CN108581464A - Valve coordinated assembly line - Google Patents
Valve coordinated assembly line Download PDFInfo
- Publication number
- CN108581464A CN108581464A CN201810319656.8A CN201810319656A CN108581464A CN 108581464 A CN108581464 A CN 108581464A CN 201810319656 A CN201810319656 A CN 201810319656A CN 108581464 A CN108581464 A CN 108581464A
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- Prior art keywords
- conveyer belt
- cylinder
- swing
- electromagnetic valve
- valve component
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to valve coordinated assembly lines, it includes rack, it is arranged in rack and is used to transmit the line conveyor system of electromagnetic valve component, the first package system in line conveyor system side is set, be arranged the line conveyor system other side and with the second package system of the first package system procedure connection, at least two are separately positioned on line conveyor system side and respectively to the first package system and/or the accessory auxiliary machinery hand of the second package system, at least two are separately positioned on line conveyor system side and for the rotation work of the bolt that transmit corresponding accessory auxiliary machinery hand on the first package system or the second package system into machine.It is reasonable design of the present invention, compact-sized and easy to use.
Description
Technical field
The present invention relates to valve coordinated assembly lines.
Background technology
As Chinese labour force cost accelerates the needs of rise and business economic structural adjustment, industrial upgrading and optimization,
Many private, medium-sized and small enterprises have gradually been fully recognized that the advantage of intelligent industrial equipment, and have used intelligence machine
Cellular system replaces traditional artificial realizing effective operation in carrying, welding, processing and other fields.But the general intelligence of current main-stream
The opposite application of the design of energy machine unit and application is more single and simple, in face of the nonstandard parasexuality production process of the traditional forms of enterprises
With diversified substitution demand and cannot be satisfied, the intelligence machine unit excess capacity thus occurred is insufficient with intelligent Application
Generated contrast getting worse.Intelligence machine unit cooperation how is efficiently used, realizes complete disengaging staff
Real-time monitoring, constantly reduce multimachine and coordinate application cost and simultaneously expand the compatibility that it produce nonstandardized technique and become to be badly in need of solution
Certainly the technical issues of.
As intelligence machine unit is more and more universal in the application of various production fields, intelligence machine unit is gradually
As a standard block in industrial automation production system, this has become the development trend of modern production.Currently it is directed to
The technologies such as the track operation of separate unit intelligence machine unit, Torque Control, teaching simulation are quite ripe, therefore how by more
Machine unit is coordinated, and how effectively to be solved current machine and is substituted the technical issues of faced, how is multi-brand machine unit
Cooperation, which is applied, becomes the technical issues of being badly in need of solving.
Intelligence machine unit group work compound is to improve machine unit system space operational capacity, load capacity, reliability
And the effective way in extended operation space.Many achievements are achieved in theoretical and technology by years of researches exploitation,
These theories are also applied with technology in some occasions, but still remain some problems with application studying：1) at present
Research with application captured, carried based on rigid body jointly with track planning of dual robots unit mostly, although there are many theoretical question can visit
Beg for, but these operations can not constitutionally embody machine unit coordinate superiority.In principle, as long as individual machine unit
Load capacity it is sufficiently large, operating space is wide enough, so that it may be competent at super large, overweight rigid objects crawl with carry work.
Such as related multi peg-in-hole of more operations, Spatial distributions Edge track, elastomer operation are that individual machine unit at all can not
It completes, undoubtedly track planning of dual robots unit can more show its strong point in these operations.2) machine unit used in research field
The experimental provision that system is much a simplified greatly differs from each other with practical intelligence machine unit.It is proposed for such system
Planing method, control strategy, be not suitable for ready-made intelligence machine cellular system mostly.
Invention content
For the above, the technical problems to be solved by the invention are generally speaking to provide a kind of reasonable design, cost
It is cheap, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, compact-sized and valve easy to use association
With cooperation assembly line and coordinated assemble method；The technical issues of solving in detail and acquirement advantageous effect are aftermentioned
Content specifically describes in content and combination specific implementation mode.
To solve the above problems, the technical solution used in the present invention is：
A kind of valve coordinated assembly line, including rack, setting are in rack and for transmitting electromagnetic valve component
Line conveyor system, be arranged line conveyor system side the first package system, be arranged in line conveyor system
The other side and it is separately positioned on line conveyor system with the second package system of the first package system procedure connection, at least two
Unify side and is respectively set respectively to the accessory auxiliary machinery hand of the first package system and/or the second package system, at least two
Line conveyor system side and for the bolt that transmit corresponding accessory auxiliary machinery hand mounted on the first package system
Or the second rotation work on package system into machine, at least two is separately positioned on line conveyor system side and for will be right
The positioning pin for the accessory auxiliary machinery hand transmission answered be mounted on the pushing work on the first package system or the second package system into
Machine.
Application study of the present invention will greatly promote the application level of intelligence machine unit, and be conducive to integrate industrial economy
The contradiction that the diversified demand of body disconnects with high-end technology there is significant society to pass through industrial whole industrial automation level
Ji meaning.
