CN109807619A - A kind of linear guide intelligence assembly line - Google Patents
A kind of linear guide intelligence assembly line Download PDFInfo
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- CN109807619A CN109807619A CN201910041826.5A CN201910041826A CN109807619A CN 109807619 A CN109807619 A CN 109807619A CN 201910041826 A CN201910041826 A CN 201910041826A CN 109807619 A CN109807619 A CN 109807619A
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Abstract
The invention discloses a kind of linear guide intelligence assembly lines, belong to linear guide technical field, including control system, positioning system, grasping system, package system and monitoring system；The package system includes guide rail and sliding block；The grasping system includes multi-spindle machining hand and material area；The positioning system includes photoelectricity locator；The monitoring system includes U-shaped arm and camera, the control system includes sledge controller, crawl controller and image monitor, is equipped in the image monitor for comparing the judgment module of image, the memory module for storing each semi-finished product and finished product image and sending the qualified or not command module of image to the crawl controller.The present invention controls package system completed knocked down products by setting sledge controller, setting crawl controller controls that multi-spindle machining hand grabs semi-finished product and whether setting image monitor is qualified to monitor product, to achieve the purpose that quick, efficient, accurately completed knocked down products.
Description
Technical field
The present invention relates to a kind of production lines to belong to straight line and lead more particularly to a kind of linear guide intelligence assembly line
Rail technical field.
Background technique
Guide rail is also known as sliding rail, linear guides, linear slide rail, is used for straight reciprocating motion occasion, possesses than linear bearing more
High nominal load, while certain torque can be undertaken, high-precision linear motion can be realized in high-load situations, this.It leads
The rail generally slot made of metal or other materials or ridge, can bear, fix, guiding mobile device or equipment and reducing its friction
A kind of device；Longitudinal slot or ridge in guide rail surface, for guiding, stationary machines component, special equipment, instrument etc..Guide rail
Have many advantages, such as that structure is simple, easily manufactured, contact stiffness is big, but conventional slip rail friction resistance is big, quick abrasion is dynamic and static
Friction factor difference is big, and when low speed is also easy to produce creeping phenomenon.
Linear guide is also known as line rail, sliding rail, linear guide, line slide rail, is used for straight reciprocating motion occasion, and can hold
Certain torque is carried on a shoulder pole, can realize high-precision linear motion, also known as linear guides, also known as linear guides in high-load situations, this
Or linear slide rail.
Linear guide is widely used in the finishing such as woodworking machinery, automatic production line field, therefore to linear guide
Requirement on machining accuracy is higher, and as automation processing market is skyrocketed through, the demand to linear guide is also increasing, together
When demand using linear guide for converted products or completed knocked down products it is also increasing, machining accuracy cannot be guaranteed, and nothing
Method carries out pipelining, and processing efficiency is low, and the packaging technology of universal machine tools has been far from satisfying the market demand.
At present in many production line packaging technologies, most assembly line uses manual operation, and speed is slower, when personnel are long
Between work and be easy fatigue and cause precision not high, therefore, it is necessary to a kind of intelligent assembly lines, can be whole by artificial intelligence control
A assembling flow path, while high-precision linear guide is used, to meet the requirement of high-efficiency high-precision.
Summary of the invention
The main object of the present invention is to provide for a kind of linear guide intelligence assembly line, is controlled by setting sliding block
Device controls package system completed knocked down products, setting crawl controller control multi-spindle machining hand crawl semi-finished product and setting picture control
Whether device is qualified to monitor product, to achieve the purpose that quick, efficient, high-precision completed knocked down products.
