CN203288153U - Linear type multiple-unit MPS automation logistics system - Google Patents
Linear type multiple-unit MPS automation logistics system Download PDFInfo
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- CN203288153U CN203288153U CN201320228776XU CN201320228776U CN203288153U CN 203288153 U CN203288153 U CN 203288153U CN 201320228776X U CN201320228776X U CN 201320228776XU CN 201320228776 U CN201320228776 U CN 201320228776U CN 203288153 U CN203288153 U CN 203288153U
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Abstract
The utility model discloses a linear type multiple-unit MPS automation logistics system. The linear type multiple-unit MPS automation logistics system comprises a pneumatic robot loading station, a detection processing station, a transport size detection station, a conveying spraying station, a machine vision color identification station, a robot assembly station, a storage station and a system integration general control workstation which are removably connected successively. Each sub-workstation is provided with a control system for controlling a corresponding sub-workstation. The control system of each sub-workstation is in communication with the system integration general control workstation. The utility model provides a platform having advantages of openness, innovation and participation, so a trainee can master the application, development and integration of robot and electromechanical integration technologies more easily and fully, the study on aspects, such as the mechanical design, the electric automatization, the automatic control, the robot technology, the computer technology, the sensor technology, the numerical control technology, etc., can be facilitated, and aspects, such as the design, the assembly, the debugging ability, etc., of a flexible manufacturing logistics system can be improved synthetically.
Description
Technical field
The utility model belongs to the Flexible Manufacturing System for Teaching field, is specifically related to a kind of linear pattern multiple-unit MPS automatic Material Handling System.
Background technology
Along with developing rapidly of science and technology, new product continues to bring out, and the complexity of product also increases thereupon, and the market life shortened of product updates and accelerates, in, small serial production occupies more and more consequence.Face this-situation of Xin, must increase substantially and make flexibility and production efficiency, shorten the production cycle, guarantee product quality, reduce energy consumption, thereby reduce production costs, to obtain better economic benefit.
In order to promote have one comprehensively understand in depth and know from experience to advanced manufacturing technologies such as robot, flexible manufacturing systems, demand in conjunction with field research, adopted industrial almost common flexible manufacturing system workstation, the flexible manufacturing of industry spot practical application/automatic material flow tutoring system is simulated in exploitation fully, and is equipped with corresponding guide book of experiment.Be convenient to for each colleges and universities of professorship On Electro-mechanics Integration Major teaching, hands-on and scientific research, secondary development.
The utility model content
Technical problem to be solved in the utility model is for above-mentioned the deficiencies in the prior art, a kind of linear pattern multiple-unit MPS automatic Material Handling System is provided, it covers common electromechanical integration technology, make the application and development of the easier comprehensive grasp robot of trainee and electromechanical integration technology and integrated, solved simultaneously traditional automatic material flow teaching system control and mostly be the present situation that the single control of PLC and high-end devices lack.
The technical scheme that the utility model adopts is: a kind of linear pattern multiple-unit MPS automatic Material Handling System, comprise the pneumatic robot material loading station that removably connects successively, detect processing station, transhipment size detection station, carry spraying station, machine vision color identification station, robot station, storage to stand and system integration master control workstation, be equipped with the control system of controlling corresponding sub-workstation work on every sub-workstation, the control system of every sub-workstation all with the communication of described system integration master control workstation.
As preferably, described pneumatic robot material loading station comprises rotation raw material storage and the Three Degree Of Freedom pneumatic robot on loading working table and loading working table, and described Three Degree Of Freedom pneumatic robot is arranged at described rotation raw material storage and detects between the Timing Belt conveyor of processing station.
As preferably, described detection processing station comprises the Timing Belt conveyor on testing platform and testing platform, by support, Inverter Electric Spindle with processing head is installed directly over described Timing Belt conveyor.
As preferably, described transhipment size detection station comprises rectilinear orbit and four station detection devices along system traffic direction layout on transhipment worktable and transhipment worktable, described rectilinear orbit is provided with the transfer robot that can move along its length direction, and described four station detection devices are provided with hole depth pick-up unit and waste product sorting equipment.
As preferably, described conveying spraying station comprises the first belt conveyer along system traffic direction layout on conveying workbench and conveying workbench, and described the first belt conveyer side direction is provided with the three station spray equipments of spraying direction towards this first belt conveyer.
As preferably, described machine vision color identification station comprises the second belt conveyer arranged along the system traffic direction on identification worktable and identification worktable, and the CCD vision inspection apparatus is installed above this second belt conveyer.
As preferably, described robot station comprises four-degree-of-freedom robot and the twelve-station rotation material storehouse on fitter's bench and fitter's bench, and described four-degree-of-freedom robot is provided with the vacuum suction instrument, also is provided with mounting plate on described worktable.
As preferably, described storage station comprises four-degree-of-freedom stacking machine and the tiered warehouse facility on storage worktable and storage worktable, by LOAD CELLS, the end Pneumatic paw is installed on described four-degree-of-freedom stacking machine.
