CN108039113B

CN108039113B - Intelligent manufacturing unit system integrated design teaching equipment

Info

Publication number: CN108039113B
Application number: CN201810064424.2A
Authority: CN
Inventors: 谭龙庆; 金垚贤; 许妍妩; 张大维; 许金金; 沈晶; 魏留军; 李慧; 迟澄; 王举刚; 龙涛; 徐伟伟; 陈志文
Original assignee: Beijing CHL Robotics Co ltd
Current assignee: Beijing CHL Robotics Co ltd
Priority date: 2018-01-23
Filing date: 2018-01-23
Publication date: 2024-05-03
Anticipated expiration: 2038-01-23
Also published as: CN108039113A

Abstract

The invention belongs to the technical field of intelligent manufacturing equipment, and particularly relates to intelligent manufacturing unit system integrated design teaching equipment. The equipment comprises a plurality of functional units which are mutually independent, and realizes the technical processes of storage, processing, detection or sorting of workpieces; the plurality of units which are mutually independent comprise an execution unit, a tool unit, a storage unit, a processing unit, a polishing unit, a detection unit, a sorting unit and a master control unit; each unit can be laid out and combined through connection according to the requirement; the main control unit provides power and air sources for other functional units and realizes connection by using a fast connection cable; the execution unit, the storage unit, the processing unit, the polishing unit, the detection unit and the sorting unit all realize the control of the action flow by the controller of the master control unit through the industrial Ethernet. In the use process of the device, the advantages of intelligent control technology can be reflected, the use flexibility of the device is increased, the device has the advantage of diversity in the teaching process, and the teaching requirements of individuation and specificity can be met.

Description

Intelligent manufacturing unit system integrated design teaching equipment

Technical Field

The invention belongs to the technical field of intelligent manufacturing equipment, and particularly relates to intelligent manufacturing unit system integrated design teaching equipment.

Background

Along with the promotion of strategy planning of China manufacturing 2025, the intelligent manufacturing technology application is quickened, and the method is an important measure for realizing industrialization and informatization deep fusion and manufacturing strong country and is a key point for realizing transformation and upgrading of manufacturing industry. Important responsibility of conveying and culturing professions talents related to intelligent manufacturing is born by all middle and high-school institutions, and the requirements on the accurate butt joint equipment manufacturing industry and the composite talents for culturing and grasping the intelligent transformation and integration technology of manufacturing units are also more and more strong. However, the related teaching equipment is very deficient at present, and the function is relatively single, so that the teaching requirement can not be met.

Disclosure of Invention

First, the technical problem to be solved

Aiming at the existing technical problems, the invention provides intelligent manufacturing unit system integrated design teaching equipment, which can solve the problems of lack of teaching equipment and single function in the prior art.

(II) technical scheme

In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:

an intelligent manufacturing unit system integrated design teaching device comprises a plurality of units which are mutually independent, and realizes the technical processes of storage, processing, detection or sorting of workpieces;

the plurality of units which are arranged independently of one another comprise an execution unit, a tool unit, a storage unit, a processing unit, a polishing unit, a detection unit, a sorting unit and a master control unit;

each unit can be laid out and combined through connection according to the requirement;

the power supply and the air supply of the execution unit, the tool unit, the storage unit, the processing unit, the polishing unit, the detection unit and the sorting unit are all provided by the master control unit, and the quick connection cable is utilized to realize connection;

The execution unit, the storage unit, the processing unit, the polishing unit, the detection unit and the sorting unit are communicated with the controller of the master control unit through the industrial Ethernet, so that the action flow of each unit is controlled, and the communication connection is realized through the fast cable.

Preferably, all units are of a workbench type design, and the functional parts are arranged on the workbench surface or in the workbench cabinet;

the working tables of all the units are as high as possible, and the side lengths of all sides of the working tables are integer multiples of the set length.

Preferably, the execution unit comprises a workbench of the execution unit, an industrial robot, a translation sliding table, a quick-change module flange connection end and a first remote IO module;

the industrial robot comprises an industrial robot body and an industrial robot controller, wherein the industrial robot body operates under the control of the industrial robot controller;

The industrial robot controller and the first remote IO module are arranged in a workbench cabinet of the execution unit;

The quick-change module flange connecting end is arranged on a sixth shaft flange of the industrial robot body, can be matched with the quick-change module tool connecting ends arranged on different tools in the tool unit, and can be connected and separated under the control of the industrial robot controller;

the translation sliding table is arranged on a table top of the workbench of the execution unit, the sliding table controller controls the servo motor to rotate, and after the speed is reduced by the speed reducer, the synchronous belt drives the ball screw to realize the conversion of rotary motion into linear motion, so that the installation platform slides along the linear guide rail;

the sliding table controller is connected with the industrial robot controller, and the industrial robot controller transmits the motion parameters to the sliding table controller, so that the industrial robot controller controls the mounting platform to move so as to change the position of the industrial robot body;

The industrial robot controller is connected with the first remote IO module and is in communication connection with the controller of the master control unit through the first remote IO module, so that the interaction of control signals between the execution unit and the master control unit is realized.

Preferably, the tool unit comprises a workbench of the tool unit, a tool connecting end of the quick-change module, a tool and a tool library;

the tool is matched with the flange connecting end of the quick-change module through the tool connecting end of the quick-change module, and then is loaded on the industrial robot body;

the tool comprises a spoke clamping jaw, a hub clamping jaw, a rim inner ring clamping jaw, a rim outer ring clamping jaw, a sucking disc tool, an end face polishing tool and a side face polishing tool, wherein the connecting end of the quick-change module tool and the tool are of an integrated structure;

The tool magazine is arranged on a table top of the tool unit, and comprises a plurality of tool placement positions on which tools are placed.

Preferably, the storage unit comprises a workbench of the storage unit, a stereoscopic warehouse and a second remote IO module;

the stereoscopic warehouse and the second remote IO module are arranged on the table surface of the workbench of the storage unit;

The stereoscopic warehouse is divided into a plurality of independent bins through a warehouse bracket, and bin indicator lamps, bin sensors, trays and tray pushing cylinders are arranged in the bins;

the tray is arranged at the bottom of the storage bin and can slide relative to the warehouse bracket along the tray linear guide rail;

The tray push rod cylinder is connected with the tray and used for pushing out or retracting the tray from the storage bin;

the bin sensor is arranged at the lower part of the tray and used for detecting whether workpieces exist on the tray or not;

The bin indicator lamps are arranged on the upper side or the lower side of the bin, and the presence or absence of workpieces in the bin is indicated by different colors of the indicator lamps;

The second remote IO module is in communication connection with the controller of the master control unit, and the controller of the master control unit realizes the action control of the storage unit and outputs signal state feedback and control signals through the second remote IO module.

