CN207050669U - A kind of modified production line - Google Patents

Abstract

The utility model discloses a kind of modified production line, including at least one machining cell and a detection unit, machining cell is connected with detection unit, and each machining cell and detection unit include a frame and the shield being located in frame, and shield is provided with least one visualization window；Detection unit includes X-axis module and Y-axis module, wherein X-axis module includes X-axis base, section brace frame, X-axis servomotor, X-axis connecting plate, first sensor, second sensor, sensor installing plate, Y-axis module includes Y-axis base and the slide rail being arranged on Y-axis base, Y-axis servomotor, shaft coupling, screw mandrel, screw mandrel fixed seat, Y-axis base is vertically arranged with X-axis base, and slide rail be arranged in parallel with screw mandrel；Y-axis servomotor is connected by shaft coupling with screw mandrel；Screw mandrel fixed seat is connected on screw mandrel, and is connected to together with slide rail on X-axis connecting plate.It can make each machining cell connection in producing line more convenient, accuracy in detection raising.

Description

A kind of modified production line

Technical field

Technical field of industrial equipment is the utility model is related to, particularly relates to a kind of modified production line.

Background technology

In the prior art, in being processed for industrial production, it usually needs complete production line completes the system of product Make, then complete to detect via detection station, detect qualified rear packing.But a whole producing line once arranges, and moves Coming will be cumbersome；Two come be exactly for prepare complete product detect, completed typically by artificial detection, no The accuracy rate of only artificial detection is difficult to ensure that, and cost of labor is of a relatively high, is unfavorable for the production application of enterprise.

Therefore, utility model people of the present utility model needs a kind of new technology of design badly to improve its problem.

Utility model content

The utility model aims to provide a kind of modified production line, and it can be such that each machining cell in producing line connects more It is convenient.

In order to solve the above technical problems, the technical solution of the utility model is：

A kind of modified production line, including：At least one machining cell and a detection unit, the machining cell with it is described Detection unit connects, and each machining cell and the detection unit include a frame and the shield being located in the frame Cover, the shield are provided with least one visualization window；

The detection unit includes X-axis module and Y-axis module, wherein the X-axis module includes X-axis base, section brace Frame, X-axis servomotor, X-axis connecting plate, first sensor, second sensor, sensor installing plate, the X-axis base and described X-axis servomotor is each attached to the side of the section brace frame, and the sensor installing plate is fixedly installed on the X-axis base The remote section brace frame side, the first sensor and the second sensor are arranged at the sensor peace In loading board, the X-axis connecting plate is fixedly installed on the lower section of the X-axis base and the section brace frame；

The Y-axis module include Y-axis base and be arranged on the Y-axis base slide rail, Y-axis servomotor, shaft coupling, Screw mandrel, screw mandrel fixed seat, the Y-axis base are vertically arranged with the X-axis base, and the slide rail be arranged in parallel with the screw mandrel； The Y-axis servomotor is connected by the shaft coupling with the screw mandrel；The screw mandrel fixed seat is connected on screw mandrel, and with institute Slide rail is stated to be connected to together on the X-axis connecting plate.

Preferably, the detection unit also includes at least one gantry support, and its one end is connected with the Y-axis module, separately One end is fixedly installed on the workbench of the frame, and reinforcement is provided between the Y-axis module and the gantry support.

Preferably, in addition to multiple flexible delivery units, between machining cell described in each two, machining cell and the inspection Connected between survey unit by flexible delivery unit.

Preferably, the flexible delivery unit includes a board and case, and described case is a framework, and it is located at machine On platform, and the case specifically includes the lower surface of four sides, a upper surface and an opening, on the relative side of two of which The opening passed through for first streamline is respectively provided with, size and size and the board of the lower surface match；Machine The upper surface of platform is the first workbench, and the first streamline, the first streamline both ends difference are provided with first workbench Provided with connecting mechanism.

Preferably, the shield and/or the case are provided with a man-machine interaction unit.

Preferably, the man-machine interaction unit includes the one or more in touch-screen, button, indicator lamp.

Preferably, the button includes scram button, SR, start button, manual/auto select button.

Preferably, the first sensor is color sensor, and the second sensor is displacement transducer.

Preferably, the visualization window is transparent glass door.

Preferably, the lower end of the board and/or the frame is provided with four export-oriented wheels.

