CN108747107B

CN108747107B - Automatic but change mill of remote monitoring

Info

Publication number: CN108747107B
Application number: CN201810575988.2A
Authority: CN
Inventors: 陈燕
Original assignee: Anhui Hierc Daily Necessities Co ltd
Current assignee: Anhui Hierc Daily Necessities Co ltd
Priority date: 2018-06-06
Filing date: 2018-06-06
Publication date: 2021-05-14
Anticipated expiration: 2038-06-06
Also published as: CN108747107A

Abstract

The invention relates to the field of robot equipment, and discloses an automatic factory capable of being remotely monitored, which comprises a remote monitoring system, an industrial router and a robot, wherein a welding manipulator is fixed on a bottom plate of the robot, and a small wheel set is arranged below the bottom plate; a welding manipulator which moves linearly along the first guide rail group is arranged on the first rack and the first guide rail group, the welding manipulator comprises a welding platform, a supporting leg is arranged below the welding platform, the supporting leg is arranged on the first guide rail group in a sliding mode, an output shaft of a first motor is coaxially connected with a first gear, the first gear is meshed with the first rack, an installation rod is arranged on one side of the first motor, a supporting wheel is arranged at the bottom of the installation rod, and the supporting wheel is in rolling contact with the bottom plate; the welding platform is provided with a rotary table, a gear ring is sleeved outside the rotary table, and a second gear is meshed with the gear ring. The factory has the advantages of high use automation degree, convenient management, wide application range, low cost, accurate transmission control and the like.

Description

Automatic but change mill of remote monitoring

Technical Field

The invention relates to the field of intelligent factories, in particular to an automatic and remotely monitorable factory.

Background

With the development of society and science and technology, people are more reluctant to automation, and an automatic production line has unique advantages, such as low labor cost, high production efficiency and easy control. The important components of the automatic production line comprise a robot, the use of the traditional production line robot is mostly limited to the use of a robot arm, and then the part of the robot arm is improved, so that the cost is high, and the robot is not suitable for long-distance operation; welding is used as a common connection mode, and has the advantages of high connection strength, difficult damage and the like. Traditional robot is simple robot arm only, carries out simple welding to the spare part of carrying on the assembly line, and the function is single, and application scope is narrower. Moreover, the production line needs to be manually watched, cannot realize remote monitoring, and cannot achieve the purpose of an unmanned chemical plant.

Disclosure of Invention

Aiming at the defects in the prior art and the like, the invention provides an automatic and remotely monitorable factory.

In order to solve the technical problem, the invention is solved by the following technical scheme:

an automatic factory capable of being remotely monitored comprises a remote monitoring system and an industrial router, wherein the industrial router is in communication connection with a welding production line in the factory, collects real-time data information of production line equipment and transmits the information to the remote monitoring system; the welding production line equipment comprises a robot main body for automatic production line welding and a control system for controlling the robot main body to move, wherein the robot main body comprises a bottom plate, a first rack and a first guide rail group are arranged on the bottom plate, and a welding manipulator which moves linearly along the first guide rail group is arranged on the first rack and the first guide rail group; the welding manipulator comprises a welding platform, supporting legs are arranged below the welding platform and are arranged on a first guide rail group in a sliding mode, a walking power group is arranged on the lower end face of the welding platform and comprises a first motor, an output shaft of the first motor is coaxially connected with a first gear, the first gear is meshed with a first rack, an installation rod is arranged on one side of the first motor, a supporting wheel is arranged at the bottom of the installation rod, and the supporting wheel is in rolling contact with a bottom plate; a rotating disc is mounted on the welding platform, a gear ring is sleeved outside the rotating disc, the inner side face of the gear ring is in interference fit with the outer side face of the rotating disc, a second gear is meshed on one side of the gear ring, a measuring rack is meshed on the other side of the gear ring, a second guide rail is arranged on the welding platform, the bottom of the measuring rack is arranged on the second guide rail and slides along the second guide rail, a rotating shaft is mounted on the second gear and penetrates through the welding platform, a second motor is arranged below the welding platform, an output shaft of the second motor is coaxially connected with the rotating shaft and drives the second gear to rotate, and the rotating disc is driven to rotate by meshing of the gear ring and the second; the turntable is provided with a first mounting frame, a driving screw rod is mounted on the first mounting frame, the upper end of the driving screw rod is connected with the first mounting frame, the lower end of the driving screw rod is connected with the turntable, a third motor is mounted at the upper end of the driving screw rod, the third motor is fixedly mounted on the first mounting frame, a transmission gear is arranged at the upper end of the driving screw rod, transition gears are meshed at two sides of the transmission gear and are fixed on the first mounting frame, two driven screw rods are further arranged on the first mounting frame and are respectively correspondingly arranged at two sides of the driving screw rod, one end of each driven screw rod is rotatably connected with the first mounting frame, the other end of each driven screw rod is rotatably connected with the turntable, the driven gears are coaxially and fixedly connected at the upper ends of the driven screw rods, parameters of the transmission gear and the driven gears are the same, a third guide rail in the vertical direction is arranged on the first mounting frame, and the mounting adjusting plate falls on the third guide rail and slides along the third guide rail; the third motor drives the driving screw rod, the transmission gear rotates, the transmission gear drives the driven gear to rotate at the same speed through the transition gear, the driven gear drives the driven screw rod to rotate, the parameters of the driving screw rod and the driven screw rod are the same, the mounting adjusting plate moves up and down through the driving of the driving screw rod and the driven screw rod, the mounting adjusting plate is provided with the welding gun assembly, the welding gun assembly comprises a second mounting frame, the second mounting frame is fixed on the mounting adjusting plate, the second mounting frame is provided with a mounting shaft, two ends of the mounting shaft are rotatably connected with the second mounting frame through bearings, the mounting shaft is provided with a third gear and a welding gun frame for fixing a welding gun, the third gear is meshed with a fourth gear, the second mounting frame is provided with a support plate, the support plate is provided with a fourth motor, the fourth motor is connected with the fourth gear to drive, the machine vision system comprises a fifth motor, the fifth motor is connected with a first installation shaft, a camera is arranged on the first installation shaft, and the fifth motor drives the camera to perform corner motion by driving the first installation shaft to rotate.

