CN108747107A - A kind of automation can remote monitoring factory - Google Patents
A kind of automation can remote monitoring factory Download PDFInfo
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- CN108747107A CN108747107A CN201810575988.2A CN201810575988A CN108747107A CN 108747107 A CN108747107 A CN 108747107A CN 201810575988 A CN201810575988 A CN 201810575988A CN 108747107 A CN108747107 A CN 108747107A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
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Abstract
The present invention relates to robot device field, disclose a kind of automation can remote monitoring factory, including remote monitoring system, industrial router and robot be fixed with welding manipulator on robot bottom plate, and the lower section of bottom plate is equipped with trundle group；The welding manipulator to move along a straight line along the first guide rail group is provided on first rack and the first guide rail group, welding manipulator includes jig, support leg is provided with below jig, support leg is slidably arranged in the first guide rail group, the output shaft of first motor is coaxially connected with first gear, and first gear and the intermeshing of the first rack, the side of first motor are provided with mounting rod, the bottom of mounting rod is provided with support wheel, and support wheel is in rolling contact with bottom plate；Turntable is installed, the outer cover of turntable is equipped with gear ring, and gear ring is engaged with second gear on jig.The factory of the application has the advantages that using high degree of automation, management is convenient, applied widely, at low cost, and transmission control is accurate.
Description
Technical field
The present invention relates to intelligent plant fields, more particularly to a kind of automation can remote monitoring factory.
Background technology
With the development of society and science and technology, people are more infatuated for automating, and automatic production line has its unique excellent
Gesture, such as human cost are low, and production efficiency is high, is easy to control.The important component of automatic production line includes robot, is passed
The flow line production robot of system is confined to the uses of robot arm using majority, then to the part of robot arm into
Row improves, and cost is higher, and unsuitable long range carries out operation operation；Welding is used as a kind of common connection type, has connection
Intensity is high, the advantages that being hardly damaged.Traditional robot is simple robot arm, to the parts conveyed on assembly line
It is simply welded, is had a single function, narrow scope of application.And this kind of production line needs are artificially kept an eye on, and can not achieve
Remote monitoring cannot achieve the purpose that unmanned factory.
Invention content
The present invention for it is existing in the prior art the shortcomings of, provide a kind of automation can remote monitoring factory.
In order to solve the above technical problems, the present invention is addressed by following technical proposals：
A kind of automation can remote monitoring factory, including remote monitoring system and industrial router, industrial router with
Welding production line in factory is communicatively coupled and acquires the real time data information of apparatus for production line and transmits information to remote
Range monitoring system；The welding production line equipment includes for the robot body of automated production wire bonding and for controlling
The control system of robot body's movement, robot body includes bottom plate, and the first rack and the first guide rail group are provided on bottom plate,
The welding manipulator to move along a straight line along the first guide rail group is provided on first rack and the first guide rail group；Welding manipulator includes weldering
Platform is connect, support leg is provided with below jig, support leg is slidably arranged in the first guide rail group, the lower end of jig
Face is provided with walking power packages, and walking power packages include first motor, and the output shaft of first motor is coaxially connected with first gear,
First gear and the intermeshing of the first rack, the side of first motor are provided with mounting rod, and the bottom of mounting rod is provided with support
Wheel, support wheel are in rolling contact with bottom plate；Turntable is installed, the outer cover of turntable is equipped with gear ring, gear ring on jig
The lateral surface of medial surface and turntable is interference fitted, and the side of gear ring is engaged with second gear, and the other side is engaged with measurement rack,
The second guide rail is provided on jig, the bottom for measuring rack is arranged on the second guide rail and is slided along the second guide rail, second
Shaft is installed, shaft passes through jig, the second motor, the output of the second motor are provided with below jig on gear
Axis is coaxially connected with shaft and second gear is driven to rotate, and the engagement of gear ring and second gear drives turntable rotation；On turntable
It is provided with the first mounting bracket, active lead screw is installed on the first mounting bracket, the upper end of active lead screw is connected with the first mounting bracket, under
End is connected with turntable, and the upper end of active lead screw is equipped with third motor, and third motor is fixedly mounted on the first mounting bracket, actively
The upper end of lead screw is provided with transmission gear, and the both sides of transmission gear are engaged with transition gear, and transition gear is fixed on the first installation
On frame, the both sides that two driven lead screws are correspondingly arranged at active lead screw respectively are additionally provided on the first mounting bracket, driven lead screw
One end is rotatablely connected with the first mounting bracket, and the other end is rotatablely connected with turntable, and the upper end of driven lead screw is coaxially fixed with driven tooth
Wheel, transmission gear is identical with the parameter of driven gear, and weld assembly is arranged on active lead screw, and weld assembly includes installation and adjustment
Plate, installation and adjustment plate are matched with active lead screw, driven lead screw, and the third guide rail of vertical direction is provided on the first mounting bracket,
Installation and adjustment plate is fallen to be slided in third guide rail upper edge third guide rail；Third motor drives active lead screw, transmission gear rotation, transmission
Gear drives driven gear to rotate at the same speed by transition gear, and driven gear drives the rotation of driven lead screw, active lead screw and driven
The parameter of lead screw is identical, and installation and adjustment plate is moved up and down by the drive of active lead screw and driven lead screw, is pacified on installation and adjustment plate
Equipped with welding gun component, welding gun component includes the second mounting bracket, and the second mounting bracket is fixed on installation and adjustment plate, on the second mounting bracket
Installation axle is installed, the both ends of installation axle are rotatablely connected with the second mounting bracket by bearing, and third gear is provided in installation axle
With the gun rack of fixed welding gun, third gear is engaged with the 4th gear, support plate is provided on the second mounting bracket, is pacified in support plate
Equipped with the 4th motor, the 4th motor and connected drive the 4th gear rotation of the 4th gear, the upper end setting of the second mounting bracket are organic
Device vision system, NI Vision Builder for Automated Inspection include the 5th motor, and the 5th motor is connected with the first installation axle, is arranged in the first installation axle
There is camera, the 5th motor is by driving the rotation of the first installation axle that camera is driven to carry out rotating angle movement.
