CN109087574B - Real device of instructing of biscuit intelligent assembly teaching - Google Patents
Real device of instructing of biscuit intelligent assembly teaching Download PDFInfo
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- CN109087574B CN109087574B CN201811131414.2A CN201811131414A CN109087574B CN 109087574 B CN109087574 B CN 109087574B CN 201811131414 A CN201811131414 A CN 201811131414A CN 109087574 B CN109087574 B CN 109087574B
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- 235000015895 biscuits Nutrition 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000005507 spraying Methods 0.000 claims abstract description 40
- 238000012549 training Methods 0.000 claims abstract description 31
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 41
- 238000004806 packaging method and process Methods 0.000 claims description 20
- 230000007704 transition Effects 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 9
- 229910001220 stainless steel Inorganic materials 0.000 description 4
- 239000010935 stainless steel Substances 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the invention discloses a biscuit intelligent assembly teaching training device which comprises a control mechanism, a turntable blanking module, a vision module, a conveying belt mechanism, an industrial robot, a bottom box feeding mechanism, an upper cover discharging mechanism, a code spraying module and a positioning module, wherein the control mechanism is respectively connected with the turntable blanking module, the vision module, the conveying belt mechanism, the industrial robot, the bottom box feeding mechanism, the upper cover discharging mechanism, the code spraying module and the positioning module, and the conveying belt mechanism is arranged at the lower parts or the side parts of the turntable blanking module, the vision module and the industrial robot. Compared with the prior art, the invention has the advantages of simple and compact structure, small occupied area, easy operation, convenient installation and debugging, low cost and capability of freely assembling the modules according to the needs.
Description
Technical Field
The invention belongs to the field of manufacturing of teaching training equipment, and particularly relates to an intelligent biscuit assembling teaching training device.
Background
The german government 'industry 4.0' strategy brings about a new industrial transformation competition in the global scope, and the 'industry 4.0' concept is the fourth industrial revolution leading to intelligent manufacturing, aiming at transforming the manufacturing industry into intelligent by fully utilizing the means of combining the information communication technology and the network space virtual system-information physical system (Cyber-PHYSICAL SYSTEM).
Internet + manufacturing is "industry 4.0", and one of its cores is smart manufacturing. The "industry 4.0" item is divided into three main topics: the intelligent factory, the intelligent production and the intelligent logistics are firstly conducted. It is clear that to actually realize "industry 4.0", the equipment of this complete system is very bulky, and the existing equipment has the following disadvantages: 1. the special machine is special, the flexibility is low, and the expansibility is small; 2. the structure is complex, the volume is huge, the installation, transportation and debugging are difficult, the cost is high, and the like, which is not only unfavorable for the mass production of equipment, but also difficult to popularize and use in the teaching field.
Therefore, how to provide a biscuit intelligent assembly teaching practical training device which meets the industrial 4.0 requirement, has small occupied area, simple structural equipment, easy operation, convenient installation and debugging and low cost, and can be assembled by modules according to the needs is a problem to be solved urgently by the technicians in the field.
Disclosure of Invention
The embodiment of the invention provides an intelligent biscuit assembly teaching practical training device, which can solve the defects in the prior art, has the advantages of meeting the industrial 4.0 requirement, along with small occupied area, simple structural equipment, easy operation, convenient installation and debugging and low cost, can be used for carrying out module assembly according to requirements, belongs to a miniature industrial 4.0 system, covers the technology and application points of all aspects of industrial 4.0, and can show an industrial 4.0 demonstration line and practical training operation for schools and enterprises.
In order to solve the problems in the prior art, the invention provides a biscuit intelligent assembly teaching training device, which comprises the following specific scheme:
The utility model provides a real device of instructing of biscuit intelligent assembly teaching, includes control mechanism, carousel blanking module, vision module, conveyor belt mechanism, industrial robot, end box feed mechanism, upper cover discharge mechanism, spouts a yard module and positioning module, control mechanism respectively with carousel blanking module, vision module, conveyor belt mechanism, industrial robot, end box feed mechanism, upper cover discharge mechanism, spout a yard module and positioning module and be connected, conveyor belt mechanism sets up carousel blanking module, vision module with industrial robot's lower part or lateral part.