The system that multimachine device cellular system is made of multiple machine units (manipulator, module, system, lathe etc.), it
Not multiple machine units are simply gathered, the organic assembling of multiple machine units.Machine unit in system is not only
It is an independent individual, even more in system a member.The architecture of multimachine device cellular system refers to each in system
Logically and physically there is informational linkages and control planning between machine unit, are realized by master control industrial computer
Comprehensive Control is the highest layer segment of multimachine device cellular system, it determine multimachine device cellular system Task-decomposing, distribution,
Operating mechanism during planning, decision and execution etc., the role that each machine unit individual in system is taken on be equality from
Main mutual reciprocity and mutual benefit formula cooperation relation realizes more machine unit Cooperation controllings by master control link and parallel data central link, because
The quality of this its architecture determines the global behavior and whole capability of system.
The system includes the information such as all tasks, environment, controlled machine unit, and planning algorithm, optimization can be used to calculate
Method is decomposed task and is distributed, and order can be issued to each controlled machine unit, can combine multiple machine units
Cooperate completion task, and other machine units in system only carry out information exchange with host machine unit.Centralized configuration requirement
Host machine unit has stronger planning processing capacity, has the characteristics that control is simple, is likely to be obtained global optimum's planning.
In distributed frame, there is no host machine unit, the relationship between all machine units is all equality, each machine list
Member can carry out information interchange by the means such as communication and other machine units, automatically carry out decision.In distributed frame
In, each machine unit has higher level of intelligence, can make decisions on one's own.Therefore, system adapts to external environment change
The ability for changing, completing complex task is stronger, and the fault-tolerance of system, reliability, concurrency, scalability etc. are superior to concentrate
The multimachine device cellular system of formula structure.Shown in the two is together in parallel by this system, there are a master control systems, it has system
Complete Information, and Global motion planning and decision can be carried out, other machine units in system can with host machine unit into
Row information exchanges, and can carry out information exchange with other machine units, although the Complete Information without system, has
Carry out the ability of sector planning and decision.Under normal circumstances, the planning of machine unit system and decision by each machine unit from
It leads to complete, only under specific condition, global planning and decision is just carried out by host machine unit.Therefore, more machine units
The architecture of system has merged the advantages of centralized configuration and distributed frame, has stronger vigor, is adapted to dynamic
, complex environment.
In more machine unit Partial global planning systems, the communication mode between machine unit can be divided into explicit communication and
Two classes of implicit communication.The communication mode that information interchange is directly carried out between machine unit is known as explicit communication, and machine unit passes through
The communication mode that environment carrys out the information of other machine units in acquisition system is known as implicit communication.Implicit communication mode again can be with
It is divided into actively implicit communication and passive implicit communication.Passive implicit communication refers to the multimachine device cellular system in no explicit communication
In, machine unit passively perceives the variation of environment using sensor, and according to the reasoning inside machine unit, it is to understand that model
It come information such as the distance, the orientation that obtain other machine units, and carries out corresponding decision according to these information and cooperates, be one
Communication mode of the kind based on sensor information.Actively implicit communication refers in multimachine device cellular system, and each machine unit can
It leaves certain specific information in the environment in a manner of by certain to transmit into row information, machine unit is obtained by sensory perceptual system
While taking external environment information, it is also possible to obtain other machine units and leave certain specific informations in the environment.
The imformosome of this system integrated application multiple channel constitutes mixed communication link, using C# software developments real-time
Monitoring client, to communication protocol, communication mode, the network topology of the communication issues of more machine unit cooperative systems, requirement of real-time
Structure etc. has carried out the optimization of theory and practice, and machine unit system of the present invention puts forth effort on the inference machine to affiliate's behavior
System obtains relevant information communication control strategy, and machine unit is made to remain to complete given task in complex condition.
This project is by the existing ABB intelligence machines unit in Binding experiment room as the intelligence machine unit group work compound
The development object of system, by the cooperation of Industrial Computer Control system to establish intelligence machine unit group in assembling line
Collaborative Control.The feedback data such as related photoelectric sensor, video sensor, rotary encoder are acquired by computer serial port
And real-time display, storage, to storage data image tracing analysis, curve printing, trend evaluation etc..Its communication speed is reachable
100M/s, deposit period 0.1-60 second can set, and calibrate timing error automatically.Sensory perceptual system design concept is from simple to complicated layer
Layer is progressive, tests the control characteristic of separate unit ABB intelligence machine units first, an ABB intelligence is further added by after test is met the requirements
Energy machine unit carries out the control test of Coordinative assembling, and simultaneity factor reserves the property of more intelligence machine units in software section
Energy test interface, allows some leeway to configure more intelligence machine unit groups in the future.
The main innovation point of this system is using the huge sensor and communication data collected, by software systems
Embedding multiple autonomous systems realize parallel data acquisition and processing, are realized using the data administrator of special efficient efficient, quick
Distribution storage location in real time controls each stand-alone machine cell cube.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More preferably detailed description is gone.