The purpose of the present invention can reach by using following technical solution:
A kind of linear guide intelligence assembly line, including control system, positioning system, grasping system, package system with
And monitoring system；
The package system includes guide rail and the sliding block that slides on the guide rail, the sliding block be equipped with adapt to it is different
The deck of model semi-finished product, two sliding blocks run to specified docking point and assemble two semi-finished product；
The grasping system includes multi-spindle machining hand and material area, and the multi-spindle machining hand grabs the difference in the material area
Semi-finished product are placed on each deck；
The positioning system includes the photoelectricity locator for being used to monitor the slide position that the guide rail side is arranged in；
The monitoring system includes being located at the U-shaped arm of the guide rail side and be arranged on the U-shaped arm several takes the photograph
As head, which is used to shoot the image of finished product after assembling, and photoelectricity locator side is also equipped with other camera,
The camera is used to shoot the image of the semi-finished product on the deck；
The control system includes grabbing for controlling the sledge controller of the sliding block operation, controlling the multi-spindle machining hand
It takes the crawl controller of material and monitors the image monitor of camera shot image.
The package system further includes gear track, the gear being adapted with the gear track and the control gear
The motor of movement, the lower end of the motor are fixed with the pedestal being connected with the slide block, the bottom are driven after the electric motor starting
Seat and sliding block synchronous operation.
Preferably, the motor is connected with the sledge controller, and the sledge controller controls opening for the motor
Dynamic and stopping.
Preferably, the sledge controller is connected with the photoelectricity locator, and the photoelectricity locator monitors the cunning
Block sends a signal to the sledge controller after running to predeterminated position, and the sledge controller controls the sliding block and stops fortune
Row.
Preferably, it is right between the line module for controlling each sliding block operation, modules to be equipped in the sledge controller
The docking point module and modules connect stops and the time module of starting.
Preferably, the sledge controller is connected with described image monitor, and the camera on the photoelectricity locator will
Semi-finished product image on the corresponding deck of shooting is sent in described image monitor and is stored in advance in described image monitoring
Semi-finished product image in device compares, if the two image is consistent, it is next that the sledge controller controls the sliding block progress
Step operation, if the two image is inconsistent, described image monitor issues signal to the crawl controller, and the crawl is controlled
Device processed controls the multi-spindle machining hand and replaces semi-finished product.
Preferably, the crawl controller and the multi-spindle machining palmistry connect, and are provided with difference in the crawl controller
Track module and time interval module of the semi-finished product to each deck.
Preferably, one end on the U-shaped arm, which is equipped with, controls the telescopic cylinder that the U-shaped arm is run, on the guide rail
After semi-finished product assemble finished product, the telescopic cylinder pushes the U-shaped arm to be moved to above finished product, the camera on the U-shaped arm
Send the finished product image of shooting to the finished product image in described image monitor and being stored in advance in described image monitor
It compares, if the two image is consistent, the multi-spindle machining hand clamps qualified finished product and is transferred to qualified area, if the two image
Inconsistent, then the multi-spindle machining hand clamps unqualified finished product and is transferred to unqualified area.
Preferably, the multi-spindle machining hand includes telescopic arm and the handgrip for being fixed on described telescopic arm one end, described to grab
Hand includes grabbing cylinder, the clamping plate being fixed on the piston rod of the crawl cylinder and the method being connected with described telescopic arm one end
Orchid, the fixed plate for being equipped with rectangle frame and being fixed on the rectangle frame side of described flange one end, the crawl cylinder are fixed
In the fixed plate and it is located in the rectangle frame.
Preferably, it is equipped in described image monitor for comparing the judgment module of image, for storing each semi-finished product
The qualified or not command module of image is sent with the memory module of the image of finished product and to the crawl controller.
Advantageous effects of the invention: linear guide intelligence assembly line provided by the invention is controlled using sliding block
Device control sliding block is run in linear guide carrys out completed knocked down products, can achieve the requirement of assembled with high precision, while crawl control is arranged
Device processed control multi-spindle machining hand grabs semi-finished product, can assembling finished product rapidly and efficiently, while image monitor is set to monitor
Whether product is qualified, and artificial intelligence screens qualified products, and can find defect ware in time in an assembling process, rapidly and efficiently completes
Assembling task；Operator's tired problem of labour for a long time is not only solved, labour production can be liberated with save the cost
Power has very positive social effect.