Using above-mentioned technical proposal, the utility model comprises at least following beneficial effect：

Modified production line described in the utility model, it is not only easy for installation, it is easy to remove, while its automatic detection unit Setting, also cause detection accuracy rate improve.And on its shield visualization window setting, be easy to inside facilities for observation Running, is not only convenient for industrial detection and maintenance, while is readily applicable to teaching field, improves the ability of practice of student.

Brief description of the drawings

Fig. 1 is the structural representation (omitting shield and frame) of detection unit described in the utility model；

Fig. 2 is the structural representation (omitting shield) of detection unit described in the utility model；

Fig. 3 is the structural representation of the frame of detection unit described in the utility model；

Fig. 4 is the structural representation of shield described in the utility model；

Fig. 5 is the structural representation (omitting shield) of flexible delivery unit described in the utility model；

Fig. 6 is that detection unit described in the utility model (omits shield with the structural representation after the assembling of flexible delivery unit Cover)；

Fig. 7 a are the structural representation of cylinder assembled unit described in the utility model；

Fig. 7 b are cylinder drive control unit described in the utility model and the structural representation after the assembling of flexible delivery unit Scheme (omitting shield)；

Fig. 8 a are the structural representation of robot cell described in the utility model；

Fig. 8 b are that the structural representation after robot cell described in the utility model assembles with flexible delivery unit (omits Shield)；

Fig. 9 is the structural representation (omitting shield) after two flexible delivery unit assemblings；

Figure 10 is the robot model in an embodiment.

Wherein：1. detection unit, 11.X Axle mould groups, 111.X axle bases, 112. section brace framves, 113.X axles servo electricity Machine, 114.X axis connection plates, 115. first sensors, 116. second sensors, 117. sensor installing plates, 12.Y Axle mould groups, 121.Y axle bases, 122. slide rails, 123.Y axle servomotors, 124. shaft couplings, 125. screw mandrels, 126. screw mandrel fixed seats, 127. Screw mandrel fixation holder assembly, 13. gantry supports, 14. reinforcements, 2. frames, 21. workbenches, 22. export-oriented wheels, 3. shields, 31. Visualization window, 32. touch-screens, 33. buttons, 34. indicator lamps；4. flexible delivery unit, 41. first workbench, 42. second works Make platform, 43. first streamlines, 44. second streamlines, 45. connecting mechanisms；5. cylinder drive control unit, the combination of 51. cylinders is single Member, 52. first cylinders, 53. second cylinders, 54. the 3rd cylinders, 55. the 4th cylinders, 56. the 5th cylinders；6. robot cell, 61. six axis robot, 62. material holding structures, 7. robot models.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment obtained, belong to the scope of the utility model protection.

As shown in Figures 1 to 9, to meet a kind of modified production line of the present utility model, including：At least one work sheet Member and a detection unit 1, the machining cell are connected with the detection unit 1, and each machining cell and the detection are single Member 1 includes a frame 2 and the shield 3 being located in the frame 2, the shield 3 are provided with least one visualization window 31；

The detection unit 1 includes X-axis module 11 and Y-axis module 12, wherein the X-axis module 11 includes X-axis base 111st, section brace frame 112, X-axis servomotor 113, X-axis connecting plate 114, first sensor 115, second sensor 116, biography Sensor installing plate 117, the X-axis base 111 and the X-axis servomotor 113 are each attached to the one of the section brace frame 112 Side, the sensor installing plate 117 are fixedly installed on the side of the remote section brace frame 112 of the X-axis base 111, The first sensor 115 and the second sensor 116 are arranged on the sensor installing plate 117, the X-axis connection Plate 114 is fixedly installed on the lower section of the X-axis base 111 and the section brace frame 112；

The Y-axis module 12 includes Y-axis base 121 and the slide rail 122 being arranged on the Y-axis base 121, Y-axis servo Motor 123, shaft coupling 124, screw mandrel 125, screw mandrel fixed seat 126, the Y-axis base 121 is vertical with the X-axis base 111 to be set Put, the slide rail 122 be arranged in parallel with the screw mandrel 125；The Y-axis servomotor 123 by the shaft coupling 124 with it is described Screw mandrel 125 connects；The screw mandrel fixed seat 126 is connected on screw mandrel 125, and is connected to the X-axis together with the slide rail 122 On connecting plate 114.Certainly, the present embodiment can also include screw mandrel fixation holder assembly 127, and it is arranged on the one of the leading screw 125 End, for realizing the fixation with the Y-axis base 12.

