CN104820417A - Intelligent space stack type robot assembly production line - Google Patents
Intelligent space stack type robot assembly production line Download PDFInfo
- Publication number
- CN104820417A CN104820417A CN201510267649.4A CN201510267649A CN104820417A CN 104820417 A CN104820417 A CN 104820417A CN 201510267649 A CN201510267649 A CN 201510267649A CN 104820417 A CN104820417 A CN 104820417A
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- elevating mechanism
- belt conveyor
- circulation carrier
- production line
- carrier
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 230000003028 elevating effect Effects 0.000 claims description 69
- 238000001514 detection method Methods 0.000 claims description 24
- 239000000047 product Substances 0.000 claims description 23
- 239000000835 fiber Substances 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 6
- 239000006227 byproduct Substances 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 239000004973 liquid crystal related substance Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 102000057593 human F8 Human genes 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229940047431 recombinate Drugs 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an intelligent space stack type robot assembly production line which comprises a plurality of robot assembly units arranged in sequence. The plurality of robot assembly units form an assembly production line. The front end of the assembly production line is externally provided with a first circulation carrier elevator mechanism; and the tail end of the assembly production line is externally provided with a second circulation carrier elevator mechanism. The intelligent space stack type robot assembly production line is of a modular design, so that the production line can be recombined randomly, is high in interchangeability and can realize rapid remodel; the production line is wide in universality, and after product process changes, change amount of the device is small; the production line is complete in function and is suitable for various production processes; the whole line is controlled by a bus, and the production status of the whole line can be monitored during whole control; and each unit has an independent liquid crystal touch screen human-computer interface, and simple operation is achieved.
Description
Technical field
The present invention relates to a kind of processing, assembly line automatically, relate to a kind of intelligent space stack assembly robot production line specifically.
Background technology
Along with the high speed development of science and technology, the production of various product, processing and assembling are progressively automated alternative, various automatic production line also arises at the historic moment thereupon, but existing automatic production line is difficult to the strong linking realizing multiple operation, or it is cumbersome that each operation carries out increase and decrease, the different demands of multiple product cannot be adapted to.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of intelligent space stack assembly robot production line, can, according to the demand of product, arbitrarily recombinate, and versatility be wide.
The present invention in order to the technical scheme solving its technical matters and adopt is:
A kind of intelligent space stack assembly robot production line, comprise the robotic asssembly unit that several are arranged in order, these several the robotic asssembly unit that is arranged in order forms assembling line, be provided with the first circulation carrier elevating mechanism outside the head end of this assembling line, outside the end of this assembling line, be provided with the second circulation carrier elevating mechanism;
Described first circulation carrier elevating mechanism comprises the first oscilaltion cylinder and the first elevating mechanism belt conveyor, this the first elevating mechanism belt conveyor is provided with circulation carrier, this circulation carrier is transported to this first elevating mechanism belt conveyor from leading portion streamline, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism, described circulation carrier is also transported on the backflow carrier pipeline of the frame lower of next workshop section and described robotic asssembly unit by the upset of this first elevating mechanism belt conveyor,
Described robotic asssembly unit comprises charging tray gripping feeding distribution mechanism, robot material fetching mechanism, standard belt pipeline, image system and apparatus control system, is provided with CCD in this image system; Empty charging tray by product charging tray automatic loading/unloading, and reclaims stacking by described charging tray gripping feeding distribution mechanism; Product takes out from charging tray and moves to CCD detection and automatically adjusts and load in the circulation carrier on described standard belt pipeline after detection angles and position by described robot material fetching mechanism; The circulation carrier that leading portion puts in place by described standard belt pipeline is delivered to the product place of picking and placeing and carries out secondary location, opens, and can store on the carrier backflow belt conveyor line below a circulation carrier to the frame being positioned at described robotic asssembly unit; Described apparatus control system comprises image control system and PLC control system;
Described second circulation carrier elevating mechanism comprises the second oscilaltion cylinder and the second elevating mechanism belt conveyor, circulation carrier is transported to the second elevating mechanism belt conveyor from leading portion streamline, and drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder, then by the second elevating mechanism belt conveyor upset, circulation carrier is transported on the backflow carrier pipeline of next workshop section's frame lower.
