 834, the engraving structural member 834 is fixed on the end of the Sculpture robot 82, and the engraving material folding pawl 835 is fixed on The side of the engraving structural member 834, the engraving main shaft 831 it is fixed with the middle part for carving structural member 834 and with it is described Engraving material folding pawl 835 is vertically arranged.83 major function of carving clamp is first is that clamping the product on pallet and being moved to incised work It is placed on platform 81, second is that being carved to the product being placed on engraver's table 81.

Specifically, 831 bottom of engraving main shaft is equipped with engraving member 832, top is equipped with coolant connection 833.Specifically, Engraving cooling system is equipped with inside the engraver's table 81, the engraving cooling system is connected with the coolant connection 833. Be equipped with specifically, the engraving cooling system includes cyclic water tank, in the cyclic water tank connect the cyclic water tank with it is described The cooling water pump of coolant connection 833.Specific engraving is completed by engraving member 832, and coolant connection 833 passes through cyclic water tank Water supply recirculated water cooling is carried out to engraving member 832, and then guarantee that engraving member 832 will not be overheated and be broken down in engraving, simultaneously Also the clast generated during engraving can be washed away.

Specifically, 811 upper end of engraved die is uniformly provided with several pneumatic pawls 812, the pneumatic pawl 812 uniformly divides Cloth is in 811 upper periphery of engraved die.Starting pawl can will prevent the clamping product on engraved die 811, facilitate carving It carves head 832 to be carved, be subjected to displacement it will not during engraving.Preferably, the engraving material folding pawl 835 is U-shaped Structure.The undressed preceding product with after processing can very easily be clamped.Specifically, the upper surface side of the engraver's table 81 The splashproof rib 813 to match with the engraved die 811 is equipped at edge, the splashproof rib 813 is around the incised work The upper surface of platform 81 one week.Splashproof rib 813 is mainly that the clast generated during preventing engraving and cooling water splash the external world.

It preferably, further include having engraving control cabinet, the engraving control cabinet is fixed in the fence 1 at the lower right corner and faces The nearly intelligent engraving work station 8, the engraving control cabinet are electrically connected with the Sculpture robot 82, and the master control platform 3 controls The engraving control cabinet.Instruction commander's Sculpture robot 82 that engraving control cabinet receives master control platform 3 works.

Specifically, the intelligence spray coating operations station 9 matches with the painting transfer line 73, the intelligence spray coating operations station 9 include spray robot 91, and the spray robot 91 is placed on the ground, and further includes having spraying water-screen cabinet 93 and spraying to be fed System 94, the spraying water-screen cabinet 93 is placed on the ground for closing on the spray robot 91, in the spraying water-screen cabinet 93 Portion is equipped with spraying positioner, and 91 front end of spray robot is equipped with fixtures for painting 92, and the fixtures for painting 92 is equipped with spraying First 922, the spray head 922 matches with the spraying positioner, and the spraying feeding system 94, which is placed on, closes on the spray It applies on the ground of robot 91 and matches with the spray head 922.Spraying feeding system 94 mainly can be used in as spray head 922 provide coating, can provide the coating of different colours according to the demand of spraying.

Specifically, the fixtures for painting 92 includes spray structure part 921 and spraying material folding pawl 923, the spray structure part 921 are fixedly connected with 91 front end of spray robot, and the spraying material folding pawl 923 is fixed on the spray structure part 921 On side wall, the spray head 922 is fixed on 921 front end of spray structure part.Spraying gripper jaw is mutually matched with product, regardless of Whether product passes through artistic carving in advance, can accurately grab and be placed on spraying positioner.

Specifically, the spraying positioner includes displacement disk 931 and displacement driver 933, the displacement driver 933 is solid It is scheduled in the spraying water-screen cabinet 93, the displacement disk 931 is located at the 933 upper surface center of displacement driver.Preferably, The displacement disk 931 is equipped with workpiece protrusion 932.The effect of spraying positioner drives the production being placed on displacement disk 931 Product move in a circle, and then can uniformly be sprayed by surrounding of the spray head 922 to product.

Specifically, further including having spraying exhaust system 934, the spraying exhaust system 934 is set to the spraying cascade The top of cabinet 93 and the upper wall for running through the spraying water-screen cabinet 93.Specifically, further including having hot blast feeding system, the hot wind is supplied Answering system includes air-heater 935 and hot air duct 936, and the air-heater 935 is fixed on 93 top of spraying water-screen cabinet, described Hot air duct 936 connects the air-heater 935 and extends in the spraying water-screen cabinet 93.Exhaust system is by the exhaust gas after spraying It takes away, and seals supply system to provide thermal current in spraying water-screen cabinet 93.Enable the coating being sprayed on product more quick-drying It is dry, thus the case where avoiding after spraying, fading when spraying gripper jaw clamping product.