Preferably, a hammering device is arranged on one side of the welding gun assembly, the hammering device is installed on the installation adjusting plate, the hammering device comprises a hammering installing frame, a rotating motor is arranged at the top of the hammering installing frame, the rotating motor is connected with a second installing shaft, a hammering plate is sleeved on the second installing shaft and hinged to the second installing shaft, a horizontal installing plate is fixedly arranged at the end part of the second installing shaft, a hammering cylinder is arranged on the upper side of the installing plate, a piston rod of the hammering cylinder is connected with the hammering plate through a universal joint, a hammering hammer is fixedly connected to one end of the hammering plate, and the hammering hammer and the hammering cylinder are respectively and correspondingly arranged on two sides of the second installing shaft; the mounting plate is also provided with an air blowing nozzle which is arranged at one side close to the knocking hammer; the other side of the welding gun component is provided with a cleaning device, the cleaning device comprises a cleaning motor, the cleaning motor is connected with a rocker arm, the cleaning motor drives the rocker arm to rotate, one end of the rocker arm is provided with a steel brush, the steel brush is connected with a sixth motor, the sixth motor drives the steel brush to rotate, one side of the steel brush is provided with a dust suction nozzle, the dust suction nozzle is connected to a dust collecting device through a dust suction hose, the dust collecting device is arranged on the turntable, the dust collecting device is provided with a dust collecting pipe, and the dust collecting pipe is communicated; the dust collecting pipe is bypassed by a cigarette holder which is fixed on the second mounting rack and is connected with a flow regulating valve.

Preferably, the remote monitoring system comprises a cloud platform, the industrial router is in communication connection with the cloud platform, and the control system is in communication connection with the industrial router and transmits the equipment information of the robot main body to the cloud platform; the control system comprises a controller and a coordinate acquisition system, the coordinate acquisition system is used for recording the coordinate position of each welding spot of the production line relative to a preset original point, the machine vision system is connected with the controller through a lead, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the cleaning motor and the hammering cylinder are connected with the controller through leads, and the controller controls the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the cleaning motor and the hammering cylinder according to the information recorded by the coordinate acquisition system and the information acquired by the machine vision system; the measuring rack is provided with a displacement sensor, two ends of the measuring rack are provided with anti-collision switches, the upper end and the lower end of the first mounting frame are provided with limit switches used for controlling the up-down stroke of the mounting adjusting plate, and the supporting wheels are in elastic contact with the bottom plate.

Preferably, the industrial router comprises a main chip, a radio frequency chip, a flash memory and a memory; the cloud platform comprises a login system, an equipment management system and an enterprise management system, wherein the login system is used for account registration and account login of a user; the equipment management system is used for remotely checking the information of all intelligent remote modules bound by the cloud platform and remotely maintaining the hardware processor; the enterprise management system is used for inputting enterprise information and enterprise names; the product management system is a subsystem of the equipment management system and is used for managing a hardware processor connected with the intelligent remote module, managing and modifying the type of the produced product and related parameters of the product, and displaying, monitoring and modifying related data of industrial equipment for producing the product.