Detailed description of the invention
Fig. 1 is the overall structure signal of a preferred embodiment of linear guide intelligence assembly line according to the invention
Figure；
Fig. 2 is that the package system structure of a preferred embodiment of linear guide intelligence assembly line according to the invention is shown
It is intended to；
Fig. 3 is the photoelectricity locator structure of a preferred embodiment of linear guide intelligence assembly line according to the invention
Schematic diagram；
Fig. 4 is the another of the photoelectricity locator of a preferred embodiment of linear guide intelligence assembly line according to the invention
One angled arrangement schematic diagram；
Fig. 5 is the U-shaped arm configuration signal of a preferred embodiment of linear guide intelligence assembly line according to the invention
Figure；
Fig. 6 is that the telescopic cylinder structure of a preferred embodiment of linear guide intelligence assembly line according to the invention is shown
It is intended to；
Fig. 7 is the gripping structure signal of a preferred embodiment of linear guide intelligence assembly line according to the invention
Figure；
Fig. 8 is another angle of the handgrip of a preferred embodiment of linear guide intelligence assembly line according to the invention
Structural schematic diagram.
In figure: 1- package system, 2- grasping system, 3- positioning system, 4- monitoring system, 5- control system, 11- guide rail,
12- sliding block, 13- gear track, 14- gear, 15- motor, 16- pedestal, 17- deck, 21- multi-spindle machining hand, 22- material area,
23- handgrip, 24- grab cylinder, 25- clamping plate, 26- flange, 27- fixed plate, 28- rectangle frame, 29- telescopic arm, the positioning of 31- photoelectricity
Device, 41-U arm, 42- camera, 43- telescopic cylinder, 51- sledge controller, 52- grab controller, 53- image monitor.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
As Figure 1-Figure 8, linear guide intelligence assembly line provided in this embodiment, including control system 5, positioning
System 3, grasping system 2, package system 1 and monitoring system 4；Control system 5 includes the sliding block for controlling the operation of sliding block 12
Controller 51, control multi-spindle machining hand 21 grab the crawl controller 52 of material and monitor the image of 42 shot image of camera
Monitor 53 controls sliding block 12 using sledge controller 51 and runs in linear guide 11 come completed knocked down products, can achieve high-precision
The requirement of assembling is spent, while crawl controller 52 is set controls multi-spindle machining hand 21 and grabbing semi-finished product, it being capable of group rapidly and efficiently
Product are dressed up, while being arranged whether image monitor 53 is qualified to monitor product, and artificial intelligence screens qualified products, and can assemble
It finds defect ware in time in the process, rapidly and efficiently completes assembling task.
In the present embodiment, as depicted in figs. 1 and 2, package system 1 includes guide rail 11 and the cunning slided on guide rail 11
Block 12, sliding block 12 are equipped with the deck 17 for adapting to different model semi-finished product, and the sliding block 12 on two guide rails 11 runs to specified pair
Contact assembles two semi-finished product；Package system 1 further includes gear track 13, the gear 14 adaptable with gear track 13
And the motor 15 that control gear 14 moves, the lower end of motor 15 are fixed with the pedestal 16 connecting with sliding block 12, motor 15 starts
Pedestal 15 and sliding block 12 is driven to run simultaneously afterwards, then sliding block 12 carries the operation of deck 17, and two adjacent decks 17 are run to
Specified docking point, completes the assembly working of two semi-finished product, if fruit product is assembled by multiple semi-finished product, on two decks 17
Semi-finished product to connecting after, two decks 7 are separated from each other, and are continued to run, and continue to dock with semi-finished product on other deck 17；Or
After two semi-finished product docking of person are completed, the semi-finished product after the crawl docking of multi-spindle machining hand 21 are placed on other decks 17,
It continues to run and is docked with other semi-finished product.