Description of the drawings
Fig. 1 is the structural schematic diagram that the present invention overlooks；
Fig. 2 is the structural schematic diagram at three-dimensional first visual angle of the invention；
Fig. 3 is the structural schematic diagram at three-dimensional second visual angle of the invention；
Fig. 4 is the structural schematic diagram at three-dimensional third visual angle of the invention；
Fig. 5 is the structural schematic diagram of the first package system of the invention；
Fig. 6 is the structural schematic diagram at first the first visual angle of package system of the invention；
Fig. 7 is the structural schematic diagram at first the second visual angle of package system of the invention；
Fig. 8 is the structural schematic diagram of the second package system of the invention；
Fig. 9 is the structural schematic diagram of accessory auxiliary machinery hand of the present invention；
Figure 10 is the structural schematic diagram at second the second visual angle of package system of the invention；
Figure 11 is the structural schematic diagram at the second package system third visual angle of the invention；
Figure 12 is the control framework schematic diagram of the present invention；
Wherein：1, electromagnetic valve component；2, the first package system；3, the second package system；4, line conveyor system；5, accessory is auxiliary
Help mechanical hand；6, work is rotated into machine；7, work is pushed into machine；8, conveyer belt servo motor；9, conveyer belt drive roll；10, conveyer belt
Cornerite adjusts roller；11, linear feeding conveyer belt；12, conveyer belt feed end；13, conveyer belt side guard plate；14, conveyer belt bottom bracing plate；
15, conveyer belt gear lateral cylinder；16, conveyer belt limits lateral cylinder；17, the first crosswise pushing of conveyer belt cylinder；18, it transmits
Band crosswise pushing L push plates；19, L push plates fillet surface；20, the second crosswise pushing of conveyer belt cylinder；21, the first fixed frame；22、
First swings numerical-control motor；23, first driven shaft is swung；24, the first electromagnetic clutch；25, first induction rod is swung；26,
One swing angle Hall sensor；27, first pedestal is swung；28, first cylinder is returned to；29, the first lateral back side limiting plate；
30, the first left side is to cylinder；31, nylon head is pushed；32, the first left side is to limiting plate；33, the first right side is to cylinder；34, first
Right side is to limiting plate；35, limiting plate inclined-plane；36, the first lateral front side limiting plate；37, first it is vertically directed bar；38, first is perpendicular
Straight buffer spring；39, the first vertical downlink pressing plate；40, the first vertical limit crossbearer；41, the first laterally steering cylinder；42, first
Vertical lower air cylinder；43, the first vertical push-down head；44, the first vertical screw hole probe；45, the first vertical pin hole probe；46,
One lateral pin hole probe；47, the second vertical pin hole probe；48, auxiliary framework；49, lateral straight line cylinder is assisted；50, auxiliary is perpendicular
Straight rotation motor；51, secondary straight line cylinder is assisted；52, full wind-up is assisted；53, auxiliary gripping finger.
Specific implementation mode
As shown in figs. 1-12, the valve coordinated assembly line of the present embodiment, including rack, be arranged in rack and
For transmitting the line conveyor system 4 of electromagnetic valve component 1, the first package system in 4 side of line conveyor system being arranged
2, be arranged 4 other side of line conveyor system and with the second package system 3 of 2 procedure connection of the first package system, at least two
It is a to be separately positioned on 4 side of line conveyor system and respectively to the first package system 2 and/or the accessory of the second package system 3
Auxiliary machinery hand 5, at least two is separately positioned on 4 side of line conveyor system and is used for corresponding accessory auxiliary machinery hand
The rotation work that the bolt of 5 transmission is mounted on the first package system 2 or the second package system 3 is respectively set into machine 6, at least two
It is mounted on the first assembling in 4 side of line conveyor system and for the positioning pin that transmits corresponding accessory auxiliary machinery hand 5
Pushing work in system 2 or the second package system 3 is into machine 7.
Line conveyor system 4 includes the conveyer belt servo motor 8 being arranged in rack, is passed with conveyer belt servo motor 8
The conveyer belt drive roll 9 of dynamic connection, the conveyer belt cornerite adjustment roller 10 for being arranged in parallel in 9 both sides of conveyer belt drive roll, descender
Lease making, which is crossed, to be passed in conveyer belt cornerite adjustment roller 10 and the linear feeding conveyer belt 11 of conveyer belt drive roll 9, setting in linear feeding
Send 12, two transmission for being symmetricly set on 11 both lateral sides of linear feeding conveyer belt of conveyer belt feed end of the longitudinal one end of band 11
With side guard plate 13, it is arranged between two conveyer belt side guard plates 13 and the conveyer belt below the linear feeding conveyer belt 11
Bottom bracing plate 14, is arranged in conveyer belt gear transverse direction gas the conveyer belt gear lateral cylinder 15 being arranged at conveyer belt feed end 12
Conveyer belt limit lateral cylinder 16 in front of cylinder 15 and positioned at 11 side of linear feeding conveyer belt, setting limit cross in conveyer belt
To 16 front of cylinder and positioned at 11 side of linear feeding conveyer belt and first transverse direction of conveyer belt corresponding with the first package system 2
Push cylinder 17, be arranged 17 piston rod end of the first crosswise pushing of conveyer belt cylinder conveyer belt crosswise pushing L push plates 18,
It is arranged in the L push plates fillet surface 19 of 18 end of conveyer belt crosswise pushing L push plates and setting in the first crosswise pushing of conveyer belt
It the front of cylinder 17 and is laterally pushed away positioned at 11 side of linear feeding conveyer belt and conveyer belt corresponding with the second package system 3 second
It supplies gas cylinder 20.