As a further improvement on the present invention, described image system is made up of Liang Zu CCD testing agency, each is organized this CCD testing agency and comprises camera, camera lens, light source and CCD, wherein one group of CCD is for detecting the product space on described robot material fetching mechanism, CCD is for detecting the circulation carrier position on described standard belt pipeline for another group, and two groups of CCD are controlled by same industrial computer and mutually can exchange signal.
As a further improvement on the present invention, described robotic asssembly unit be six-joint robot assembling unit and four axle robotic asssembly units one of them.Four axle robotic asssembly units can realize angular setting and the assembling in XYZ and R direction, are good at and pick and place at a high speed; Six-joint robot assembling unit can realize special angle product and pick and place and assemble, and has more freedom of action degree than four axle robots.
As a further improvement on the present invention, described four axle robotic asssembly units are provided with grasping mechanism, and this grasping mechanism is moved automatically by the position that described control system is given.Thus product is taken out from charging tray and moves to CCD detection automatically adjust and load in the circulation carrier on belt conveyor line after detection angles and position.
As a further improvement on the present invention, described apparatus control system is provided with operation interface, and this operation interface is operated by 17 cun of industrial touch screen that protective cover is inlayed.
As a further improvement on the present invention, described first elevating mechanism belt conveyor is provided with first and puts in place detection fiber, described circulation carrier to be transported to this first elevating mechanism belt conveyor from leading portion streamline and after the detection fiber that puts in place by first responds to and put in place, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism; Described second elevating mechanism belt conveyor is provided with second and puts in place detection fiber, described circulation carrier to be transported to the second elevating mechanism belt conveyor from leading portion streamline and after the detection fiber that puts in place by second responds to and put in place, drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder.
As a further improvement on the present invention, the product feeding place of the charging tray gripping feeding distribution mechanism of described robotic asssembly unit is provided with secondary detent mechanism and is clamped by charging tray.
The invention has the beneficial effects as follows:
1, modular design, can arbitrarily recombinate, interchangeability is high, can realize remodeling fast.
2, versatility is wide, and after Product Process change, the change amount of equipment is less.
3, multiple functional, be applicable to multiple production technology.
4, whole line adopts bus marco, and can monitor the production status of sliver in master control, each unit has independently liquid crystal touch screen man-machine interface, simple to operate.
5, equipment many places adopt CCD to carry out differentiating and (deficient purchase, production run are bad etc. monitor differentiation in real time) ensure production constant product quality.
6, product material adopts truck auto feed, material machine automatic loading/unloading dish, and robot automatic clamping and placing material, automaticity is high, saving manpower, and investment repayment is high.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the structural representation of the first circulation carrier elevating mechanism of the present invention;
Fig. 3 is the structural representation of the second circulation carrier elevating mechanism of the present invention;
Fig. 4 is the structural representation of four axle robotic asssembly units of the present invention;
Fig. 5 is the structural representation of six-joint robot of the present invention assembling unit;
Fig. 6 is the structural representation of charging tray gripping feeding distribution mechanism of the present invention;
Fig. 7 is the structural representation of standard belt pipeline of the present invention;
Fig. 8 is the structural representation of image system of the present invention;
Fig. 9 is the structural representation of apparatus control system of the present invention.