Preferably, a small wheel set is arranged below the bottom plate, the small wheel set comprises a driving wheel set and a steering wheel set, the driving wheel set comprises a driving wheel, the driving wheel is connected with a driving shaft through a driving shaft, a first driving gear is arranged on the driving shaft, a driving motor is arranged on the lower end face of the bottom plate, the driving motor is fixedly connected with the bottom plate, the driving motor is connected with a second driving gear, the first driving gear is meshed with the second driving gear, the driving motor drives the driving wheel to rotate through driving the second driving gear, and the axis of the driving shaft is perpendicular to the straight line of the first guide rail set; the first mounting frame is fixedly provided with a first guide shaft, the upper end of the first guide shaft is fixedly connected with the first mounting frame, the lower end of the first guide shaft is fixedly connected with the turntable, the mounting adjusting plate is sleeved on the first guide shaft, a linear bearing is arranged inside the mounting adjusting plate, and the linear bearing is matched with the first guide shaft.

As preferred, the directive wheel group includes from the driving wheel, for constituteing the universal joint structure between driven wheel and the bottom plate, is connected with the dwang between driven wheel and the bottom plate, and the universal joint is passed through at the both ends of dwang and is connected from the driving wheel.

By adopting the technical scheme, the invention has the following beneficial effects:

the remote monitoring factory provided by the invention can share the production parameter data in real time, monitor the production information remotely, and modify the data parameters remotely, so that the equipment can meet the requirements of the factory in time.

Meanwhile, the robot provided by the invention can not only perform simple welding operation, but also knock and remove attached welding flux, and can detect the welding quality and perform the subsequent function of cleaning welding slag by using machine vision. The gear and rack transmission mode is adopted, so that the transmission stability and accuracy of the whole device are ensured, and the control is easy. The whole welding device is high in degree of freedom, can not only perform linear motion in the horizontal direction, but also guarantee that the welding mechanism has the rotational degree of freedom in the horizontal direction and the rotational degree of freedom in the vertical direction, and welding requirements of welding spots at different positions are met. And all rotary motion is controlled by adopting a gear meshing mode, so that the accurate positioning of the position is ensured, and meanwhile, a user can also control according to actual requirements. In the process of carrying out track straight line welding, the distance, the angle and the height from the welding gun to a weldment can be finely adjusted according to specific welding requirements.

Drawings

FIG. 1 is a schematic view of the overall structure of a robot according to embodiment 1;

FIG. 2 is an enlarged view of a portion of FIG. 1I;

FIG. 3 is an enlarged view of a portion of FIG. 2 II;

FIG. 4 is an enlarged view of the portion III of FIG. 2;

FIG. 5 is a rear view of FIG. 1;

FIG. 6 is a schematic structural view of embodiment 2;

fig. 7 is an overall control flowchart of embodiment 1 and embodiment 2.

The names of the parts indicated by the numerical references in the drawings are as follows: 100 a base plate, 101 a first rack, 102 a first guide rail set, 103 a welding robot, 104 a welding platform, 105 a first motor, 106 a first gear, 107 a mounting rod, 108 a support wheel, 109 a turntable, 110 a gear ring, 111 a second gear, 112 a second motor, 113 a first mounting rack, 114 a driving screw, 115 a third motor, 116 a welding assembly, 117 a mounting adjustment plate, 118 a welding gun assembly, 119 a second mounting rack, 120 a mounting shaft, 121 a third gear, 122 a welding gun rack, 123 a fourth gear, 124 a support plate, 125 a fourth motor, 126 a first guide shaft, 127 a support leg, 200 a measuring rack, 201 a second guide rail, 202 a transmission gear, 203 a transition gear, 204 a driven screw, 205 a driven gear, 206 a machine vision system, 207 a fifth motor, 208 a first motor, 209 a camera head, 209 a mounting shaft, 210 a hammer device, 211 a hammer mounting bracket, 212 a rotary motor, 213 a second mounting shaft, 214 a hammer plate, 215 a mounting plate, 216 a hammer cylinder, 217 a hammer, 218 a blow nozzle, 219 a cleaning device, 220 a cleaning motor, 221 a rocker arm, 222 a steel brush, 223 a sixth motor, 224 a dust nozzle, 225 a dust hose, 226 a dust collecting device, 227 a dust pipe, 228 a suction nozzle.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1