First package system 2 includes being arranged in rack and being located at 11 other side of linear feeding conveyer belt and and straight-line transmitting
It send 17 corresponding first fixed frame 21 of the first crosswise pushing of conveyer belt cylinder with system 4, be arranged in the first fixed frame 21
On first swing numerical-control motor 22, with first swing numerical-control motor 22 be sequentially connected first swing driven shaft 23, setting exist
First swing driven shaft 23 on the first electromagnetic clutch 24, be arranged first swing 23 one end of driven shaft first swing
Induction rod 25 is arranged on the first fixed frame 21 and for incuding the first the first swing angle Hall for swinging induction rod 25
Sensor 26, with first swing driven shaft 23 be keyed first swing pedestal 27, be horizontally installed on the first fixed frame 21 and
First for electromagnetic valve component 1 to be back into from the first swing pedestal 27 on linear feeding conveyer belt 11 returns to cylinder 28, sets
It sets and is swung on pedestal 27 and for the first lateral back side limiting plate 29, right to the lateral back side limit of electromagnetic valve component 1 first
Claim to be arranged first swing on pedestal 27 and for the first of 1 longitudinal spacing of electromagnetic valve component the left side to limiting plate 32 and the
One right side to limiting plate 34, be arranged first swing on pedestal 27 and for electromagnetic valve component 1 laterally front limit first
Laterally front side limiting plate 36, longitudinal direction and it is symmetricly set on 27 both sides of the first swing pedestal and is respectively provided with and push nylon head 31
First left side on the right side of cylinder 30 and first to cylinder 33, the limiting plate inclined-plane being arranged on front side of the first transverse direction on limiting plate 36
35, at least four be vertically arranged on the first swing pedestal 27 first to be vertically directed bar 37, up and down setting perpendicular first
The first vertical downlink pressing plate 39 on straight guide rod 37 is sleeved on first and is vertically directed on bar 37 and is located at the first vertical downlink
Pressing plate 39 and first swings the first vertical buffer spring 38 between pedestal 27, is arranged and is vertically directed the of 37 upper end of bar first
One vertical limit crossbearer 40, the first laterally steering cylinder 41 being arranged above the first fixed frame 21, setting are lateral first
First vertical lower air cylinder 42 of 41 piston rod end of guide cylinder and it is arranged in 42 lower end of the first vertical lower air cylinder
First vertical push-down head 43；
Second package system 3 is identical as 2 structure of the first package system.
First package system 2 further includes being arranged on the first vertical push-down head 43 and for detecting the positioning of electromagnetic valve component 1
First vertical pin hole probe 45 of pin hole concentricity is arranged on the first vertical push-down head 43 and for detecting electromagnetic valve component 1
First vertical screw hole probe 44 of bolt hole concentricity and setting are on the first vertical push-down head 43 and for detecting electromagnetism
Valve module 1 assembles the first lateral pin hole probe 46 in final position；
The second vertical pin for detecting 1 dowel hole concentricity of electromagnetic valve component is provided on the second package system 3
Hole probe 47.
Accessory auxiliary machinery hand 5 includes the auxiliary framework 48 being arranged in rack, is horizontally set on auxiliary framework 48
The lateral straight line cylinder 49 of auxiliary, the vertical rotation motor 50 of auxiliary, the root for being vertically arranged in auxiliary 49 cantilever end of lateral straight line cylinder
Portion, which is arranged, to be assisted the auxiliary pair straight line cylinder 51 of vertical 50 upper end of rotation motor, is being horizontally set on auxiliary pair straight line cylinder 51
The auxiliary full wind-up 52 of end and the auxiliary being arranged in 52 end of auxiliary full wind-up grip finger 53.
Rotation work includes that the manipulator being arranged in rack, setting rotation motor on a robotic arm, setting exist into machine 6
Rotation motor output shaft end and with magnetic interior six square socket；It includes calming the anger under being arranged in rack that work, which is pushed, into machine 7
Cylinder and setting are in lower air cylinder piston head lower end and with magnetic briquetting.