Preferably, the detection unit 1 also includes at least one gantry support 13, and its one end connects with the Y-axis module 12 Connect, the other end is fixedly installed on the workbench 21 of the frame 2 (preferably, to be reserved with multiple on the workbench 21 Mounting hole, matching mounting hole is also reserved on the gantry support 13 accordingly, then realized and fixed by screw).This Gantry support 13 is preferably 2 in embodiment, for supporting whole detection unit 1.

Preferably, the detection unit 1 also includes reinforcement 14, and it is arranged on the Y-axis module 12 and gantry branch It is more steady when running whole detection unit 1 for strengthening the supporting role of gantry support 13 between frame 13.

For detection unit 1, because X-axis module 11 and Y-axis module 12 are set in a manner of perpendicular to one another, therefore can pass through Detection (X-axis and Y direction and above-mentioned the X-axis module 11 and Y-axis mould of the X-axis and Y direction to product are realized in the cooperation of the two In-plane where group 12 is consistent).Specifically, Y-axis servomotor 123 is connected by shaft coupling 124 with screw mandrel 125, so as to Screw mandrel 125 is driven to rotate forward or invert, the component (X-axis module 11) for making to be connected on screw mandrel 125 advances or retreated (by institute State screw mandrel fixed seat 126 to be connected on screw mandrel 125, and be connected to together with the slide rail 122 on the X-axis connecting plate 114, institute State whole X-axis module 11 to be also secured on the X-axis connecting plate 114, the motion of such screw mandrel 125 has just driven whole X-axis The motion of module 11), it is more steady that the setting of parallel sliding track 122 make it that the motion of screw mandrel 125 is got up.In on X-axis module 11, its The motion of module is controlled by X-axis servomotor 113, it is whether qualified using sensor detection product, it is accurate to increase substantially detection True rate.Sensor is mainly used in detection to article, identification, sorting etc., therefore the present embodiment can be applicable in commercial Application In a variety of industrial occasions, it is of course also possible to be applied to teaching field, facilitate observation of students and understand the detection step in production practices Suddenly.

Preferably, in addition to multiple flexible delivery units 4, between machining cell described in each two, machining cell with it is described Connected between detection unit 1 by flexible delivery unit 4.

Preferably, the flexible delivery unit 4 includes a board and case, and described case is a framework, and it is located at On board, and the case specifically includes the lower surface of four sides, a upper surface and an opening, the relative side of two of which On be respectively provided with the opening passed through for first streamline 43, size and size and the board phase of the lower surface Match somebody with somebody；The upper surface of board is the first workbench 41, and the first streamline 43, first flowing water are provided with first workbench 41 The both ends of line 43 are respectively equipped with connecting mechanism 45.The flexible delivery unit 4 also includes the second streamline 44, second streamline 44 are arranged on the second workbench 42 inside the equipment rack 2, and second workbench 42 is located at first workbench 41 underface.Preferably, the connecting mechanism 45 is a card interface, and it can be realized is fixedly connected with other card interfaces, Concrete shape is referring to accompanying drawing.By the setting of the connecting mechanism 45, the connection from different machining cells can be not only realized, simultaneously The connection of multiple flexible delivery units 4 can also be realized.

Preferably, the shield 3 and/or the case are provided with a man-machine interaction unit.

Preferably, the man-machine interaction unit includes a kind of or more in touch-screen 32, button 33, indicator lamp 34134 Kind.

Preferably, the button 33 is pressed including scram button 33, SR 33, start button 33, manual/auto selection Button 33.

Preferably, the first sensor 115 is color sensor (preferably, for by detecting material in product Color judges whether product is qualified), the second sensor 116 is displacement transducer (preferably, for by detecting product The distance of middle material judges whether product lacks material).

Preferably, the visualization window 31 is transparent glass door, is easy to observe and opens maintenance, operation etc..

Preferably, the lower end of the board and/or the frame 2 is provided with four export-oriented wheels 22, easy to remove, can be applicable Factory and the different size in laboratory.

The relevant parameter such as the concrete composition of all parts and selection in the present embodiment is exemplified below.

(1. the specific setting of the upper surface of frame 2 can be set frame 2 according to different machining cells in the present embodiment Meter, it can be designed that the installation position consistent with machining cell, and to achieve a fixed connection, the present embodiment is not gone to live in the household of one's in-laws on getting married to this State, those skilled in the art should know).

The frame 2 is made up of big plate, acrylic, sheet metal shell, 4 export-oriented wheels 22.

