CN209755234U

CN209755234U - Robot self-adaptive control system of engine cylinder cover and cylinder body

Info

Publication number: CN209755234U
Application number: CN201920062626.3U
Authority: CN
Inventors: 陈亚新; 徐金文; 邢凯盛; 邹超; 吴志颖
Original assignee: Aihualu (wuhu) Robot Engineering Co Ltd
Current assignee: Aihualu (wuhu) Robot Engineering Co Ltd
Priority date: 2019-01-15
Filing date: 2019-01-15
Publication date: 2019-12-10
Anticipated expiration: 2029-01-15

Abstract

The utility model relates to a robot self-adaptive control system of an engine cylinder cover cylinder body, which comprises a gripper system and a communication system; the gripper system comprises a gripper main body, a safety switch A, a workpiece detection B, a compression detection A, an opening detection A, a safety switch B, a workpiece detection C, a workpiece detection D, a compression detection C, a compression detection D, an opening detection B and self-adaptive detection; the communication system comprises a robot, a PLC, a panel socket, an HMI and a plurality of machine tools. The utility model has the advantages of effectively reducing cost and shortening debugging period; the positioning deviation of the machine tool is overcome, the double protection detection workpiece is added, meanwhile, the damage condition of the gripper system can be detected, the appearance of the gripper is beautified, and the use safety is improved; all elements are placed in the shell, so that aging and damp short circuit are effectively prevented, the mechanism is simplified, and the space structure is optimized.

Description

Robot self-adaptive control system of engine cylinder cover and cylinder body

Technical Field

The utility model relates to an engine cylinder lid cylinder body production and processing technology field, specific robot self-adaptation control system of engine cylinder lid cylinder body that says so.

Background

At present, adopt the manual work to go up the unloading to the cylinder body cylinder cap, physical demands is very big, and the scene produces the oil mist moreover and also is harmful to the human body, consequently, the more than problem is solved through industrial robot to urgent demand. The industrial robot is put into the feeding and discharging industry to form scale preliminarily, and how to realize high efficiency and high quality to meet production requirements becomes an important problem of rapid development of the robot industry.

traditional robot snatchs cylinder cap cylinder body in-process, because the cylinder cap cylinder body is bulky, the quality is heavy, and because of the too big range that has restricted the robot of cylinder, the debugging cycle length, and is with high costs, easily produce lathe positioning deviation, lead to terminal impaired tongs, have the operation danger, in addition, can't in time know the behavior when cylinder body cylinder cap snatchs, be unfavorable for snatching process management and remedy, traditional robot terminal tongs in addition, it is easy ageing and moist, the mechanism is complicated, the inner space is bloated. In the existing market, a lot of robots are applied to cylinder covers and cylinder bodies, but the robots are high in manufacturing cost and non-uniform in function, and have limitations.

Disclosure of Invention

In order to avoid and solve the technical problem, the utility model provides an engine cylinder lid cylinder body's robot self-adaptation control system.

The utility model discloses the technical problem that will solve adopts following technical scheme to realize:

A robot self-adaptive control system for an engine cylinder head and a cylinder body comprises a gripper system and a communication system;

The gripper system comprises a gripper body; the safety switch A, the workpiece detection B and the compaction detection B are arranged on the left side of the gripper main body and positioned at the front part; a pressing detection A arranged at the rear part of the left side of the gripper main body and an opening detection A arranged at the middle part of the gripper main body; the safety switch B, the workpiece detection C, the workpiece detection D and the compaction detection C are arranged at the rear part of the right side of the gripper main body; a pressing detection D arranged at the front part of the right side of the gripper main body and an opening detection B arranged at the middle part of the gripper main body; self-adaptive detection is arranged in the middle of the gripper main body;

The communication system comprises a robot, a PLC (programmable logic controller) connected with the robot, a panel socket and an HMI (human machine interface) connected with the PLC, and a plurality of machine tools connected with the robot and the PLC, wherein any one of the machine tools is provided with a gripper system, and the gripper system is connected with the PLC.

further, the safety switch a, the safety switch B, the compression detection a, the compression detection B, the compression detection C and the compression detection D are all M12 proximity switches.