In the present embodiment, shown in as shown in Figure 1, Figure 3 and Figure 4, positioning system 3 include be arranged in 11 side of guide rail for supervising
The photoelectricity locator 31 of 12 position of sliding block is surveyed, photoelectricity locator 31 is connected with sledge controller 51.
In the present embodiment, as Figure 1-Figure 4, motor 15 is connected with sledge controller 51, and sledge controller 51 is controlled
Motor 15 processed starts and stops, and sledge controller 51 is connected with photoelectricity locator 31, and photoelectricity locator 31 monitors sliding block 12
Sledge controller 51 is sent a signal to after running to predeterminated position, the control sliding block 12 of sledge controller 51 is out of service, in this reality
It applies in example, pair docked between the line module for controlling each sliding block 12 and running, modules 12 is equipped in sledge controller 51
Contact module and modules 12 stop and the time module of starting, and line module controls the running route of sliding block 12, photoelectricity
The motion state of 31 real-time monitoring sliding block 12 of locator, after sliding block 12 runs to docking point, time module control sliding block 12 stops
It only runs, after the predetermined time, sliding block 12 is again started up operation.
In the present embodiment, as shown in figs. 1,7 and 8, grasping system 2 includes multi-spindle machining hand 21 and material area 22,
The different semi-finished product that multi-spindle machining hand 21 grabs material area 22 are placed on each deck 17；Grab controller 52 and multi-spindle machining
Hand 21 is connected, and grabs the track module and time interval module that different semi-finished product are provided in controller 52 to each deck 17.
In this embodiment, as shown in Fig. 1, Fig. 3-Fig. 6, monitoring system 4 include be located at 11 side of guide rail U-shaped arm 41 and
Several cameras 42 on U-shaped arm 41 are set, which is used to shoot the image of finished product after assembling, photoelectricity locator 31
Side is also equipped with other camera 42, which is used to shoot the image of the semi-finished product on deck 17；
In the present embodiment, as Figure 1-Figure 8, be equipped in image monitor 53 judgment module for comparing image,
For storing the memory module of each semi-finished product and finished product image and sending the qualified or not life of image to crawl controller 52
Module is enabled, memory module stores the location drawing picture of each semi-finished product and finished product image and semi-finished product on deck in advance, judgement
Whether whether module check multi-spindle machining hand clamps correct semi-finished product, semi-finished product is correctly caught in deck and two semi-finished product
Whether qualified after docking, command module sends signal to sledge controller 51 and crawl controller 52 respectively.
In the present embodiment, as Figure 1-Figure 8, sledge controller 51 is connected with image monitor 53, photoelectricity locator
Camera 42 on 31 sends the semi-finished product image on the corresponding deck 17 of shooting in image monitor 53 and deposits in advance
The semi-finished product image stored up in image monitor 53 compares, if the two image is consistent, sledge controller 51 controls sliding block
12 carry out next step operation, if the two image is inconsistent, image monitor 53 issues signal to crawl controller 52, and grabs
Controller 52 controls multi-spindle machining hand 21 and replaces semi-finished product.
In the present embodiment, as Figure 1-Figure 8, one end on U-shaped arm 41, which is equipped with, controls the flexible gas that U-shaped arm 41 is run
Cylinder 43, after the semi-finished product assembling finished product on guide rail 11, telescopic cylinder 43 pushes U-shaped arm 41 to be moved to above finished product, on U-shaped arm 41
Camera 42 by the finished product image of shooting be sent in image monitor 53 be stored in advance in image monitor 53 at
Product image compares, if the two image is consistent, multi-spindle machining hand 21 clamps qualified finished product and is transferred to qualified area, if the two
Image is inconsistent, then multi-spindle machining hand 21 clamps unqualified finished product and is transferred to unqualified area.