As preferably, described system integration master control workstation comprises the master control machine on master control worktable and master control worktable, and described system integration master control workstation is by Ethernet and every sub-workstation connecting communication.
the beneficial effects of the utility model are: the utility model provides opening, but novelty and platform property of participation, make the application and development of the easier comprehensive grasp robot of trainee and electromechanical integration technology and integrated, can promote in Machine Design, electric automatization, automatically control, Robotics, computer technology, sensor technology, the study of the aspects such as Numeric Control Technology, and motor is driven and control technology, the design of PLC control system and application, computer network communication technology and field bus technique, the technical ability such as advanced language programming obtain actual training, design in the flexible manufacturing logistics system, assembling, the aspects such as debugging capability all can comprehensively be improved.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is side view of the present utility model;
Fig. 3 is pneumatic robot material loading station structure schematic diagram of the present utility model;
Fig. 4 is pneumatic robot material loading of the present utility model station side view;
Fig. 5 is detection processing station structural representation of the present utility model;
Fig. 6 is detection processing station side view of the present utility model;
Fig. 7 is transhipment size detection station structure schematic diagram of the present utility model;
Fig. 8 is transhipment size detection of the present utility model station side view;
Fig. 9 is conveying spraying station structure schematic diagram of the present utility model;
Figure 10 is conveying spraying of the present utility model station side view;
Figure 11 is color identification station structure schematic diagram of the present utility model;
Figure 12 is color identification of the present utility model station side view;
Figure 13 is station structural representation of the present utility model;
Figure 14 is station side view of the present utility model;
Figure 15 is storage station structure schematic diagram of the present utility model;
Figure 16 is storage of the present utility model station side view;
Figure 17 is master control workstation structural representation of the present utility model;
Figure 18 is master control workstation side view of the present utility model.
In figure: 1, pneumatic robot material loading station; 2, detect processing station; 3, transhipment size detection station; 4, carry the spraying station; 5, machine vision color identification station; 6, robot station; 7, storage station; 8, system integration master control workstation; 11, loading working table; 12, Three Degree Of Freedom pneumatic robot; 13, robot end's Pneumatic paw; 14, rotation raw material storage; 21, testing platform; 22, Timing Belt conveyor; 23, Inverter Electric Spindle; 24, electric spindle cooling device; 25, electric lifting spindle is adjusted platform; 31, transhipment worktable; 32, rectilinear orbit; 33, four station detection devices; 34, hole depth pick-up unit; 35, waste product sorting equipment; 36, automatically controlled rectilinear translation platform; 37, conveying robot; 41, conveying workbench; 42, the first belt conveyer; 43, three station spray equipments; 51, identification worktable; 52, the second belt conveyer; 53, CCD vision inspection apparatus; 54, control display; 61, fitter's bench; 62, four-degree-of-freedom robot; 63, twelve-station rotation material storehouse; 64, mounting plate; 65, vacuum suction instrument; 71, storage worktable; 72, four-degree-of-freedom stacking machine; 73, tiered warehouse facility; 81, master control worktable; 82, master control machine.
Embodiment
Below in conjunction with the accompanying drawings and the specific embodiments the utility model is described in further detail.
as depicted in figs. 1 and 2, a kind of linear pattern multiple-unit MPS automatic Material Handling System, comprise the pneumatic robot material loading station 1 that removably connects successively, detect processing station 2, transhipment size detection station 3, carry spraying station 4, machine vision color identification station 5, robot station 6, storage station 7 and system integration master control workstation 8, it forms the straight line pattern, be equipped with the control system of controlling corresponding sub-workstation work on every sub-workstation, the control system of every sub-workstation all with 8 communications of described system integration master control workstation, every sub-workstation all possesses unit/online function, but both detachment system independent operating, can all stand-alone device in system be carried out height by the Industrial Ethernet bus again, integrated efficiently, eight groups of workstations are distributed in respectively on independent aluminium alloy platform, a complete set of equipment floor area is 5.6X0.8 rice.
The worktable of every sub-workstation all adopts the fine aluminum section bar to build, and base plate is installed the leg roller, can easily move with integrated.The control system of corresponding sub-workstation is installed on the aluminium section bar below, and the control system link plate is installed slideway, and drawing out type is open to be arranged.The configuration station control operation of worktable the place ahead panel, button installation and pilot lamp.
As shown in Figure 3 and Figure 4, described pneumatic robot material loading station 1 comprises rotation raw material storage 14 and the Three Degree Of Freedom pneumatic robot 12 on loading working table 11 and loading working table 11, described Three Degree Of Freedom pneumatic robot 12 is arranged at described rotation raw material storage 14 and detects between the Timing Belt conveyor 22 of processing station 2, this sub-workstation adopts the PLC controller to control, configurable man-machine interface operation and monitoring.
described rotation raw material storage 14 bottoms are built framework by aluminium section bar and are fixed, and by stepper motor, driven, direct-connected harmonic speed reducer, reducer output shaft passes through bearings, end is installed material storehouse disk, totally ten two positions in storehouse on disk, the position in storehouse inner hollow, being used for the below sensor detects, the grooved optoelectronic switch is installed under disk and is diffused electric transducer, optoelectronic switch resets and acts on for rotation raw material storage 14 zero point, the electric transducer that diffuses is aimed at the 12 position in storehouse centers of circle, in order to detect having or not of workpiece in position in storehouse, under disk, two kinds of sensor 180 degree distribute, wherein the diffuse reflection sensor is positioned at Three Degree Of Freedom pneumatic robot 12 sides, be that Three Degree Of Freedom pneumatic robot 12 is from the fixing below that captures the station grabbing workpiece of rotation raw material storage 14.System power-on reset, rotation raw material storage 14 disc rotaries, the below catch stops after blocking optoelectronic switch, is zero-bit, is also to guarantee that the diffuse reflection sensor, over against the position in storehouse center of circle, resets at every turn and undertaken by this.Described rotation raw material storage 14 is positioned at loading working table 11 left sides, the system starting point, apparatus body profile spacing is with it determined according to device travel, it is suitable that assurance picks and places position, each equipment is fixed by loading working table 11 table top section bar grooves simultaneously, processing can be regulated unthreaded hole, spacing between each equipment of capable of regulating, convenient debugging.