Preferably, the control mechanism, the rotary table blanking module, the vision module, the conveyer belt mechanism, the industrial robot, the bottom box feeding mechanism, the upper cover discharging mechanism, the code spraying module and the positioning module are respectively arranged on the table body.
Preferably, the table body is also provided with a quick-change parallel clamp, a clamp seat and a warehouse.
Preferably, the conveyor belt mechanism is provided with a first conveyor belt, a second conveyor belt and a third conveyor belt, the positioning module is arranged on the third conveyor belt, an encoder for encoding materials is arranged on a driving shaft of the first conveyor belt, and a sensor is arranged on the third conveyor belt.
Preferably, the turntable blanking module is provided with a mounting base, a blanking slideway, a turntable coaming, a servo motor, a coupler, a precise electric control turntable, a transition plate, a turntable and a guide plate; the mounting base is formed by connecting a bottom plate, side plates and a top plate; the blanking slideway and the turntable coaming are arranged on a top plate of the mounting base; the servo motor is connected with an input shaft of the precise electric control rotating table through a coupler; the precise electric control rotary table is fixed on a top plate of the mounting base; the transition plate is connected with an output shaft of the precise electric control rotary table, and the rotary table is connected to the transition plate; the deflector is fixed on the turntable coaming.
Preferably, the upper cover discharging mechanism is provided with a material detecting device and a material pushing device, the material detecting device and the material pushing device are respectively connected with the control mechanism, the material pushing device is provided with a motor, a supporting plate, a pushing plate and a positioning table top plate, the material detecting device is provided with a first sensor and a second sensor, and the motor drives the supporting plate to move through a synchronous wheel and a synchronous belt; the pushing plate drives the material to be pushed onto the positioning table top plate through the double-shaft air cylinder, and the second sensor is used for detecting whether the material pushed by the pushing plate reaches the positioning table top plate.
Preferably, the code spraying module is provided with a bracket base, a bracket upright post, a bracket fixing clamp, a bracket cross beam, a code spraying machine, a sensor frame, a sensor, a code spraying machine fixing clamp and a locking knob; one end of the stand column of the bracket is provided with a threaded hole, and the stand column is connected with the bottom of the base of the bracket through a screw; the support fixing clamp is provided with a through hole, one end of the support beam is provided with a through hole, and the support beam penetrates through the hole on the support fixing clamp to be connected with the support fixing clamp; the fixing clamp of the code spraying machine is fixed at one end of the bracket beam with the through hole through a locking knob and is fixed with the code spraying machine; the sensor frame is fixed on the ink jet numbering machine fixation clamp, and the sensor is fixed on the sensor frame.
Preferably, the vision module is provided with a vision support base, a vision support upright post, a wire arranging frame, a sliding block, a locking knob, a vision support cross beam, a camera mounting plate, a vision camera, an upright post sealing plate, a cross beam sealing plate, a light source support base, a light source support upright post, a support fixing clamp, a light source support cross beam, a light source mounting piece and a strip-shaped light source.
Preferably, the industrial robot includes a four-axis industrial robot and a six-axis industrial robot.
From the above technical solutions, the embodiment of the present invention has the following advantages: through setting up carousel blanking module, vision module, conveyer belt mechanism, industrial robot, end box feed mechanism, upper cover discharge mechanism, spout sign indicating number module and positioning module in a very little space to by the operation of control mechanism control each mechanism before the aforesaid, form the blanking of material, packing end box material loading, upper cover material loading, packing, spout sign indicating number, the whole flow of entering in a warehouse. The system of the invention has small occupied area, simple structure equipment, easy operation, convenient installation and debugging and low cost, can be assembled according to the needs, provides sufficient space for teaching, and can better develop the purposes of demonstration, teaching and practical training in classrooms and laboratories.