It preferably, further include having spray painting control case, the spray painting control case is fixed in the fence 1 at the upper right corner and faces The nearly intelligent spray coating operations station 9, the spray painting control case is electrically connected with the spray robot 91, and the master control platform 3 controls The spray painting control case.Master control platform 3 sends instructions to spray painting control case and then controls the operation of spray robot 91.

Specifically, the fence 1 offers entrance, the two sides of the entrance are equipped with safe grating 2, the safety light Grid 2 are electrically connected with the master control platform 3.Safe grating 2 sends a signal to master control platform 3, master control platform 3 when someone enters in fence 1 Stop the running of each equipment in industrial robot intelligence real training production line, guarantees the life safety of the personnel entered in fence 1.

The workflow of whole industrial robot intelligence real training production line are as follows: master control platform 3 assigns fabrication order, machine of storing in a warehouse People 55 takes workpiece to be placed into logistics trolley 61 from the raw material area of tiered warehouse facility, realizes the function of raw material outbound, logistics trolley 61 are moved to material position 63, and the workpiece holding on logistics trolley 61 is placed into opening for engraving transmission line 72 by loading and unloading robot 65 It is transmitted on beginning, after engraving inductor 721 senses workpiece, starting engraving lifting body jacks workpiece, and then by carving Robot 82 gets in engraver's table 81 product clip and carves, and is placed back on pallet after the completion, carves jack later Structure restores, and workpiece continues to be transferred under transfer mechanism 74, by transfer mechanism 74 that workpiece transfer is enterprising to painting transfer line 73 Row transmission, until spraying inductor 731 senses that workpiece, starting spraying lifting body jack workpiece, grabbed by spray robot 91 It taking product to be placed into spraying water-screen cabinet 93 to be sprayed, be put back on pallet again after the completion of spraying, spraying lifting body resets, Workpiece continues the tail end for being transferred to painting transfer line 73 and is read by discharging inductor 75, starts loading and unloading robot 65 for workpiece It clamps, is placed on the logistics trolley 61 for being moved to lower material position 64 in advance, logistics trolley 61 is returned later from painting transfer line 73 Return to storage 57 close position of track, the workpiece that processes is grabbed by storage robot 55 and is placed into vision-based detection mechanism 58 It is detected, after detection, has storage robot 55 that workpiece is placed into corresponding finished product area or defective products area, and then complete The whole circulation of industrial robot intelligence real training production line.

The above content is the further descriptions done in conjunction with specific preferred embodiment to the utility model, cannot Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard To belong to the protection scope of the utility model.

Claims (10)

1. a kind of industrial robot intelligence real training production line is enclosed with setting described including the fence (1) around the entire production line The master control platform (3) of column (1) outside and execution system (4), it is characterised in that: further include having intelligent repository (5), intelligent loading and unloading work It stands (6), intelligent engraving work station (8), intelligent spray coating operations station (9) and transmission process production line (7), the intelligent repository (5) Positioned at the fence (1) inside left, the intelligence spray coating operations station (9), the transmission process production line (7) and the intelligence Incised work station (8) is arranged in order at the fence (1) inner right side, the intelligence loading and unloading work station from top to bottom (6) it is located at the fence (1) bosom position, the intelligence loading and unloading work station (6) connects the intelligent repository (5) and institute State transmission process production line (7), the transmission process production line (7) respectively with the intelligent engraving work station (8), the intelligence Spray coating operations station (9) matches, and the master control platform (3) and the execution system (4) are fixedly arranged among the fence (1) outside Place and respectively with the intelligent repository (5), the intelligent loading and unloading work station (6), the intelligent engraving work station (8), described Intelligent spray coating operations station (9), the transmission process production line (7) electrical connection.

2. industrial robot intelligence real training production line according to claim 1, it is characterised in that: the intelligence loading and unloading work Stand (6) include logistics trolley (61), logistics track (62) and loading and unloading robot (65), the logistics track (62) surrounds institute State loading and unloading robot (65) U-shaped distribution, the side of logistics track (62) opening is towards the transmission process production line (7), the other side is closed on the intelligent repository (5), and the logistics trolley (61) is placed on the logistics track (62) and prolongs institute Logistics track (62) traveling is stated, the loading and unloading robot (65) is layer adjacent at the transmission process production line (7), described Loading and unloading robot (65) is connected to the logistics trolley (61) and the transmission process production line (7).