By reference to the accompanying drawings, make the following instructions:
1---the first circulation carrier elevating mechanism
2---robotic asssembly unit
3---the second circulation carrier elevating mechanism
4---circulation carrier
11---the first oscilaltion cylinder
12---the first elevating mechanism belt conveyor
13---first puts in place detection fiber
21---charging tray gripping feeding distribution mechanism
22---robot material fetching mechanism
23---standard belt pipeline
24---image system
25---apparatus control system
31---the second oscilaltion cylinder
32---the second elevating mechanism belt conveyor
33---second puts in place detection fiber
241---camera
242---camera lens
243---light source
244——CCD
251---touch display screen
Embodiment
Below in conjunction with accompanying drawing, a preferred embodiment of the present invention is elaborated.But protection scope of the present invention is not limited to following embodiment, the simple equivalence namely in every case done with the present patent application the scope of the claims and description changes and modifies, and all still belongs within patent covering scope of the present invention.
Refer to Fig. 1-9, a kind of intelligent space stack assembly robot production line, comprise the robotic asssembly unit 2 that several are arranged in order, these several the robotic asssembly unit that is arranged in order forms assembling line, be provided with the first circulation carrier elevating mechanism 1 outside the head end of this assembling line, outside the end of this assembling line, be provided with the second circulation carrier elevating mechanism 3.
Described first circulation carrier elevating mechanism comprises the first oscilaltion cylinder 11 and the first elevating mechanism belt conveyor 12, this the first elevating mechanism belt conveyor is provided with circulation carrier 4, this circulation carrier is transported to this first elevating mechanism belt conveyor from leading portion streamline, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism, described circulation carrier is also transported on the backflow carrier pipeline of the frame lower of next workshop section and described robotic asssembly unit by the upset of this first elevating mechanism belt conveyor,
Described robotic asssembly unit comprises charging tray gripping feeding distribution mechanism 21, robot material fetching mechanism 22, standard belt pipeline 23, image system 24 and apparatus control system 25, is provided with CCD in this image system; Empty charging tray by product charging tray automatic loading/unloading, and reclaims stacking by described charging tray gripping feeding distribution mechanism; Product takes out from charging tray and moves to CCD detection and automatically adjusts and load in the circulation carrier on described standard belt pipeline after detection angles and position by described robot material fetching mechanism; The circulation carrier that leading portion puts in place by described standard belt pipeline is delivered to the product place of picking and placeing and carries out secondary location, opens, and can store on the carrier backflow belt conveyor line below a circulation carrier to the frame being positioned at described robotic asssembly unit; Described apparatus control system comprises image control system and PLC control system;
Described second circulation carrier elevating mechanism comprises the second oscilaltion cylinder 31 and the second elevating mechanism belt conveyor 32, circulation carrier is transported to the second elevating mechanism belt conveyor from leading portion streamline, and drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder, then by the second elevating mechanism belt conveyor upset, circulation carrier is transported on the backflow carrier pipeline of next workshop section's frame lower.
Adopt between robotic asssembly unit and flexibly connect, and can increase and decrease according to the demand of actual product, thus the demand of different product can be adapted to.
Described image system is made up of Liang Zu CCD testing agency, each is organized this CCD testing agency and comprises camera 241, camera lens 242, light source 243 and CCD244, wherein one group of CCD is for detecting the product space on described robot material fetching mechanism, CCD is for detecting the circulation carrier position on described standard belt pipeline for another group, and two groups of CCD are controlled by same industrial computer and mutually can exchange signal.
Described robotic asssembly unit is six-joint robot assembling unit or four axle robotic asssembly units.Four axle robotic asssembly units can realize angular setting and the assembling in XYZ and R direction, are good at and pick and place at a high speed; Six-joint robot assembling unit can realize special angle product and pick and place and assemble, and has more freedom of action degree than four axle robots.
Described four axle robotic asssembly units are provided with grasping mechanism, and this grasping mechanism is moved automatically by the position that described control system is given.Thus product is taken out from charging tray and moves to CCD detection automatically adjust and load in the circulation carrier on belt conveyor line after detection angles and position.
Described apparatus control system is provided with operation interface, and this operation interface is operated by 17 cun of industrial touch screen 251 that protective cover is inlayed.Electricity, gas respectively have independently inlet point.