Preferably, the processing unit comprises a workbench of the processing unit, a safety shield, a numerical control machine tool, a simulated tool magazine, a processing state indicator lamp, a numerical control system operation panel and a third remote IO module;

the safety shield, the numerical control machine tool and the numerical control system operation panel are arranged on the table surface of the workbench of the processing unit;

The simulated tool magazine and the processing state indicator lamp are arranged on the safety shield;

the third remote IO module is arranged in a workbench cabinet of the processing unit;

The safety shield is of a frame type structure and is arranged on the periphery of the numerical control machine, machine tool safety doors are respectively arranged on the front surface and the back surface of the numerical control machine, each machine tool safety door comprises a door plate, a door plate guide rail, a safety door cylinder and a safety door position sensor, the door plate is driven by the safety door cylinder to open and close along the door plate guide rail, the safety door position sensor can feed back the open or close state of the machine tool safety door, and a work control signal of the safety door cylinder is provided by an operation panel of the numerical control system;

The numerical control machine tool comprises an X-axis transmission device, a Y-axis transmission device, a Z-axis transmission device, a main shaft, a cutter, a pneumatic clamp and a processing platform; the X-axis transmission device, the Y-axis transmission device and the Z-axis transmission device are all structures that a servo motor drives a ball screw to enable an installation platform to move along a linear guide rail; the Y-axis transmission device is arranged on the table surface of the working table of the processing unit, the X-axis transmission device is arranged on the Y-axis transmission device, the Z-axis transmission device is arranged on the Y-axis transmission device, and the main shaft is arranged on the Z-axis transmission device; the spindle terminal is connected with the cutter; the processing platform is arranged on the table surface of the working platform of the processing unit and is positioned at the lower side of the main shaft, and the pneumatic clamp is arranged on the processing platform and is positioned at the lower side of the main shaft;

the simulated tool magazine can display the current tool magazine state and tool information, the simulated tool magazine is in communication connection with the numerical control system operation panel, and the numerical control system control panel outputs control signals to realize tool magazine state switching and tool changing actions;

The numerical control machine tool is controlled by a numerical control system operation panel, the numerical control system operation panel is connected with a third remote IO module through signals, interaction of control signals of the processing unit and the master control unit is achieved, and the numerical control system operation panel is interacted with the MES through an industrial Ethernet.

Preferably, the polishing unit comprises a workbench, a safety barrier, a polishing station, a rotating station, a turnover tool, a chip blowing station and a fourth remote IO module of the polishing unit;

The safety guardrail, the polishing station, the rotating station, the overturning tool, the chip blowing station and the fourth remote IO module are arranged on the surface of the polishing workbench;

The safety guardrail is of a frame structure and is arranged at the outer sides of the rotating station, the polishing station, the overturning tool, the chip blowing station and the fourth remote IO module;

The polishing station comprises a polishing station processing platform, a polishing station locating pin, a polishing station pneumatic clamping jaw and a polishing station sensor, a workpiece can be fixed on the polishing station processing platform through clamping of the polishing station pneumatic clamping jaw, the workpiece to be processed is located through the polishing station locating pin on the polishing station processing platform, and the polishing station sensor can detect whether the workpiece exists on the current polishing station processing platform;

The rotary station comprises a rotary station processing platform, a rotary station positioning pin, a rotary station pneumatic clamping jaw, a rotary station sensor and a rotary station rotary cylinder, a workpiece can be fixed on the rotary station processing platform through clamping of the rotary station pneumatic clamping jaw, positioning of the workpiece is realized through the rotary station positioning pin on the rotary station processing platform, the rotary station sensor can detect whether the workpiece exists on the current rotary station processing platform, and the rotary station processing platform is arranged on the rotary station rotary cylinder to realize integral rotation so as to drive the workpiece to rotate;

The turnover tool comprises a turnover tool lifting cylinder, a turnover tool rotating cylinder and a turnover tool clamping jaw, wherein the turnover tool lifting cylinder is fixed on a workbench surface of the polishing unit, the turnover tool rotating cylinder is arranged at the output end of the turnover tool lifting cylinder, the turnover tool clamping jaw is connected with the output end of the turnover tool rotating cylinder, and the turnover tool is used for carrying a workpiece between a rotating station and a polishing station and realizing turnover of the workpiece;

the chip blowing station comprises a chip blowing box body and a chip blowing device arranged in the chip blowing box body;

the fourth remote IO module is in communication connection with the controller of the master control unit, and the controller of the master control unit realizes the action control of the polishing unit and outputs signal state feedback and control signals through the fourth remote IO module.

Preferably, the detection unit comprises a workbench of the detection unit, an intelligent vision camera, a light source, a vision detection controller and a vision detection result display screen;

The intelligent vision camera and the light source are arranged on the table surface of the workbench of the detection unit and are used for collecting image information;

The intelligent vision camera is in communication connection with the vision detection controller and is used for processing the image information to extract data parameters of the workpiece;

The visual detection result display screen is in communication connection with the visual detection controller and is used for displaying visual detection results;

the visual detection controller is in communication connection with the industrial robot controller and performs signal interaction.

Preferably, the sorting unit comprises a workbench, a conveyor belt, a sorting mechanism, a sorting station and a fifth remote IO module of the sorting unit;

The conveying belt, the sorting mechanism, the sorting station and the fifth remote IO module are arranged on the table surface of the sorting unit, the sorting mechanism comprises a plurality of sorting mechanisms and sorting stations which are arranged corresponding to the sorting mechanisms, the sorting mechanisms are arranged on the upper part of the conveying belt, and the sorting mechanisms are sequentially arranged adjacent to the tail end of the conveying belt;

The sorting mechanism comprises a sorting mechanism vertical push rod cylinder, a sorting mechanism horizontal push rod cylinder and a sorting mechanism sensor; the output end of the push rod of the vertical push rod cylinder of the sorting mechanism is provided with a baffle plate, and the output end of the horizontal push rod cylinder of the sorting mechanism is provided with a push plate; the sorting mechanism sensor is arranged in front of a push plate of a horizontal push rod cylinder of the sorting mechanism and is used for detecting whether a workpiece exists on a conveyor belt at the current position;

The sorting station comprises a sorting crossing, a sorting station positioning cylinder and a sorting station sensor, wherein a sorting crossing slideway is inclined and is arranged adjacent to the conveyor belt and used for storing workpieces pushed by the sorting mechanism, the sorting station positioning cylinder is arranged in the sorting crossing, a push plate is arranged at the output end of the sorting station positioning cylinder, and the sorting station sensor is arranged at the tail end of the sorting crossing and used for detecting whether the position has workpieces;

the fifth remote IO module is in communication connection with the controller of the master control unit, the controller of the master control unit realizes the action control of the sorting unit and feeds back the signal state and outputs a control signal through the fifth remote IO module.

Preferably, the master control unit comprises a workbench, a controller, an industrial switch, an operation panel, a monitoring platform and an equipment status indicator lamp of the master control unit;

The controller, the industrial exchanger, the operation panel and the monitoring platform are arranged on the table surface of the workbench of the master control unit;

The controller performs information interaction and action control through the industrial Ethernet and a remote IO module of other units, an industrial robot controller of an execution unit and a numerical control system operation panel of a processing unit;

the industrial exchanger is used as a device communication line connection transfer device for all the devices which use the industrial Ethernet for communication;

the operation panel comprises a power button, a scram button and a custom button, wherein the power button can control the on-off of a power supply system of the main control unit, the scram button can control the running states of all units to immediately stop running, and the custom button is connected to a controller and is controlled by the controller to collect state signals;

The monitoring platform comprises a fixed terminal, an MES system, a mobile terminal and a remote monitoring system; the MES system is software, runs in the fixed terminal, performs information interaction with the controller through the industrial Ethernet, is used for monitoring the running state of the equipment in real time, and can upload the running state information of the equipment to the Internet data server; the remote monitoring system is software and operates in the mobile terminal, and can monitor the operation state of the equipment in real time by accessing an Internet data server;

The equipment state indicator lamps can display the overall running state of the equipment through indicator lamps with different colors, and the equipment state indicator lamps are controlled by the controller.