Described Three Degree Of Freedom pneumatic robot 12 is positioned at rotation raw material storage 14 right sides, between the Timing Belt conveyor 22 of rotation raw material storage 14 and detection processing station 2, is used for workpiece and is carried to Timing Belt conveyor 22 movable platforms in rotation raw material storage 14.Three Degree Of Freedom pneumatic robot 12 is the cylindrical coordinates robot configuration, bottom aluminium section bar support is fixed on loading working table 11, the 180 degree anglecs of rotation cylinder of setting a table is installed, lifting Z-direction Rodless cylinder is installed in top, Z-direction Rodless cylinder movable platform is installed flexible to Rodless cylinder, and its movable platform is installed Pneumatic paw by web joint.Whether magnetic sensor is all installed in set a table cylinder and two Rodless cylinder both sides, in order to detect cylinder, move and put in place, and Three Degree Of Freedom pneumatic robot 12 namely guarantees to enter initial zero-bit position after the air pump air feed.
the course of work of book workstation is: before system starts, manually 12 three kinds of color workpiece arbitrarily are put in rotation raw material storage 140 two positions in storehouse, system powers on, air pump is opened, each station device is reseting movement at first, it is equipment reversion zero-bit initial position, at this moment, Three Degree Of Freedom pneumatic robot 12 paws initially are positioned at rotation raw material storage 14 1 sides, then the book workstation starts action, because initial workpiece is bought securities with all one's capital, be that the diffuse reflection sensor detects effectively, Three Degree Of Freedom pneumatic robot 12 actions this moment, flexible Rodless cylinder protracts, Z-direction lifting Rodless cylinder falls, paw cylinder action gripping workpiece, Z-direction lifting Rodless cylinder rises, flexible Rodless cylinder is return, the cylinder Rotate 180 degree of setting a table, flexible Rodless cylinder protracts, Z-direction lifting Rodless cylinder falls, the paw cylinder unclamps the workpiece of clamping, Z-direction lifting Rodless cylinder rises, flexible Rodless cylinder is return, the cylinder reverse rotation 180 of setting a table is spent, reply Three Degree Of Freedom pneumatic robot 12 zero-bit initial positions, wait to capture next workpiece.Workpiece drops down onto on next unit Timing Belt conveyor 22 movable platforms, starts the work of frequency conversion machining cell.When resetting, movable platform, in this position, all replys this position after each transmitting workpiece.It is invalid that rotate the current diffuse reflection sensor of raw material storage 14 detection signal this moment, and the follow procedure regulation, during no signal, disk is pressed fixedly clockwise running 30 degree at every turn, going to next position in storehouse, is that the diffuse reflection sensor effectively can stop when workpiece is arranged, and starts the another workpiece outbound carrying work of taking turns.
As shown in Figure 5 and Figure 6, described detection processing station 2 comprises the Timing Belt conveyor 22 on testing platform 21 and testing platform 21, by support, Inverter Electric Spindle 23 with processing head is installed directly over described Timing Belt conveyor 22, the engraving milling cutter is installed on this Inverter Electric Spindle 23, described support is electric lifting spindle and adjusts platform 25, and by the high speed variable frequency regulating speed control, the book workstation adopts the PLC controller to control, configurable man-machine interface operation and monitoring.
Described Timing Belt conveyor 22 integral body are the aluminium panels framework, and the below adjustable support leg supports, and are inner by the stepper motor driving, drive the transmission of synchronous cog belt wheels, and movable platform and Timing Belt are fixed, and linear bearing is installed in both sides, with the Timing Belt traveling priority.Two straight line optical axises are installed between the conveyor biside plate are used for the movable platform support.By movable platform both sides linear bearing movable support on optical axis.Three place's grooved optoelectronic switches are installed according to working position in conveyor inside, and the switch catch is arranged on movable platform, and when catch ran between optoelectronic switch, switching signal hid namely effectively.Wherein, a switch is respectively installed in the conveyor both sides, is used for movable platform spacing.Centre position is that electric spindle processing position is installed one, for movable platform, moves to and stops then starting processing this moment.Timing Belt conveyor 22 zero-bit initial positions are positioned at unit pneumatic robot one side, and while resetting, movable platform moves so far sidelight electric switch, and catch blocks effectively and stops.All walk to this position after each to-and-fro movement, wait for and receive workpiece.
It is typical electronic control translation stage that described electric lifting spindle is adjusted platform 25, and motor or manual handwheel be upright the layout upwards, adjusts platform and is installed on aluminum section bar frame, is across Timing Belt conveyor 22, and integral body is positioned at Timing Belt conveyor 22 centre positions.Adjust platform and driven by stepper motor, motor shaft connects shaft coupling, and the other end is installed ball guide screw nat, and feed screw nut is fixed with adjusting the platform traveling table, and two of both sides straight line optical axis supports, and traveling table is installed linear bearing.With the leading screw rotation, screw drives the elevating movement of traveling table straight line.It is upwards operations that the electricity lifting spindle is adjusted platform 25 reseting procedures, and the motor side optoelectronic switch is blocked when effective and stops, program can work out switch effectively after the descending one section fixed range of traveling table stop as zero-bit.All can reply zero-bit by this after each motion.The electricity lifting spindle is adjusted the moveable top fixed L type web joint of platform 25, and the web joint level table is installed electric main shaft.The electricity main shaft is selected the frequency-conversion high-speed electricity spindle inverters speed regulating control of engraving machine application, and drill bit or milling cutter can be installed, and can truly process.
