CN215625328U - High-precision flexible material stacking production line - Google Patents
High-precision flexible material stacking production line Download PDFInfo
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- CN215625328U CN215625328U CN202122072063.6U CN202122072063U CN215625328U CN 215625328 U CN215625328 U CN 215625328U CN 202122072063 U CN202122072063 U CN 202122072063U CN 215625328 U CN215625328 U CN 215625328U
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Abstract
The utility model discloses a high-precision flexible stacking production line, which comprises a track assembly, wherein the track assembly comprises a guide rail with a stator coil and a plurality of pulleys connected with the guide rail, the tackle is provided with a permanent magnet array and a position sensing element, the tackle can translate along the guide rail by means of interaction of a magnetic field generated by the permanent magnet array and an excitation magnetic field generated by the stator coil, so that the track assembly can achieve higher thrust application efficiency and higher servo precision, on the basis, the automatic device is provided with automatic instruments (such as a feeding mechanical arm, a stacking mechanism, a three-dimensional scanner or even a code reader) with different effects along the track assembly, and the rapid action of the automatic instruments is combined with the advancing characteristics of the track assembly to form a production line with more outstanding motion precision and response sensitivity.
Description
Technical Field
The utility model relates to the technical field of automatic production lines, in particular to a high-precision flexible stacking production line.
Background
The existing mechanical automatic production line basically adopts an instrument with a designated function, and is provided with a corresponding automatic clamp jig to cause actions such as feeding, moving, discharging and the like, no matter which type of automatic production line, the component of a transmission system cannot be separated, a transmission chain is used as an important component in a conveying link, and in an actual use state, the transmission system is a key for determining whether the automatic clamp jig and the corresponding instrument can realize quick linkage.
In recent years, with the improvement of intelligent flexible technology, the sensitivity and the reaction action of the automation equipment are increasingly accelerated, and the yield and the productivity of the automation production line are actively promoted, however, the development of the transmission system is not as rapid as other automation components, at present, the linear transmission system such as a linear motor is mainly adopted to transfer objects, although the motion performance is stable, the construction components are various all the time, the occupied area is wide, and the encoder serving as a displacement measurement element needs to be connected by a cable, so that the interference and the reliability are caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems in the prior art and provides a high-precision flexible stacking production line so as to optimize the linkage efficiency between a conveying system and automatic equipment and enable the feeding rate of the conveying system to be matched with the action of the automatic equipment.
The technical effect to be achieved by the utility model is realized by the following technical scheme:
a high-precision flexible stacking production line comprises a track assembly, a feeding manipulator, a stacking mechanism, a three-dimensional scanner and a control system, wherein the feeding manipulator, the stacking mechanism, the three-dimensional scanner and the control system are sequentially arranged along the track assembly; wherein,
the track assembly is: the trolley is provided with a permanent magnet array and a position sensing element, is arranged on the guide rail, and is translated along the guide rail by means of interaction of a magnetic field generated by the permanent magnet array and an excitation magnetic field generated by the stator coils;
the feeding mechanical arm comprises: the device is used for grabbing more than two workpieces to be processed and transferring the workpieces to the trolley;
the stacking mechanism: the clamping device is used for clamping the workpieces positioned on the relative upstream of the guide rail and stacking the workpieces to the workpieces positioned on the relative downstream of the guide rail, so that the workpieces are stacked and placed between every two adjacent workpieces;
the three-dimensional scanner is: the device is used for comparing and analyzing the surface patterns and the overall dimensions of the stacked workpieces;
the control system is: and controlling the actions of the pulley, the feeding manipulator, the stacking mechanism and the three-dimensional scanner according to preset parameters.
Preferably, the guide rail is mounted on a stator base to which the stator coil is fixed.
Preferably, each of said trolleys comprises two of said permanent magnet arrays, one above the other, wherein said stator coil is located between said two permanent magnet arrays, each of said trolleys being independently movable relative to said stator coil.
Preferably, the track assembly comprises an array of sensors distributed along the rail for reading signals emitted by the position sensing elements.
Preferably, the guide rail is detachably mounted to the stator base.