Preferably, the execution unit, the tool unit, the storage unit, the processing unit, the polishing unit, the detection unit, the sorting unit and the master control unit are spliced through steel plates and screw connection.

(III) beneficial effects

The beneficial effects of the invention are as follows: the intelligent manufacturing unit system integrated design teaching equipment provided by the invention can select proper units for combined use according to requirements in the use process of the equipment so as to display contents such as different equipment states, control modes, production flows and the like, embody the advantages of intelligent control technology, increase the use flexibility of the equipment, have the advantage of diversity in the teaching process, and can meet the individualized and special teaching requirements.

Drawings

FIG. 1 is a schematic diagram of a typical combination of multiple units according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an execution unit according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a partial structure of an execution unit;

FIG. 4 is a schematic view of the internal structure of the cabinet of the execution unit table;

FIG. 5 is a schematic view of a tool unit according to an embodiment of the present invention;

FIG. 6A is a schematic view of a spoke claw according to an embodiment of the present invention;

Fig. 6B is a schematic structural view of a clamping manner of a spoke clamping jaw according to an embodiment of the present invention;

FIG. 7A is a schematic view of a hub clamping jaw according to an embodiment of the present invention;

FIG. 7B is a schematic view of a clamping manner of a hub clamping jaw according to an embodiment of the present invention;

fig. 8A is a schematic structural view of a rim inner ring clamping jaw according to an embodiment of the present invention;

fig. 8B is a schematic structural diagram of a clamping manner of a rim inner ring clamping jaw according to an embodiment of the present invention;

FIG. 9A is a schematic view of a rim outer race clamping jaw according to an embodiment of the present invention;

fig. 9B is a schematic structural view of a clamping manner of a rim outer ring clamping jaw according to an embodiment of the present invention;

FIG. 10A is a schematic view of a chuck tool according to an embodiment of the present invention;

FIG. 10B is a schematic diagram of a clamping manner of a chuck tool according to an embodiment of the present invention;

FIG. 11A is a schematic structural view of an end face grinding tool according to an embodiment of the present invention;

FIG. 11B is a schematic view of a clamping arrangement of an end face grinding tool according to an embodiment of the present invention;

FIG. 12A is a schematic view of a side grinding tool according to an embodiment of the present invention;

FIG. 12B is a schematic view of a clamping arrangement of a side grinding tool according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a warehouse unit according to an embodiment of the present invention;

FIG. 14 is a schematic view of a partial construction of a warehouse unit;

FIG. 15 is a schematic view of a processing unit according to an embodiment of the present invention;

FIG. 16 is a schematic view of the structure of a machine tool safety door of the machining unit;

fig. 17 is a schematic structural view of a numerical control machine tool of the processing unit;

FIG. 18A is a schematic view of a partial structure of an angle of a numerical control machine of a machining unit;

FIG. 18B is a schematic view of a partial structure of another angle of the numerical control machine of the machining unit;

FIG. 19 is a schematic view of a polishing unit according to an embodiment of the present invention;

FIG. 20 is a schematic view of a polishing station according to an embodiment of the present invention;

FIG. 21 is a schematic view of a rotary station according to an embodiment of the present invention;

Fig. 22 is a schematic structural diagram of a turnover tool according to an embodiment of the present invention;

FIG. 23 is a schematic structural diagram of a detection unit according to an embodiment of the present invention;

fig. 24 is a schematic structural view of a sorting unit according to an embodiment of the present invention;

fig. 25A is a schematic view of a partial structure of a sort unit according to an angle of the present invention;

fig. 25B is a schematic view of a partial structure of a sorting unit according to another embodiment of the present invention;

FIG. 26 is a schematic structural diagram of a master control unit according to an embodiment of the present invention;

FIG. 27 is a schematic view of a connection between units according to an embodiment of the present invention;

[ reference numerals description ]

1: An execution unit;

11: a workbench of an execution unit; 12: an industrial robot; 13: a translation sliding table; 14: the flange connecting end of the quick-change module; 15: a first remote IO module; 16 communication line connection interfaces;

121: an industrial robot body; 122: an industrial robot controller;

131: a slipway controller; 132: a servo motor; 133: a synchronous belt; 134: a ball screw mechanism; 135: a linear guide rail; 136: a mounting platform; 137: a cable drag chain; 138: position indication arrows; 139: a position indication scale;

2: a tool unit;

21: a work table of the tool unit; 22: a quick-change module tool connecting end; 23: a tool; 24: a tool library;

231: spoke clamping jaws; 232: hub clamping jaw; 233: rim inner ring clamping jaws; 234: rim outer ring clamping jaw; 235: a suction cup tool; 236: an end face polishing tool; 237: a side grinding tool;

3: a storage unit;

31: a work table of the storage unit; 32: a stereoscopic warehouse; 33: a second remote IO module;

321: a warehouse rack; 322: a bin indicator lamp; 323: a bin sensor; 324: a tray; 325: a tray push rod cylinder; 326: a tray linear guide rail;

4: a processing unit;

41: a working table of the processing unit; 42: a safety shield; 43: a numerical control machine tool; 44: simulating a tool magazine; 45: a processing status indicator light; 46: an operation panel of the numerical control system; 47: a third remote IO module;

421: a door panel; 422: a door panel guide rail; 423: a safety door cylinder; 424: a safety door position sensor;

431: an X-axis transmission device; 432: a Y-axis transmission device; 433: a Z-axis transmission device; 434: a main shaft; 435: a cutter; 436: a pneumatic clamp; 437: a processing platform;

4311: an X-axis servo motor; 4312: an X-axis synchronous belt; 4313: an X-axis ball screw; 4314: an X-axis linear guide rail; 4315: an X-axis mounting platform; 4316: an X-axis cable drag chain;

4321: a Y-axis servo motor; 4322: a Y-axis synchronous belt; 4323: a Y-axis ball screw; 4324: a Y-axis linear guide rail; 4325: a Y-axis mounting platform; 4326: y-axis cable drag chain;

4331: a Z-axis servo motor; 4332: a Z-axis synchronous belt; 4333: a Z-axis ball screw; 4334: a Z-axis linear guide rail; 4335: a Z-axis mounting platform; 4336: z-axis cable drag chain;

5: a polishing unit;

51: a workbench of a polishing unit; 52: a safety barrier; 53: a polishing station; 54: a rotating station; 55: overturning the tool; 56: a chip blowing station; 57: a fourth remote IO module;

531: a polishing station processing platform; 532: pneumatic clamping jaws of a polishing station; 533: polishing a station positioning pin; 534: a polishing station sensor;

541: rotating a station processing platform; 542: rotating the station pneumatic clamping jaw; 543: rotating the station positioning pin; 544: a rotary station sensor; 545: a rotary station rotary cylinder;