Also be provided with electric spindle cooling device 24 on described testing platform 21, this electricity spindle cooling device 24 is comprised of water pump and tank and the both sides water pipe that is connected Inverter Electric Spindle 23, by pumping for water pump to a water pipe, entering Inverter Electric Spindle 23 inner loop to another water pipe emits, guarantee that Inverter Electric Spindle 23 is cooling when running up, described tank is positioned at Timing Belt conveyor 22 near on push button panel one side desktop.
the course of work of book workstation: after Timing Belt conveyor 22 movable platforms are accepted a unit workpiece, bring into operation, movable platform is to the opposite side rectilinear motion, (can expand herein and increase the material quality detecting sensor device, conveyor increases an optoelectronic switch station, first carrying out the workpiece material detects, continue again operation) when movable platform lower stop piece bumping post intermediate light electric switch, movable platform stops, enter Inverter Electric Spindle 23 Working positions, this moment, electric lifting spindle was adjusted the descending suitable distance of platform 25, guarantee Inverter Electric Spindle 23 bit alignment workpiece Working positions, afterwards, variable frequency control electricity main shaft 23 is by predetermined process parameters rotation processing, machine, the electricity lifting spindle is adjusted the platform 25 electric main shafts 23 of drive and is gone upward to home.Timing Belt conveyor 22 movable platforms are moved again, continue to the operation of size detection station, to conveyor end optoelectronic switch, stop after effectively, wait for that the conveying robot 37 that next unit moves transfer robot captures.
As shown in Figure 7 and Figure 8, described transhipment size detection station 3 comprises rectilinear orbit 32 and four station detection devices 33 along system traffic direction layout on transhipment worktable 31 and transhipment worktable 31, described rectilinear orbit 32 is provided with the mobile transfer robot that can move along its length direction, described four station detection devices 33 are provided with hole depth pick-up unit 34 and waste product sorting equipment 35, the book workstation adopts the PLC controller to control, configurable man-machine interface operation and monitoring.
Described mobile transfer robot is comprised of two parts, bottom is the automatically controlled rectilinear translation platform 36 of arranging along the system traffic direction, driven by stepper motor, connect the ball guide screw nat transmission by shaft coupling, the both sides straight-line guide rail slide block supports, its lower mounting rail slide block and feed screw nut, guarantee linear running.Mechanical limit switch is installed in automatically controlled rectilinear translation platform 36 both sides, the restriction stroke, and play while resetting and move towards a certain switch process of reverse certain distance again, reach the zero-bit initial position.Automatically controlled rectilinear translation platform 36 tops are conveying robot 37, the bottom aluminium section bar is built framework and is fixed on automatically controlled rectilinear translation platform 36, conveying robot 37 is driven by stepper motor, harmonic speed reducer transmission, θ Z rotary freedom, 180 degree rotations, conveying robot 37 cylinder bearing offsides are installed optoelectronic switch, the restriction stroke, and its top output shaft is installed horizontal connecting plate, the photoelectricity catch is installed under web joint, is used for the restricting rotation degree of freedom to move in 180 degree scopes.Described web joint end is installed the lifting guide pillar cylinder, and under the guide rail cylinder, level is installed Pneumatic paw.Mobile conveying robot 37 can arrive units synchronization band conveyor 22, four station test disks, 42 3 stations of next unit the first belt conveyer.Two parts interlock when this moves conveying robot 37 motion, the initial reset state is that automatically controlled rectilinear translation platform 36 is positioned at the middle of stroke position, conveying robot 37 is for avoiding miscellaneous equipment to interfere, horizontal connecting plate prolongs on automatically controlled rectilinear translation platform 36 direction of motion, paw points to the spray unit side, both is to detect after a sidelight electric switch to reply certain distance or angle and reach the process of initial position.
Described four station detection devices 33 form basically identical with rotation raw material storage 14 structures at pneumatic robot material loading station 1, amount to four stations, station hollow, below diffuse reflection detected sensor is positioned at conveying robot 37 rectilinear translation platform sides, vertical translation platform position is initial station, work as invalidating signal, disk is rotated counterclockwise 90 degree and detects.
Described hole depth pick-up unit 34 is by the lifting guide pillar air cylinder driven, and integral installation is at four station detection devices 33 near rotary work-table push button panel one side, and the aluminium section bar support, determine support height according to workpiece size.Run to hole depth and detect the station below when workpiece prolongs four station detection devices 33, the lifting guide pillar cylinder falls, and hole depth pick-up unit 34(is displacement transducer) the contact workpiece, detect the workpiece depth size, detect complete, the lifting guide pillar cylinders retract.
34 one-tenth 90 degree of described waste product sorting equipment 35 and hole depth pick-up unit distribute, be installed on four station detection device 33 right sides, the aluminium section bar support, in four station detection device 33 circle disk center position levels, guide rod cylinder is installed, the cylinder output shaft is installed nylon shelves post and is promoted in waste product workpiece to four station detection device 33 left side waste product grooves.
the course of work of book workstation: workpiece machines to Timing Belt conveyor 22 ends, this cell moving conveying robot human action, each axle of mobile transfer robot is linkage action, automatically controlled rectilinear translation platform 36 moves and drives conveying robot 37 to Timing Belt conveyor 22 sides, mechanical arm initial position θ Z axis 180 degree rotate the workpiece top to Timing Belt conveyor 22, the lifting guide pillar cylinder falls, the Pneumatic paw grabbing workpiece, the lifting guide pillar cylinder rises, the operation of rectilinear translation platform reverse linear, conveying robot 37 θ Z axis reverse rotations simultaneously, whole carrying workpiece to four station detection device 33 sides, the θ Z axis is the station top of reverse rotation 90 degree to four station detection device 33 rotating disks over against automatically controlled rectilinear translation platform 36, the lifting guide pillar cylinder falls, the Pneumatic paw workpiece that gets loose, the lifting guide pillar cylinder rises.Four station detection device 33 rotating disks turn round counterclockwise, and at first the Rotate 180 degree is to hole depth pick-up unit 34 times, and sensor lifting guide pillar cylinder drives displacement transducer and falls to detecting workpiece size, detects complete, the guide rod cylinder rise.Workpiece continues operation on disk, if defective workpiece, reverse rotation 90 degree, push away station to gas, by the horizontal guide cylinder, promotes workpiece to the waste product groove.Qualified workpiece is rotated counterclockwise 180 degree, to initial station, again by conveying robot 37 guide rod cylinder whereabouts gas pawl holding workpieces, cylinder rises, θ Z axis spray unit sidespin turn 90 degrees, and automatically controlled rectilinear translation platform 36 is to the spray unit operation simultaneously, and final conveying robot 37 guide rod cylinder fall, the gas pawl unclamps workpiece is placed on the first belt conveyer 42 of next unit, and original state is replied in conveying robot 37 each axle operations simultaneously.
