CN108942217A - A kind of gyro assembly device and method - Google Patents
A kind of gyro assembly device and method Download PDFInfo
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- CN108942217A CN108942217A CN201810924102.0A CN201810924102A CN108942217A CN 108942217 A CN108942217 A CN 108942217A CN 201810924102 A CN201810924102 A CN 201810924102A CN 108942217 A CN108942217 A CN 108942217A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Theoretical Computer Science (AREA)
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- Business, Economics & Management (AREA)
- Artificial Intelligence (AREA)
- Educational Administration (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
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Abstract
The purpose of the present invention is to provide a kind of gyro assembly device and method, for solving the technical issues of carrying out the simulated training of industrial robot application technology to student.A kind of gyro assembly device and method, including two practical traning platforms, warehouse for finished product, four axis robot cells, transmission unit, six-joint robot unit, vision-based detection module, transition frame, raw material pallet, mobile robot unit, raw material pallet rack；A kind of scientific and reasonable gyro assembly method of innovative design of the present invention, to apply a variety of industrial robot the relevant technologies make student more efficiently grasp relevant knowledge by comprehensive practical traning.
Description
Technical field
The present invention relates to robot actual training device technical field, specifically a kind of gyro assembly device and method.
Background technique
With the depth of industrial robot development and the raising of range and intelligent robot level, industrial robot exists
Various fields are applied.Under made in China 2025, industrial 4.0 overall background, the outburst of robot market becomes hot spot.In
State has been the global biggest market of industrial robot, and currently, the development bottleneck of robot is not production capacity, but market does not have
Enough talents are especially engaged in industrial robot maintenance, the application of visual identifying system, robot workstation's installation and adjust
The technical skills type talent that examination, industrial robot system integrate.
It is less for the robot Practical training equipment of student's training in the prior art, and functional knowledge point is single etc..Therefore,
Need to provide a kind of technical solution to solve deficiency in the prior art.
The patent of application number 2018205809270 discloses multiple types Industrial Robot Technology application experience system, is this
A basic patent and the present invention for invention is same applicant.
Summary of the invention
The purpose of the present invention is to provide a kind of gyro assembly device and method, carry out industrial machine to student for solving
The technical issues of people's application technology simulated training.
It is as follows that the present invention solves the technical solution that its technical problem is taken.
A kind of gyro assembly equipment, including 1, No. two practical traning platform 2 of No.1 practical traning platform, the mounting arrangements on two practical traning platforms
There are warehouse for finished product 3, four axis robot cells 4, transmission unit 5, six-joint robot unit 6, vision-based detection module 7, transition frame 8, original
Material torr disk 9, mobile robot unit 10, raw material pallet rack 11；Each components of mouse deposit in raw material pallet 9, moving machine
Device people unit 10 is responsible for transport pallet to transition frame 8, and then four axis robot cells 4 and the cooperation of six-joint robot unit 6 are completed
The assembly and storage of gyro.
The robot actuating station of the six-joint robot unit 6 is equipped with a kind of dedicated gripper fixture 21 of gyro).
A kind of gyro assembly equipment, characterized in that assembly transhipment disk 31 is located on transmission unit 5, assembly transhipment
Disk 31 divides for multiple stations, places gyro main body 61 respectively and places gyro counterweight 62.Transmission unit 5 uses lead screw guide rails knot
Structure, two secondary guide rails 32 are located at two sides, are oriented to when can move for assembly transhipment disk 31, are also done when assembly transhipment disk 31 assembles
For main support member.It is main gear unit among structure that lead screw 33, which is located at, and one end is connected with power source motor 34
It connects.
Punching press assembling structure 41 among transmission unit 5, using Pneumatic stamping assembly method, pressing block 42 and punching press
Cylinder 43 connects, and stamping cylinder 43 is mounted on the transhipment disk 31 of the assembly 44 in stamped bracket, on transmission unit 5 in four axis robots
It is sent to six-joint robot unit 6 by transmission unit 5 after complete material at unit 4 to be assembled, after the assembly is completed, then by transmitting
Unit 5 is sent at punching press assembling structure 41, and stamping cylinder 43 acts, and pressing block 42 is driven to act, will be on assembly transhipment disk 31
Components in rigging position carry out punching press assembly.