Preferably, the side of welding gun component is provided with hammering device, hammering device is mounted on installation and adjustment plate, hammering
Device includes hammering mounting bracket, hammers and is provided with electric rotating machine at the top of mounting bracket, and electric rotating machine is connected with the second installation axle, the
Set is provided with hammering plate in two installation axles, hammers plate and the second installation axle is hinged, the end of the second installation axle is fixedly installed water
Flat mounting plate, the upside on mounting plate are provided with hammering cylinder, and the piston rod for hammering cylinder passes through universal joint and hammering plate
Connection, the one end for hammering plate are fixed with percussion hammer, tap hammer and hammering cylinder is correspondingly arranged the both sides of the second installation axle respectively；Peace
Blowing nozzle is additionally provided in loading board, blowing nozzle is positioned close to tap the side of hammer；The other side of welding gun component is provided with cleaning
Device, cleaning device include cleaning motor, and cleaning motor is connected with rocking arm, and cleaning motor drives rocking arm to be rotated, rocking arm
One end is provided with steel brush, and steel brush is connected with the 6th motor, and the 6th motor drives steel brush rotation, and the side of steel brush is provided with dust suction
Mouth, dust absorption nozzle are connected to dust collect plant by hose, and dust collect plant is arranged on turntable, and dust collect plant is provided with dust
Pipe, dust leg are connected to hose；Dust leg bypass has cigarette holder, cigarette holder to be fixed on the second mounting bracket, and cigarette holder connects
It is connected to flow control valve.
Preferably, remote monitoring system includes cloud platform, industrial router is communicated to connect with cloud platform, control system with
Industrial router communication connects and the facility information of robot body is transferred to cloud platform；Control system includes controller and seat
Acquisition system is marked, coordinate acquisition system is used for coordinate position of each solder joint of typing production line relative to default origin, and machine regards
Feel system is connect with controller by conducting wire, first motor, the second motor, third motor, the 4th motor, the 5th motor, the 6th
Motor, cleaning motor and hammering cylinder are connect by conducting wire with controller, and controller is according to the information of coordinate acquisition system typing
And the information of NI Vision Builder for Automated Inspection acquisition is to first motor, the second motor, third motor, the 4th motor, the 5th motor, the 6th
Motor, cleaning motor and hammering cylinder are controlled；It measures and is provided with displacement sensor on rack, measure the both ends of rack stroke
It is provided with anti-collision switch, the top and bottom of first mounting bracket are provided with for controlling installation and adjustment plate or more stroke
Limit switch, support wheel and bottom plate Elastic Contact.
Preferably, industrial router includes master chip, radio frequency chip, flash memory, memory；Cloud platform include login system,
Equipment management system, enterprise management system, login system, account registration and account for user log in；Equipment management system,
For remotely check cloud platform binding all intelligent remote modules information and be used for remote maintenance hardware processor；Enterprise manages
Reason system is used for typing company information and enterprise name；Product Management System, Product Management System are the son of equipment management system
System, for managing the connected hardware processor of intelligent remote module, the phase for the product type and product that management and modification produce
Related parameter is additionally operable to display, monitoring, the related data for changing the industrial equipment for producing the product.
Preferably, being provided with trundle group below the bottom plate, trundle group includes drive wheel group and deflecting roller
Group, drive wheel group include driving wheel, and driving wheel drives axis connection by setting, the first driving gear, bottom are provided in drive shaft
The lower face of plate is provided with driving motor, and driving motor is connected with bottom plate, and driving motor is connected with the second driving gear, and first drives
Moving gear is engaged with the second driving gear, and driving motor is rotated by driving the second sliding tooth wheel to rotate driving driving wheel, wherein
Axis where drive shaft is vertical with straight line where the first guide rail group；The first guide shaft is fixed on first mounting bracket, the first guide shaft
Upper end is connected with the first mounting bracket, and lower end and the turntable of the first guide shaft are connected, and installation and adjustment sleeve-board is located on the first guide shaft, installation
Adjustable plate is internally provided with linear bearing, and linear bearing is matched with the first guide shaft.