As shown in Figure 9 and Figure 10, the first belt conveyer 42 along system traffic direction layout that described conveying spraying station 4 comprises on conveying workbench 41 and conveying workbench 41, described the first belt conveyer 42 side direction are provided with the three station spray equipments 43 of spraying direction towards this first belt conveyer 42.
Described the first belt conveyer 42 is driven by DC speed-reducing or threephase asynchronous machine, the motor direct-connected active roll tube, drive the running of PU white belt, the first belt conveyer 42 is the aluminium section bar main body frame, the panel beating stent support is fixed on 41 of conveying workbenchs, with the rectilinear orbit 32 of a upper unit, is positioned on straight line and arranges.The five places electric transducer that diffuses is installed on the first belt conveyer 42, is detected respectively workpiece and enter and export each, two ends, middle three place's spray station are installed three photoelectricity diffuse reflection sensors.
Described three station spray equipments 43 are positioned at the first belt conveyer 42 1 sides, three stations are arranged side by side, this three stations spray equipment 43 is installed downwards by the aluminium section bar support vertical by pneumatic spray gun, spraying is centered close to the first belt conveyer 42 centers, the gun stand outward appearance is utilized the blue color paster of reddish yellow, difference spraying color, can truly spray, and the spray gun air inlet electromagnetic valve is controlled.Can regulate spray area and capacity.
The course of work of book workstation: workpiece is placed on the first belt conveyer 42 by transfer robot, its initiating terminal photoelectric sensor is effective, the first belt conveyer 42 brings into operation, set according to work procedure, workpiece through three place's spray station diffuse reflection sensors corresponding one of them and stop, carrying out the spraying operation of specified color, when workpiece stops, the energising of spray gun solenoid valve, gas circuit is communicated with, and spray gun starts spraying operation.Spraying is completed, and workpiece continues to move to the first belt conveyer 42 ends, and after end diffuse reflection sensor was effective, the second belt conveyer 52 of next unit brought into operation, and workpiece is delivered directly on the second belt conveyer 52 of visual detection unit.
As Figure 11 and shown in Figure 12, described machine vision color identification station 5 comprises the second belt conveyer 52 along system traffic direction layout on identification worktable 51 and identification worktable 51 and controls display 54, these the second belt conveyer 5252 tops are equipped with CCD vision inspection apparatus 53, the book workstation adopts embedded system to control, the inner video frequency collection card of installing.
Arrange on described the second belt conveyer 52 and a upper same straight line of unit conveyor, its main body drives structure etc. are consistent with the first belt conveyer 42 of upper unit, the diffuse reflection sensor is also installed in both sides, place's diffuse reflection sensor is installed in the second belt conveyer 52 centre positions, pneumatic power positioner is installed near sensor, by rotary cylinder, web joint is installed and is formed, by the rotary cylinder solenoid-driven.The second belt conveyer 52 ends are namely assembled cell side the workpiece positioning baffle are installed, and prevent workpiece second belt conveyer 52 of walking out out of control.
Described CCD vision inspection apparatus 53 is comprised of CCD fuselage, camera lens, power lead, data line, image pick-up card etc., image pick-up card is the PC104 bus slot, be installed on embedded computer inside, the camera lens fuselage is fixed in the second belt conveyer 52 1 sides by aluminum section bar frame, over against workpiece circle centre position behind middle diffuse reflection and pneumatic location.
The course of work of book workstation: workpiece is delivered to operation on the second belt conveyer 52 of this unit by the first belt conveyer 42 of a upper unit, after middle diffuse reflection sensor, trigger pip, the pneumatic power positioner action, rotary cylinder 90 degree rotations, band dynamic air cylinder upper junction plate is perpendicular to the belt conveyer traffic direction.Workpiece is blocked location, and the second belt conveyer 52 programmed control stop after time delay, the reverse 90 degree rotations of rotary cylinder, baffle plate return.This moment, ccd video camera detected identification for workpiece, identification is completed, workpiece continues operation, to the second belt conveyer 52 ends after end diffuse reflection sensor detects, after the delay procedure official hour, workpiece has stopped at the second belt conveyer 52 near assembly unit end positioning baffle side.
As shown in Figure 13 and Figure 14, described robot station 6 comprises four-degree-of-freedom robot 62 and the twelve-station rotation material storehouse 63 on fitter's bench 61 and fitter's bench 61, described four-degree-of-freedom robot 62 is provided with vacuum suction instrument 65, also be provided with mounting plate 64 on described worktable, the book workstation adopts and controls based on PC104 bus embedded type motion controller.
described four-degree-of-freedom robot 62 is four-degree-of-freedom SCARA robot, it is four-degree-of-freedom plane articulation formula robot modeling, one joint 180 degree rotations, driven by servomotor, the harmonic speed reducer transmission, two joint 180 degree rotations, stepper motor drives, the harmonic speed reducer transmission, three joint stepper motors drive, pass through toothed belt transmission, drive the ball guide screw nat transmission, pair of nut is connected with the lifting traveling table, make robot three joints have lifting 50mm motion, four joints are installed on traveling table, stepper motor drives, connect the 360 degree rotations of planetary reduction gear driven rotary axle.The spacing mechanical switch in left and right is all installed in first three joint by robot, and the zero-bit optoelectronic switch is installed in four joints, and the robot end installs Pneumatic paw vertically downward.When robot controlled, each axle interlock, moved in work space according to robot control algorithm.Robot aluminium section bar support is fixed on the aluminium alloy platform face, according to work space, determines fixed position, guarantees that workpiece on a upper unit belt conveyer, little rotation material storehouse capture position in storehouse, mounting plate 64 3 places all are positioned at the fan-shaped operation interval of robot.Described four-degree-of-freedom robot 62 initial positions are extended configuration, and reseting procedure is to reply 90 degree after rotary joint walks to a lateral confinement bit switch.Three joints rise to limit switch and stop.