As shown in fig. 1 to 5 and 7, an automated remote monitorable factory includes a remote monitoring system and an industrial router, wherein the industrial router is in communication connection with a welding production line in the factory and collects real-time data information of production line equipment and transmits the information to the remote monitoring system; the welding production line equipment comprises a robot main body for automatic production line welding and a control system for controlling the robot main body to move, wherein the robot main body comprises a bottom plate 100, a first rack 101 and a first guide rail group 102 are arranged on the bottom plate 100, and a welding manipulator 103 which moves linearly along the first guide rail group 102 is arranged on the first rack 101 and the first guide rail group 102; the welding manipulator 103 comprises a welding platform 104, a support leg 127 is arranged below the welding platform 104, the support leg 127 is arranged on a first guide rail group 102 in a sliding mode, a walking power group is arranged on the lower end face of the welding platform 104 and comprises a first motor 105, an output shaft of the first motor 105 is coaxially connected with a first gear 106, the first gear 106 is meshed with a first rack 101, an installation rod 107 is arranged on one side of the first motor 105, a support wheel 108 is arranged at the bottom of the installation rod 107, and the support wheel 108 is in rolling contact with a bottom plate 100; a turntable 109 is mounted on the welding platform 104, a gear ring 110 is sleeved outside the turntable 109, the inner side surface of the gear ring 110 is in interference fit with the outer side surface of the turntable 109, a second gear 111 is meshed on one side of the gear ring 110, a measuring rack 200 is meshed on the other side of the gear ring 110, a second guide rail 201 is arranged on the welding platform 104, the bottom of the measuring rack 200 is arranged on the second guide rail 201 and slides along the second guide rail 201, a rotating shaft is mounted on the second gear 111 and penetrates through the welding platform 104, a second motor 112 is arranged below the welding platform 104, an output shaft of the second motor 112 is coaxially connected with the rotating shaft and drives the second gear 111 to rotate, and the turntable 109 is driven to rotate by the meshing of the gear ring 110 and the second gear 111; the turntable 109 is provided with a first mounting rack 113, the first mounting rack 113 is provided with a driving screw 114, the upper end of the driving screw 114 is connected with the first mounting rack 113, the lower end of the driving screw 114 is connected with the turntable 109, the upper end of the driving screw 114 is provided with a third motor 115, the third motor 115 is fixedly arranged on the first mounting rack 113, the upper end of the driving screw 114 is provided with a transmission gear 202, two sides of the transmission gear 202 are engaged with a transition gear 203, the transition gear 203 is fixed on the first mounting rack 113, the first mounting rack 113 is also provided with two driven screws 204204 which are respectively and correspondingly arranged on two sides of the driving screw 114, one end of the driven screw 204 is rotatably connected with the first mounting rack, the other end is rotatably connected with the turntable, the upper end of the driven screw 204 is coaxially and fixedly connected with a driven gear 205, the circle center of the driven gear 205 and the circle center of the driving, the driving screw 114 is sleeved with a welding assembly 116, the welding assembly 116 comprises an installation adjusting plate 117, the installation adjusting plate 117 is matched with the driving screw 114 and the driven screw 204, a third guide rail 250 in the vertical direction is arranged on the first installation frame 113, and the installation adjusting plate 117 falls on the third guide rail 250 and slides along the third guide rail 250; the third motor 115 drives the driving screw 114 and the transmission gear 202 to rotate, the transmission gear 202 drives the driven gear 205 to rotate at the same speed through the transition gear 203, the driven gear 205 drives the driven screw 204 to rotate, the parameters of the driving screw and the driven screw 204 are the same, the mounting adjusting plate is driven to move up and down through the driving screw and the driven screw 204, the mounting adjusting plate 117 is provided with the welding gun assembly 118, the welding gun assembly 118 comprises a second mounting frame 119, the second mounting frame 119 is fixed on the mounting adjusting plate 117, the second mounting frame 119 is provided with a mounting shaft 120, two ends of the mounting shaft 120 are rotatably connected with the second mounting frame 119 through bearings, the mounting shaft 120 is provided with a third gear 121 and a welding gun frame 122 for fixing a welding gun, the third gear 121 is meshed with a fourth gear 123, the second mounting frame 119 is provided with a support plate 124, the support plate 124 is provided with a fourth motor 125, the fourth motor 125 is connected with, a machine vision system 206 is arranged at the upper end of the second mounting frame, the machine vision system 206 comprises a fifth motor 207, the fifth motor 207 is connected with a first mounting shaft 208, a camera 209 is arranged on the first mounting shaft 208, and the fifth motor 207 drives the camera 209 to perform corner motion by driving the first mounting shaft 208 to rotate; one side of welding gun subassembly 118 is provided with hammering device 210, hammering device 210 is installed on installation regulating plate 117, hammering device 210 includes hammering mounting bracket 211, the top of hammering mounting bracket 211 is provided with rotating electrical machines 212, rotating electrical machines 212 is connected with second installation axle 213, second installation axle 213 is gone up the cover and is provided with hammering board 214, hammering board 214 and second installation axle 213 articulate, the end fixing of second installation axle 213 is provided with horizontal mounting plate 215, the upside on mounting plate 215 is provided with hammering cylinder 216, the piston rod of hammering cylinder 216 passes through universal joint and hammering board 214 and connects, one end of hammering board 214 has linked firmly hammering hammer 217, hammering hammer 217 and hammering cylinder 216 correspond the both sides that set up second installation axle 213 respectively; the mounting plate 215 is also provided with a blowing nozzle 218, and the blowing nozzle 218 is arranged at one side close to the knocking hammer 217; the other side of the welding gun assembly 118 is provided with a cleaning device 219, the cleaning device 219 comprises a cleaning motor 220, the cleaning motor 220 is connected with a rocker arm 221, the cleaning motor 220 drives the rocker arm 221 to rotate, one end of the rocker arm 221 is provided with a steel brush 222, the steel brush 222 is connected with a sixth motor 223, the sixth motor 223 drives the steel brush 222 to rotate, one side of the steel brush 222 is provided with a dust suction nozzle 224, the dust suction nozzle 224 is connected to a dust collection device 226 through a dust suction hose 225, the dust collection device 226 is arranged on the turntable, the dust collection device 226 is provided with a dust collection pipe 227, and the dust collection pipe 227 is communicated with; the dust collecting pipe 227 is bypassed by a mouthpiece 228, the mouthpiece 228 is fixed to the second mounting bracket 119, and the mouthpiece 228 is connected to a flow control valve. The remote monitoring system comprises a cloud platform, the industrial router is in communication connection with the cloud platform, and the control system is in communication connection with the industrial router and transmits the equipment information of the robot main body to the cloud platform; the control system comprises a controller and a coordinate acquisition system, the coordinate acquisition system is used for recording the coordinate position of each welding point of the production line relative to a preset origin, the machine vision system 206 is connected with the controller through a lead, the first motor 105, the second motor 112, the third motor 115, the fourth motor 125, the fifth motor 207, the sixth motor 223, the cleaning motor 220 and the hammering cylinder 216 are connected with the controller through leads, and the controller controls the first motor 105, the second motor 112, the third motor 115, the fourth motor 125, the fifth motor 207, the sixth motor 223, the cleaning motor 220 and the hammering cylinder 216 according to the information recorded by the coordinate acquisition system and the information acquired by the machine vision system; a displacement sensor is arranged on the measuring rack 200, two ends of the stroke of the measuring rack 200 are provided with anti-collision switches, the upper end and the lower end of the first mounting frame 113 are provided with limit switches for controlling the up-down stroke of the mounting adjusting plate, the supporting wheel 108 is in elastic contact with the bottom plate 100, and the industrial router comprises a main chip, a radio frequency chip, a flash memory and an internal memory; the cloud platform comprises a login system, an equipment management system and an enterprise management system, wherein the login system is used for account registration and account login of a user; the equipment management system is used for remotely checking the information of all intelligent remote modules bound by the cloud platform and remotely maintaining the hardware processor; the enterprise management system is used for inputting enterprise information and enterprise names; the product management system is a subsystem of the equipment management system and is used for managing a hardware processor connected with the intelligent remote module, managing and modifying the type of the produced product and related parameters of the product, and displaying, monitoring and modifying related data of industrial equipment for producing the product. The hammering plate 214 is provided with a vibration switch, the vibration switch is communicated with a controller, the controller conducts ventilation operation on the blowing nozzle 218 according to a signal received by the vibration switch, vibration sensitivity of the vibration switch is adjustable, timeliness of the blowing nozzle 218 is guaranteed, and excessive resource waste is avoided. The machine vision system comprises a machine vision positioning system and a machine vision positioning system. And the control system controls each part of the robot according to the transmitted information on one hand, and transmits the received data to the industrial router on the other hand to complete backup.