Design parameter is as follows：

Big plate：S45C

Acrylic：Transparent acrylic

Sheet metal shell：Flat board light baking vanish white

Extroversion wheel 22：GD-100F meter Si meter

2. man-machine interaction unit

Man-machine interaction unit is mainly made up of touch-screen 32, button 33, indicator lamp 34134.

Concrete model is as follows：

1) touch-screen 32 is using Mitsubishi's brand

Model：GS2110-WTBD

COM1：RS232/RS422/USB

Display size：10 cun

Resolution ratio：800*840

Program capacity：9MB

Power port：DC24V power supplys

Appearance and size (W*H*D)：272*214*56(mm)

Operating temperature：0~55 DEG C

Working relative humidity：30%~85%RH (frozen-free)

Storage temperature：- 20~60 DEG C

2) button 33 obtains brand using day

Start button 33：TN2BFG-1A

SR 33：TN2BFY-1A

Scram button 33：TN2BFR-1A

3) two Omrons of switching button 33：A22W-2M-24A-10

4) three Omrons of switching button 33：A22W-3M-24A-20

5) tri coloured lantern obtains brand (model using day：OYL-3CDF60A-A)

3. sensor

Sensor mechanism execution unit, completed by multiple combinations such as module, slide rail 122, cylinders, the motion of sensor. Sensor in the present embodiment can be adjusted correspondingly according to the use demand of reality, however it is not limited to color sensor and position Displacement sensor, it can also be other series sensors.

1) fibre optical sensor E32-ZD200 2M

Brand：Omron

Detection mode：Reflection-type

Size：M6

Detect direction：Linear pattern

Detecting distance：300mm

Fiber amplifier E3X-NA11 2M

Brand：Omron

Supply voltage：DC12~24V ± 10% fluctuates (p-p) less than 10%

Control output：Open collector output type (NPN)

Response time：Action resets：Each below 200 μ s

Protection circuit：Reverse power connection protection, output short circuit protection

Environment temperature：During action：During -25~+45 DEG C of storages：- 30~+70 DEG C (not freezing, without condensation)

Ambient humidity：When being stored during action：Each 35~85%RH (no condensation)

2) fibre optical sensor：FU-49U

Brand：Keyemce

Minimum bending radius：R2

Detection mode：Reflection-type

Size：Φ2

Fiber optic component length：1m is freely cut

Detecting distance：MEGA 140mm,FINE 40

Environment temperature：- 40 to+50 DEG C

Fiber amplifier：FS-T1

Brand：Keyemce

Output type：NPN

Light source：Red LED

Susceptibility adjustment/model selection：Button 33

Reaction time：250μs

Show indicator：Output indicator 34134：Red LED steady running indicator lamp 34134:Green LED calibration instruction Lamp 34134：Orange LED

Control output NPN：The open current-collector maximum 100mA of NPN (maximum 40VDC)

Stability exports NPN：The open current-collector maximum 50mA of NPN (maximum 40VDC)

Protection circuit：Reverse polarity protection, overcurrent protection, surge absorber

Supply voltage：DC12~24V ± 10% fluctuates (p-p) less than 10%

Environment temperature：- 10 to+55 DEG C, nothing is freezed

Relative humidity：35 to 85%, no condensation

3) RGB digital optic fiber sensors

Brand：Keyemce

Sense head CZ-H32

Detection range：50 to 95mm

Smallest spot diameter：Small-sized 3mm diameters are medium-sized：4.5mm diameters are large-scale：5.5mm diameter

Light source：Red LED (665nm)/green LED (520nm)/blue led (465nm)

Fiber minimum bending radius：25mm

Ambient light：Incandescent lamp：Maximum 10000lux, daylight：Maximum 20000lux

Environment temperature：- 10 to+55 DEG C, nothing is freezed

Amplifier：CZ-V21A

Output type：NPN

Module type：Main modular

Response time：200 μ s (high speed)/1ms (FINE)/4ms (TURBO)/8ms (SUPER)

Control output：NPN collector × 4 channels of open circuit, maximum 40VDC, 1 output reach 100MA, and sum is defeated for 4 Go out and reach 200MA, residual voltage：Maximum 1.0V

Power supply：24VDC, fluctuate (P-P)：Maximum 10%

Consume electric current：Normal mode：1.5W (maximum 62.5mA), Eco patterns：1W (maximum 42.0mA)