Be composition gimbal structure between driven wheel and bottom plate preferably, deflecting roller group includes driven wheel, driven wheel with
Rotating bar is connected between bottom plate, the both ends of rotating bar are connect by universal joint with driven wheel.
The present invention uses above-mentioned technical proposal, has the advantages that：
Remote monitoring factory provided by the present invention can carry out the Real-Time Sharing of manufacturing parameter data, production information
Remote monitoring, and can carry out remotely modifying to data parameters, enable a device to meet the needs of factory in time.
Robot provided by the present invention simultaneously, can not only carry out simple weld job, while can be to attachment
Welding agent carries out percussion removing, and the work(of welding quality and subsequent cleaning welding slag can be detected using machine vision
It can function.It ensure that the stability of whole device transmission, accuracy, while easily controllable by the way of rack pinion.
Entire welder degree of freedom is high, can not only horizontal direction linear motion, while can ensure that welding mechanism has level
The rotary freedom in direction and the rotary freedom of vertical direction meet the welding demand of different location solder joint.And all rotations
The dynamic mode for being all made of gear engagement of transhipment is controlled, and to ensure that being accurately positioned for position, while user can also root
It is controlled according to actual demand.It, can also be according to specific welding demand Butt welding gun during carrying out rail linearity welding
It is finely adjusted to the distance of weldment, angle and height.
Description of the drawings
Fig. 1 is the overall structure diagram of 1 robot of embodiment；
Fig. 2 is the enlarged drawing of the parts Fig. 1 I；
Fig. 3 is the enlarged drawing of the parts Fig. 2 II；
Fig. 4 is the enlarged drawing of the parts Fig. 2 III；
Fig. 5 is the rearview of Fig. 1；
Fig. 6 is the structural schematic diagram of embodiment 2；
Fig. 7 is the whole control flow chart of embodiment 1 and embodiment 2.
The toponym that each number designation is referred in attached drawing is as follows：100 1 bottom plates, the 101 one the first racks, 102 one the
One guide rail group, 103 1 welding manipulators, 104 1 jigs, 105 1 first motors, 106 1 first gears, 107 1 installations
Bar, 108 1 support wheels, 109 1 turntables, 110 1 gear rings, 111 1 second gears, the 112 one the second motors, the 113 one the first peaces
Shelve, 114 1 active lead screws, 115 1 third motors, 116 1 weld assemblies, 117 1 installation and adjustment plates, 118 1 welding gun components,
119 one the second mounting brackets, 120 1 installation axles, 121 1 third gears, 122 1 gun racks, 123 1 the 4th gears, 124 1 supports
Plate, 125 1 the 4th motors, the 126 one the first guide shafts, 127 1 support legs, 200 1 measure racks, the 201 one the second guide rail, 202 1
Transmission gear, 203 1 transition gears, 204 1 driven lead screws, 205 1 driven gears, 206 1 NI Vision Builder for Automated Inspections, 207 one the
Five motors, the 208 one the first installation axles, 209 1 cameras, 210 1 hammering devices, 211 1 hammering mounting brackets, 212 1 electric rotatings
Machine, the 213 one the second installation axles, 214 1 hammering plates, 215 1 mounting plates, 216 1 hammering cylinders, 217 1 tap hammer, 218 blow
Gas nozzle, 219 1 cleaning devices, 220 1 cleaning motors, 221 1 rocking arms, 222 1 steel brushes, 223 1 the 6th motors, 224 1 dust suctions
Mouth, 225 1 hoses, 226 1 dust collect plants, 227 1 dust legs, 228 1 cigarette holders.