It further include coordinated system；Coordinated system includes
Main control computer passes through Internet of Things and upstream and downstream work as the middle control center of valve coordinated assembly line
The linking of sequence；Also by master control link respectively with the transport processor of line conveyor system 4, the first package system 2 first
Assembling processor, the second package system 3 second assembling processor, accessory auxiliary machinery hand 5 four-degree-of-freedom processor, match
Part auxiliary rotation work is held in the mouth into the digital controlled rotary workpiece processor of machine 6 and the numerical control press processor communication of pushing work into machine 7
It connects；
Transport processor, output end are electrically connected with the transfer control of control conveyer belt servo motor 8, input terminal
It is electrically connected with the loading and unloading optoelectronic switch for the discharge end for being separately positioned on conveyer belt feed end 12 and linear feeding conveyer belt 11；
Its output end is also electrically connected gear controller and the control conveyer belt limit of control conveyer belt gear lateral cylinder 15
The limit controller of lateral cylinder 16；Its input terminal, which is also electrically connected, to be useful at detection conveyer belt gear lateral cylinder 15
Whether there is the gear optoelectronic switch of electromagnetic valve component 1 and whether has electromagnetism at conveyer belt limit lateral cylinder 16 for detecting
The limiting photoelectric switch of valve module 1；
First assembling processor, is communicated to connect by data transfer and transport processor, the first assembling processor its
Output end be electrically connected with for control the first crosswise pushing of conveyer belt cylinder 17 first push controller, for control first
It returns to the first return controller of cylinder 28 and first for controlling the first swing 22 swing angle of numerical-control motor swings
Angle controller；
First assembling processor its input terminal be electrically connected with for detect at the first crosswise pushing of conveyer belt cylinder 17 whether
There is the first push optoelectronic switch of electromagnetic valve component 1, whether have electromagnetic valve component 1 at the first return cylinder 28 for detecting
First return optoelectronic switch swings Hall sensor, for examining for feeding back the first of the first swing 23 swing angle of driven shaft
Electromagnetic valve component 1 is surveyed to assemble the first longitudinal direction assembling screw hole probe of fastening position, assemble vertically for detecting electromagnetic valve component 1
The first longitudinal direction assembling positioning pin probe of position location and assemble vertically oriented position for detecting electromagnetic valve component 1 the
One laterally assembles probe；
First assembling processor its be electrically connected with for controlling the first left side to the right side of cylinder 30, first to cylinder 33, the
One or three coordinated controller of one laterally steering cylinder 41 and the first vertical lower air cylinder 42；One or three coordinated controller is electrically connected
It is connected to the one or the three coordinate optoelectronic switch for swinging position on pedestal 27 first for detecting electromagnetic valve component 1；
Second assembling processor is identical as the first assembling processor model, passes through data transfer and transport processor
Communication connection；
Second assembling processor its output end is electrically connected with second for controlling the second crosswise pushing of conveyer belt cylinder 20
Push controller returns to the second of cylinder for control the second of the second package system 3 and pushes controller and for controlling
Second swings the second swing angle controller of numerical-control motor swing angle；
Second assembling processor its input terminal be electrically connected with for detect at the second crosswise pushing of conveyer belt cylinder 20 whether
There is the second push optoelectronic switch of electromagnetic valve component 1, return to whether have the of electromagnetic valve component 1 at cylinder for detect second
Two return optoelectronic switches are passed for feeding back the second swing Hall that the second of the second package system 3 swings driven shaft swing angle
Sensor and the second longitudinal direction that vertically oriented position is assembled for detecting electromagnetic valve component 1 assemble positioning pin probe；
Second assembling processor its be electrically connected with for controlling the second left side to cylinder, the second right side to cylinder, second horizontal
To the two or three coordinated controller of guide cylinder and the second vertical lower air cylinder；Two or three coordinated controller, which is electrically connected with, to be used for
Detect the two or the three coordinate optoelectronic switch that electromagnetic valve component 1 swings position on pedestal second；
Four-degree-of-freedom processor is electrically connected with four-degree-of-freedom optoelectronic switch；It is auxiliary that four-degree-of-freedom processor is electrically connected with accessory
Help mechanical hand 5.
The coordinated assemble method of the present embodiment, this approach includes the following steps,
Electromagnetic valve component 1 is placed on linear feeding conveyer belt 11 by manipulator or conveyer belt by step 1 first,
Linear feeding conveyer belt 11 drives electromagnetic valve component 1 to move ahead；Then, when first electromagnetic valve component 1 reaches the first cross of conveyer belt
When to push cylinder 17, the first crosswise pushing of conveyer belt cylinder 17 stretches out；When second electromagnetic valve component 1 reaches transmission
At band limit lateral cylinder 16, conveyer belt limits lateral cylinder 16 and stretches out；When third electromagnetic valve component 1 reaches conveyer belt gear
At the lateral cylinder 15 of position, conveyer belt gear lateral cylinder 15 stretches out, and third and the electromagnetic valve component 1 after it are located at biography
Send band gear lateral cylinder 15 rear side；
First electromagnetic valve component 1 is pushed to the first pendulum by step 2, first, the first crosswise pushing of conveyer belt cylinder 17
On dynamic pedestal 27；Then, the position that first electromagnetic valve component 1 is adjusted by cylinder, until first electromagnetic valve component 1 is same
When with first laterally front side limiting plate 36 with first right side to limiting plate 34 position contact；Secondly, the first vertical push-down head 43 is logical
It crosses the first vertical downlink pressing plate 39 and pushes first electromagnetic valve component 1, swinging numerical-control motor 22 by first swings, first electricity
The screw hole of electromagnetic valve component 1 and dowel hole are concentric；Again, accessory auxiliary machinery hand 5 by positioning pin and at least two bolts successively
In the dowel hole and screw hole of giving first electromagnetic valve component 1；In next step, it pushes work and positioning pin is pressed into positioning pin into machine 7
In hole, at least two bolts are screw into screw hole by rotation work into machine 6；Finally, by cylinder by first electromagnetic valve component 1
Send back on linear feeding conveyer belt 11；
First electromagnetic valve component 1 is sent to forward the second cross of conveyer belt by step 3, first, linear feeding conveyer belt 11
To at push cylinder 20；Meanwhile second electromagnetic valve component 1 is sent in the first package system 2 and repeats step 2；Then, it transmits
First electromagnetic valve component 1 is pushed on the second swing pedestal of the second package system 3 with the second crosswise pushing cylinder 20；
Secondly, the second package system 3 positions first electromagnetic valve component 1；Again, accessory auxiliary machinery hand 5 is by remaining spiral shell
Bolt is given successively in the remaining screw hole of first electromagnetic valve component 1；In next step, bolt is screw into correspondence by rotation work into machine 6
In screw hole；Finally, first electromagnetic valve component 1 is sent back on linear feeding conveyer belt 11 by cylinder, linear feeding transmission
First electromagnetic valve component 1 that assembling finishes is exported with 11.