Preferably, a tray is installed on the pulley, slot positions are arranged on the tray, and the shape and the number of the slot positions correspond to those of the workpieces.
Preferably, the number of the slot positions is even, the slot positions are divided into a front row and a rear row along the traveling direction of the guide rail, the feeding manipulator places a single workpiece into each slot position, and the stacking mechanism is used for stacking the workpieces in the front row onto the workpieces in the rear row.
Preferably, the stacking mechanism comprises an adsorption part and a driving part, the adsorption part faces downwards and faces the guide rail, the adsorption part is used for adsorbing the workpieces located in the front row of the slot, when the workpieces in the rear row of the slot move to the position right below the adsorption part along with the pulley, the driving part drives the adsorption part to descend, and when the adsorption part descends to a specified position, the front row of workpieces are loosened to fall downwards, so that the front row of workpieces and the rear row of workpieces are stacked and placed.
Preferably, for the condition that the workpiece is printed with traceability codes, the production line comprises a first code reader, wherein the first code reader is positioned between the feeding mechanical arm and the stacking mechanism and is used for reading the traceability codes of the workpiece and sending information to a control system for recording and archiving.
Preferably, the system comprises a last-position code reader, wherein the last-position code reader is positioned behind the three-dimensional scanner and used for reading the source tracing codes of the workpieces stacked on the upper layer and sending read information to the control system to serve as warehousing information.
Compared with the prior art, the utility model has the beneficial effects that:
the utility model mainly uses the track component with magnetic suspension arrangement, compared with the traditional linear motor product which adopts coils as a rotor and a permanent magnet array as a stator, the track assembly uses a permanent magnet array as a pulley (equivalent to a mover), uses a stator coil as a guide rail, under the connection relation, the pulley does not need to be dragged by a cable, the track assembly can achieve higher thrust application efficiency and higher servo precision, on the basis, automatic instruments (such as a feeding mechanical arm, a stacking mechanism, a three-dimensional scanner or even a code reader and the like) with different effects are arranged along the track assembly, and the rapid action of the automatic instruments is combined with the advancing characteristic of the track assembly to form a production line with more outstanding motion precision and reaction sensitivity; in the middle of, the track subassembly can set up the coaster of a plurality of independent operation as required, and through the asynchronous motion of many coasters, the production link with different beats is integrated effectively, helps realizing the many batches of output of many specifications of production line.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram (front direction) of a high-precision flexible stacking production line according to an embodiment;
FIG. 2 is a schematic structural diagram (reverse direction) of a high-precision flexible stacking production line according to an embodiment;
FIG. 3 is a schematic structural view of a block and slot according to one embodiment;
FIG. 4 is a schematic structural diagram of a track assembly of an embodiment;
in the drawings, 1-track assembly; 11-a guide rail; 12-a stator base; 13-fixing the bracket; 14-a roller guide; 15-linear motor stator module; 16-arc motor stator module; 17-a sled; 18-a grating encoder array; 19-a grating; 2-a feeding manipulator; 21-a grip; 22-an arm portion; 3-a stacking mechanism; 31-an adsorption part; 32-a drive section; 4-a three-dimensional scanner; 5-a control system; 6-a tray; 61-groove position; 611-front slot position; 612-rear row slot position; 7-AGV feeding trolley; 8-first code reader; 9-last bit code reader.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and fig. 2, the present embodiment provides a high-precision flexible stacking production line, which includes a track assembly 1, a feeding manipulator 2, a stacking mechanism 3, a three-dimensional scanner 4, and a control system 5, which are sequentially arranged along the track assembly 1; wherein,
the track assembly 1: the device comprises a guide rail 11 with a stator coil and a plurality of tackle blocks 17 which are connected with the guide rail 11 in a sliding way, wherein the tackle blocks 17 are provided with a permanent magnet array and a position sensing element, the tackle blocks 17 are arranged on the guide rail 11 in a sliding way, and the tackle blocks 17 translate along the guide rail 11 by means of interaction of a magnetic field generated by the permanent magnet array and an excitation magnetic field generated by the stator coil;
the feeding manipulator 2: for gripping more than two workpieces to be processed and transferring the workpieces onto the trolley 17;
the stacking mechanism 3: the clamping device is used for clamping workpieces positioned relatively upstream of the guide rail 11 and stacking the workpieces to workpieces positioned relatively downstream of the guide rail 11, so that stacking between every two adjacent workpieces is realized;
the three-dimensional scanner 4: the device is used for comparing and analyzing the surface patterns and the overall dimensions of the stacked workpieces;
the control system 5: and controlling the actions of the pulley 17, the feeding manipulator 2, the stacking mechanism 3 and the three-dimensional scanner 4 according to preset parameters.