Specific implementation mode
Present invention is further described in detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Fig. 1 to Fig. 5 and Fig. 7, a kind of automation can remote monitoring factory, including remote monitoring system and industry
Router, industrial router are communicatively coupled with the welding production line in factory and acquire the real time data letter of apparatus for production line
It ceases and transmits information to remote monitoring system；The welding production line equipment includes the machine for automated production wire bonding
Device human agent and the control system moved for controlling robot body, robot body includes bottom plate 100, is set on bottom plate 100
It is equipped with the first rack 101 and the first guide rail group 102, is provided with along the first guide rail group in the first rack 101 and the first guide rail group 102
The welding manipulator 103 of 102 linear motions；Welding manipulator 103 includes jig 104, and the lower section of jig 104 is arranged
There are support leg 127, support leg 127 to be slidably arranged in the first guide rail group 102, the lower face of jig 104 is provided with walking
Power packages, walking power packages include first motor 105, and the output shaft of first motor 105 is coaxially connected with first gear 106, the
One gear 106 and the intermeshing of the first rack 101, the side of first motor 105 is provided with mounting rod 107, the bottom of mounting rod 107
Portion is provided with support wheel 108, and support wheel 108 is in rolling contact with bottom plate 100；Turntable 109, turntable are installed on jig 104
109 outer cover is equipped with gear ring 110, and the medial surface of gear ring 110 is interference fitted with the lateral surface of turntable 109, gear ring 110
Side be engaged with second gear 111, the other side, which is engaged with, measures rack 200, and the second guide rail is provided on jig 104
201, the bottom for measuring rack 200 is arranged on the second guide rail 201 and is slided along the second guide rail 201, is installed in second gear 111
Have a shaft, shaft passes through jig 104, and the lower section of jig 104 is provided with the second motor 112, the second motor 112 it is defeated
Shaft is coaxially connected with shaft and second gear 111 is driven to rotate, and the engagement of gear ring 110 and second gear 111 drives turntable
109 rotations；It is provided with the first mounting bracket 113 on turntable 109, active lead screw 114, active silk are installed on the first mounting bracket 113
The upper end of bar 114 is connected with the first mounting bracket 113, and lower end is connected with turntable 109, and the upper end of active lead screw 114 is equipped with third
Motor 115, third motor 115 are fixedly mounted on the first mounting bracket 113, and the upper end of active lead screw 114 is provided with transmission gear
202, the both sides of transmission gear 202 are engaged with transition gear 203, and transition gear 203 is fixed on the first mounting bracket 113, and first
The both sides that two driven lead screws 204204 are correspondingly arranged at active lead screw 114 respectively, driven lead screw are additionally provided on mounting bracket 113
204 one end is rotatablely connected with the first mounting bracket, and the other end is rotatablely connected with turntable, and the upper end of driven lead screw 204 is coaxially connected
There is driven gear 205, the center of circle of driven gear 205 and the center of circle of driving gear are located at same straight line and residing height is identical,
Driving gear is identical with the parameter of driven gear 205, and weld assembly 116 is arranged on active lead screw 114, and weld assembly 116 wraps
Installation and adjustment plate 117 is included, installation and adjustment plate 117 is matched with active lead screw 114, driven lead screw 204, on the first mounting bracket 113
It is provided with the third guide rail 250 of vertical direction, installation and adjustment plate 117 is fallen to be slided in 250 upper edge third guide rail 250 of third guide rail；
Third motor 115 drives active lead screw 114, transmission gear 202 to rotate, and transmission gear 202 is driven driven by transition gear 203
Gear 205 rotates at the same speed, and driven gear 205 drives driven lead screw 204 to rotate, the parameter phase of active lead screw and driven lead screw 204
Together, installation and adjustment plate is moved up and down by the drive of active lead screw and driven lead screw 204, and weldering is equipped on installation and adjustment plate 117
Rifle component 118, welding gun component 118 include the second mounting bracket 119, and the second mounting bracket 119 is fixed on installation and adjustment plate 117, the
Installation axle 120 is installed on two mounting brackets 119, the both ends of installation axle 120 are rotatablely connected with the second mounting bracket 119 by bearing,
The gun rack 122 of third gear 121 and fixed welding gun is provided in installation axle 120, third gear 121 is engaged with the 4th gear
123, support plate 124 is provided on the second mounting bracket 119, and the 4th motor 125,125 He of the 4th motor are installed in support plate 124
4th gear 123, which is connected, drives the rotation of the 4th gear 123, and the upper end of the second mounting bracket is provided with NI Vision Builder for Automated Inspection 206, machine
Vision system 206 includes the 5th motor 207, and the 5th motor 207 is connected with the first installation axle 208, is arranged in the first installation axle 208
There is camera 209, the 5th motor 207 is by driving the rotation of the first installation axle 208 that camera 209 is driven to carry out rotating angle movement；Weldering
The side of rifle component 118 is provided with hammering device 210, and hammering device 210 is mounted on installation and adjustment plate 117, hammering device 210
Including hammering mounting bracket 211, the top of hammering mounting bracket 211 is provided with electric rotating machine 212, and electric rotating machine 212 is connected with second
Installation axle 213, set is provided with hammering plate 214 in the second installation axle 213, hammers plate 214 and the second installation axle 213 is hinged, and second
The end of installation axle 213 is fixedly installed horizontal mounting plate 215, and the upside on mounting plate 215 is provided with hammering cylinder 216,
The piston rod for hammering cylinder 216 is connected by universal joint and hammering plate 214, and one end of hammering plate 214 is fixed with percussion hammer
217, it taps hammer 217 and hammering cylinder 216 is correspondingly arranged the both sides of the second installation axle 213 respectively；It is additionally provided on mounting plate 215
Blowing nozzle 218, blowing nozzle 218 are positioned close to tap the side of hammer 217；The other side of welding gun component 118 is provided with sanitizer cartridge
219 are set, cleaning device 219 includes cleaning motor 220, and cleaning motor 220 is connected with rocking arm 221, and cleaning motor 220 drives rocking arm