Equipment reduction procedure: the modules such as removal mobile robot unit 10, raw material pallet rack 11, transition frame 8, with original
Expect that library 51 replaces, as equipment is simplified, still can carry out industrial robot the relevant technologies training.
A kind of gyro assembly method, characterized in that include the following steps:
Step S1: each moving component is kept in the center；Gyro components are on deck；It presses on entity control button or touch screen
Start button；
Step S2: mobile robot unit 10 acts, and bears a raw material pallet 9 from raw material pallet rack 11 and is transported to transition
The corresponding position of frame 8；
S3: four axis robot cell 4 of step movement；Gyro clump weight above 7 camera detection raw material pallet 9 of vision-based detection module
62, it identifies color, two kinds of results occurs:
A. without the desired color of task, mobile robot unit 10 is acted, and raw material pallet 9 is transported back to original place, step is repeated
S2, the raw material pallet 9 more renewed, vision-based detection module 7 detect again；
B. it is the desired color of task, executes step S6, clamp gyro clump weight 62, is transported to and turns the corresponding of assembly transhipment disk 31
Position；
S4: four axis robot cell 4 of step movement, switches to pneumatic three-finger paw 23；
S5: four axis robot cell 4 of step movement clamps gyro main body 61 to the corresponding of assembly transhipment disk 31 from raw material pallet 9
Position；
Step S6: repeating step S4, switch to pneumatic two finger paw 22, clamps gyro clump weight 62 in three times, is transported to and turns dress
Corresponding position with transhipment disk 31；
Step S7: motor 34 drives transmission unit 5 to act, and reaches the operating position of six-joint robot unit 6；
Step S8: six-joint robot unit 6 acts, and switches to pneumatic two finger paw 22, and the gyro on assembly transhipment disk 31 is matched
Pouring weight 62 is assembled in gyro main body 61；
Step S9: motor 34 drives transmission unit 5 to act, and reaches at the punching press assembling structure 41 being located among transmission unit 5, punching
It is pressed distribution structure 41 to act, the gyro clump weight 62 on assembly transhipment disk 31 is stamped into gyro main body 61；
Step S10: motor 34 drives transmission unit 5 to act, and reaches the operating position of six-joint robot unit 6；Six-joint robot
Unit 6 acts, and switches to pneumatic two finger paw 23, and the gyro finished product that the assembly on assembly transhipment disk 31 is completed is picked up and is placed into
On warehouse for finished product 3.
Beneficial effects of the present invention are as follows.
1, major function equipment of the invention is all made of direct exposed installation, is more conducive to the observation of student；Close to now
Field is practical, and the task model of the equipment is industry spot mainstream technology application, adapts to the hair of current intelligence manufacture control technology
Exhibition, can satisfy student test, Course Exercise, the demand of engineering is accepted by the needs of graduation project and school；Shorten student
Transition and adaptation time from classroom to industry spot.
2, by multiple independent functional module assembly and connections in the present invention, using and combining for system is more flexible, can
Meet the requirement of the plurality of kinds of contents such as experiment and real training.
3, present system is strong, this platform is by four axis robots, six-joint robot, mobile robot, vision system, shifting
Mobile robot Path Planning Technique etc. rolls into one, and is capable of the multiple control modes of real simulation industry spot, enables student
Carry out the systematization study of automation control.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is a kind of dedicated gripper fixture schematic diagram of gyro.
Fig. 4 is transmission unit schematic diagram.
Fig. 5 is punching press assembling structure schematic diagram.
Fig. 6 is raw material storage schematic diagram.
Fig. 7 is gyro components perspective view of the explosion.
Fig. 8 is equipment rough schematic view.
In figure: 1. No.1 practical traning platforms；2. No. two practical traning platforms；3. warehouse for finished product；4. four axis robot cells；5. transmission unit；
6. six-joint robot unit；7. vision-based detection module；8. transition frame；9. raw material pallet；10. mobile robot unit；11. former
Material torr disk rack；12. industry control touch screen；21. dedicated gripper fixture；22. liang finger paw；23. three-finger paw；31. assembly turns
Transport disk；32. guide rail；33. lead screw；34. motor；41. punching press assembling structure；42. pressing block；43. stamping cylinder；44. punching press branch
Frame；51. raw material storage；61. gyro main body；62. gyro counterweight.