Further, the opening detection a, the opening detection B, the workpiece detection a, the workpiece detection B, the workpiece detection C, and the workpiece detection D are all M8 proximity switches.

Further, the adaptive detection is a laser sensor.

Furthermore, the hand grab system further comprises a shell wrapped on the outer side of the hand grab main body so as to achieve water resistance, ageing resistance and short circuit resistance.

Furthermore, the HMI adopts Profinet communication to carry out data connection with the PLC.

The utility model has the advantages that: compared with the traditional feeding and discharging mode, the utility model has the advantages of effectively reducing cost and shortening debugging period; the real-time information of the machining quantity, the sampling quantity and the unqualified quantity can be displayed, and the unqualified product is caused by which machine tool and which work station; the self-adaptive sensor is used for overcoming the positioning deviation of the machine tool, double protection detection workpieces are added, meanwhile, the damage condition of the gripper system can be detected, the appearance of the gripper is beautified, and the use safety is improved; all elements are placed in the shell, so that aging and damp short circuit are effectively prevented, the mechanism is simplified, and the space structure is optimized.

Drawings

The present invention will be further explained with reference to the drawings and examples.

FIG. 1 is a top view of a middle gripper system of the present invention including a housing;

Fig. 2 is a top view of the middle gripper system without the housing according to the present invention;

fig. 3 is a perspective view of the middle gripper system of the present invention;

Fig. 4 is a control relationship block diagram of the communication system of the present invention.

Detailed Description

In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, and the utility model is further explained below.

As shown in fig. 1 to 4, a robot adaptive control system for an engine cylinder head and a cylinder body comprises a gripper system and a communication system;

the gripper system comprises a gripper body 20; a safety switch A1, a workpiece detection A9, a workpiece detection B10 and a pressing detection B5 which are arranged on the left side of the gripper body 20 and are positioned at the front part; a pressing detection A3 and an opening detection a4 provided at the left rear portion and the middle portion of the hand grip main body 20; a safety switch B2, a workpiece detection C11, a workpiece detection D12 and a pressing detection C6 which are arranged at the rear part of the right side of the gripper body 20; a pressing detection D8 and an opening detection B7 provided at the front of the right side of the hand grip main body 20; the self-adaptive detection 13 is arranged in the middle of the gripper main body 20;

The communication system comprises a robot 16, a PLC15 connected with the robot 16, a panel socket 17 and an HMI18 connected with the PLC15, and a plurality of machine tools 19 connected with the robot 16 and the PLC15, wherein any one of the machine tools 19 is provided with a gripper system, and the gripper system is connected with the PLC 15.

the safety switch A1, the safety switch B2, the compression detection A3, the compression detection B5, the compression detection C6 and the compression detection D8 are all M12 proximity switches. The opening detection A4, the opening detection B7, the workpiece detection A9, the workpiece detection B10, the workpiece detection C11 and the workpiece detection D12 are all M8 proximity switches. Through the design realization duplicate protection of a plurality of proximity switches, can detect whether the work piece has and whether steady with the work piece to and detect the impaired situation of tongs system, in time remind the change or the maintenance, improve the security of operation greatly.

The adaptive detection 13 is a laser sensor. When a workpiece is grabbed, the robot 16 feeds too much, so that the fixture table deforms in a plastic manner; the robot 16 feeds too little to result in grabbing incompletely, and the laser sensor adopts the analog quantity, gives PLC through laser sensor feedback information for PLC15 can compensate according to the current information of sensor feedback, and will receive feedback information and send for robot 16, thereby the position of 16 terminal tongs of adjustment robot, avoids accidentally injuring the lathe workstation.

The gripper system further comprises a shell 14 which is wrapped outside the gripper body 20 to achieve water resistance, aging resistance and short circuit resistance. The workpiece after being machined by the machine tool has residual cleaning liquid, and the shell 14 can effectively ensure the service life of the whole system.

the HMI18 uses Profinet communication to connect data with the PLC 15. In the aspect of human-computer interaction, a user can operate according to prompts of the HMI18, real-time information including workpiece spot check, system alarm, machining quantity and spot check quantity, and can also monitor and control the whole system according to the HMI18, wherein the real-time information includes the machining quantity, the spot check quantity, the unqualified quantity and which machine tool leads to the unqualified product.