221 are rotated, and one end of rocking arm 221 is provided with steel brush 222, and steel brush 222 is connected with the 6th motor 223,223 band of the 6th motor
Dynamic steel brush 222 rotates, and the side of steel brush 222 is provided with dust absorption nozzle 224, and dust absorption nozzle 224 is connected to dust by hose 225
Device 226, dust collect plant 226 are arranged on turntable, and dust collect plant 226 is provided with dust leg 227, and dust leg 227 and dust suction are soft
Pipe 225 is connected to；The bypass of dust leg 227 has cigarette holder 228, cigarette holder 228 to be fixed on the second mounting bracket 119, and cigarette holder 228 connects
It is connected to flow control valve.Remote monitoring system includes cloud platform, and industrial router is communicated to connect with cloud platform, control system and work
Industry router communication connects and the facility information of robot body is transferred to cloud platform；Control system includes controller and coordinate
Acquisition system, coordinate acquisition system are used for coordinate position of each solder joint of typing production line relative to default origin, machine vision
System 206 is connect with controller by conducting wire, first motor 105, the second motor 112, third motor 115, the 4th motor 125,
5th motor 207, the 6th motor 223, cleaning motor 220 and hammering cylinder 216 are connect by conducting wire with controller, controller root
According to coordinate acquisition system typing information and NI Vision Builder for Automated Inspection acquire information to first motor 105, the second motor 112,
Third motor 115, the 4th motor 125, the 5th motor 207, the 6th motor 223, cleaning motor 220 and hammering cylinder 216 carry out
Control；It measures and is provided with displacement sensor on rack 200, measure the anti-collision switch that is provided at both ends with of 200 stroke of rack, it is described
The top and bottom of first mounting bracket 113 are provided with the limit switch for controlling installation and adjustment plate or more stroke, support wheel 108
With 100 Elastic Contact of bottom plate, the industrial router includes master chip, radio frequency chip, flash memory, memory；Cloud platform includes stepping on
Recording system, equipment management system, enterprise management system, login system, account registration and account for user log in；Equipment pipe
Reason system, for remotely check cloud platform binding all intelligent remote modules information and be used for remote maintenance hardware handles
Device；Enterprise management system is used for typing company information and enterprise name；Product Management System, Product Management System are equipment pipe
The subsystem of reason system, for managing the connected hardware processor of intelligent remote module, the product type of management and modification production
With the relevant parameter of product, it is additionally operable to display, monitoring, the related data for changing the industrial equipment for producing the product.The hammer
It hits on plate 214 and is provided with vibration switch, vibration switch is connected to controller, and controller is according to the signal of reception vibration switch to blowing
Gas nozzle 218 carries out aeration, and the vibrations sensitivity of wherein vibration switch is adjustable, ensures the promptness of blowing nozzle 218, avoided
More waste of resource.NI Vision Builder for Automated Inspection includes machine vision alignment system and machine vision alignment system.The machine regards
Feel that the data of system acquisition are transferred to control system, control system on the one hand according to the information of transmission to each component of robot into
On the other hand the data of reception are transferred to industrial router by row control, complete backup.
In the present embodiment, which is located in production line, then through the chain drive of assembly line or other biographies
Flowing mode drives movement, this kind of mode to be suitble to institute's workpiece to be not easy to be transported on assembly line, then robot is used to transport
It is dynamic that active transport is carried out to workpiece.It is provided with positioning system on the assembly line, since the bond pad locations of work piece are it is known that institute
The location information welded that carries out of work piece is carried out typing, for example using an origin is defined, then will
Each solder joint is entered into controller relative to the coordinate information of origin, and controller is according to the coordinate information of each solder joint, to first
Motor 105 is controlled, to control entire robot body close to or far from solder joint；Third motor 115 is controlled
Rotation, to complete the control to move up and down to entire installation and adjustment plate 117, then controller again controls the second motor
System, wherein since turntable is larger, ensures the angle that turntable 109 turns in order to be more accurate to control the angle of the rotation of turntable 109
Degree, the present embodiment is driven by gear ring 110 measures rack sliding, and the distance for then recording rack sliding turns over turntable 109
Angle measure, form feedback mechanism, while anti-collision switch ensure that 109 main body of turntable is not in because of chance failure
It crosses and turns to damage the equipment on turntable 109, ensure that the safety of equipment.Coordinate points where welding gun reaches solder joint
When, controller control is subjected to, and when the welding is completed, the machine vision alignment system butt welding of NI Vision Builder for Automated Inspection is practiced midwifery
Raw coating position is captured, and then controller control electric rotating machine 212 reaches the position, taps the piston of cylinder 216
Bar stretches out, and drives and taps 217 1 tapping operation of progress of hammer, and the vibration switch during percussion on mounting plate 215 obtains vibrations letter
Number, and controller is transmitted the signal to, controller controls the electromagnetic switch valve that blowing nozzle 218 connects, control according to knocking
The blowing operation of blowing nozzle 218 processed, while the welding of acquisition is completed picture transfer to controller simultaneously by Machine Vision Inspecting System
It is compared with the picture in memory, judges welding quality, then carried out repair welding operation if there is rosin joint, solder skip, complete one
After the welding of a solder joint, obtained pictorial information is transferred to controller by NI Vision Builder for Automated Inspection, and controller is sentenced according to pictorial information
Welding slag position that is disconnected whether to produce welding slag, and generating, if generating welding slag, controller and control cleaning 220 band of motor
Shake arm 221 close to welding slag, then the 6th motor 223 drives steel brush to carry out slagging-off operation, while dust leg 227 carries out welding slag
Absorption；Cigarette holder 228 carries out always smoking event in entire welding process, ensure that the health of workshop condition.