Drawings
FIG. 1 is a schematic diagram illustrating a structural top view of an embodiment of a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 2 is a schematic diagram showing the front view of the structure of an embodiment of the intelligent biscuit assembling teaching training device;
FIG. 3 is a schematic diagram illustrating a left view of a structure of an embodiment of a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 4 is a schematic top view of an embodiment of a turntable blanking module in a biscuit intelligent assembly teaching training device;
FIG. 5 is a schematic diagram illustrating a front view of an embodiment of a blanking module of a turntable in a biscuit intelligent assembling teaching training device;
FIG. 6 is a schematic diagram illustrating a left view of a structure of an embodiment of a turntable blanking module in a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 7 is a schematic structural perspective view of an embodiment of a turntable blanking module in a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 8 is a schematic diagram illustrating a structural perspective view of an embodiment of a code spraying module in a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 9 is a schematic diagram illustrating a front view of an embodiment of a code spraying module in a biscuit intelligent assembling teaching training device;
FIG. 10 is a schematic diagram illustrating a top view of an embodiment of a code spraying module in a biscuit intelligent assembly teaching training device according to the present invention;
FIG. 11 is a schematic diagram illustrating a left view of one embodiment of the components of a vision module in a biscuit intelligent assembly teaching training device;
FIG. 12 is a schematic diagram illustrating a left view of another component of a vision module in a biscuit intelligent assembly teaching training device according to an embodiment of the present invention;
Fig. 13 is a schematic structural perspective view of an embodiment of a vision module in a biscuit intelligent assembly teaching training device according to the present invention.
Detailed Description
The embodiment of the invention provides an intelligent teaching and practical training device for biscuit intelligent assembly, which solves the defects in the prior art, has the advantages of small occupied area, simple structural equipment, easy operation, convenient installation and debugging and low cost, can be assembled by modules according to requirements, and can better develop demonstration, teaching and practical training in classrooms and laboratories.
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 13, which are schematic structural diagrams of a whole or partial embodiment of a biscuit intelligent assembling teaching training device according to the present invention, the biscuit intelligent assembling teaching training device provided by the present embodiment includes a control mechanism (not shown), a table body 1, a turntable blanking module 2, a vision module 3, a conveyor belt mechanism 4, a four-axis industrial robot 5, a bottom box feeding mechanism 6, an upper cover discharging mechanism 7, a code spraying module 8, a quick-change parallel clamp 9, a clamp seat 10, a six-axis industrial robot 11, a warehouse 12, and a positioning module 13; wherein, in order to increase the utilization space, a stereoscopic warehouse is selected as the warehouse 12 of the storage materials in the embodiment; for convenience of operation, in this embodiment, a four-axis industrial robot 5 and a six-axis industrial robot 11 are selected as the industrial robots, respectively, so as to be used in the processes of material grabbing and transferring, material code spraying, and the like. The rotary table blanking module 2, the vision module 3, the conveying belt mechanism 4, the four-axis industrial robot 5, the bottom box feeding mechanism 6, the upper cover discharging mechanism 7, the code spraying module 8, the clamp seat 10, the six-axis industrial robot 11, the stereoscopic warehouse and the vision module 3 are connected to the table body 1 through socket head cap screws and T-shaped nuts, the control mechanism can be arranged on the table body 1 or can be independently arranged, and in order to save space, the control mechanism is arranged on the table body 1 in the embodiment; the quick-change parallel clamp 9 is placed on the clamp fixing seat. The assembly production flow can be realized in different combination modes according to design requirements, such as U-shaped combination, L-shaped combination and straight-line combination.
For the convenience of material detection and material receiving and conveying, a conveying belt mechanism 4 is arranged at the lower part or the side part of a four-axis industrial robot 5 in the turntable blanking module 2, the vision module 3 and the industrial robot.
The conveyor belt mechanism 4 is provided with a first conveyor belt, a second conveyor belt and a third conveyor belt, the positioning module 13 is arranged on the third conveyor belt, an encoder for encoding materials is arranged on a driving shaft of the first conveyor belt, and a sensor is arranged on the third conveyor belt.