Specific embodiment
Specific embodiment is further illustrated with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of gyro assembly equipment, including 1, No. two practical traning platform 2 of No.1 practical traning platform, in two real trainings
Mounting arrangements have warehouse for finished product 3, four axis robot cells 4, transmission unit 5, six-joint robot unit 6, vision-based detection mould above platform
Block 7, transition frame 8, raw material pallet 9, punching press assembling structure 41, mobile robot unit 10, raw material pallet rack 11；Gyro is each
Components deposit in raw material pallet 9, and mobile robot unit 10 is responsible for transporting raw material pallet 9 to transition frame 8, then four axis machines
The assembly and storage of gyro are completed in people's unit 4 and the cooperation of six-joint robot unit 6.
The robot actuating station of the six-joint robot unit 6 is equipped with a kind of dedicated gripper fixture 21, includes one
Pneumatic two finger paw 22 and a pneumatic three-finger paw 23, two grippers are mounted in a fixed plate, form a kind of dedicated hand
Claw clip tool 21 is mounted on and two fingers and three finger working conditions can be achieved on four axis robot cells 4 or six-joint robot unit 6
Free switching.
The transmission unit 5, thereon comprising assembly transhipment disk 31, assembly transhipment disk 31 divides for multiple stations, puts respectively
It sets gyro main body 61 and places gyro counterweight 62.The structure of transmission unit 5 uses lead screw guide rails structure, and two secondary guide rails 32 are located at two
Side is oriented to, also when assembly transhipment disk 31 is assembled as main support member when can move for assembly transhipment disk 31.Silk
It is main gear unit among structure that thick stick 33, which is located at, and one end is connected with power source motor 34.
The punching press assembling structure 41, using Pneumatic stamping assembly method, pressing block 42 is connect with stamping cylinder 43, punching
Air cylinder 43 be mounted on the transhipment disk 31 of the assembly 44 in stamped bracket, on transmission unit 5 at the four axis robot cells 4 on complete material
Six-joint robot unit 6 is sent to by transmission unit 5 afterwards to be assembled, and after the assembly is completed, then punching is sent to by transmission unit 5
It is pressed at distribution structure 41, the movement of stamping cylinder 43 drives pressing block 42 to act, and will be in rigging position on assembly transhipment disk 31
Components carry out punching press assembly.
Equipment reduction procedure: the modules such as removal mobile robot unit 10, raw material pallet rack 11, transition frame 8, with original
Expect that library 51 replaces, as equipment is simplified, still can carry out industrial robot the relevant technologies training.
A kind of gyro assembly method, characterized in that standard device includes the following steps:
Step S1: each moving component is kept in the center；Gyro components are on deck；Assembly transhipment disk 31 is on transmission unit 5
Four axis robots, 4 one end；Press the start button on entity control button or touch screen；
Step S2: mobile robot unit 10 acts, and bears a raw material pallet 9 from raw material pallet rack 11 and is transported to transition
The corresponding position of frame 8；
S3: four axis robot cell 4 of step movement；Gyro clump weight above 7 camera detection raw material pallet 9 of vision-based detection module
62, it identifies color, two kinds of results occurs:
A. without the desired color of task, mobile robot unit 10 is acted, and raw material pallet 9 is transported back to original place, step is repeated
S2, the raw material pallet 9 more renewed, vision-based detection module 7 detect again；
B. it is the desired color of task, executes step S6, clamp gyro clump weight 62, is transported to and turns the corresponding of assembly transhipment disk 31
Position；
S4: four axis robot cell 4 of step movement, switches to pneumatic three-finger paw 23；
S5: four axis robot cell 4 of step movement clamps gyro main body 61 to the corresponding of assembly transhipment disk 31 from raw material pallet 9
Position；
Step S6: repeating step S4, switch to pneumatic two finger paw 22, clamps gyro clump weight 62 in three times, is transported to and turns dress
Corresponding position with transhipment disk 31；
Step S7: motor 34 drives transmission unit 5 to act, and reaches the operating position of six-joint robot unit 6；
Step S8: six-joint robot unit 6 acts, and switches to pneumatic two finger paw 22, and the gyro on assembly transhipment disk 31 is matched
Pouring weight 62 is assembled in gyro main body 61；
Step S9: motor 34 drives transmission unit 5 to act, and reaches at the punching press assembling structure 41 being located among transmission unit 5, punching
It is pressed distribution structure 41 to act, the gyro clump weight 62 on assembly transhipment disk 31 is stamped into gyro main body 61；
Step S10: motor 34 drives transmission unit 5 to act, and reaches the operating position of six-joint robot unit 6；Six-joint robot
Unit 6 acts, and switches to pneumatic two finger paw 23, and the gyro finished product that the assembly on assembly transhipment disk 31 is completed is picked up and is placed into
On warehouse for finished product 3.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, based on the technical solution of the present invention, those skilled in the art, which do not need to pay for creative labor, to be done
Various modifications or changes out are still within the scope of the present invention.