Environment temperature：- 10~+55 DEG C, nothing is freezed

4) CMOS laser displacement sensors

Sensor probe IL-030

Brand：Keyemce

Reference range：30mm

Measurement distance：20 arrive 45mm

Light source：Red semiconductor laser wavelength：655nm (visible ray)

Bright spot scope：About 200 × 750 μm

The linearity：F.S. ± 0.1% (25 arrive 35mm)

Repeatable accuracy：1μm

Action indicator 34134：Laser emission warning bright lamp green LED, simulation coverage indicator lamp 34134 are orange LED, the red/green LED of reference range indicator lamp 34134

Use environment temperature：- 10 to+50 DEG C, no condensation, nothing is freezed

Amplifier unit IL-1000

Brand：Keyemce

Type：DIN guide rails are installed

The minimum unit of display：1μm

Indication range：± 99.999mm to ± 99mm (optional 4 grades)

Analog voltage exports：± 5V, 1-5V, 0-5V, the Ω of output impedance 100

Analog current exports：4-20mA, the Ω of peak load resistance 350

Judge output：Open collector exports

Warning output：Open collector exports

Supply voltage：10 arrive 30VDC

Consume power：Below 2300mW

Use environment temperature：- 10 to+50 DEG C, no condensation, nothing is freezed

Use ambient humidity, light and temperature：35 to 85%RH (no to condense)

5) proximity transducer TL-Q5MC1

Brand：Omron

Detecting distance：5mm ± 10%

Detectable object：Magnetic metal (detecting distance of nonmagnetic metal is shorter)

Response time：Below 2ms

Supply voltage：DC12~24V fluctuates (p-p) less than 10%

Consume electric current：Below 10mA (during DC24V)

Control output：NPN collector is opened a way

Indicator lamp 34134：Detection instruction (red)

Ambient temperature range：During action, storage when：- 25~+70 DEG C (not freezing, without condensation)

Ambient humidity range：During action, storage when：Each 35~95%RH (no condensation)

Connected mode：Wire extraction type

6) proximity transducer：E2EY-X4C1 2M

Brand：Omron

Shape：M18

Output form/pattern：The wire type NPN NO of direct current 3

Detecting distance：4mm ± 10%

Detectable object：Nonmagnetic metal (can not detect magnetic metal)

Response frequency：70HZ

Supply voltage：DC12~24V fluctuates (p-p) less than 10%

Consume electric current：Below 20mA

Indicator lamp 34134：Detection instruction (red)

Ambient temperature range：During action, storage when：- 10 to+55 DEG C (not freezing, without condensation)

Ambient humidity range：During action, storage when：Each 35~95%RH (no condensation)

Connected mode：Wire extraction type

7) proximity transducer：GX-118MA

Brand：Panasonic

Specification：M18

Maximum functional distance：5mm ± 10%

Stable area detection：0mm to 4mm

Standard detection object：Iron plate 18mm × 18mm × t1mm

Supply voltage：12~24VDC ± 10%, fluctuate (p-p) less than 10%

Consume electric current：15mA

Output：NPN open collector transistors

Action indicator 34134：Orange LED indicator lamp 34134 (lights) during output ON

Use environment temperature：- 25 to+70 DEG C, during storage：- 30 to+80 DEG C (not freezing, without condensation)

Use environment humidity：Below 90RH

8) opposite type sensor E3Z-T61

Brand：Omron

Detection mode：Correlation type

Control output：NPN is exported

Detecting distance：15m

Standard detection object：More than Φ 12mm opaque article

Light source (emission wavelength)：Infrared optical diode (870mm)

Supply voltage：DC12~24V ± 10% fluctuates (p-p) less than 10%

Consume electric current：Below 35mA

Protection circuit：Power supply is inverse to connect protection, output short circuit protection

Response time：Action, reset：Each below 1ms

Environment temperature：During action：During -25~+55 DEG C of storages：- 40~+70 DEG C (not freezing, without condensation)

Ambient humidity, light and temperature：During action：When 35~85%RH, storage：35~95%RH (no condensation)

Indicator lamp 34134：Action indicator 34134 (orange), stable indicator lamp 34134 (green)

9) photoelectric sensor：PZ-M11

Brand：Keyemce

Detection mode：Reflection-type

Output type：NPN is exported

Detecting distance：5 to 100mm

Light source：Red LED

Reaction time：Maximum 1ms

Indicator lamp 34134：Output and power：Orange LED, stable operation：Green LED

Protection circuit：Reverse-current protection, overcurrent protection, overvoltage