In this embodiment, the pulley 17 is provided with a tray 6, the tray 6 is provided with slots 61, the shapes and the number of the slots 61 correspond to those of the workpieces, and the slots 61 are used for placing the workpieces to be processed. Specifically, the number of the slots 61 needs to be set to an even number, and the slots are divided into two front and rear rows in the traveling direction of the trolley 17, where the front row is understood as a relatively upstream position and the rear row is understood as a relatively downstream position, the loading robot 2 places a single workpiece into each of the slots 61, and the stacking mechanism 3 is used to stack the workpieces in the front row onto the workpieces in the rear row.
As shown in fig. 3, there are 4 slots 61 in the present embodiment, and along the stroke direction of the tackle, 2 of the slots belong to the front row slot 611, and the remaining 2 slots belong to the rear row slot 612. The stacking mechanism 3 includes an adsorption part 31 and a driving part 32, the adsorption part 32 faces downward and faces the guide rail 11, the adsorption part 31 is used for adsorbing the workpiece located in the forward slot 611, when the workpiece in the backward slot 612 travels right below the adsorption part 31 along with the trolley 17, a sensing device (not shown in the figure) carried on the adsorption part 31 gives feedback, the driving part 32 receives an instruction of the control system 5 to drive the adsorption part 31 to descend, and when the adsorption part 31 descends to a specified position, the workpiece in the forward slot 611 is released to drop downwards, so that the forward workpiece and the backward workpiece are stacked.
Referring to fig. 2, the three-dimensional scanner 4 is located in front of the stacking mechanism 3, after the workpieces in the front row and the workpieces in the back row are stacked, the whole workpiece is transported forward by the trolley 17 and passes through the position under the three-dimensional scanner 4 at a constant speed, an effect schematic diagram of an ideal stacking state is stored in the three-dimensional scanner 4 in advance, when the stacked workpieces enter a monitoring range, the three-dimensional scanner 4 takes images of the workpieces and performs internal comparison analysis, so as to detect whether surface patterns and external dimensions of the stacked workpieces meet design requirements, and if the comparison is passed, the trolley 17 continues to transport forward; if the comparison fails, the defective products are found, the three-dimensional scanner 4 sends a feedback signal to the control system, and the control system 5 prompts the stacking production line to stop and informs related personnel to follow up on the spot.
The loading manipulator 2 includes a grip 21 and an arm 22, and the grip 21 is used to absorb or grasp a workpiece to be processed, and then the arm 22 is used to transfer the workpiece to the slot 61; further, in order to realize full automated production, in some embodiments, fold the material production line and still adopt AGV pay-off dolly 7 to carry out material loading and unloading, material loading manipulator 2 links with AGV pay-off dolly 7 through conventional means such as electromagnetic induction or laser induction to this accelerates the material conveying efficiency of production line full cycle action circuit.
In some embodiments, the surface of the workpiece is printed with traceability codes, and the production line includes a head code reader 8, where the head code reader 8 is located between the feeding manipulator 2 and the stacking mechanism 3, and is used for reading the traceability codes of the workpiece and sending the information to a control system for recording and archiving.
Similarly, the production line may further be provided with a final code reader 9, and the final code reader 9 may be located behind the three-dimensional scanner 4, and is configured to read the source code of the workpiece stacked on the upper layer, and send the read information to the control system 5 as the warehousing information.
Compared with a traditional linear motor product which adopts coils as a rotor and a permanent magnet array as a stator, the track assembly 1 adopts the permanent magnet array as the pulley 17 (equivalent to the rotor) and the stator coil as the guide rail 11, under the connection relationship, the pulley 17 does not need to be dragged by cables, and the track assembly 1 can achieve higher thrust application efficiency and higher servo precision.