The turntable blanking module 2 is provided with a mounting base F1, a blanking slideway F2, a turntable coaming F3, a servo motor F4, a coupler F5, a precision electric control rotary table F6, a transition plate F7, a turntable F8 and a guide plate F9; the mounting base F1 is formed by connecting a bottom plate, side plates and a top plate; the blanking slideway F2 and the turntable coaming F3 are arranged on a top plate of the mounting base F1; the servo motor F4 is connected with an input shaft of the precise electric control rotary table F6 through a coupler F5; the precise electric control rotary table F6 is fixed on the top plate of the mounting base F1; the transition plate F7 is connected with an output shaft of the precision electric control rotary table F6, and the rotary table F8 is connected to the transition plate F7; the guide plate F9 is fixed on the turntable coaming F3. In order to facilitate blanking, in the embodiment, the mounting base F1 is a square mounting base formed by connecting a bottom plate, side plates and a top plate through screws, wherein two side plates are provided with D-shaped holes, so that the carrying is convenient; the blanking slideway F2 and the turntable coaming F3 are manufactured by stainless steel plates through a sheet metal process and are fixed on a top plate of the mounting base F1 through screws; the servo motor 4 is connected with an input shaft of the precise electric control rotary table F6 through a coupler F5; the precise electric control rotary table F6 is fixed on the top plate of the mounting base F1; the transition plate F7 is connected with an output shaft of the precision electric control rotary table F6 through a screw, and the rotary table F8 is connected to the transition plate F7, so that the rotary table F8 rotates along with the precision electric control rotary table F6 under the drive of the servo motor F4; the guide plate F9 is fixed on the rotary table coaming F3, and the height and the angle are properly adjusted according to the size of the article to control discharging.
The upper cover discharging mechanism 7 is provided with a material detection device and a material pushing device, the material detection device and the material pushing device are respectively connected with the control mechanism, the material pushing device is provided with a motor, a supporting plate, a pushing plate and a positioning table top plate, the material detection device is provided with a first sensor and a second sensor, and the motor drives the supporting plate to move through a synchronous wheel and a synchronous belt; the pushing plate drives to push materials to the top plate of the positioning table through the double-shaft air cylinder, and the second sensor is used for detecting whether the materials pushed by the pushing plate reach the top plate of the positioning table.
The code spraying module 8 is provided with a bracket base G1, a bracket upright post G2, a bracket fixing clamp G3, a bracket beam G4, a code spraying machine G5, a sensor frame G6, a sensor G7, a code spraying machine fixing clamp G8 and a locking knob G9; one end of the support upright post G2 is provided with a threaded hole, and the support upright post G2 is connected with the bottom of the support base G1 through a screw; the support fixing clamp G3 is provided with a through hole, one end of the support beam G4 is provided with a through hole, and the support beam passes through the hole on the support fixing clamp G3 to be connected with the support fixing clamp G3; the fixing clamp G8 of the code spraying machine is fixed at one end of the bracket beam G4 with a through hole through the locking knob G9 and is fixed with the code spraying machine G5; the sensor frame G6 is fixed on the ink jet printer fixing clamp G8, and the sensor G7 is fixed on the sensor frame G6. In the embodiment, the stand column G2 is a stainless steel rod, one end of the stand column is provided with a threaded hole, and the stand column G2 is connected with the bottom of the stand base G1 through a screw; the pillar fixing clamp G3 is designed with two parallel through holes, a through hole is arranged in the middle and is perpendicular to the other two holes without intersecting, and the three holes are designed with grooves which can be locked by screws; one end of the bracket beam G4 is designed with a through hole which passes through the hole in the middle of the pillar fixing clamp G3; the fixing clamp G8 of the ink jet printer is fixed at one end of the bracket beam G4 with a through hole through the locking knob G9 and fixes the ink jet printer G5; the sensor frame G6 is a universal metal hose and is fixed on the fixing clamp G8 of the code spraying machine, the sensor G7 is fixed on the sensor frame G6, and the sensor G7 can randomly adjust the angle direction; the code spraying module 8 designed in this way is flexible to adjust and is suitable for various occasions.