In details of the present invention, the combination of roller 10 is adjusted by conveyer belt drive roll 9, conveyer belt cornerite and improves conveyer belt actively
Roller 9 and conveyer belt contact surface, increase cornerite, reduce friction, save space, reduce floor space.Conveyer belt side guard plate 13 is realized
Positioning；Conveyer belt bottom bracing plate 14 plays Auxiliary support；Push and limit are played the role of in conveyer belt crosswise pushing L push plates 18, limit
Position plate inclined-plane 35, L push plates fillet surface 19 facilitate insertion, the first swing numerical-control motor 22 easy to adjust；First electromagnetic clutch 24
Easy to adjust, first swings induction rod 25, the detection of 26 angle of the first swing angle Hall sensor, and first, which swings pedestal 27, makees
For support, first returns to the left side of cylinder 28, first to the 30, first right side of cylinder to the lateral back side limiting plate of cylinder 33, first
29, to the 32, first right side of limiting plate to limiting plate 34, first, laterally front side limiting plate 36 facilitates positioning screens in the first left side；
Nylon head 31 is pushed to avoid defective work piece, first is vertically directed bar 37,38 buffer-oriented of the first vertical buffer spring.
Probe induction detection realizes that positioning finger setting fastens in advance with two bolts by the first system, passes through the second system
System centering alignment pin position, realizes the installation to remaining bolt, the fastening to all bolts.Improvement effect.
The present invention preferably by positioning and fastening separating treatment, improves packaging efficiency.It is reasonable design of the present invention, at low cost
It is honest and clean, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, compact-sized and easy to use.
It is to be disclosed in order to more clear, and just do not illustrating one by one for the prior art that the present invention, which fully describes,.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：It is still
It can modify to the technical solution recorded in previous embodiment or equivalent replacement of some of the technical features；
It is obvious to be combined to multiple technical solutions of the present invention as those skilled in the art.And these modification or
It replaces, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of valve coordinated assembly line, it is characterised in that：Including rack, it is arranged in rack and for transmitting electricity
The line conveyor system (4) of electromagnetic valve component (1), setting line conveyor system (4) side the first package system (2),
Be arranged line conveyor system (4) other side and with second package system (3) of the first package system (2) procedure connection, extremely
Few two are separately positioned on line conveyor system (4) side and respectively to the first package system (2) and/or the second package system
(3) accessory auxiliary machinery hand (5), at least two are separately positioned on line conveyor system (4) side and for will be corresponding
The bolt of accessory auxiliary machinery hand (5) transmission be mounted on the rotation work on the first package system (2) or the second package system (3) into
Machine (6), at least two are separately positioned on line conveyor system (4) side and are used for corresponding accessory auxiliary machinery hand (5)
The positioning pin of transmission is mounted on the pushing work on the first package system (2) or the second package system (3) into machine (7).
2. valve coordinated assembly line according to claim 1, it is characterised in that:Line conveyor system (4)
Including the conveyer belt servo motor (8) being arranged in rack, the conveyer belt drive roll being sequentially connected with conveyer belt servo motor (8)
(9), it is arranged in parallel in the conveyer belt cornerite adjustment roller (10) of conveyer belt drive roll (9) both sides, descender passes through in conveyer belt
Cornerite adjusts the linear feeding conveyer belt (11) of roller (10) and conveyer belt drive roll (9), is arranged in linear feeding conveyer belt (11)
The conveyer belt feed end (12) of longitudinal one end, two conveyer belt sides for being symmetricly set on linear feeding conveyer belt (11) both lateral sides
Backplate (13), the conveyer belt for being arranged between two conveyer belt side guard plates (13) and being located at below linear feeding conveyer belt (11)
Bottom bracing plate (14), is arranged in conveyer belt gear the conveyer belt gear lateral cylinder (15) being arranged at conveyer belt feed end (12)
It is being passed in front of lateral cylinder (15) and positioned at the conveyer belt of linear feeding conveyer belt (11) side limit lateral cylinder (16), setting
It send in front of band limit lateral cylinder (16) and positioned at linear feeding conveyer belt (11) side and corresponding with the first package system (2)
Conveyer belt the first crosswise pushing cylinder (17), setting conveyer belt the first crosswise pushing cylinder (17) piston rod end conveyer belt
The L push plates fillet surface (19) and setting of crosswise pushing L push plates (18), setting in conveyer belt crosswise pushing L push plates (18) end
In front of conveyer belt the first crosswise pushing cylinder (17) and positioned at linear feeding conveyer belt (11) side and with the second package system
(3) the second crosswise pushing of corresponding conveyer belt cylinder (20).