It is wherein driven by the way of active lead screw 114 and driven lead screw 204, is capable of providing stable vertical direction
Carrying, the active lead screw 114 and driven lead screw 204 are identical lead screw, and three is triangle between each other.And
And the upper end of first guide shaft 126 is connected with the first mounting bracket 113, lower end and the turntable 109 of the first guide shaft 126 are connected,
Installation and adjustment plate 117 is set on the first guide shaft 126, and installation and adjustment plate 117 is internally provided with linear bearing, linear bearing with
First guide shaft 126 matches.
Motor used in the present embodiment is servo motor, wherein the direction of entire robot motion is always with first
102 place straight line of guide rail is vertical.
In the present embodiment, coordinate acquisition system, control system are equal to be connected with industrial router communication, and control system is by machine
The kinematic parameter and location parameter of people's each section are transferred to industrial router, and industrial router transmits information to cloud platform again,
Cloud platform is remotely monitored again, wherein cloud platform can modify to the data of coordinate acquisition system, to ensure machine
People, which can be remotely controlled, welds different solder joints.
It is provided with video monitoring system and alarm system in the automatic factory.
Embodiment 2
As shown in Figures 1 to 7, it is in place of the present embodiment and the difference of embodiment 1, the lower section of the bottom plate 100 is set
It is equipped with trundle group, trundle group includes drive wheel group 140 and deflecting roller group 141, and drive wheel group 140 includes driving wheel 142, is driven
Driving wheel 142 is connected by the way that drive shaft 143 is arranged, and the first driving gear 144, the lower face of bottom plate 100 are provided in drive shaft 143
It is provided with driving motor 145, driving motor 145 is connected with bottom plate 100, and driving motor 145 is connected with the second driving gear 146,
First driving gear 144 is engaged with the second driving gear 146, and driving motor 145 is by driving the second driving rotation of gear 146 to drive
Dynamic driving wheel 142 rotates, and wherein 143 place axis of drive shaft is vertical with 102 place straight line of the first guide rail group；First mounting bracket
The first guide shaft 126 is fixed on 113, deflecting roller group 141 includes automated navigation system, and the robot that the present embodiment is provided is applicable in
In the place that drive line is long or cost is excessively high, in order to ensure the correct walking of robot, factory should be arranged mutually to fit with wheel group
The track matched.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to impartial made by scope of the present invention patent
Variation and modification, should all belong to the covering scope of patent of the present invention.