In this embodiment, the robot is located on the production line, and then drives the motion through the chain drive of assembly line or other transmission modes, and this kind of mode is fit for adding the work piece and is not convenient for transport on the assembly line, then adopts the robot motion to carry out initiative transportation to the machined part. The production line is provided with a positioning system, and as the positions of welding points of a processed workpiece are known, position information of the processed workpiece needing welding is recorded, for example, an origin coordinate is defined, then coordinate information of each welding point relative to the origin is recorded into a controller, and the controller controls the first motor 105 according to the coordinate information of each welding point, so that the whole robot main body is controlled to be close to or far away from the welding points; carry out the control rotation to third motor 115, thereby accomplish the control to whole installation regulating plate 117 up-and-down motion, then the controller controls the second motor again, thereby control carousel 109 pivoted angle, wherein because the carousel is great, for the angle that carousel 109 rotated is guaranteed more accurately, this embodiment drives through gear ring 110 and measures the rack slip, then the gliding distance of record rack measures the angle that carousel 109 rotated, form the feedback mechanism, simultaneously crashproof switch has guaranteed that the carousel 109 main part can not appear because unexpected trouble is crossed and is rotated and cause the injury to the equipment on carousel 109, the security of equipment has been guaranteed. When a welding gun reaches a coordinate point where a welding spot is located, the controller controls the welding operation, after the welding is completed, a machine vision positioning system of a machine vision system captures the position of a coating generated by welding, then the controller controls the rotary motor 212 to reach the position, a piston rod of the knocking cylinder 216 extends out to drive the knocking hammer 217 to perform 1 knocking operation, a vibration switch on the mounting plate 215 obtains a vibration signal in the knocking process and transmits the vibration signal to the controller, the controller controls an electromagnetic switch valve connected with the blowing nozzle 218 according to the knocking signal to control the blowing operation of the blowing nozzle 218, meanwhile, the machine vision detection system transmits an acquired welding completion picture to the controller and compares the collected welding completion picture with a picture in a memory to judge the welding quality, repair welding operation is performed if insufficient welding and missing welding exist, after the welding of one welding spot is completed, the machine vision system transmits the obtained picture information to the controller, the controller judges whether welding slag is generated or not and the position of the generated welding slag according to the picture information, if the welding slag is generated, the controller and the cleaning motor 220 are controlled to drive the rocker arm 221 to be close to the welding slag, then the sixth motor 223 drives the steel brush to remove the slag, and meanwhile the dust collecting pipe 227 adsorbs the welding slag; the cigarette holder 228 is always smoking during the whole welding process, so that the sanitation of the workshop environment is ensured.