551: lifting air cylinders of overturning tools; 552: turning over a tool rotary cylinder; 553: turning over the fixture clamping jaw;

6: a detection unit;

61: a workbench of the detection unit; 62: an intelligent vision camera; 63: a light source; 64: a visual detection controller; 65: visual detection result display screen;

7: a sorting unit;

71: a working table of the sorting unit; 72: a conveyor belt; 73: a sorting mechanism; 74: a sorting station; 75: a fifth remote IO module;

731: a vertical push rod cylinder of the sorting mechanism; 732: a horizontal push rod cylinder of the sorting mechanism; 733: a sorting mechanism sensor;

741: sorting the crossing; 742: sorting station positioning air cylinders; 743: a sorting station sensor;

8: a master control unit;

81: a workbench of the master control unit; 82: a controller; 83: an industrial switch; 84: an operation panel; 85: monitoring a platform; 86: the equipment operates an indicator lamp;

841: a power switch; 842: an emergency stop button; 843: a custom button;

851: a fixed terminal; 852: a mobile terminal;

91: steel plate, 92: a screw; 93: a workpiece.

Detailed Description

The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.

Referring to fig. 1 to 27, the present embodiment provides an integrated design teaching device for an intelligent manufacturing unit system, which includes a plurality of units that are independently disposed, so as to implement a process of warehousing, processing, detecting, or sorting workpieces.

The plurality of mutually independent units comprise an execution unit 1, a tool unit 2, a storage unit 3, a processing unit 4, a polishing unit 5, a detection unit 6, a sorting unit 7 and a general control unit 8.

The units can be laid out and combined through connection as required. By layout combining by connection as required is meant here: in the use process, all or part of the units can be selected to be combined in different layout configurations to realize corresponding teaching functions so as to display different equipment states, control modes, production flows and the like, so that the advantages of the intelligent control technology can be reflected, and the use flexibility of the equipment is improved.

The power supply and the air supply of the execution unit 1, the tool unit 2, the storage unit 3, the processing unit 4, the polishing unit 5, the detection unit 6 and the sorting unit 7 are provided by the master control unit 8, and the connection is realized by using a quick connection cable.

The execution unit 1, the storage unit 3, the processing unit 4, the polishing unit 5, the detection unit and the sorting unit 7 are communicated with a controller of the master control unit 8 through industrial Ethernet so as to control the action flow of each unit, and the communication connection is realized through a fast cable.

Referring to fig. 27, a plurality of units are joined by a steel plate 91 and a screw 92, and when the units are joined, the tables of the adjacent units are joined together by the steel plate 91 and the screw 92.

Referring to fig. 1, a typical combination of teaching devices is: the device comprises an execution unit 1, a tool unit 2, a storage unit 3, a processing unit 4, a polishing unit 5, a detection unit 6, a sorting unit 7 and a master control unit 8, wherein the units are combined and connected through a steel plate 91 and a screw 92.

The fact that the above units can be combined at least in part by connection as desired means that: the units can be used singly, partially combined or all combined, and the number of the units can be increased without limit, and the combination means that a plurality of units can mutually cooperate in the working process.

Through the setting of a plurality of units in this embodiment to a plurality of units can use alone or collaborative work, through the exclusive use or the cooperation of above-mentioned unit use, can demonstrate the course of working of a plurality of intelligent equipment, make teaching equipment have the advantage of functional diversity, can accomplish multiple teaching demand.

The following are detailed descriptions of each unit:

Working table

All units are in a workbench type design, functional parts are arranged on the table surface of the workbench or in a cabinet of the workbench, the workbench of each unit is high, the side length of each side is an integral multiple of the set length, if the set length is a, the side length of the workbench can be a, 1a, 2a and 3a … …, and the actual length of the workbench can be determined according to the field requirement or the size of each unit constituting equipment, so long as the side length meets the conditions. Specifically, the height of the workbench surface from the ground is 1000mm, the set length a is 680mm, and the size specification of the workbench can be 680mm×680mm×1000mm, 680mm×1360mm×1000mm, or the like.

The workbench adopting the form can be used for freely carrying out modularized splicing, so that the butt joint side length is uniform during splicing, and the workbench has the advantages of small occupied space and strong integrity after splicing.

The execution unit 1, the tool unit 2, the storage unit 3, the processing unit 4, the polishing unit 5, the detection unit 6, the sorting unit 7 and the master control unit 8 are provided with independent working tables, and the units are mutually independent and are connected through a steel plate 91 and a screw 92.

The workbench is of a cabinet structure, a door plate is arranged on the side face of the workbench, a storage space is formed in the workbench, namely, the workbench cabinet is arranged on the upper plane, and wire grooves used for wiring are formed in the periphery of the workbench.

Execution unit

Referring to fig. 2 to 4, the execution unit 1 includes a table 11 of the execution unit, an industrial robot 12, a translation slide table 13, a quick-change module flange connection end 14, and a first remote IO module 15.

The industrial robot 12 includes an industrial robot body 121 and an industrial robot controller 122, and the industrial robot body 121 operates under the control of the industrial robot controller 122.

The translation slip table 13 is arranged on the table surface of the working table 11 of the execution unit, the industrial robot body 121 is arranged on the mounting platform 136 of the translation slip table 13, and the industrial robot controller 122 and the first remote IO module 15 are arranged in the cabinet of the working table 11 of the execution unit.

The quick-change module flange connection end 14 is arranged on a sixth shaft flange of the industrial robot body 121, can be matched with a quick-change module tool connection end 22 arranged on a tool 23 in the tool unit 2, and is connected and disconnected under the control of the industrial robot controller 122.

The translation slip table 13 is arranged on the table top of the workbench 11 of the execution unit, the slip table controller 131 controls the servo motor 132 to rotate, the synchronous belt 133 drives the ball screw 134 to realize the rotation motion to be converted into the linear motion after the speed is reduced by the speed reducer, the installation platform 136 slides along the linear guide rail 135 to realize the accurate positioning motion in the effective stroke, the current position of the installation platform 136 can be fixed flexibly through the cable drag chain 137 by checking the position scale indicated by the position indication arrow 138 on the position indication scale 139, and the cable communicated with the industrial robot body 121 and the industrial robot controller 122.

The slide table controller 131 is connected with the industrial robot controller 122, and the industrial robot controller 122 transmits the motion parameters to the slide table controller 131, so that the industrial robot controller 122 controls the mounting platform 136 to move, thereby changing the position of the industrial robot body 121.

The industrial robot controller 122 is connected with the first remote IO module 15, and is in communication connection with the controller 82 of the master control unit 8 through the first remote IO module 15, so as to realize interaction of control signals between the execution unit 1 and the master control unit 8. The first remote IO module 15 supports industrial ethernet communication, satisfies field device signal acquisition and function control, and supports input and output of digital and analog signals.

Tool unit

Referring to fig. 5 to 12B, the tool unit 2 includes a tool unit table 21, a quick-change module tool connection end 22, tools 23, and a tool magazine 24.

A tool magazine 24 is provided on the table 21 of the tool unit, the tool magazine 24 comprising a plurality of tool placement positions on which tools 23 are placed.