Claims (6)
1. a kind of automation can remote monitoring factory, it is characterised in that：Including remote monitoring system and industrial router, industry
Welding production line in router and factory is communicatively coupled and acquires the real time data information of apparatus for production line and by information
It is transmitted to remote monitoring system；The welding production line equipment include for automated production wire bonding robot body and
Control system for controlling robot body's movement, robot body includes bottom plate (100), and the is provided on bottom plate (100)
It is provided with along the first guide rail in one rack (101) and the first guide rail group (102), the first rack (101) and the first guide rail group (102)
The welding manipulator (103) of group (102) linear motion；Welding manipulator (103) includes jig (104), jig
(104) support leg (127) is provided with below, support leg (127) is slidably arranged in the first guide rail group (102), jig
(104) lower face is provided with walking power packages, and walking power packages include first motor (105), the output of first motor (105)
Axis is coaxially connected with first gear (106), first gear (106) and the first rack (101) intermeshing, first motor (105)
Side be provided with mounting rod (107), the bottom of mounting rod (107) is provided with support wheel (108), support wheel (108) and bottom plate
(100) it is in rolling contact；Turntable (109) is installed, the outer cover of turntable (109) is equipped with gear ring on jig (104)
(110), the medial surface of gear ring (110) and the lateral surface of turntable (109) are interference fitted, and the side of gear ring (110) is engaged with
Second gear (111), the other side, which is engaged with, measures rack (200), is provided with the second guide rail (201) on jig (104), surveys
The bottom for measuring rack (200) is arranged on the second guide rail (201) and is slided along the second guide rail (201), and second gear is pacified on (111)
Equipped with shaft, shaft passes through jig (104), and the second motor (112), the second electricity are provided with below jig (104)
The output shaft of machine (112) is coaxially connected with shaft and second gear (111) is driven to rotate, gear ring (110) and second gear
(111) engagement drives turntable (109) to rotate；The first mounting bracket (113), the first mounting bracket (113) are provided on turntable (109)
On active lead screw (114) is installed, the upper end of active lead screw (114) is connected with the first mounting bracket (113), lower end and turntable
(109) it is connected, the upper end of active lead screw (114) is equipped with third motor (115), and third motor (115) is fixedly mounted on first
On mounting bracket (113), the upper end of active lead screw (114) is provided with transmission gear (202), the both sides engagement of transmission gear (202)
There are transition gear (203), transition gear (203) to be fixed on the first mounting bracket (113), the first mounting bracket is also set up on (113)
There are two driven lead screws (204) (204) to be correspondingly arranged at the both sides of active lead screw (114), one end of driven lead screw (204) respectively
It is rotatablely connected with the first mounting bracket (113), the other end is rotatablely connected with turntable (109), and the upper end of driven lead screw (204) is coaxially solid
It is connected with driven gear (205), transmission gear (202) is identical with the parameter of driven gear (205), and active lead screw is arranged on (114)
It includes installation and adjustment plate (117), installation and adjustment plate (117) and active lead screw to have weld assembly (116), weld assembly (116)
(114), driven lead screw (204) matches, and the third guide rail (250) of vertical direction is provided on the first mounting bracket (113), installation
Adjustable plate (117) is fallen to be slided in third guide rail (250) upper edge third guide rail (250)；Third motor (115) drives active lead screw
(114), transmission gear (202) rotates, and transmission gear (202) drives driven gear (205) to turn at the same speed by transition gear (203)
Dynamic, driven gear (205) drives driven lead screw (204) rotation, and active lead screw (114) is identical with the parameter of driven lead screw (204),
Installation and adjustment plate (117) is moved up and down by the drive of active lead screw and driven lead screw (204), and installation and adjustment plate is pacified on (117)
Equipped with welding gun component (118), welding gun component (118) includes the second mounting bracket (119), and the second mounting bracket (119) is fixed on installation
On adjustable plate (117), installation axle (120), the both ends of installation axle (120) and the second installation are installed on the second mounting bracket (119)
Frame (119) is rotatablely connected by bearing, and the gun rack of third gear (121) and fixed welding gun is provided in installation axle (120)
(122), third gear (121) is engaged with the 4th gear (123), and support plate (124) is provided on the second mounting bracket (119), branch
4th motor (125) is installed, the 4th motor (125) is connected with the 4th gear (123) drives the 4th gear on fagging (124)
(123) it rotates, the upper end of the second mounting bracket (119) is provided with NI Vision Builder for Automated Inspection (206), and NI Vision Builder for Automated Inspection (206) includes
5th motor (207), the 5th motor (207) are connected with the first installation axle (208), and the first installation axle is provided with camera shooting on (208)
Head (209), the 5th motor (207) drive camera (209) to carry out rotating angle movement by driving the first installation axle (208) to rotate.
2. a kind of automation according to claim 1 can remote monitoring factory, it is characterised in that：Welding gun component (118)
Side be provided with hammering device (210), hammering device (210) is mounted on installation and adjustment plate (117), hammering device (210)
Including hammering mounting bracket (211), electric rotating machine (212) is provided at the top of hammering mounting bracket (211), electric rotating machine (212) is even
It is connected to the second installation axle (213), set is provided with hammering plate (214), hammering plate (214) and the second peace in the second installation axle (213)
Fill that axis (213) is hinged, the end of the second installation axle (213) is fixedly installed horizontal mounting plate (215), on mounting plate (215)
Upside be provided with hammering cylinder (216), hammering cylinder (216) piston rod by universal joint and hammering plate (214) connect,
One end of hammering plate (214) is fixed with percussion hammer (217), taps hammer (217) and hammering cylinder (216) is correspondingly arranged second respectively
The both sides of installation axle (213)；Blowing nozzle (218) is additionally provided on mounting plate (215), blowing nozzle (218) is positioned close to tap
Hammer the side of (217) into shape；The other side of welding gun component (118) is provided with cleaning device (219), and cleaning device (219) includes cleaning
Motor (220), cleaning motor (220) are connected with rocking arm (221), and cleaning motor (220) drives rocking arm (221) to be rotated, shakes
One end of arm (221) is provided with steel brush (222), and steel brush (222) is connected with the 6th motor (223), and the 6th motor (223) drives steel
(222) rotation is brushed, the side of steel brush (222) is provided with dust absorption nozzle (224), and dust absorption nozzle (224) is connected by hose (225)
To dust collect plant (226), dust collect plant (226) is arranged on turntable, and dust collect plant (226) is provided with dust leg (227), dust
Pipe (227) is connected to hose (225)；Dust leg (227) bypass has cigarette holder (228), cigarette holder (228) to be fixed on second
On mounting bracket (119), cigarette holder (228) is connected with flow control valve.