3. valve coordinated assembly line according to claim 2, it is characterised in that:First package system (2) wraps
Include be arranged in rack and positioned at linear feeding conveyer belt (11) other side and with the conveyer belt first of line conveyor system (4)
Corresponding first fixed frame (21) of crosswise pushing cylinder (17), first be arranged on the first fixed frame (21) swing numerical control
Motor (22), with first swing numerical-control motor (22) be sequentially connected first swing driven shaft (23), setting first swing from
The first electromagnetic clutch (24), setting on moving axis (23) swing the first of driven shaft (23) one end first and swing induction rod
(25), it is arranged on the first fixed frame (21) and the first swing angle Hall for incuding the first swing induction rod (25) passes
Sensor (26), is horizontally installed on the first fixed frame at the first swing pedestal (27) being keyed with the first swing driven shaft (23)
(21) and first for electromagnetic valve component (1) to be back into from the first swing pedestal (27) on linear feeding conveyer belt (11) returns
Air return cylinder (28), setting are on the first swing pedestal (27) and horizontal for first to the lateral back side limit of electromagnetic valve component (1)
Support or oppose side limiting plate (29), be symmetricly set on the first swing pedestal (27) and for electromagnetic valve component (1) longitudinal spacing
First left side is swung first on pedestal (27) and for electricity with the first right side to limiting plate (34), setting to limiting plate (32)
Electromagnetic valve component (1) laterally front limit first laterally front side limiting plate (36), longitudinal direction and be symmetricly set on the first swing pedestal
(27) both sides and be respectively provided with push nylon head (31) first left side to cylinder (30) with first right side to cylinder (33), setting
Limiting plate inclined-plane (35) on front side of the first transverse direction on limiting plate (36), at least four are vertically arranged in the first swing pedestal (27)
On first be vertically directed bar (37), up and down the first vertical downlink pressing plate for being vertically directed on bar (37) first be set
(39), be sleeved on first be vertically directed on bar (37) and positioned at the first vertical downlink pressing plate (39) with first swing pedestal (27) it
Between the first vertical buffer spring (38), setting is vertically directed the first vertical limit crossbearer (40) of bar (37) upper end first, sets
It sets the first laterally steering cylinder (41) above the first fixed frame (21), be arranged in first laterally steering cylinder (41) piston
First vertical lower air cylinder (42) of rod end head and setting push vertically the first of the first vertical lower air cylinder (42) lower end
Head (43)；
Second package system (3) is identical as the first package system (2) structure.
4. valve coordinated assembly line according to claim 3, it is characterised in that:First package system (2) is also
First including being arranged on the first vertical push-down head (43) and for detecting electromagnetic valve component (1) dowel hole concentricity is vertical
Pin hole probe (45) is arranged on the first vertical push-down head (43) and for detecting electromagnetic valve component (1) bolt hole concentricity
First vertical screw hole probe (44) and setting are on the first vertical push-down head (43) and for detecting electromagnetic valve component (1) group
Fill the first lateral pin hole probe (46) in final position；
The second vertical pin for detecting electromagnetic valve component (1) dowel hole concentricity is provided on the second package system (3)
Pop one's head in (47) in hole.
5. valve coordinated assembly line according to claim 4, it is characterised in that:Accessory auxiliary machinery hand (5)
Including the auxiliary framework (48) being arranged in rack, the auxiliary transverse direction straight line cylinder being horizontally set on auxiliary framework (48)
(49), it is vertically arranged in the vertical rotation motor of auxiliary (50) of lateral straight line cylinder (49) cantilever end of auxiliary, root is arranged auxiliary
It helps the auxiliary pair straight line cylinder (51) of vertical rotation motor (50) upper end, be horizontally set on secondary straight line cylinder (51) end of auxiliary
Assist full wind-up (52) and setting in the auxiliary gripping finger (53) of auxiliary full wind-up (52) end.
6. valve coordinated assembly line according to claim 5, it is characterised in that:Rotate work includes into machine (6)
The manipulator that is arranged in rack, setting rotation motor on a robotic arm are arranged in rotation motor output shaft end and carry
Magnetic interior six square socket；It includes that the lower air cylinder being arranged in rack and setting are lived in lower air cylinder that work, which is pushed, into machine (7)
Chock plug lower end and with magnetic briquetting.