The tools 23 have quick-change functions, and are classified into seven types of tools according to the implementation functions: spoke clamping jaw 231, hub clamping jaw 232, rim inner ring clamping jaw 233, rim outer ring clamping jaw 234, sucking disc tool 235, end face polishing tool 236 and side polishing tool 237 can respectively finish picking and processing of industrial robot body 121 to different positions and different forms of workpiece 93: spoke side face position clamping, hub cylindrical surface position clamping, rim inner ring position clamping, rim outer ring position clamping, spoke front face position sucking, end face polishing and side face polishing.

The quick-change module tool connecting end 22 and the tool 23 are of an integrated structure, and can be fixedly connected with and released from the quick-change module flange connecting end 22, so that the quick-change module tool connecting end is quickly loaded on the industrial robot body 121, and the industrial robot body 121 can complete appointed action contents by utilizing different tools 23.

Storage unit

Referring to fig. 13-14, the warehousing unit 3 includes a workstation 31 of the warehousing unit, a stereoscopic warehouse 32, and a second remote IO module 33.

The stereoscopic warehouse 32 and the second remote IO module 33 are arranged on the table top of the workstation 31 of the warehouse unit. The stereoscopic warehouse 32 is divided into a plurality of independent bins through a warehouse bracket 321, wherein bin indicator lamps 322, bin sensors 323, trays 324, tray push rod cylinders 325 and tray linear guide rails 326 are arranged on the bins.

The tray 324 is disposed at the bottom of the bin and is horizontally slidable relative to the warehouse rack 321 along the tray linear guide 326.

The tray pushing rod cylinder 325 is provided at the bottom of the tray 324 and enables the tray 324 to slide horizontally on the warehouse rack 321, and the tray 324 is used for placing the work 93.

The bin sensor 323 is arranged at the lower part of the tray 324 and is used for detecting whether the workpiece 93 exists on the tray 324, the bin indicator lamp 322 is arranged on the warehouse bracket 321, and whether the workpiece 93 exists in the bin is indicated by different colors of the indicator lamp.

The second remote IO module 33 is in communication connection with the controller 82 of the master control unit 8, and the controller 82 of the master control unit 8 controls the operation of the warehouse unit 3 and outputs signal status feedback and control signals, such as on/off of the bin indicator lamp 322, pushing/retracting of the tray push rod cylinder 325, and presence/absence of the bin sensor 323, through the second remote IO module 33. The second remote IO module 33 supports industrial ethernet communications, satisfies field device signal acquisition and function control, and supports input and output of digital and analog signals.

Processing unit

Referring to fig. 15 to 18B, the machining unit 4 includes a table 41 of the machining unit, a safety cover 42, a numerical control machine 43, a simulation tool magazine 44, a machining state indicator 45, a numerical control system operation panel 46, and a third remote IO module 47;

The safety cover 42, the numerical control machine 43 and the numerical control system operation panel 46 are provided on the table surface of the table 41 of the processing unit.

A simulated magazine 44 and a machining state indicator 45 are provided on the safety shield 42.

The third remote IO module 47 is disposed within the cabinet of the work table 41 of the processing unit.

The safety shield 42 is a frame structure and is disposed around the numerically-controlled machine tool 43, machine tool safety doors are respectively disposed on the front and back surfaces of the numerically-controlled machine tool 43, the machine tool safety doors are connected with a safety door cylinder 423 and a safety door position sensor 424, the numerical control system operation panel 46 controls the opening and closing of the door plate 421 along the door plate guide rail 422 through the safety door cylinder 423, and the opening or closing state of the door plate 421 is detected through the safety door position sensor 424. That is, when the workpiece 93 is fixed in the numerical control machine 43 for machining, the door plate 421 is in a closed state; when the industrial robot body 121 performs loading and unloading operations of the work 93, the door plate 421 is in an opened state. The operation control signal of the emergency gate cylinder 423 is provided by the numerical control system operation panel.

The numerical control machine tool comprises an X-axis transmission device 431, a Y-axis transmission device 432, a Z-axis transmission device 433, a main shaft 434, a cutter 435, a pneumatic clamp 436 and a processing platform 437; wherein, the X-axis transmission device 431, the Y-axis transmission device 432 and the Z-axis transmission device 433 are all structures that a servo motor drives a ball screw to enable an installation platform to move along a linear guide rail; the Y-axis transmission device 432 is arranged on the table surface of the workbench 41 of the processing unit, the X-axis transmission device 431 is arranged on the Y-axis transmission device 432, the Z-axis transmission device 433 is arranged on the Y-axis transmission device 432, and the main shaft 434 is arranged on the Z-axis transmission device 433; taking the X-axis transmission device 431 as an example, the operation panel 46 of the numerical control system controls the X-axis servo motor 4311 to rotate, the rotation motion is transmitted to the X-axis ball screw 4313 by the X-axis synchronous belt 4312, and the X-axis mounting platform 4315 moves linearly back and forth along the X-axis linear guide rail 4314 through the motion transformation of the X-axis ball screw 4313, so as to drive the Z-axis transmission device 433 arranged on the X-axis mounting platform 4315 to move.

The terminal of the main shaft 434 is connected with a cutter 435, and the main shaft 434 rotates at a high speed to drive the cutter 435 to rotate so as to realize cutting.

The machining platform 437 is disposed on the table top of the table 41 of the machining unit and is located on the underside of the spindle 434, and the air jig 436 is disposed on the machining platform 437 and is located on the underside of the spindle 434 for positioning and clamping the workpiece 93 during machining.

The simulated tool magazine 44 can display the current tool magazine state and tool 435 information, the simulated tool magazine is in communication connection with the numerical control system operation panel 46, and the numerical control system control panel 46 outputs control signals to realize the state switching and tool changing actions of the simulated tool magazine 44.

The numerical control machine tool 43 is controlled by a numerical control system operation panel 46, the numerical control system operation panel 46 is connected with a third remote IO module 47 in a signal mode, interaction of control signals of the processing unit 4 and the master control unit 8 is achieved, and the numerical control system operation panel 46 is interacted with the MES system through an industrial Ethernet. The third remote IO module 47 supports industrial Ethernet communications, satisfies field device signal acquisition and function control, and supports input and output of digital and analog signals.

Polishing unit

Referring to fig. 19 to 22, the sharpening unit 5 comprises a table 51 of the sharpening unit, a safety barrier 52, a sharpening station 53, a rotation station 54, a turning tool 55, a chip blowing station 56 and a fourth remote IO module 57.

The safety barrier 52, the grinding station 53, the rotation station 54, the overturning tooling 55, the chip blowing station 56 and the fourth remote IO module 57 are arranged on the table top of the workbench 51 of the grinding unit.

The safety barrier 52 is a frame-like structure and is disposed outside the grinding station 53, the rotating station 54, the turning tool 55, the chip blowing station 56, and the fourth remote IO module 57.

The polishing station 53 comprises a polishing station processing platform 531, a polishing station pneumatic clamping jaw 532, a polishing station positioning pin 533 and a polishing station sensor 534, the workpiece 93 can be fixed on the polishing station processing platform 531 by clamping the polishing station pneumatic clamping jaw 532, the workpiece can be accurately positioned by the polishing station positioning pin 533 on the polishing station processing platform 531, and the polishing station sensor 534 can detect whether the workpiece 93 exists on the current polishing station processing platform 531.