Described first elevating mechanism belt conveyor is provided with first and puts in place detection fiber 13, described circulation carrier to be transported to this first elevating mechanism belt conveyor from leading portion streamline and after the detection fiber 13 that puts in place by first responds to and put in place, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism; Described second elevating mechanism belt conveyor is provided with second and puts in place detection fiber 33, described circulation carrier to be transported to the second elevating mechanism belt conveyor from leading portion streamline and after the detection fiber 33 that puts in place by second responds to and put in place, drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder.
The product feeding place of the charging tray gripping feeding distribution mechanism of described robotic asssembly unit is provided with secondary detent mechanism and is clamped by charging tray.
Claims (7)
1. an intelligent space stack assembly robot production line, it is characterized in that: comprise the robotic asssembly unit (2) that several are arranged in order, these several the robotic asssembly unit that is arranged in order forms assembling line, be provided with the first circulation carrier elevating mechanism (1) outside the head end of this assembling line, outside the end of this assembling line, be provided with the second circulation carrier elevating mechanism (3);
Described first circulation carrier elevating mechanism comprises the first oscilaltion cylinder (11) and the first elevating mechanism belt conveyor (12), this the first elevating mechanism belt conveyor is provided with circulation carrier (4), this circulation carrier is transported to this first elevating mechanism belt conveyor from leading portion streamline, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism, described circulation carrier is also transported on the backflow carrier pipeline of the frame lower of next workshop section and described robotic asssembly unit by the upset of this first elevating mechanism belt conveyor,
Described robotic asssembly unit comprises charging tray gripping feeding distribution mechanism (21), robot material fetching mechanism (22), standard belt pipeline (23), image system (24) and apparatus control system (25), is provided with CCD in this image system; Empty charging tray by product charging tray automatic loading/unloading, and reclaims stacking by described charging tray gripping feeding distribution mechanism; Product takes out from charging tray and moves to CCD detection and automatically adjusts and load in the circulation carrier on described standard belt pipeline after detection angles and position by described robot material fetching mechanism; The circulation carrier that leading portion puts in place by described standard belt pipeline is delivered to the product place of picking and placeing and carries out secondary location, opens, and can store on the carrier backflow belt conveyor line below a circulation carrier to the frame being positioned at described robotic asssembly unit; Described apparatus control system comprises image control system and PLC control system;
Described second circulation carrier elevating mechanism comprises the second oscilaltion cylinder (31) and the second elevating mechanism belt conveyor (32), circulation carrier is transported to the second elevating mechanism belt conveyor from leading portion streamline, and drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder, then by the second elevating mechanism belt conveyor upset, circulation carrier is transported on the backflow carrier pipeline of next workshop section's frame lower.
2. intelligent space stack assembly robot production line according to claim 1, it is characterized in that: described image system is made up of Liang Zu CCD testing agency, each is organized this CCD testing agency and comprises camera (241), camera lens (242), light source (243) and CCD (244).
3. intelligent space stack assembly robot production line according to claim 1, is characterized in that: described robotic asssembly unit be six-joint robot assembling unit and four axle robotic asssembly units one of them.
4. intelligent space stack assembly robot production line according to claim 3, is characterized in that: described four axle robotic asssembly units are provided with grasping mechanism, and this grasping mechanism is moved automatically by the position that described control system is given.
5. intelligent space stack assembly robot production line according to claim 1, it is characterized in that: described apparatus control system is provided with operation interface, this operation interface is operated by 17 cun of industrial touch screen (251) that protective cover is inlayed.
6. intelligent space stack assembly robot production line according to claim 1, it is characterized in that: described first elevating mechanism belt conveyor is provided with first and puts in place detection fiber (13), described circulation carrier to be transported to this first elevating mechanism belt conveyor from leading portion streamline and after the detection fiber (13) that puts in place by first responds to and put in place, described first oscilaltion cylinder drives this circulation carrier and the first elevating mechanism belt conveyor to drop to the bottom of described first circulation carrier elevating mechanism; Described second elevating mechanism belt conveyor is provided with second and puts in place detection fiber (33), described circulation carrier to be transported to the second elevating mechanism belt conveyor from leading portion streamline and after the detection fiber (33) that puts in place by second responds to and put in place, drive circulation carrier and the second elevating mechanism belt conveyor to rise to top by the second oscilaltion cylinder.