7. valve coordinated assembly line according to claim 6, it is characterised in that:It further include coordinated system
System；Coordinated system includes
Main control computer passes through Internet of Things and upstream and downstream process as the middle control center of valve coordinated assembly line
Linking；Also by master control link respectively with the transport processor of line conveyor system (4), the first package system (2) first
Assemble processor, the second package system (3) second assembling processor, accessory auxiliary machinery hand (5) four-degree-of-freedom processor,
Accessory auxiliary rotation work is logical into the digital controlled rotary workpiece processor of machine (6) and the numerical control press processor of pushing work into machine (7)
Letter linking；
Transport processor, output end are electrically connected with the transfer control of control conveyer belt servo motor (8), and input terminal is electrically connected
It is connected to the loading and unloading optoelectronic switch for the discharge end for being separately positioned on conveyer belt feed end (12) and linear feeding conveyer belt (11)；Its
Output end is also electrically connected gear controller and the control conveyer belt limit of control conveyer belt gear lateral cylinder (15)
The limit controller of lateral cylinder (16)；Its input terminal, which is also electrically connected, is useful for detection conveyer belt gear lateral cylinder (15)
Whether whether place have the gear optoelectronic switch of electromagnetic valve component (1) and have at conveyer belt limit lateral cylinder (16) for detecting
The limiting photoelectric switch of electromagnetic valve component (1)；
First assembling processor, is communicated to connect by data transfer and transport processor, and first assembles processor, and it is exported
End be electrically connected with for control conveyer belt the first crosswise pushing cylinder (17) first push controller, for control first return
First return controller of cylinder (28) and the first angle of oscillation for being used to control first swing numerical-control motor (22) swing angle
Spend controller；
Whether first assembling processor its input terminal is electrically connected with has for detecting at conveyer belt the first crosswise pushing cylinder (17)
Whether the first push optoelectronic switch of electromagnetic valve component (1) has electromagnetic valve component (1) for detecting at the first return cylinder (28)
First return optoelectronic switch, for feed back first swing driven shaft (23) swing angle first swing Hall sensor, use
The first longitudinal direction assembling screw hole probe of fastening position is assembled in detection electromagnetic valve component (1), for detecting electromagnetic valve component (1) group
Fill vertically oriented position first longitudinal direction assembling positioning pin probe and for detect electromagnetic valve component (1) assembling it is vertically oriented
The first of position laterally assembles probe；
First assembling processor its be electrically connected with for controlling the first left side to cylinder (30), the first right side to cylinder (33), the
One or three coordinated controller of one laterally steering cylinder (41) and the first vertical lower air cylinder (42)；One or three coordinated controller
It is electrically connected with the one or the three coordinate optoelectronic switch for swinging position on pedestal (27) first for detecting electromagnetic valve component (1)；
Second assembling processor is identical as the first assembling processor model, passes through data transfer and transport processor communication link
It connects；
Second assembling processor its output end is electrically connected with to be pushed away for controlling the second of conveyer belt the second crosswise pushing cylinder (20)
Send controller, for control the second push controller that the second of the second package system (3) returns to cylinder and for control the
Two swing the second swing angle controller of numerical-control motor swing angle；
Whether second assembling processor its input terminal is electrically connected with has for detecting at conveyer belt the second crosswise pushing cylinder (20)
Second push optoelectronic switch of electromagnetic valve component (1) returns to whether have the of electromagnetic valve component (1) at cylinder for detect second
Two return optoelectronic switches are used to feed back the second of the second package system (3) the second swing Hall for swinging driven shaft swing angle
Sensor and the second longitudinal direction that vertically oriented position is assembled for detecting electromagnetic valve component (1) assemble positioning pin probe；
Second assembling processor its be electrically connected with for control second left side to cylinder, second right side to cylinder, second laterally lead
To the two or three coordinated controller of cylinder and the second vertical lower air cylinder；Two or three coordinated controller is electrically connected with for detecting
The two or the three coordinate optoelectronic switch that electromagnetic valve component (1) swings position on pedestal second；
Four-degree-of-freedom processor is electrically connected with four-degree-of-freedom optoelectronic switch；Four-degree-of-freedom processor is electrically connected with accessory auxiliary machinery
Hand (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319656.8A CN108581464B (en) | 2018-04-11 | 2018-04-11 | Valve coordinated assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319656.8A CN108581464B (en) | 2018-04-11 | 2018-04-11 | Valve coordinated assembly line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108581464A true CN108581464A (en) | 2018-09-28 |
| CN108581464B CN108581464B (en) | 2019-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319656.8A Active CN108581464B (en) | 2018-04-11 | 2018-04-11 | Valve coordinated assembly line |
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| CN109720852A (en) * | 2018-12-12 | 2019-05-07 | 温州职业技术学院 | Electric appliance ending flowing water center |
| CN111250978A (en) * | 2020-01-21 | 2020-06-09 | 东莞市科讯机械自动化设备有限公司 | Automatic assembly production line for gas valve of stove |
| CN111573198A (en) * | 2020-05-19 | 2020-08-25 | 苏州天准科技股份有限公司 | Feeding and discharging control system, feeding and discharging equipment and feeding and discharging method |
| CN113263322A (en) * | 2021-05-07 | 2021-08-17 | *** | Flow control valve assembly line |
| CN113275852A (en) * | 2021-05-07 | 2021-08-20 | *** | Flow control valve assembly process |
| CN114161135A (en) * | 2021-11-04 | 2022-03-11 | 浙江中控技术股份有限公司 | Novel large-diameter valve assembly line and assembly method |
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| CN114161135A (en) * | 2021-11-04 | 2022-03-11 | 浙江中控技术股份有限公司 | Novel large-diameter valve assembly line and assembly method |
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