The rotary station 54 comprises a rotary station processing platform 541, a rotary station pneumatic clamping jaw 542, a rotary station positioning pin 543, a rotary station sensor 544 and a rotary air cylinder 545, the workpiece 93 can be fixed on the rotary station processing platform 541 by clamping the rotary station pneumatic clamping jaw 542, positioning of the workpiece 93 is achieved by the rotary station positioning pin 543 on the rotary station processing platform 541, the rotary station sensor 544 can detect whether the workpiece is present on the current rotary station processing platform 541, and the rotary station processing platform 541 is arranged on the rotary station rotary air cylinder 545 to realize integral rotation so as to drive the workpiece 93 to rotate.

The turnover tool 55 comprises a turnover tool lifting cylinder 551, a turnover tool rotating cylinder 552 and a turnover tool clamping jaw 553, the turnover tool lifting cylinder 551 is fixed on the workbench 51 of the polishing unit, the turnover tool rotating cylinder 552 is installed at the driving end of the turnover tool lifting cylinder 551, the turnover tool clamping jaw 553 is connected with the driving of the turnover tool rotating cylinder 552, and the turnover tool 56 is used for carrying the workpiece 93 between the polishing station 53 and the rotating station 54 and realizing turnover of the workpiece 93.

The chip blowing station 56 comprises a chip blowing box body and a chip blowing device arranged in the chip blowing box body, the workpiece 93 polished by the clamping of the industrial robot body 121 enters the chip blowing box body, and the chip blowing device cleans up flying chips generated by polishing the workpiece 93.

The fourth remote IO module 57 is in communication connection with the controller 82 of the master control unit 8, and the controller 82 of the master control unit 8 controls the motion of the polishing unit 5 and outputs the sensor detection state feedback and control signals through the fourth remote IO module 57. The fourth remote IO module 57 supports industrial ethernet communications, satisfies field device signal acquisition and function control, and supports input and output of digital and analog signals.

Detection unit

Referring to fig. 23, the detection unit 6 includes a table 61 of the detection unit, an intelligent vision camera 62, a light source 63, a vision detection controller 64, and a vision detection result display screen 65.

The intelligent vision camera 62 and the light source 63 are arranged on the workbench 61 of the detection unit and are used for collecting image information, the intelligent vision camera 62 is in communication connection with the vision detection controller 64 and is used for processing the image information to extract data parameters of the workpiece 93, and the data parameters refer to parameters such as color, outline dimension, marking characteristics and the like of the workpiece 93.

The visual inspection result display screen 65 is communicatively connected to the visual inspection controller 64 and is used for displaying visual inspection results.

The vision inspection controller 64 is communicatively coupled to and in signal communication with the industrial robot controller.

In summary, the industrial intelligent vision camera has an independent vision detection controller 64, and the system can detect the data of the color, outline dimension, marking characteristics and the like of the workpiece; the vision inspection controller 64 may interact with the industrial robot controller 122; the visual inspection result display screen 65 displays the visual inspection result for the operator to view.

In the visual detection process, the light source 63 provides an independent light source for the intelligent visual camera 62, so that the external light source is prevented from interfering with the detection result of the intelligent visual camera.

Sorting unit

Referring to fig. 24 to 25B, the sorting unit 7 includes a table 71 of the sorting unit, a conveyor belt 72, a sorting mechanism 73, a sorting station 74, and a fifth remote IO module 75;

Conveyor 72, sorting mechanism 73, sorting station 74 and fifth remote IO module 75 are disposed on the table top of sorting unit's table 71. The sorting unit 7 includes a plurality of sorting mechanisms 73, and sorting stations 74 provided in correspondence with the sorting mechanisms 73, the plurality of sorting mechanisms 73 being provided at the upper portion of the conveyor 72, and being provided in order adjacent to the ends of the conveyor 72.

The conveyor 72 is fixed to the transfer table 71, and the industrial robot places the visually inspected work 93 on the conveyor 72 to start the sorting process of the work 93.

The sorting mechanism 73 includes a sorting mechanism vertical push rod cylinder 731, a sorting mechanism horizontal push rod cylinder 732, and a sorting mechanism sensor 733, the output end of the sorting mechanism vertical push rod cylinder push rod 731 is provided with a baffle, the output end of the sorting mechanism horizontal push rod cylinder 732 is provided with a push plate, and the sorting mechanism sensor 733 is arranged in front of the push plate of the sorting mechanism horizontal push rod cylinder 732 for detecting whether a workpiece 93 exists on the conveyor belt 72 at the current position.

The sorting station 74 comprises a sorting crossing 741, a sorting station positioning cylinder 742 and a sorting station sensor 743, wherein the sorting crossing 741 is inclined in a slideway and is arranged adjacent to the conveyor belt 72 and used for receiving the workpiece 93 pushed by the sorting mechanism 73, the sorting station positioning cylinder 742 is arranged in the sorting crossing 741, a push plate is arranged at the output end of the sorting crossing 741, and the sorting station sensor 743 is arranged at the tail end of the sorting crossing 741 and used for detecting whether the workpiece 93 exists at the position.

The fifth remote IO module 75 is in communication connection with the controller 82 of the master control unit 8, and the controller 82 of the master control unit 8 controls the motion of the sorting unit 7 and outputs sensor detection state feedback and control signals through the fifth remote IO module 75. The fifth remote IO module 75 supports industrial ethernet communications, satisfies field device signal acquisition and function control, and supports input and output of digital and analog signals.

Main control unit

Referring to fig. 26, the general control unit 8 includes a table 81 of the general control unit, a controller 82, an industrial switch 83, an operation panel 84, and a monitor platform 85.

The controller 82, the industrial switch 83, the operation panel 84, and the monitor platform 85 are provided on the work table 81 of the general control unit.

The controller 82 performs information interaction and action control with the first remote IO module 15, the second remote IO module 33, the third remote IO module 47, the fourth remote IO module 57, the fifth remote IO module 75, and the numerical control system operation panel 46 through the industrial ethernet, and all communication wires are transferred through the industrial switch 83.

The operation panel 84 includes a power button 841, a scram button 842 and a custom button 843, wherein the power button 841 can control the on-off of the power supply module of the main control unit 8, the scram button 842 can control the operation state of all units to stop operation immediately, and the custom button 843 is connected to the controller 82 and used for controlling and collecting state signals.

The monitoring platform includes a fixed terminal 851, an MES system, a mobile terminal 852, and a remote monitoring system. The MES system is software, runs in the fixed terminal 851, performs information interaction with the controller 82 through an industrial Ethernet, is used for monitoring the running state of equipment in real time, and can upload the running state information of the equipment to an Internet data server; the remote monitoring system is software, and runs in the mobile terminal 852, and can monitor the running state of the equipment in real time by accessing the internet data server.

The above-mentioned work 93 is a wheel work, which is used only for the purpose of explaining the functions of the respective units, and other works may be used, of course.

In order to further explain the teaching device, the embodiment also provides a working process of each unit of the teaching device.