Described twelve-station rotation material storehouse 63 is in full accord with the control running with rotation raw material storage 14 structures of first module, also arrange 12 positions in storehouse, under disk, the diffuse reflection sensor is positioned at four-degree-of-freedom robot 62 sides, the 12 position in storehouse systems sub-workpiece of 12 of front artificial placements assembling that power on.
Described mounting plate 64 is positioned at fitter's bench 61 right sides, the four-degree-of-freedom stacking machine 72 that meets 62 placements of four-degree-of-freedom robot and next unit captures in operation intervals, mounting plate 64 is that support is fixed, whether its below is equipped with the electric transducer that diffuses, in order to detect female workpiece, be normally on mounting plate 64.
the course of work of book workstation: a upper unit workpiece walks to the second belt conveyer 52 end location to be stopped, the SCARA robot motion of this unit, walk to the workpiece top, the three suitable distances in whereabouts, joints, the Pneumatic paw holding workpiece, rise on three joints, each joint interlock carrying workpiece of robot is to mounting plate 64 tops, three joints fall, the paw workpiece that gets loose, workpiece falls on mounting plate 64, rise on three joints, the platform sensor detects effectively, robot continues action, walk to twelve-station rotation material storehouse 63 and capture the position in storehouse top, the three suitable distances in whereabouts, joints, the sub-workpiece of Pneumatic paw clamping, rise on three joints more rise from, each joint interlock carrying workpiece of robot is to mounting plate 64 tops, three joints fall, sub-workpiece is fitted in workpiece, Pneumatic paw gets loose, assembling is completed.Robot rises on three joints, homing, and storehouse 63 operations of twelve-station rotation material this moment are consistent with rotation raw material storage 14, guarantee that robot captures position in storehouse and has all the time workpiece.
As shown in Figure 15 and Figure 16, described storage station 7 comprises four-degree-of-freedom stacking machine 72 and the tiered warehouse facility 73 on storage worktable 71 and storage worktable 71, by LOAD CELLS, the end Pneumatic paw is installed on described four-degree-of-freedom stacking machine 72, the book workstation adopts the PLC movement controller to control.
Described four-degree-of-freedom stacking machine 72 is comprised of the four-degree-of-freedom Cartesian robot, combined by three groups of X/Y/Z axle straight line electronic control translation stages and θ Z electric rotary table respectively, three groups of straight line electronic control translation stage structures are basically identical, driven by stepper motor, connect the ball guide screw nat transmission by shaft coupling, supported on both sides type line slideway, each axle movable platform lower mounting rail slide block and feed screw nut, while guaranteeing the leading screw rotation, the movable platform linear running.A mechanical limit switch is respectively installed at three groups of rectilinear translation platform two ends, straight limit platform stroke and the application that resets.Wherein four-degree-of-freedom Cartesian robot lowermost end is X-axis, and tiered warehouse facility 73 is fixed on 71 of worktable of storage, and X-axis movable platform top 90 degree are Y-axis fixedly, and Y-axis movable platform top is by the vertical fixing Z axis of connection bent plate.The Z axis movable platform is installed θ Z electric rotary table by web joint, rotary table top is parallel to 71 of storage worktable, fixedly LOAD CELLS is installed in the rotary table top top, and LOAD CELLS one side is installed the end Pneumatic paw, and the end Pneumatic paw is parallel to 71 of storage worktable.The universal stage side is installed two limiting photoelectric switch, guarantees that universal stage turns round in 90 degree scopes.Four-degree-of-freedom stacking machine 72 resets needs the different sequential of each axle to carry out, at first X axis walks to the limit switch side away from the warehouse end and stops, then Y-axis is away from mounting plate 64 1 side operations, on Z-axis direction, operation is carried out simultaneously, θ Z electric rotary table drive this moment end Pneumatic paw can be rotated action, to avoid end Pneumatic paw and tiered warehouse facility 73 and miscellaneous equipment, interferes.
Described tiered warehouse facility 73 is built by aluminium section bar, and three rows and four columns 12 place's positions in storehouse, mate with rotation raw material storage 14 and twelve-station rotation material storehouse 63 position in storehouse numbers altogether.Tiered warehouse facility 73 is fixed on storage worktable 71 by the aluminum corner brace web member, is installed on guidance panel one side, improves security.In the lattice of the every storehouse of tiered warehouse facility 73, mechanical switch is installed, in order to detect position in storehouse, whether has workpiece to exist, but 12 position in storehouse place work pieces order program composition or carry out arbitrarily.
the course of work of book workstation: after the assembly unit assembling is completed, four-degree-of-freedom stacking machine 72 each axle linkage actions, the X-axis action guarantees that the assorted Clamping Center of hand and the workpiece center of circle are on a line, Y-axis moves ahead and makes paw be positioned at mounting plate 64 tops, the descending certain distance of Z axis, workpiece is completed in end Pneumatic paw gripping assembling, each linear axis interlock inverted running, the θ Z axis drives the counterclockwise 90 degree rotations of end Pneumatic paw simultaneously, perpendicular to tiered warehouse facility 73, Z axis is adjusted distance, the 73 direction operations of X axis tiered warehouse facility, so that end Pneumatic paw and workpiece are without stretching in the lattice of storehouse of interfering, Z axis falls, paw gets loose, workpiece enters in the lattice of storehouse, storehouse lattice detector switch is effective, warehouse-in is completed, four-degree-of-freedom stacking machine 72X axle inverted running, after the end Pneumatic paw leaves warehouse, the θ Z axis drives end Pneumatic paw 90-degree rotation again, reply parallel warehouse state.Prepare next assembling and complete workpiece grabbing.