3. industrial robot intelligence real training production line according to claim 2, it is characterised in that: the intelligent repository (5) Including tiered warehouse facility, storehouse control platform (54), storage robot (55) and storage track (57), the tiered warehouse facility and storage track (57) it is both placed on ground, the storage track (57) is located in the front of the tiered warehouse facility, the storage robot (55) it is fixed on the storage track (57), the tiered warehouse facility is arranged and fixed by array by several storage units (52) It is formed in storage bracket (51), the storage unit (52) is equipped with material detector (53), storehouse control platform (54) setting In the external left end of the fence (1), storehouse control platform (54) respectively with the tiered warehouse facility, the storage robot (55), institute Storage track (57) electrical connection is stated, storehouse control platform (54) is electrically connected with the master control platform (3), the execution system (4) respectively.

4. industrial robot intelligence real training production line according to claim 3, it is characterised in that: further include having storage control Case, the storage control cabinet are set to the position that the intelligent repository (5) is closed in top in the fence (1) and go out, the storage control Case processed is electrically connected with the storage robot (55), and storehouse control platform (54) controls the storage control cabinet.

5. industrial robot intelligence real training production line according to claim 2, it is characterised in that: the transmission process flow Line (7) includes that transmission bracket (71), engraving transmission line (72), painting transfer line (73) and transfer mechanism (74), the engraving pass Defeated line (72) and painting transfer line (73) side-by-side registration are fixed on the transmission bracket (71), the transfer mechanism (74) Be fixed on engraving transmission line (72) on the end of the painting transfer line (73) and be connected to the engraving transmission line (72) With the painting transfer line (73), engraving transmission line (72) middle part is equipped with engraving hoisting mechanism, the painting transfer line (73) middle part is equipped with spraying hoisting mechanism, and the engraving hoisting mechanism and the spraying hoisting mechanism are each attached to the transmission branch On frame (71) and it is located at below the middle part of engraving transmission line (72) and the painting transfer line (73), the master control platform (3) Control the transmission process production line (7).

6. industrial robot intelligence real training production line according to claim 5, it is characterised in that: the intelligent engraving work Stand (8) match with the engraving transmission line (72), the intelligent engraving work station (8) include engraver's table (81) and engraving Robot (82), the engraver's table (81) is disposed adjacent and is placed on the ground with the Sculpture robot (82), described Engraved die (811) are equipped at engraver's table (81) upper surface center, folder is carved in the end of the Sculpture robot (82) Have (83), the carving clamp (83) matches with the engraved die (811).

7. industrial robot intelligence real training production line according to claim 6, it is characterised in that: further include having engraving control Case, the engraving control cabinet is fixed at the fence (1) interior lower right corner and closes on the intelligent engraving work station (8), described Engraving control cabinet is electrically connected with the Sculpture robot (82), and the master control platform (3) controls the engraving control cabinet.

8. industrial robot intelligence real training production line according to claim 5, it is characterised in that: the intelligence spray coating operations Stand (9) match with the painting transfer line (73), it is described intelligence spray coating operations station (9) include spray robot (91), it is described Spray robot (91) is placed on the ground, and further includes having spraying water-screen cabinet (93) and spraying feeding system (94), the spraying Water-screen cabinet (93) is placed on the ground for closing on the spray robot (91), and spraying is equipped in the middle part of the spraying water-screen cabinet (93) Positioner, spray robot (91) front end are equipped with fixtures for painting (92), and the fixtures for painting (92) is equipped with spray head (922), the spray head (922) matches with the spraying positioner, and the spraying feeding system (94), which is placed on, closes on institute It states on the ground of spray robot (91) and matches with the spray head (922).

9. industrial robot intelligence real training production line according to claim 8, it is characterised in that: further include having spray painting control Case, the spray painting control case is fixed at the fence (1) interior upper right corner and closes on the intelligent spray coating operations station (9), described Spray painting control case is electrically connected with the spray robot (91), and the master control platform (3) controls the spray painting control case.

10. according to industrial robot intelligence real training production line described in claim 2-9 any one, it is characterised in that: described Fence (1) offers entrance, and the two sides of the entrance are equipped with safe grating (2), the safe grating (2) and the master control Platform (3) electrical connection.