Claims (7)
1. a kind of gyro assembly equipment, including No.1 practical traning platform (1), No. two practical traning platforms (2), install cloth on two practical traning platforms
It is equipped with warehouse for finished product (3), four axis robot cells (4), transmission unit (5), six-joint robot unit (6), vision-based detection module
(7), transition frame (8), raw material pallet (9), mobile robot unit (10), raw material pallet rack (11)；Each components of gyro
It deposits in raw material pallet (9), mobile robot unit (10) is responsible for transporting raw material pallet (9) to transition frame (8), then four axis machines
The assembly and storage of gyro are completed in device people unit (4) and six-joint robot unit (6) cooperation.
2. a kind of gyro assembly equipment according to claim 1, characterized in that the robot of four axis robot cells (4)
Actuating station is equipped with a kind of dedicated gripper fixture (21) of gyro and vision-based detection module (7), dedicated gripper fixture (21) point
It is not mounted on four axis robot cells (4) and six-joint robot unit (6).
3. a kind of gyro assembly equipment according to claim 1, characterized in that assembly transhipment disk (31) is located at transmission unit
(5) on, assembly transhipment disk (31) is divided into multiple stations, places each components of gyro respectively；Transmission unit (5) uses lead screw guide rails
Structure, lead screw (33) one end are connected with motor (34).
4. a kind of gyro assembly equipment according to claim 1, characterized in that be located at transmission unit (5) intermediate punching press
Assembling structure (41), using punching press assembly method, pressing block (42) is connect with punching cylinder, and punching cylinder is mounted in stamped bracket
(44).
5. a kind of gyro assembly equipment according to claim 1, characterized in that removal mobile robot unit (10), original
The modules such as material torr disk rack (11), transition frame (8), No. two practical traning platforms (2), with raw material storage (51) replacement, as simplify equipment,
Still industrial robot the relevant technologies training can be carried out.
6. a kind of gyro assembly equipment according to claim 1, characterized in that dedicated gripper fixture (21) includes two kinds of gas
It starts to refer to, two finger mounteds form a kind of dedicated gripper fixture (21) in a fixed plate.