Specifically, as shown in fig. 4, the track assembly 1 includes a plurality of trolleys 17, two linear motor stator modules 15 and two constant radius arc motor stator modules 16, a magnetic grid or grating 19, a magnetic grid or grating encoder array 18, a roller guide 14, a fixed bracket 13, and a stator base 12. Wherein said trolley 17 is mounted above the stator module of the linear motor for translational movement along the direction of said guide rail 11 by means of said roller guide 14. Each trolley 17 is independently movable relative to all the other trolleys. The pulley 17 comprises a permanent magnet array (not shown) mounted on the inner surface of the yoke of the pulley. The linear motor stator module 15 and the arc motor stator module 16 are connected to the fixing bracket 13. The fixing bracket 13 is mounted on the stator base 12. The roller guide 14 is fixed to the stator base 12 by fastening screws. The magnetic grid or grating encoder array 18 is mounted on the fixed support 13. The signals of the encoder array 18 are used for position measurement of the trolley. The stator modules 15 and 16 are energized with an exciting current, so that the stator coils on the stator modules are activated and energized, and the exciting magnetic fields generated by the stator coils interact with the permanent magnetic fields generated by the permanent magnetic arrays of the tackle 17 to form a thrust force, so that the tackle 17 moves in a translation manner along the guide rail 11. In an embodiment, the stator modules 15, 16 and trolley 17 independently control the movement of each trolley 17 along the roller track 14 as a combined function of the track assembly.
In some embodiments, each of the pulleys 17 comprises two upper and lower permanent magnet arrays, wherein the stator coil is located between the two permanent magnet arrays, and each of the pulleys 17 is capable of independently moving relative to the stator coil. The track component 1 can be provided with a plurality of pulleys 17 which can independently run as required, and production links with different beats are effectively integrated through asynchronous motion of multiple pulleys, so that a whole set of high-yield automatic production line is formed, and a multi-specification and multi-batch production line is realized.
The track assembly 1 further comprises a controller (not shown) electrically connected to the magnetic grating or grating encoder array 18 for obtaining position information of the trolley 17. The controller is also electrically connected with the stator coils, so that the stator coils are activated and energized according to the acquired position information of the tackle 17 and a given tackle target position, and the excitation magnetic fields generated by the corresponding coils interact in the permanent magnetic fields generated by the permanent magnet array to form thrust so that the tackle 17 generates translational motion.
In this embodiment, the model of the loading manipulator 2 is preferably uichwa IRB111-6-60Z20TS3, the model of the three-dimensional scanner 4 is preferably kaikang MV-DP2305-01H, the models of the code readers 8 and 9 are preferably kaikang MV-ID6200EM-OOC-NNG, and the model of the AGV feeding trolley 7 is preferably kaikang MR-Q2L-300LE-a1 (HW).
In operation, the permanent magnet array of the pulley 17 generates a driving force under the current excitation of the stator coil to push the pulley 17 to move along the roller guide rail 14, and a position sensing element such as a magnetic grid or a grating encoder array 18 can detect the moving position of the pulley 17 in real time.
In addition, the guide rail 11 is detachably mounted on the stator base 12, so that the conveying length can be flexibly adjusted, and the circular movement at different distances and even the translational orbital transfer circular movement can be realized.
By means of the motion principle, the track assembly 1 can achieve higher thrust application efficiency and higher servo precision, so that stable and quick feeding and high-precision positioning of workpieces are achieved, on the basis, automatic instruments (such as the feeding mechanical arm 2, the stacking mechanism 3, the three-dimensional scanner 4 and even a code reader 8 or 9 and the like) with different effects are arranged along the direction of the guide rail 11, most of the automatic instruments have strict requirements on the position precision and the moving stability of the workpieces to be processed, and the track assembly 1 can remarkably optimize relevant characteristics during workpiece conveying by using a magnetic suspension technology, namely the rapid action of the automatic instruments and the advancing characteristic of the track assembly are combined to form a production line with more outstanding motion precision and reaction sensitivity.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, and the scope of protection is still within the scope of the utility model.