The driving screw 114 and the driven screw 204 are used for transmission, so that stable vertical bearing can be provided, the driving screw 114 and the driven screw 204 are the same screws, and the driving screw 114, the driven screw 204 and the driven screw form a triangle. Moreover, the upper end of the first guide shaft 126 is fixedly connected with the first mounting frame 113, the lower end of the first guide shaft 126 is fixedly connected with the turntable 109, the mounting adjusting plate 117 is sleeved on the first guide shaft 126, a linear bearing is arranged inside the mounting adjusting plate 117, and the linear bearing is matched with the first guide shaft 126.

The motors used in this embodiment are all servo motors, wherein the moving direction of the whole robot is always perpendicular to the straight line of the first guide rail 102.

In this embodiment, coordinate acquisition system, control system all with industry router communication connection, control system transmits the motion parameter and the position parameter of each part of robot for industry router, and industry router transmits information transmission for cloud platform again, and remote monitoring is carried out to the cloud platform again, and wherein, the cloud platform can be modified coordinate acquisition system's data to guarantee that the robot can be by the different solder joints of remote control welding.

And a video monitoring system and an alarm system are arranged in the automatic factory.

Example 2

As shown in fig. 1 to 7, the present embodiment is different from embodiment 1 in that a small wheel set is disposed below the bottom plate 100, the small wheel set includes a driving wheel set 140 and a steering wheel set 141, the driving wheel set 140 includes a driving wheel 142, the driving wheel 142 is connected by a driving shaft 143, a first driving gear 144 is disposed on the driving shaft 143, a driving motor 145 is disposed on a lower end surface of the bottom plate 100, the driving motor 145 is fixedly connected to the bottom plate 100, the driving motor 145 is connected to a second driving gear 146, the first driving gear 144 is engaged with the second driving gear 146, the driving motor 145 drives the driving wheel 142 to rotate by driving the second driving gear 146, wherein an axis of the driving shaft 143 is perpendicular to a straight line of the first guide rail set 102; the first guide shaft 126 is fixed on the first mounting frame 113, the steering wheel set 141 comprises an automatic navigation system, the robot provided by the embodiment is suitable for places with too long transmission lines or too high construction cost, and in order to ensure the correct walking of the robot, a factory should be provided with a track matched with the wheel set.

In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.