In the present embodiment, as shown in Figure 7 and Figure 8, multi-spindle machining hand 21 including telescopic arm 29 and is fixed on telescopic arm
The handgrip 23 of 29 one end, handgrip 23 include crawl cylinder 24, be fixed on crawl cylinder 24 piston rod on clamping plate 25 and with
The connected flange 26 in 29 one end of telescopic arm, the fixation for being equipped with rectangle frame 28 and being fixed on 28 side of rectangle frame of 26 one end of flange
Plate 27, crawl cylinder 24 are fixed in fixed plate 27 and are located in rectangle frame 28.
In the present embodiment, the course of work of the crawl of multi-spindle machining hand 21 material is as follows:
The handgrip 23 that crawl controller 52 controls multi-spindle machining hand 21 is moved to the top in material area 22, grabbing on handgrip 2
Taking cylinder 24 to stretch out opens the clamping plate 25 at piston rod both ends, and the elongation of telescopic arm 29 sinks down into handgrip 23 on semi-finished product, grabs
The contraction of cylinder 24 makes clamping plate 25 to contract to step up semi-finished product, and then telescopic arm 29 is shunk, and track module controls multi-spindle machining
Hand 21 runs to handgrip above docking point according to projected route and track, and the sliding block 12 that sledge controller 51 controls at this time moves
It moves on docking point, the semi-finished product that clamping plate 25 clamps are placed on deck 17 by the elongation of telescopic arm 29, are then grabbed cylinder 24 and are stretched
Opening piston rod opens clamping plate 25, and telescopic arm 29 is shunk, and track module controls multi-spindle machining hand 21 according to next projected route
Grab semi-finished product.
In the present embodiment, the course of work of linear guide intelligence completed knocked down products provided in this embodiment is as follows:
Crawl controller 52 presets track and the time interval that multi-spindle machining hand 21 grabs semi-finished product, multi-spindle machining hand
On the 21 different semi-finished product to each deck 17 of crawl, sledge controller 51 presets the running route, right of each sliding block 12
The time of contact and starting, when semi-finished product reach on deck 17, the camera 42 on photoelectricity locator 31 will be on deck 17
Image pass image monitor 53 back, image monitor 53 judges that whether intact semi-finished product are correct and whether falls into correct position
It sets, if not, multi-spindle machining hand 21 replaces semi-finished product, if correctly, sledge controller 51 controls each sliding block 12 and runs to pair
Contact, two semi-finished product are docking together, and after the completion of composition, telescopic cylinder 43 pushes U-shaped arm 41 to be moved to above finished product, camera shooting
First 42 send the finished product image of shooting in image monitor 53 judge whether finished product qualified, it is qualified then pass through multi-spindle machining hand
21, which clamp qualified finished products, is transferred to qualified area, unqualified, by multi-spindle machining hand 21 clamp unqualified finished product be transferred to it is unqualified
Area.
In conclusion in the present embodiment, linear guide intelligence assembly line provided in this embodiment, using sliding block control
Device control sliding block processed is run in linear guide carrys out completed knocked down products, can achieve the requirement of assembled with high precision, while crawl is arranged
Controller controls multi-spindle machining hand and grabs semi-finished product, can assembling finished product rapidly and efficiently, while image monitor is set to supervise
Survey product it is whether qualified, artificial intelligence screen qualified products, and can find in time in an assembling process, separate shift it is underproof
Defect ware rapidly and efficiently completes assembling task.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of linear guide intelligence assembly line, it is characterised in that: including control system (5), positioning system (3), crawl
System (2), package system (1) and monitoring system (4)；
The package system (1) includes guide rail (11) and the sliding block (12) slided on the guide rail (11), the sliding block
(12) be equipped with adapt to different model semi-finished product deck (17), two sliding blocks (12) run to specified docking point by two and half at
Product assemble；
The grasping system (2) includes multi-spindle machining hand (21) and material area (22), described in multi-spindle machining hand (21) crawl
The different semi-finished product in material area (22) are placed on each deck (17)；
The positioning system (3) includes the photoelectricity that is used to monitor the sliding block (12) position of the setting in the guide rail (11) side
Locator (31)；
The monitoring system (4) includes being located at the U-shaped arm (41) of the guide rail (11) side and being arranged in the U-shaped arm (41)
On several cameras (42), the camera (42) be used for shoot assemble after finished product image, the photoelectricity locator (31) one
Side is also equipped with other camera (42), which is used to shoot the image of the semi-finished product on the deck (17)；
The control system (5) includes for controlling the sledge controller (51) of the sliding block (12) operation, the control multiaxis
Manipulator (21) grabs the crawl controller (52) of material and monitors the image monitor (53) of camera (42) shot image.
2. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the package system
It (1) further include gear track (13), the gear (14) being adapted with the gear track (13) and the control gear (14)
The motor (15) of movement, the lower end of the motor (15) are fixed with the pedestal (16) connecting with the sliding block (12), the motor
(15) pedestal (15) and the sliding block (12) is driven to run simultaneously after starting.
3. a kind of linear guide intelligence assembly line according to claim 2, it is characterised in that: the motor (15) with
The sledge controller (51) is connected, and the sledge controller (51) controls starting and stopping for motor (15).
4. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the sledge controller
(51) it is connected with the photoelectricity locator (31), the photoelectricity locator (31) monitors that the sliding block (12) runs to default position
It postpones and sends a signal to the sledge controller (51), it is out of service that the sledge controller (51) controls the sliding block (12).
5. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the sledge controller
(51) be equipped in the docking point module docked between the line module for controlling the operation of each sliding block (12), modules (12) and
Modules (12) stop and the time module of starting.
6. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the sledge controller
(51) it is connected with described image monitor (53), the camera (42) on the photoelectricity locator (31) is by the corresponding card of shooting
Semi-finished product image on seat (17) is sent in described image monitor (53) and is stored in advance in described image monitor (53)
In semi-finished product image compare, if the two image is consistent, the sledge controller (51) control the sliding block (12) into
Row operates in next step, if the two image is inconsistent, described image monitor (53) is issued to the crawl controller (52) to be believed
Number, and the crawl controller (52) controls the multi-spindle machining hand (21) and replaces semi-finished product.
7. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the crawl controller
(52) it is connected with the multi-spindle machining hand (21), is provided with different semi-finished product to each deck in the crawl controller (52)
(17) track module and time interval module.
8. a kind of linear guide intelligence assembly line according to claim 7, it is characterised in that: the U-shaped arm (41)
On one end be equipped with the telescopic cylinder (43) for controlling U-shaped arm (41) operation, the semi-finished product on the guide rail (11) are assembled into
After product, the telescopic cylinder (43) pushes the U-shaped arm (41) to be moved to above finished product, the camera on the U-shaped arm (41)
(42) it sends the finished product image of shooting in described image monitor (53) and is stored in advance in described image monitor (53)
In finished product image compare, if the two image is consistent, the multi-spindle machining hand (21) clamps qualified finished product and is transferred to conjunction
Lattice area, if the two image is inconsistent, the multi-spindle machining hand (21) clamps unqualified finished product and is transferred to unqualified area.
9. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: the multi-spindle machining hand
It (21) include telescopic arm (29) and the handgrip (23) for being fixed on the telescopic arm (29) one end, the handgrip (23) includes crawl
Cylinder (24), be fixed on it is described crawl cylinder (24) piston rod on clamping plate (25) and with the telescopic arm (29) one end phase
Flange (26) even, described flange (26) one end are equipped with rectangle frame (28) and are fixed on consolidating for the rectangle frame (28) side
Fixed board (27), the crawl cylinder (24) are fixed on the fixed plate (27) and are located in the rectangle frame (28).
10. a kind of linear guide intelligence assembly line according to claim 1, it is characterised in that: described image monitoring
Be equipped in device (53) for compare the judgment module of image, the memory module for storing each semi-finished product and finished product image and
The qualified or not command module of image is sent to crawl controller (52).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111899629A (en) * | 2020-08-04 | 2020-11-06 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible robot teaching system and method |
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