As shown in Figure 17 and Figure 18, described system integration master control workstation 8 comprises the master control machine 82 on master control worktable 81 and master control worktable 81, described master control machine 82 can be the master control industrial computer, can be also PLC or embedded control system, and configuration master control man-machine interface operation control, described system integration master control workstation 8 is by industry ethernet and every sub-workstation connecting communication.
The integrated PLC network control scheme that has adopted based on the RS232 serial communication in described system integration master control workstation 8 each unit, be that each working cell is by a PLC or embedded its control task of bearing, realize the distributed control mode of interconnection between each PLC or embedded control system by the RS232 serial communication, set up into a small-sized modular logistics production line network.
the utility model provides an opening, but novelty and platform property of participation, make the application and development of the easier comprehensive grasp robot of trainee and electromechanical integration technology and integrated, can promote in Machine Design, electric automatization, automatically control, Robotics, computer technology, sensor technology, the study of the aspects such as Numeric Control Technology, and motor is driven and control technology, the design of PLC control system and application, computer network communication technology and field bus technique, the technical ability such as advanced language programming obtain actual training, design in the flexible manufacturing logistics system, assembling, the aspects such as debugging capability all can comprehensively be improved.
Characteristics of the present utility model are:
1, system is take Robotics as core, the multiple industrial machine in normal service people patterns such as integrated SCARA robot, Cartesian robot, pneumatic robot, pneumoelectric hybrid machine people, for adapting to the high-end trend that is equipped in the industrial circle application popularization such as logistics such as Robotics, the utility model is introduced the common high-end SCARA type plane articulation formula robot of industry, adopt industrial embedded Control mode, make system become the tutoring system product that meets current practical application take Robotics as core.Solved the present situation that traditional automatic material flow teaching system control mostly is the single control of PLC and high-end devices shortage.
2, system contains the control of robot workstation's embedded system, windows2000 operating system.System compact is small and exquisite, and real-time and multitask are had very strong tenability, can complete multitask and shorter interrupt response time is arranged.And have the very strong memory block defencive function of function, be convenient to student's hands-on and system maintainability.
3, the workstation desktop in system has " online/unit " two kinds of operator schemes.The software and hardware of all station device all can the detachment system independent operation, and available stand-alone device is platform, carries out the research and development of single technology, easily expansion.
4, by industry standard design, by network communications technology, all the unit module devices in system are carried out the integrated of height, identical with the industry spot form.
5, the system soft and hardware is partly reserved extending space, open interface, and the user side can increase EM equipment module on my company's system-based, and can easily be integrated in system, for secondary development and expansion subject have been created very advantage.
6, system integration information management,, by each workstation sensor communication, be presented at the state of each link in system on operation interface, makes the operator pass through computing machine and understand at any time the operating mode of each link of system, state, service data, grasps system running state.
7, System Computer power technology all-round opening, be equipped with perfect guide book of experiment, can easily develop the motion of oneself or control function, arouse the interest in study.
The linear pattern modularization MPS automatic Material Handling System scope of application: as the electro-mechanical system teaching equipment, be applied to colleges and universities of professorship, native system possesses hands-on background simultaneously, by frequency-conversion high-speed electricity main shaft installing drill milling cutter capable of being actual processing aluminium or nylon material part, system can be carried out the operation of streamline process and assemble, customizable specific production operation again, solved most tutoring systems and simulated the present situation of commercial Application.
For product promotion and universal, reduce costs, the SCARA robot of system applies is keeping on all industrial robot feature base, carried out the low-cost and high-performance design, complete independent intellectual property right, open whole technology, and secondary development function and interface are provided, solved present most present situation that logistics system Robotics opening is low, teaching efficiency is poor, useless of introducing Robotics.
For a change tutoring system mostly is pneumatic element and the single limitation of technology such as builds in the past, in system, design increases frequency conversion processing, Machine Vision Detection, material detection, the polytypes such as the modules such as detection, industrial field bus, the servomotor of increasing exchanges, direct current generator or threephase asynchronous machine of weighing.The while basic machine various common type of belt drive of increase and harmonic speed reducer, the contour end member device of planetary reduction gear.Solved the present situation that systems technology content was low in the past, the scope of one's knowledge is abundant not.
Poor, the limitation that can't deeply develop of legacy system teaching efficiency for a change, system is introduced the modular design concept, but each work station unit detachment system independent operating test has " online/unit " two kinds of operator schemes.Available stand-alone device is platform, carries out the research and development of single technology, easily expansion.Facilitate teaching, by system applies, solved the needs that teachers and students carry out scientific research, innovation.
A lot of tutoring system student propertys of participation are low, the system of facing is at a loss as to what to do, had a strong impact on teaching efficiency, present situation for a change, detachable and the assembling of the every unit machine electric system of the utility model, student's dismounting operation of taking action on one's own, but increased interesting and property of participation, can allow the student start with and progressively grasp the technology contents of high-end devices from bottom the scope of one's knowledge, be convenient to system maintenance in teaching, fault is set, discharges the teaching implementations such as fault.
Domestic each School of High Profession Technology there is no the counterpart specialty of robot application aspect at present, personnel's the demand that be engaged in robot site programming, comprises the posies such as the maintenance of transfer matic flexiblesystem, robot and mechanical and electric equipment installation debugging of robot manipulating task unit increases day by day, and short-term cultivation is difficult to reach job position request.This just needs each colleges and universities to walk in student prostatitis on duty about the application such as the use of robot and Flexible Manufacturing System Production line, design, debugging, maintenance training, and by the concrete technology that robot and Flexible Manufacturing System Production line are grasped in the actual hands-on application of concrete experimental facilities, applies.