Claims

1. An automated remotely monitorable plant, comprising: the system comprises a remote monitoring system and an industrial router, wherein the industrial router is in communication connection with a welding production line in a factory, collects real-time data information of production line equipment and transmits the information to the remote monitoring system; the welding production line equipment comprises a robot main body for automatic production line welding and a control system for controlling the robot main body to move, wherein the robot main body comprises a bottom plate (100), a first rack (101) and a first guide rail group (102) are arranged on the bottom plate (100), and a welding manipulator (103) which moves linearly along the first guide rail group (102) is arranged on the first rack (101) and the first guide rail group (102); the welding manipulator (103) comprises a welding platform (104), supporting legs (127) are arranged below the welding platform (104), the supporting legs (127) are arranged on a first guide rail set (102) in a sliding mode, a walking power set is arranged on the lower end face of the welding platform (104), the walking power set comprises a first motor (105), an output shaft of the first motor (105) is coaxially connected with a first gear (106), the first gear (106) is meshed with a first rack (101), an installation rod (107) is arranged on one side of the first motor (105), a supporting wheel (108) is arranged at the bottom of the installation rod (107), and the supporting wheel (108) is in rolling contact with the bottom plate (100); a turntable (109) is mounted on a welding platform (104), a gear ring (110) is sleeved outside the turntable (109), the inner side surface of the gear ring (110) is in interference fit with the outer side surface of the turntable (109), a second gear (111) is meshed on one side of the gear ring (110), a measuring rack (200) is meshed on the other side of the gear ring (110), a second guide rail (201) is arranged on the welding platform (104), the bottom of the measuring rack (200) is arranged on the second guide rail (201) and slides along the second guide rail (201), a rotating shaft is mounted on the second gear (111) and penetrates through the welding platform (104), a second motor (112) is arranged below the welding platform (104), an output shaft of the second motor (112) is coaxially connected with the rotating shaft and drives the second gear (111) to rotate, and the gear ring (110) and the second gear (111) are meshed to drive the turntable (109) to rotate; a first mounting frame (113) is arranged on the turntable (109), a driving screw rod (114) is mounted on the first mounting frame (113), the upper end of the driving screw rod (114) is connected with the first mounting frame (113), the lower end of the driving screw rod is connected with the turntable (109), a third motor (115) is mounted at the upper end of the driving screw rod (114), the third motor (115) is fixedly mounted on the first mounting frame (113), a transmission gear (202) is arranged at the upper end of the driving screw rod (114), transition gears (203) are meshed with the two sides of the transmission gear (202), the transition gears (203) are fixed on the first mounting frame (113), two driven screw rods (204) are further arranged on the first mounting frame (113) and are respectively and correspondingly arranged on the two sides of the driving screw rod (114), one end of each driven screw rod (204) is rotatably connected with the first mounting frame (113), the other end of each driven screw rod is rotatably connected with the turntable (109), and a driven, the parameters of the transmission gear (202) and the driven gear (205) are the same, a welding assembly (116) is sleeved on the driving screw rod (114), the welding assembly (116) comprises an installation adjusting plate (117), the installation adjusting plate (117) is matched with the driving screw rod (114) and the driven screw rod (204), a third guide rail (250) in the vertical direction is arranged on the first installation frame (113), and the installation adjusting plate (117) falls on the third guide rail (250) and slides along the third guide rail (250); the third motor (115) drives the driving screw rod (114) and the transmission gear (202) to rotate, the transmission gear (202) drives the driven gear (205) to rotate at the same speed through the transition gear (203), the driven gear (205) drives the driven screw rod (204) to rotate, parameters of the driving screw rod (114) and the driven screw rod (204) are the same, the mounting adjusting plate (117) moves up and down through the driving of the driving screw rod and the driven screw rod (204), the mounting adjusting plate (117) is provided with the welding gun assembly (118), the welding gun assembly (118) comprises a second mounting frame (119), the second mounting frame (119) is fixed on the mounting adjusting plate (117), the second mounting frame (119) is provided with the mounting shaft (120), two ends of the mounting shaft (120) are rotatably connected with the second mounting frame (119) through bearings, the third gear (121) and the welding gun frame (122) for fixing a welding gun are arranged on the mounting, a fourth gear (123) is meshed with the third gear (121), a supporting plate (124) is arranged on the second mounting frame (119), a fourth motor (125) is mounted on the supporting plate (124), the fourth motor (125) is connected with the fourth gear (123) to drive the fourth gear (123) to rotate, a machine vision system (206) is arranged at the upper end of the second mounting frame (119), the machine vision system (206) comprises a fifth motor (207), the fifth motor (207) is connected with a first mounting shaft (208), a camera (209) is arranged on the first mounting shaft (208), and the fifth motor (207) drives the first mounting shaft (208) to rotate to drive the camera (209) to perform corner motion;