3. a kind of automation according to claim 2 can remote monitoring factory, it is characterised in that：Remote monitoring system packet
Include cloud platform, industrial router is communicated to connect with cloud platform, and control system connect with industry router communication and by robot master
The facility information of body is transferred to cloud platform；Control system includes controller and coordinate acquisition system, and coordinate acquisition system is for recording
Enter coordinate position of each solder joint of production line relative to default origin, NI Vision Builder for Automated Inspection (206) is connected with controller by conducting wire
It connects, first motor (105), the second motor (112), third motor (115), the 4th motor (125), the 5th motor (207), the 6th
Motor (223), cleaning motor (220) and hammering cylinder (216) are connect by conducting wire with controller, and controller is acquired according to coordinate
The information of information and the NI Vision Builder for Automated Inspection acquisition of system typing is to first motor (105), the second motor (112), third electricity
Machine (115), the 4th motor (125), the 5th motor (207), the 6th motor (223), cleaning motor (220) and hammering cylinder
(216) it is controlled；It measures and is provided with displacement sensor on rack (200), it is anti-to measure being provided at both ends with for rack (200) stroke
Pass is rushed open, the top and bottom of first mounting bracket (113) are provided with the limit for controlling installation and adjustment plate or more stroke
Bit switch, support wheel (108) and bottom plate (100) Elastic Contact.
4. a kind of automation according to claim 3 can remote monitoring factory, it is characterised in that：Industrial router includes
Master chip, radio frequency chip, flash memory, memory；Cloud platform includes login system, equipment management system, enterprise management system, logs in system
System, account registration and account for user log in；Equipment management system, all intelligence for remotely checking cloud platform binding
The information of far module and be used for remote maintenance hardware processor；Enterprise management system, for typing company information and enterprise's name
Claim；Product Management System, Product Management System is the subsystem of equipment management system, connected for managing intelligent remote module
The relevant parameter of the product type and product of hardware processor, management and modification production is additionally operable to display, monitoring, modification production
The related data of the industrial equipment of the product.
5. a kind of automation according to claim 1 or 2 or 3 or 4 can remote monitoring factory, it is characterised in that：It is described
Bottom plate (100) below be provided with trundle group, trundle group includes drive wheel group (140) and deflecting roller group (141), driving
Wheel group (140) includes driving wheel (142), and driving wheel (142) is connected by the way that drive shaft (143) is arranged, and drive shaft is arranged on (143)
There are the first driving gear (144), the lower face of bottom plate (100) to be provided with driving motor (145), driving motor (145) and bottom plate
(100) it is connected, driving motor (145) is connected with the second driving gear (146), the first driving gear (144) and the second sliding tooth
(146) engagement is taken turns, driving motor (145) is rotated by driving the second driving gear (146) to rotate driving driving wheel (142),
Axis is vertical with straight line where the first guide rail group (102) where middle drive shaft (143)；Is fixed on first mounting bracket (113)
One guide shaft (126), the upper end of the first guide shaft (126) are connected with the first mounting bracket (113), the lower end of the first guide shaft (126) with turn
Disk (109) is connected, and installation and adjustment plate (117) is set on the first guide shaft (126), and installation and adjustment plate (117) are internally provided with
Linear bearing, linear bearing are matched with the first guide shaft (126).
6. a kind of automation according to claim 1 can remote monitoring factory, it is characterised in that：Deflecting roller group (141)
It is composition gimbal structure, driven wheel (147) and bottom plate between driven wheel (147) and bottom plate (100) including driven wheel (147)
Between be connected with rotating bar, the both ends of rotating bar are connect by universal joint (148) with driven wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810575988.2A CN108747107B (en) | 2018-06-06 | 2018-06-06 | Automatic but change mill of remote monitoring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810575988.2A CN108747107B (en) | 2018-06-06 | 2018-06-06 | Automatic but change mill of remote monitoring |
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| CN108747107B CN108747107B (en) | 2021-05-14 |
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Cited By (2)
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| CN115353048A (en) * | 2022-08-01 | 2022-11-18 | 广东三向智能科技股份有限公司 | Bottle cap adding and screwing integrated intelligent control system and control method thereof |
| CN115643715A (en) * | 2022-11-10 | 2023-01-24 | 尤洛卡（山东）矿业科技有限公司 | Mine safety positioning inspection robot device and using method |
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| CN108747107B (en) | 2021-05-14 |
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