7. intelligent space stack assembly robot production line according to claim 1, is characterized in that: the product feeding place of the charging tray gripping feeding distribution mechanism of described robotic asssembly unit is provided with secondary detent mechanism and is clamped by charging tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510267649.4A CN104820417B (en) | 2015-05-22 | 2015-05-22 | Intelligent space stack puts together machines people's production line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510267649.4A CN104820417B (en) | 2015-05-22 | 2015-05-22 | Intelligent space stack puts together machines people's production line |
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| Publication Number | Publication Date |
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| CN104820417A true CN104820417A (en) | 2015-08-05 |
| CN104820417B CN104820417B (en) | 2017-08-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537897A (en) * | 2016-01-15 | 2016-05-04 | 苏州富强科技有限公司 | Mobile phone middle frame assembling machine table |
| CN107659075A (en) * | 2016-07-26 | 2018-02-02 | 苏州亿控机械装备有限公司 | A kind of Intelligent motor enters axle, locking special plane |
| CN107901042A (en) * | 2017-12-15 | 2018-04-13 | 广州泰行智能科技有限公司 | Cage intelligence producing line is inserted in a kind of position of seeking for handset touch panel |
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| US20070164696A1 (en) * | 2005-12-21 | 2007-07-19 | Abb As | Control system and teach pendant for an industrial robot |
| EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
| CN203606018U (en) * | 2013-12-19 | 2014-05-21 | 深圳雷柏科技股份有限公司 | Kitchen electronic scale assembling production line adopting robot |
| CN104117869A (en) * | 2014-06-04 | 2014-10-29 | 伟本机电（上海）有限公司 | Automatic feeding and discharging line for workpiece machining |
| CN204631601U (en) * | 2015-05-22 | 2015-09-09 | 昆山市佰奥自动化设备科技有限公司 | Intelligent space stack assembly robot production line |
-
2015
- 2015-05-22 CN CN201510267649.4A patent/CN104820417B/en active Active
Patent Citations (5)
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| US20070164696A1 (en) * | 2005-12-21 | 2007-07-19 | Abb As | Control system and teach pendant for an industrial robot |
| EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
| CN203606018U (en) * | 2013-12-19 | 2014-05-21 | 深圳雷柏科技股份有限公司 | Kitchen electronic scale assembling production line adopting robot |
| CN104117869A (en) * | 2014-06-04 | 2014-10-29 | 伟本机电（上海）有限公司 | Automatic feeding and discharging line for workpiece machining |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537897A (en) * | 2016-01-15 | 2016-05-04 | 苏州富强科技有限公司 | Mobile phone middle frame assembling machine table |
| CN105537897B (en) * | 2016-01-15 | 2018-11-30 | 苏州富强科技有限公司 | Mobile phone center assembled machine table |
| CN107659075A (en) * | 2016-07-26 | 2018-02-02 | 苏州亿控机械装备有限公司 | A kind of Intelligent motor enters axle, locking special plane |
| CN107901042A (en) * | 2017-12-15 | 2018-04-13 | 广州泰行智能科技有限公司 | Cage intelligence producing line is inserted in a kind of position of seeking for handset touch panel |
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| Publication number | Publication date |
|---|---|
| CN104820417B (en) | 2017-08-01 |
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Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215300 Yuan Feng Road No. 232, room 8 Applicant after: KUNSHAN KSTOPA INTELLIGENT EQUIPMENT CO., LTD. Address before: The Palestinian town of Dongrong road Kunshan city 215300 Suzhou city of Jiangsu Province Applicant before: Kunshan Baiao Automation Equipment Technology Co., Ltd. |
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