The vision module 3 is provided with a vision support base E1, a vision support upright E2, a wire management frame E3, a slide block, a locking knob E5, a vision support beam E6, a camera mounting plate E8, a vision camera E9, an upright post sealing plate E10, a beam sealing plate E11, a light source support base E12, a light source support upright E13, a support column fixing clamp E14, a light source support beam E15, a light source mounting piece E16 and a strip-shaped light source E17. In this embodiment, the vision module 3 is provided with a vision support base E1, a vision support upright E2, a wire management frame E3, a slider 1E4, a locking knob E5, a vision support cross beam E6, a slider 2 E7, a camera mounting plate E8, a vision camera E9, an upright post sealing plate E10, a cross beam sealing plate E11, a light source support base E12, a light source support upright E13, a support fixing clip E14, a light source support cross beam E15, a light source mounting member E16, and a strip-shaped light source E17. The visual support stand column E2 is a stainless steel rod, threaded holes are formed in two ends of the visual support stand column E2, and the visual support stand column E2 is connected from the bottom of the visual support base E1 through screws; the wire arranging frame E3 is formed by processing black POM materials, and passes through 2 visual support upright posts E2 to be used for fixing and arranging visual wires; the sliding block 1E4 is provided with a cross-shaped through hole, a compression block is embedded in the through hole and penetrates through the 2 visual support upright posts E2, the through hole can slide up and down along the visual support upright posts E2, and the height position is locked through the locking knob E5; the visual support beam E6 is fixed on the sliding block 1E4, the sliding block 2 E7 is also designed with a cross through hole, a compression block is embedded in the sliding block and penetrates through the visual support beam E6, the sliding block can transversely slide along the visual support beam E6, and the transverse position is locked through the locking knob E5; the camera mounting plate E8 is arranged on the sliding block 2 E7, and the visual camera E9 is arranged on the camera mounting plate E8, so that the camera can be adjusted up and down and left and right; the upright post sealing plate E10 is used for fixing the upper end of the upright post E2 of the visual support, so that the whole is firmer; the beam sealing plate E11 is used for fixing one end of the visual support beam E6; the upright post E13 of the light source bracket is a stainless steel rod, threaded holes are formed in two ends of the upright post, and the upright post E12 of the light source bracket is fixedly connected through screws; the pillar fixing clamp E14 is provided with a cross-shaped hole which is not intersected and is used for respectively fixing the upright post E13 of the light source bracket and the cross beam E15 of the light source bracket; the light source mounting piece E16 is fixed on the light source bracket beam E15 and can rotate around the axis of the light source bracket beam E15 for adjustment; the strip light source E17 is fixed to the light source mount E16 so that the strip light source E17 can be universally adjusted.
The following describes the intelligent assembly process in the present invention, taking specific packaging of biscuits as an example:
The work flow of the biscuit production line is as follows: the equipment is electrified, a reset button of a control mechanism on the table body 1 is pressed, and all modules return to an initial state; then, the biscuits are manually placed in the rotary table blanking module 2 at will; placing a biscuit packaging bottom box in a trough of a bottom box feeding mechanism 6; placing the biscuit packaging upper cover on a supporting plate of an upper cover discharging mechanism 7; after the preparation work is finished, a starting button is pressed, a rodless cylinder of the bottom box feeding mechanism 6 starts to act, a cylinder sliding block drives a pushing plate to push a biscuit packaging bottom box from the bottom of a trough onto a second conveying belt, and the pushing plate is used for positioning; meanwhile, a servo motor of the rotary table blanking module 2 is started, so that the rotary table rotates clockwise; under the action of centrifugal force and the guide plate, biscuits can flow onto the first conveyor belt from the blanking slideway; the driving shaft of the first conveyor belt is connected with an encoder, the position of biscuits can be tracked through detection of the vision module 3, and the position information is transmitted to the four-axis industrial robot 5 through the control mechanism; the four-axis industrial robot 5 starts to act, the biscuits are sucked from the first conveyor belt to the biscuit packaging bottom box positioned on the second conveyor belt by using the sucker clamp, and the key assembly action is repeated until the biscuits are filled with the biscuit packaging bottom box; then the rodless cylinder of the bottom box feeding mechanism 