7. a kind of gyro assembly method, characterized in that include the following steps:
Step S1: each moving component is kept in the center；Gyro components are on deck；It presses on entity control button or touch screen
Start button；
Step S2: mobile robot unit (10) movement is born a raw material pallet (9) from raw material pallet rack (11) and is transported
To the corresponding position of transition frame (8)；
S3: four axis robot cell (4) of step movement；The gyro of vision-based detection module (7) camera detection raw material pallet (9) above
Clump weight (62) identifies color, two kinds of results occurs:
A. without the desired color of task, mobile robot unit (10) movement is transported raw material pallet (9) to original place back, is repeated
Step S2, the raw material pallet (9) more renewed, vision-based detection module (7) detect again；
B. it is the desired color of task, executes step S6, clamp gyro clump weight (62), is transported to the phase of assembly transhipment disk (31)
Answer position；
S4: four axis robot cell (4) of step movement, switches to corresponding Pneumatic paw；
S5: four axis robot cell (4) of step movement transports disk from raw material pallet (9) clamping gyro main body (61) to assembly
(31) corresponding position；
Step S6: repeating step S4, switches to corresponding Pneumatic paw, clamps gyro clump weight (62), is transported to and turns assembly turn
Transport the corresponding position of disk (31)；
Step S7: motor (34) drives transmission unit (5) movement, reaches the operating position of six-joint robot unit (6)；
Step S8: six-joint robot unit (6) movement switches corresponding Pneumatic paw, by the gyro in assembly transhipment disk (31)
Clump weight (62) is assembled on gyro main body (61)；
Step S9: motor (34) drives transmission unit (5) movement, reaches and is located at transmission unit (5) intermediate punching press assembling structure
(41) at, the gyro clump weight (62) in assembly transhipment disk (31) is stamped into gyro main body by punching press assembling structure (41) movement
(61) on；
Step S10: motor (34) drives transmission unit (5) movement, reaches the operating position of six-joint robot unit (6)；Six axis
Robot cell (6) movement, cuts corresponding Pneumatic paw, and the gyro finished product that the assembly in assembly transhipment disk (31) is completed is picked up
It is placed on warehouse for finished product (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810924102.0A CN108942217A (en) | 2018-08-11 | 2018-08-11 | A kind of gyro assembly device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810924102.0A CN108942217A (en) | 2018-08-11 | 2018-08-11 | A kind of gyro assembly device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942217A true CN108942217A (en) | 2018-12-07 |
Family
ID=64469801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810924102.0A Pending CN108942217A (en) | 2018-08-11 | 2018-08-11 | A kind of gyro assembly device and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732338A (en) * | 2018-12-29 | 2019-05-10 | 北京发那科机电有限公司 | A kind of finger tip gyro assembly system and assembly method |
| CN110587306A (en) * | 2019-10-27 | 2019-12-20 | 陈芳 | Automatic production line for aerial rotating flying gyro |
| CN111037555A (en) * | 2019-12-17 | 2020-04-21 | 杭州芯控智能科技有限公司 | Equipment for automatically assembling impeller assembly of deep well pump |
| CN111618577A (en) * | 2020-06-04 | 2020-09-04 | 安徽机电职业技术学院 | Automatic assembling equipment for fingertip gyroscope |
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| JPH05185334A (en) * | 1992-01-10 | 1993-07-27 | Canon Inc | Automatic assembling method |
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| CN107081759A (en) * | 2017-06-14 | 2017-08-22 | 南京信息职业技术学院 | Dish prize disk flexible assembly system |
| CN108247641A (en) * | 2018-01-24 | 2018-07-06 | 安徽海思达机器人有限公司 | A kind of robot training platform |
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| JPH03111139A (en) * | 1989-09-22 | 1991-05-10 | Oki Electric Ind Co Ltd | Qfp forming device having automatic transport function |
| JPH05185334A (en) * | 1992-01-10 | 1993-07-27 | Canon Inc | Automatic assembling method |
| CN204815653U (en) * | 2015-07-01 | 2015-12-02 | 中山市龙宁自动化设备有限公司 | Semi -automatic kludge of rotatory top |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732338A (en) * | 2018-12-29 | 2019-05-10 | 北京发那科机电有限公司 | A kind of finger tip gyro assembly system and assembly method |
| CN110587306A (en) * | 2019-10-27 | 2019-12-20 | 陈芳 | Automatic production line for aerial rotating flying gyro |
| CN110587306B (en) * | 2019-10-27 | 2021-09-21 | 南京六合高新建设发展有限公司 | Automatic production line for aerial rotating flying gyro |
| CN111037555A (en) * | 2019-12-17 | 2020-04-21 | 杭州芯控智能科技有限公司 | Equipment for automatically assembling impeller assembly of deep well pump |
| CN111618577A (en) * | 2020-06-04 | 2020-09-04 | 安徽机电职业技术学院 | Automatic assembling equipment for fingertip gyroscope |
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