one side of welding gun subassembly (118) is provided with hammering device (210), hammering device (210) are installed on installation regulating plate (117), hammering device (210) are including hammering mounting bracket (211), the top of hammering mounting bracket (211) is provided with rotating electrical machines (212), rotating electrical machines (212) are connected with second installation axle (213), second installation axle (213) are gone up the cover and are provided with hammering board (214), hammering board (214) and second installation axle (213) articulate, the end fixing of second installation axle (213) is provided with horizontally mounting panel (215), the upside on mounting panel (215) is provided with hammering cylinder (216), the piston rod of hammering cylinder (216) passes through universal joint and hammering board (214) and connects, the one end of hammering board (214) has linked firmly strikes hammer (217), strike hammer (217) and hammering cylinder (216) and correspond the both sides that set up second installation axle (213) respectively; the mounting plate (215) is also provided with an air blowing nozzle (218), and the air blowing nozzle (218) is arranged on one side close to the knocking hammer (217); the other side of the welding gun component (118) is provided with a cleaning device (219), the cleaning device (219) comprises a cleaning motor (220), the cleaning motor (220) is connected with a rocker arm (221), the cleaning motor (220) drives the rocker arm (221) to rotate, one end of the rocker arm (221) is provided with a steel brush (222), the steel brush (222) is connected with a sixth motor (223), the sixth motor (223) drives the steel brush (222) to rotate, one side of the steel brush (222) is provided with a dust suction nozzle (224), the dust suction nozzle (224) is connected to a dust collecting device (226) through a dust suction hose (225), the dust collecting device (226) is arranged on the turntable, the dust collecting device (226) is provided with a dust collecting pipe (227), and the dust collecting pipe (227) is communicated with the dust; a cigarette holder (228) is arranged on the dust collecting pipe (227) in a bypass mode, the cigarette holder (228) is fixed on the second mounting rack (119), and the cigarette holder (228) is connected with a flow regulating valve;

the trolley wheel set is arranged below the bottom plate (100) and comprises a driving wheel set (140) and a steering wheel set (141), the driving wheel set (140) comprises a driving wheel (142), the driving wheel (142) is connected through a driving shaft (143), a first driving gear (144) is arranged on the driving shaft (143), a driving motor (145) is arranged on the lower end face of the bottom plate (100), the driving motor (145) is fixedly connected with the bottom plate (100), the driving motor (145) is connected with a second driving gear (146), the first driving gear (144) is meshed with the second driving gear (146), the driving motor (145) drives the driving wheel (142) to rotate through driving the second driving gear (146), and the axis of the driving shaft (143) is perpendicular to the straight line of the first guide rail set (102); a first guide shaft (126) is fixed on the first mounting frame (113), the upper end of the first guide shaft (126) is fixedly connected with the first mounting frame (113), the lower end of the first guide shaft (126) is fixedly connected with the turntable (109), an installation adjusting plate (117) is sleeved on the first guide shaft (126), a linear bearing is arranged inside the installation adjusting plate (117), and the linear bearing is matched with the first guide shaft (126);

the remote monitoring system comprises a cloud platform, the industrial router is in communication connection with the cloud platform, and the control system is in communication connection with the industrial router and transmits the equipment information of the robot main body to the cloud platform; the control system comprises a controller and a coordinate acquisition system, the coordinate acquisition system is used for recording coordinate positions of welding points of the production line relative to a preset origin, a machine vision system (206) is connected with the controller through a lead, a first motor (105), a second motor (112), a third motor (115), a fourth motor (125), a fifth motor (207), a sixth motor (223), a cleaning motor (220) and a hammering cylinder (216) are connected with the controller through leads, and the controller controls the first motor (105), the second motor (112), the third motor (115), the fourth motor (125), the fifth motor (207), the sixth motor (223), the cleaning motor (220) and the hammering cylinder (216) according to information recorded by the coordinate acquisition system and information acquired by the machine vision system; be provided with displacement sensor on measuring rack (200), the both ends of measuring rack (200) stroke are provided with crashproof switch, the upper end and the lower extreme of first mounting bracket (113) be provided with the limit switch who is used for controlling installation regulating plate vertical stroke, supporting wheel (108) and bottom plate (100) elastic contact.

2. An automated remotely monitorable factory according to claim 1 and wherein: the industrial router comprises a main chip, a radio frequency chip, a flash memory and a memory; the cloud platform comprises a login system, an equipment management system and an enterprise management system, wherein the login system is used for account registration and account login of a user; the equipment management system is used for remotely checking the information of all intelligent remote modules bound by the cloud platform and remotely maintaining the hardware processor; the enterprise management system is used for inputting enterprise information and enterprise names; the product management system is a subsystem of the equipment management system and is used for managing a hardware processor connected with the intelligent remote module, managing and modifying the type of the produced product and related parameters of the product, and displaying, monitoring and modifying related data of industrial equipment for producing the product.

3. An automated remotely monitorable factory according to claim 2 and wherein: the steering wheel set (141) comprises a driven wheel (147), a universal joint structure is formed between the driven wheel (147) and the bottom plate (100), a rotating rod is connected between the driven wheel (147) and the bottom plate, and two ends of the rotating rod are connected with the driven wheel through universal joints (148).