Claims (10)
1. A high-precision flexible stacking production line is characterized by comprising a track assembly, a feeding manipulator, a stacking mechanism, a three-dimensional scanner and a control system, wherein the feeding manipulator, the stacking mechanism, the three-dimensional scanner and the control system are sequentially arranged along the track assembly; wherein,
the track assembly is: the trolley is provided with a permanent magnet array and a position sensing element, is arranged on the guide rail, and is translated along the guide rail by means of interaction of a magnetic field generated by the permanent magnet array and an excitation magnetic field generated by the stator coils;
the feeding mechanical arm comprises: the device is used for grabbing more than two workpieces to be processed and transferring the workpieces to the trolley;
the stacking mechanism: the clamping device is used for clamping the workpieces positioned on the relative upstream of the guide rail and stacking the workpieces to the workpieces positioned on the relative downstream of the guide rail, so that the workpieces are stacked and placed between every two adjacent workpieces;
the three-dimensional scanner is: the device is used for comparing and analyzing the surface patterns and the overall dimensions of the stacked workpieces;
the control system is: and controlling the actions of the pulley, the feeding manipulator, the stacking mechanism and the three-dimensional scanner according to preset parameters.
2. A high precision flexible stacking production line according to claim 1, characterized in that the guide rail is mounted on a stator base, and the stator coil is fixed on the stator base.
3. A high accuracy flexible material stacking production line as claimed in claim 2, wherein each said trolley comprises two upper and lower said permanent magnet arrays, wherein said stator coils are located between said two permanent magnet arrays, each said trolley being independently movable relative to said stator coils.
4. A high precision flexible overlapping production line according to claim 3, characterized in that the track assembly comprises a sensor array distributed along the guide rail for reading signals emitted by the position sensing elements.
5. A high precision flexible stacking production line according to claim 2, characterized in that the guide rail is detachably mounted on the stator base.
6. The high-precision flexible stacking production line according to claim 1, wherein a tray is mounted on the trolley, slots are formed in the tray, and the shapes and the number of the slots correspond to those of the workpieces.
7. A high-precision flexible stacking production line as claimed in claim 6, wherein the number of the slots is even, the slots are divided into a front row and a rear row along the travel direction of the guide rail, the feeding manipulator places a single workpiece into each slot, and the stacking mechanism is used for stacking the workpieces in the front row onto the workpieces in the rear row.
8. The high-precision flexible stacking production line according to claim 7, wherein the stacking mechanism comprises an adsorption part and a driving part, the adsorption part faces downward and faces the guide rail, the adsorption part is used for adsorbing the workpieces located in the front row of the slot, when the workpieces located in the rear row of the slot travel along with the trolley to a position right below the adsorption part, the driving part drives the adsorption part to descend, and when the adsorption part descends to a specified position, the front row of workpieces are released to fall downwards, so that the front row of workpieces and the rear row of workpieces are stacked.
9. The high-precision flexible stacking production line according to claim 1, wherein for the condition that the workpieces are printed with traceability codes, the production line comprises a head code reader, the head code reader is positioned between the feeding mechanical arm and the stacking mechanism, and is used for reading the traceability codes of the workpieces and sending information to a control system for recording and archiving.
10. The high-precision flexible stacking production line according to claim 1, comprising a final code reader, wherein the final code reader is located behind the three-dimensional scanner and is used for reading the traceability codes of the workpieces stacked on the upper layer and sending the read information to the control system as warehousing information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122072063.6U CN215625328U (en) | 2021-08-31 | 2021-08-31 | High-precision flexible material stacking production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122072063.6U CN215625328U (en) | 2021-08-31 | 2021-08-31 | High-precision flexible material stacking production line |
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| Publication Number | Publication Date |
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| CN215625328U true CN215625328U (en) | 2022-01-25 |
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| CN202122072063.6U Active CN215625328U (en) | 2021-08-31 | 2021-08-31 | High-precision flexible material stacking production line |
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- 2021-08-31 CN CN202122072063.6U patent/CN215625328U/en active Active
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