6 starts to act and returns to an initial state to prepare for pushing out the next bottom box, then the second conveyor belt acts to send the biscuit packaging bottom box filled with biscuits to the next process until the sensor on the third conveyor belt detects that materials flow through, the second conveyor belt and the third conveyor belt stop working, the positioning module 13 acts, and the positioning clamping jaw of the positioning module 13 fixes the biscuit bottom box; simultaneously, a stepping motor of the upper cover discharging mechanism 7 is started, so that a synchronous wheel and a synchronous belt move to bring a supporting plate upwards, when a first sensor on a top plate of a positioning table detects materials, the stepping motor stops, then a double-shaft cylinder moves to drive a pushing plate to push out the top biscuit packaging upper cover to the top plate of the positioning table, and a second sensor on the top plate of the positioning table detects materials in place; then a six-axis industrial robot 11 starts to act, a quick-change parallel clamp 9 is sucked, a biscuit packaging upper cover is clamped and assembled on a biscuit bottom box positioned on a third conveying belt, then the whole packaged biscuit box is clamped on a code spraying module 8, a code spraying action is carried out aiming at an ink spraying port of a code spraying machine, and after the code spraying is finished, the biscuit box is conveyed to a warehouse position of a stereoscopic warehouse; thus, the whole process of biscuit blanking, biscuit packaging bottom box feeding, biscuit loading, biscuit packaging upper cover feeding, packaging, code spraying and warehousing is formed.
The intelligent assembly system provided by the embodiment of the invention has the advantages of simple structure, small volume, easy installation, transportation and debugging and low cost; the modular processing is flexible in assembly and strong in expansibility; the structure is flexible, and different layouts are realized according to practical application; the application is wide: the teaching equipment has the characteristics of modularization and the advantages of structural flexibility, so that the proposition range is enlarged, and the teaching equipment is more beneficial to being used as a training, an examination, an identification and a large race in the teaching equipment; making it more extensive and flexible in industrial applications.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. The intelligent biscuit assembling teaching training device is characterized by comprising a control mechanism, a turntable blanking module, a vision module, a conveying belt mechanism, an industrial robot, a bottom box feeding mechanism, an upper cover discharging mechanism, a code spraying module and a positioning module, wherein the control mechanism is respectively connected with the turntable blanking module, the vision module, the conveying belt mechanism, the industrial robot, the bottom box feeding mechanism, the upper cover discharging mechanism, the code spraying module and the positioning module, and the conveying belt mechanism is arranged at the lower parts or the side parts of the turntable blanking module, the vision module and the industrial robot; the turntable blanking module is provided with a mounting base, a blanking slideway, a turntable coaming, a servo motor, a coupler, a precise electric control turntable, a transition plate, a turntable and a guide plate; the mounting base is formed by connecting a bottom plate, side plates and a top plate; the blanking slideway and the turntable coaming are arranged on the top plate of the mounting base; the servo motor is connected with an input shaft of the precise electric control rotating table through the coupler; the precise electric control rotating table is fixed on the top plate of the mounting base; the transition plate is connected with an output shaft of the precise electric control rotary table, and the rotary table is connected to the transition plate; the guide plate is fixed on the turntable coaming; the control mechanism, the turntable blanking module, the vision module, the conveyor belt mechanism, the industrial robot, the bottom box feeding mechanism, the upper cover discharging mechanism, the code spraying module and the positioning module are respectively arranged on the table body; the table body is also provided with a quick-change parallel clamp, a clamp seat and a warehouse; the conveying belt mechanism is provided with a first conveying belt, a second conveying belt and a third conveying belt, the positioning module is arranged on the third conveying belt, an encoder for encoding materials is arranged on a driving shaft of the first conveying belt, and a sensor is arranged on the third conveying belt; the upper cover discharging mechanism is provided with a material detection device and a material pushing device, the material detection device and the material pushing device are respectively connected with the control mechanism, the material pushing device is provided with a motor, a supporting plate, a pushing plate and a positioning table top plate, the material detection device is provided with a first sensor and a second sensor, and the motor drives the supporting plate to move through a synchronous wheel and a synchronous belt; the pushing plate is driven by the double-shaft air cylinder to push materials to the top plate of the positioning table, and the second sensor is used for detecting whether the materials pushed by the pushing plate reach the top plate of the positioning table;