DELMIA is used for simulation of the teaching box of the robot 16, and the PLC15 can specifically be siemens ET200SP, process the acquired signals and form control signals, and monitor the real-time environment. An alarm module in the HMI18 is connected with the PLC15, abnormal information generated during processing can give an alarm for user warning, and the operation plays an effective monitoring role.

For the robot 16, the power master switch is pressed, the robot 16 is in a standby state for safety, the user can seek help by operating the HMI18 in front of the robot or can talk directly to the robot 16, and when the entire system fails, the scram switch is pressed, the robot 16 is powered off, and stops working.

The PLC15 is an upper computer and sends information to the robot 16, the robot 16 can work for a plurality of machine tools, the PLC15 can also communicate with the plurality of machine tools, and the number of the machine tools depends on the PLC 15.

The utility model discloses during the use, specifically include following step:

The method comprises the following steps: detecting the communication of each unit to ensure the normal communication of the system;

Step two: before grabbing, signals of an opening detection A4 and an opening detection B7 are guaranteed, and whether the gripper system is completely opened or not and whether the gripper system is locally deformed or not are detected;

Step three: during grabbing, signals of a pressing detection A3, a pressing detection B5, a pressing detection C6 and a pressing detection D8 are guaranteed, and whether the gripper system is completely opened or not and whether the gripper system is locally deformed or not are detected;

Step four: after grabbing, signals of a workpiece detection A9, a workpiece detection B10, a workpiece detection C11 and a workpiece detection D12 are guaranteed, and whether the workpiece exists or not and whether the workpiece is in an ideal position or not are detected;

step five: before and after grabbing, the PLC15 adjusts the position of the tail end of the robot 16 in an adaptive mode according to the analog quantity feedback information of the adaptive detection 13.

the foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and what is described in the specification are the principles of the present invention, and that there can be various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a robot self-adaptation control system of engine cylinder lid cylinder body which characterized in that: comprises a gripper system and a communication system;

The gripper system comprises a gripper body (20); a safety switch A (1), a workpiece detection A (9), a workpiece detection B (10) and a compaction detection B (5) which are arranged on the left side of the gripper main body (20) and are positioned at the front part; a pressing detection A (3) and an opening detection A (4) which are arranged at the rear part of the left side of the gripper main body (20); a safety switch B (2), a workpiece detection C (11), a workpiece detection D (12) and a compaction detection C (6) which are arranged at the rear part of the right side of the gripper main body (20); a pressing detection D (8) and a middle opening detection B (7) which are arranged at the front part of the right side of the gripper main body (20); the self-adaptive detection device (13) is arranged in the middle of the gripper main body (20);

The communication system comprises a robot (16), a PLC (15) connected with the robot (16), a panel socket (17) and an HMI (18) connected with the PLC (15), and a plurality of machine tools (19) connected with the robot (16) and the PLC (15), wherein any one of the machine tools (19) is provided with a gripper system, and the gripper system is connected with the PLC (15).

2. The system of claim 1, wherein the system comprises: safety switch A (1), safety switch B (2), compress tightly detect A (3), compress tightly detect B (5), compress tightly detect C (6), compress tightly detect D (8) and be M12 proximity switch.

3. The system of claim 1, wherein the system comprises: the opening detection A (4), the opening detection B (7), the workpiece detection A (9), the workpiece detection B (10), the workpiece detection C (11) and the workpiece detection D (12) are all M8 proximity switches.

4. The system of claim 1, wherein the system comprises: the adaptive detection (13) is a laser sensor.

5. the system of claim 1, wherein the system comprises: the gripper system further comprises a shell (14) wrapped on the outer side of the gripper main body (20) so as to achieve water resistance, ageing resistance and short circuit resistance.

6. The system of claim 1, wherein the system comprises: the HMI (18) is in data connection with the PLC (15) by adopting Profinet communication.