Execution unit

The industrial robot controller 122 controls the industrial robot body 121 to perform a set action and communicate with the outside;

When the industrial robot 12 needs to change the posture, the industrial robot controller 122 controls the motion of each axis of the industrial robot body 121 by using the motion command, thereby realizing the posture change of the industrial robot body 121.

When the industrial robot 12 needs to realize the position movement by using the translation sliding table 13, the industrial robot controller 122 transmits the motion parameters to the sliding table controller 131 by using the movement instruction, and the sliding table controller 131 controls the servo motor 132 to rotate so as to drive the mounting platform 136 to move, so that the industrial robot body 121 is realized to move in position.

When the industrial robot 12 needs to replace the tool 23, the industrial robot controller 122 uses the control instruction to move the industrial robot body 121 to the position of the tool 23, and the quick-change module flange connection end 14 is fixedly connected with or separated from the quick-change module tool connection end 22, so that the loading or releasing of the industrial robot body 121 to different tools 23 is realized.

When the industrial robot 12 needs the tool 23 to operate, the industrial robot controller 122 turns on a designated gas path or circuit by using a control command, thereby realizing the operation of the tool 23;

When the industrial robot 12 needs to communicate, the industrial robot controller 122 uses the communication command to realize the interaction of control signals with the controller 82 of the master control unit 8 and the vision detection controller 64 of the detection unit 6.

Tool unit

The required tools 23 are placed on the tool placement sites of the tool magazine 24 according to the functional requirements.

Each tool 23 can be loaded or released by the industrial robot 12 in the execution unit 1.

Storage unit

The industrial robot controller 122 outputs a moving instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operating position of the tool unit 2;

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified posture for loading the spoke clamping jaw 231, outputs an action instruction to mount the spoke clamping jaw 231 to the industrial robot body 121, and outputs a movement instruction to move the industrial robot body 121 to a specified standard posture;

The industrial robot controller 122 inquires the state of the workpieces 93 stored in the current storage unit 3 and stored in the controller 82 of the master control unit 8, selects the required serial numbers of the trays 324, and transmits serial number information to the industrial robot controller 122;

the industrial robot controller 122 outputs a moving instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operation position of the storage unit 3;

The controller 82 of the master control unit 8 controls the storage unit 3 to push out a tray 324 where the workpiece 93 to be taken out is specified by the industrial robot controller 122 by using a tray push rod cylinder 325;

the industrial robot controller 122 controls the industrial robot body 121 to grasp the workpieces 93 in the designated pallet 324 of the stereoscopic warehouse 32 in accordance with the designated posture;

The controller 82 of the master control unit 8 controls the warehouse unit 3 to retract the tray 324 from which the work pieces 93 have been taken out into position by using the tray push rod cylinder 325;

After the gripping of the workpiece 93 is completed, the industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified standard posture;

Processing unit

The industrial robot controller 122 outputs a moving instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operation position of the processing unit 4;

the numerical control system operation panel 46 controls the safety door cylinder 423 to open the front machine tool safety door plate 421 of the machining unit 4, and sets the air jig 436 of the numerical control machine tool in a released state;

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified posture in which the workpiece 93 is placed on the air jig 436, the numerical control system operation panel 46 sets the air jig 436 to a clamped state, and after the workpiece 93 is stably clamped, the industrial robot controller 122 outputs an action instruction to unclamp the workpiece 93;

the industrial robot controller 122 outputs a motion instruction to enable the industrial robot body 121 to move to a specified standard posture, and after exiting the area of the safety shield 42 of the numerical control machine 43, the numerical control system operation panel 46 controls the safety door cylinder 423 to close the machine safety door plate 421;

A plurality of numerical control processing G code programs required to be processed are prestored in an operation panel 46 of the numerical control system, and the MES system selects proper processing programs and cutters according to production requirements;

The numerical control system operation panel 46 controls the numerical control machine tool 43 to execute the selected numerical control machining G code to finish the customized engraving/milling machining of the workpiece; information such as the spindle rotation speed, whether the machining is finished or not and the like in the machining process can be communicated and transmitted with MES software by the numerical control system operation panel 46 and displayed in real time by the fixed terminal 851;

After the numerical control machine 43 finishes the customized processing of the workpiece 93, the numerical control system operation panel 46 controls the safety door cylinder 423 to open the machine tool safety door plate 421, the industrial robot controller 122 outputs a motion instruction to enable the industrial robot body 121 to move to a specified gesture for picking up the workpiece 93, the numerical control system operation panel 46 controls the pneumatic clamp 436 to be loosened, and the industrial robot controller 122 outputs an action instruction and a motion instruction to enable the industrial robot body 121 to take out the workpiece 93 and move to a specified standard gesture and exit the region of the safety shield 42 of the numerical control machine 43.

The numerical control system operation panel 46 controls the emergency gate cylinder 423 to close the machine tool emergency gate plate 421.

Polishing unit

The industrial robot controller 122 outputs a movement instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operation position of the polishing unit 5.

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified posture for placing the workpiece 93 at the polishing station 53, and outputs a movement instruction to move the industrial robot body 121 to a specified standard posture after the workpiece 93 is released by outputting the movement instruction.

The controller 82 of the master control unit 8 controls the polishing station pneumatic clamping jaw 532 to clamp the workpiece 93 at the polishing station processing platform 531.

The industrial robot controller 122 outputs a movement instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operating position of the tool unit 2.

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified posture for releasing the spoke holding claws 231, outputs a movement instruction to release the spoke holding claws 231 to the tool placing position, outputs a movement instruction to move the industrial robot body 121 to a specified posture for loading the end face polishing tool 236, outputs a movement instruction to mount the end face polishing tool 236 to the industrial robot body 121, and outputs a movement instruction to move the industrial robot body 121 to a specified standard posture.

The industrial robot controller 122 outputs an action command to start the end face polishing 236 tool, and outputs a motion command to enable the industrial robot body 121 to finish polishing the designated position of the workpiece 93 with the end face polishing tool 236 according to the process requirements, and the industrial robot controller 122 outputs an action command to stop the end face polishing 236 tool.

The controller 82 of the master control unit 8 controls the polishing station 53, the rotating station 54 and the turning tool 55, the workpiece 93 is clamped by the turning tool clamping jaw 553, meanwhile, the workpiece 93 is loosened by the polishing station pneumatic clamping jaw 532, the turning tool lifting cylinder 551 starts to lift the turning tool clamping jaw 553 and the workpiece 93, the turning tool rotating cylinder 552 starts to turn, the turning tool lifting cylinder 551 starts to descend to place the workpiece 93 on the rotating station 54, the workpiece is clamped by the rotating station pneumatic clamping jaw 542, and the workpiece 93 is loosened by the turning tool clamping jaw 553.

The industrial robot controller 122 outputs an action command to start the end face polishing tool 236, and outputs a motion command to cause the industrial robot body 121 to finish polishing the designated position of the workpiece 93 with the end face polishing tool 236 according to the process requirements, and the industrial robot controller 122 outputs an action command to stop the end face polishing tool 236.