The working flow of the training device is as follows: optionally placing biscuits into a rotary table blanking module; placing a biscuit packaging bottom box in a trough of a bottom box feeding mechanism; placing the biscuit packaging upper cover on a supporting plate of an upper cover discharging mechanism; after the preparation work is finished, a start button is pressed, a rodless cylinder of the bottom box feeding mechanism starts to act, a cylinder sliding block drives a push plate to push a biscuit packaging bottom box from the bottom of a trough onto a second conveying belt, and the push plate is used for positioning; meanwhile, a servo motor of the turntable blanking module is started, so that the turntable rotates clockwise; under the action of centrifugal force and the guide plate, biscuits can flow onto the first conveyor belt from the blanking slideway; the driving shaft of the first conveying belt is connected with an encoder, the position of the biscuits can be tracked through detection of the vision module, and the position information is transmitted to the industrial robot through the control mechanism; the industrial robot starts to act, biscuits are sucked from the first conveyor belt to the biscuit packaging bottom box positioned on the second conveyor belt by using the sucker clamp, and the key assembly action is repeated until the biscuits are filled with the biscuit packaging bottom box; then, the rodless cylinder of the bottom box feeding mechanism starts to act and returns to an initial state to prepare for pushing out the next bottom box, then the second conveyor belt acts to send the biscuit packaging bottom box filled with biscuits to the next process until the sensor on the third conveyor belt detects that materials flow through, the second conveyor belt and the third conveyor belt stop working, the positioning module arranged on the third conveyor belt acts, and the positioning clamping jaw of the positioning module fixes the biscuit bottom box; simultaneously, a stepping motor of the upper cover discharging mechanism is started, so that a synchronous wheel and a synchronous belt move to bring a supporting plate upwards, when a first sensor on a top plate of a positioning table detects materials, the stepping motor stops, then a double-shaft air cylinder moves to drive a pushing plate to push out the top biscuit packaging upper cover to the top plate of the positioning table, and a second sensor on the top plate of the positioning table detects materials in place; then the industrial robot starts to act, absorbs the quick-change parallel clamp, clamps the biscuit packaging upper cover to be assembled on the biscuit bottom box positioned on the third conveying belt, clamps the whole packaged biscuit box to the code spraying module, and aims at an ink spraying port of the code spraying machine to perform code spraying action, and after code spraying is completed, the biscuit box is conveyed to a warehouse space of a stereoscopic warehouse.
2. The intelligent biscuit assembly teaching training device according to claim 1, wherein the code spraying module is provided with a bracket base, a bracket upright post, a post fixing clamp, a bracket cross beam, a code spraying machine, a sensor frame, a sensor, a code spraying machine fixing clamp and a locking knob; the support upright post is connected with the support base; the support column fixing clamp is connected with the support beam through a through hole; the code spraying machine fixing clamp is fixed on the bracket beam through the locking knob and is fixed with the code spraying machine; the sensor frame is fixed on the ink jet numbering machine fixing clamp, and the sensor is fixed on the sensor frame.
3. The intelligent biscuit assembly teaching and practical training device according to claim 1, wherein the vision module is provided with a vision support base, a vision support upright post, a wire arranging frame, a sliding block, a locking knob, a vision support beam, a camera mounting plate, a vision camera, an upright post sealing plate, a beam sealing plate, a light source support base, a light source support upright post, a support post fixing clamp, a light source support beam, a light source mounting piece and a strip-shaped light source.
4. The biscuit intelligent assembly teaching training device of claim 1, wherein the industrial robot comprises a four-axis industrial robot and a six-axis industrial robot.
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| CN113299176A (en) * | 2021-06-11 | 2021-08-24 | 广州因明智能科技有限公司 | Intelligent production line training system and working method thereof |
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