The above, it is only the utility model preferred embodiment, therefore can not limit the scope that the utility model is implemented with this, the equivalence of namely according to the utility model claim and description, doing changes and modifies, and all should still belong in the scope that the utility model patent contains.
Claims (9)
1. linear pattern multiple-unit MPS automatic Material Handling System, it is characterized in that: comprise that the pneumatic robot material loading station (1), detection processing station (2), transhipment size detection station (3), conveying spraying station (4), the machine vision color that removably connect are successively identified station (5), robot station (6), store in a warehouse station (7) and system integration master control workstation (8), be equipped with the control system of controlling corresponding sub-workstation work on every sub-workstation, the control system of every sub-workstation all with described system integration master control workstation (8) communication.
2. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described pneumatic robot material loading station (1) comprises rotation raw material storage (14) and the Three Degree Of Freedom pneumatic robot (12) on loading working table (11) and loading working table (11), and described Three Degree Of Freedom pneumatic robot (12) is arranged at described rotation raw material storage (14) and detects between the Timing Belt conveyor (22) of processing station (2).
3. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described detection processing station (2) comprises the Timing Belt conveyor (22) on testing platform (21) and testing platform (21), by support, Inverter Electric Spindle (23) with processing head is installed directly over described Timing Belt conveyor (22).
4. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described transhipment size detection station (3) comprises rectilinear orbit (32) and four station detection devices (33) along system traffic direction layout on transhipment worktable (31) and transhipment worktable (31), described rectilinear orbit (32) is provided with the transfer robot that can move along its length direction, and described four station detection devices (33) are provided with hole depth pick-up unit (34) and waste product sorting equipment (35).
5. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described conveying spraying station (4) comprises the first belt conveyer (42) along system traffic direction layout on conveying workbench (41) and conveying workbench (41), and described the first belt conveyer (42) side direction is provided with the three station spray equipments (43) of spraying direction towards this first belt conveyer (42).
6. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described machine vision color identification station (5) comprises the second belt conveyer (52) along system traffic direction layout on identification worktable (51) and identification worktable (51), and this second belt conveyer (52) top is equipped with CCD vision inspection apparatus (53).
7. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described robot station (6) comprises four-degree-of-freedom robot (62) and the twelve-station rotation material storehouse (63) on fitter's bench (61) and fitter's bench (61), described four-degree-of-freedom robot (62) is provided with vacuum suction instrument (65), also is provided with mounting plate (64) on described worktable.
8. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described storage station (7) comprises four-degree-of-freedom stacking machine (72) and the tiered warehouse facility (73) on storage worktable (71) and storage worktable (71), and described four-degree-of-freedom stacking machine (72) is upper is equipped with the end Pneumatic paw by LOAD CELLS.
9. a kind of linear pattern multiple-unit MPS automatic Material Handling System according to claim 1, it is characterized in that: described system integration master control workstation (8) comprises the master control machine (82) on master control worktable (81) and master control worktable (81), and described system integration master control workstation (8) is by industry ethernet and every sub-workstation connecting communication.
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| CN201320228776XU CN203288153U (en) | 2013-04-28 | 2013-04-28 | Linear type multiple-unit MPS automation logistics system |
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| CN201320228776XU CN203288153U (en) | 2013-04-28 | 2013-04-28 | Linear type multiple-unit MPS automation logistics system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236219A (en) * | 2013-04-28 | 2013-08-07 | 苏州博实机器人技术有限公司 | Linear multi-unit MPS automated logistics system |
| CN104992610A (en) * | 2015-07-20 | 2015-10-21 | 江苏汇博机器人技术有限公司 | Intelligent visual industrial robot sorting and boxing occupation competition system and method |
| CN109754695A (en) * | 2019-03-22 | 2019-05-14 | 北京华航唯实机器人科技股份有限公司 | A kind of teaching equipment sorting information-based intelligent operation for product testing |
| CN116363926A (en) * | 2023-03-31 | 2023-06-30 | 福建奥瑞斯机器人工程技术有限公司 | Industrial robot uses integration teaching equipment |
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2013
- 2013-04-28 CN CN201320228776XU patent/CN203288153U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236219A (en) * | 2013-04-28 | 2013-08-07 | 苏州博实机器人技术有限公司 | Linear multi-unit MPS automated logistics system |
| CN103236219B (en) * | 2013-04-28 | 2015-04-22 | 苏州博实机器人技术有限公司 | Linear multi-unit MPS automated logistics system |
| CN104992610A (en) * | 2015-07-20 | 2015-10-21 | 江苏汇博机器人技术有限公司 | Intelligent visual industrial robot sorting and boxing occupation competition system and method |
| CN104992610B (en) * | 2015-07-20 | 2019-06-14 | 江苏汇博机器人技术股份有限公司 | A kind of intelligent vision industrial robot sorting vanning professional competition system and method |
| CN109754695A (en) * | 2019-03-22 | 2019-05-14 | 北京华航唯实机器人科技股份有限公司 | A kind of teaching equipment sorting information-based intelligent operation for product testing |
| CN109754695B (en) * | 2019-03-22 | 2024-03-12 | 北京华航唯实机器人科技股份有限公司 | Teaching equipment for intelligent operation of product detection and sorting informatization |
| CN116363926A (en) * | 2023-03-31 | 2023-06-30 | 福建奥瑞斯机器人工程技术有限公司 | Industrial robot uses integration teaching equipment |
| CN116363926B (en) * | 2023-03-31 | 2024-01-05 | 福建奥瑞斯机器人工程技术有限公司 | Industrial robot uses integration teaching equipment |
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