The industrial robot controller 122 outputs a motion instruction to move the industrial robot body 121 to a specified posture for releasing the end face grinding tool 236, outputs a motion instruction to release the end face grinding tool 236 to a tool placing position, outputs a motion instruction to move the industrial robot body 121 to a specified posture for loading the suction cup tool 235, outputs a motion instruction to mount the suction cup tool 235 to the industrial robot body 121, and outputs a motion instruction to move the industrial robot body 121 to a specified standard posture.

The industrial robot controller 122 outputs a motion instruction to move the industrial robot body 121 to a specified posture for picking up the workpiece 93, and after the controller 82 of the master control unit 8 controls the rotary station pneumatic clamp 542 to release the workpiece 93, the industrial robot controller 122 outputs a motion instruction to pick up the workpiece.

The industrial robot controller 122 controls the industrial robot body 121 to place the workpiece 93 at the chip blowing station 56, and to blow off the polishing chips from the workpiece surface;

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified standard posture.

Detection unit

The industrial robot controller 122 outputs a movement instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operation position of the detection unit 6.

The industrial robot controller 122 outputs a motion instruction to move the industrial robot body 121 to a detection-designated posture, and positions the workpiece 93 at a predetermined visual field position of the intelligent vision camera 62.

The industrial robot controller 122 outputs a communication instruction to cause the vision inspection controller 64 to complete the inspection operation and to transmit color parameter information of the designated position of the workpiece 93 back to the industrial robot controller 122.

The industrial robot controller 122 outputs a motion instruction to move the industrial robot body 121 to a specified standard pose.

Sorting unit

The industrial robot controller 122 outputs a movement instruction to enable the translation sliding table 13 to drive the industrial robot body 121 to move to the operation position of the sorting unit 7.

The industrial robot controller 122 outputs a movement instruction to move the industrial robot body 121 to a specified posture in which the workpiece 93 is placed to the start end of the conveyor 72, and outputs a movement instruction to release the workpiece 93 to drop onto the conveyor 72, and then outputs a movement instruction to move the industrial robot body 121 to a specified standard posture.

The controller 82 of the master control unit 8 controls the movement of the conveyor belt 72 to convey the work pieces 93 to the designated sorting mechanism 73.

The controller 82 of the master control unit 8 drops the sorting mechanism vertical push rod cylinder 731 of the designated sorting mechanism 73 to intercept the workpiece 93, and after the sorting mechanism sensor 733 detects the workpiece 93, controls the sorting mechanism horizontal push rod cylinder 732 to push the workpiece 93 into the sorting crossing 741.

The controller 82 of the master control unit 8 controls the sorting station positioning cylinder 742 to act to accurately position the workpiece 93 located in the sorting gate 741 to the gate end.

Main control unit

When all the processes are realized, the action process among the units is controlled by the controller 82 of the master control unit 8, and interaction and transmission of control instructions and information data among the units are completed.

The MES system running on the fixed terminal 851 can monitor the running conditions of all units in real time, and display the information such as the processing state, the subsequent processing flow and the like of the current workpiece.

The remote monitoring system running on the mobile terminal 852 may detect the device running status in real time.

The technical principles of the present invention have been described above in connection with specific embodiments, which are provided for the purpose of explaining the principles of the present invention and are not to be construed as limiting the scope of the present invention in any way. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims

1. An intelligent manufacturing unit system integrated design teaching device, which is characterized in that: comprises a plurality of units which are mutually independent, and realizes the technical processes of storage, processing, detection or sorting of workpieces;

each unit can be laid out and combined through connection according to the requirement; the tool unit, the storage unit, the processing unit, the polishing unit, the detection unit and the sorting unit can work together with the execution unit in a cooperative manner;

the power supply and the air supply of the execution unit, the tool unit, the storage unit, the processing unit, the polishing unit, the detection unit and the sorting unit are all provided by the master control unit, and the quick connection cable is used for realizing connection;

The first remote IO module of the execution unit, the second remote IO module of the storage unit, the third remote IO module of the processing unit, the fourth remote IO module of the polishing unit, the visual detection controller of the detection unit and the fifth remote IO module of the sorting unit are communicated with the controller of the master control unit through industrial Ethernet so as to control the action flow of each unit, and the communication connection is realized through a fast connection cable;

The sorting unit comprises a sorting station and a sorting mechanism;

the top height of the push plate of the sorting station positioning cylinder is lower than the top height of the inclined plane of the sorting crossing slideway.

2. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: all units are designed on a workbench, and functional parts are arranged on the table surface of the workbench or in a cabinet of the workbench;

3. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the execution unit comprises a workbench of the execution unit, an industrial robot, a translation sliding table and a quick-change module flange connection end;

The industrial robot body is arranged on a mounting platform of the translation sliding table, and the industrial robot controller and the first remote IO module are arranged in a workbench cabinet of the execution unit;

The quick-change module flange connecting end is arranged on a sixth shaft flange of the industrial robot body and can be matched with a quick-change module tool connecting end arranged on a tool in the tool unit, and connection and separation are realized under the control of the industrial robot controller;

The sliding table controller is connected with the industrial robot controller, and the industrial robot controller transmits the motion parameters to the sliding table controller, so that the industrial robot controller controls the mounting platform to linearly reciprocate, and the position of the industrial robot body is changed;

4. The intelligent manufacturing unit system integrated design teaching appliance according to claim 3, wherein: the tool unit comprises a workbench of the tool unit, a tool connecting end of the quick-change module, a tool and a tool library;

5. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the storage unit comprises a workbench of the storage unit and a stereoscopic warehouse;

6. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the processing unit comprises a workbench of the processing unit, a safety shield, a numerical control machine tool, a simulated tool magazine, a processing state indicator lamp and a numerical control system operation panel;

7. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the polishing unit comprises a workbench of the polishing unit, a safety barrier, a polishing station, a rotating station, a turnover tool and a chip blowing station;

The safety guardrail, the polishing station, the rotating station, the overturning tool, the chip blowing station and the fourth remote IO module are arranged on the table surface of the workbench of the polishing unit;

The safety guardrail is of a frame structure and is arranged at the outer sides of the polishing station, the rotating station, the overturning tool, the chip blowing station and the fourth remote IO module;

The polishing station comprises a polishing station processing platform, a polishing station locating pin, a polishing station pneumatic clamping jaw and a polishing station sensor, a workpiece can be fixed on the polishing station processing platform through clamping of the polishing station pneumatic clamping jaw, the workpiece is located through the polishing station locating pin on the polishing station processing platform, and the polishing station sensor can detect whether the workpiece exists on the current polishing station processing platform;

8. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the detection unit comprises a workbench of the detection unit, an intelligent vision camera, a light source and a vision detection result display screen;

9. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the sorting unit further comprises a workbench and a conveyor belt of the sorting unit;

10. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the master control unit comprises a workbench, a controller, an industrial switch, an operation panel, a monitoring platform and an equipment state indicator lamp of the master control unit;

The controller, the industrial exchanger, the operation panel and the monitoring platform are arranged on the table top of the control workbench;

11. The intelligent manufacturing unit system integrated design teaching device according to claim 1, wherein: the execution unit, the tool unit, the storage unit, the processing unit, the polishing unit, the detection unit, the sorting unit and the master control unit are spliced through steel plates and screw connection.