Supply voltage：DC12~24V ± 10% fluctuates (p-p) less than 10%

Ambient light：Incandescent lamp：5000lux, daylight：20000lux (maximum)

Environment temperature：- 20 to+55 DEG C, nothing is freezed

Relative humidity：35 to 85%, no condensation

10) photoelectric sensor：WTB9-3N1161

Brand：West gram

Detection mode：Scattered reflection type

Output type：NPN is exported

Detecting distance：20 to 200mm

Light source：Red light source

Response time：<0.333ms

Indicator lamp 34134：Output and power：Orange LED, stable operation：Green LED

Connected mode：Cable, PVC, 2m

Protection circuit：Reverse polarity protection, output short circuit protection, suppressor pulse interference

Supply voltage：10-30VDC

Ambient light：Incandescent lamp：5000lux, daylight：20000lux (maximum)

Environment temperature：- 40 DEG C to+60 DEG C of operating temperature, -40 DEG C to+75 DEG C of storage temperature

11) photoelectric sensor E3Z-D61 2M

Brand：Omron

Detection mode：Diffusion reflection pattern

Output type：NPN is exported

Detecting distance：100×100mm

Light source (emission wavelength)：Infrared optical diode (860mm)

Supply voltage：DC12~24V ± 10% fluctuates (p-p) less than 10%

Consume electric current：Below 30mA

Protection circuit：Power supply is inverse to connect protection, output short circuit protection, interferes and prevents function, output reverse connection from protecting

Response time：Action, reset：Each below 1ms

Environment temperature：During action：During -25~+55 DEG C of storages：- 40~+70 DEG C (not freezing, without condensation)

Ambient humidity, light and temperature：During action：When 35~85%RH, storage：35~95%RH (no condensation)

Indicator lamp 34134：Action indicator 34134 (orange), stable indicator lamp 34134 (green)

12) pressure sensor：DP-102

Brand：Panasonic

Species：High pressure is used

Rated pressure scope：- 0.1Mpa to+1.0Mpa

Output：NPN output types：Open collector transistor

It is applicable fluid：Non-corrosive gas

Supply voltage：12VDC is to 24VDC ± 10%

Reaction time：2.5ms, 5ms, 10ms, 25ms, 50ms, 100ms, 250ms, 500ms, 1000ms, 5000ms pass through Button operation selects

Display：4+4 3 color LED are shown

Pressure port：M5 internal thread+R1/8 external screw threads

Preferably, the machining cell is cylinder drive control unit 5 and robot cell 6, certainly, other machining cells Also within the protection domain of the present embodiment, those skilled in the art are asked to know.

The frame 2 of wherein described cylinder drive control unit 5 is a framework, and thereon, end set has a workbench 21, the cylinder assembled unit 51 is provided with the workbench 21, the cylinder assembled unit 51 includes the first driver Structure and the second transmission mechanism and the 3rd transmission mechanism being attached thereto, first transmission mechanism are provided with the first cylinder 52, institute State the second transmission mechanism and be provided with the second cylinder 53 and the 3rd cylinder 54；3rd transmission mechanism is provided with the He of the 4th cylinder 55 5th cylinder 56, the 3rd transmission mechanism are connected by a connection piece with first transport mechanism, the 4th cylinder 55 It is fixed on the 5th cylinder 56 below the connector, the lower section of the 5th cylinder 56, which is provided with, to be used to clamp assembling module Clamping device.

Preferably, first cylinder 52, the second cylinder 53, the 3rd cylinder 54, the 4th cylinder 55 and/or the 5th cylinder 56 For Rodless cylinder, thin cylinder, wide type clamping jaw cylinder, rotary cylinder, Standard Cylinder, rotary cylinder, double-rod cylinder, mini gas One kind that cylinder, multiposition are fixed in cylinder.It is further preferable that first cylinder 52 is Rodless cylinder, second cylinder 53 For Rodless cylinder, the 3rd cylinder 54 is rotary cylinder, and the 4th cylinder 55 is thin cylinder, and the 5th cylinder 56 is Wide type clamping jaw cylinder.Its operation principle is：Grasping mechanism under 5th cylinder 56 is used to capture product, and the 4th cylinder 55 drives 5th cylinder 56 moves up and down.Product is overturn if necessary simultaneously, (can namely be revolved by the 3rd cylinder 54 Rotaring cylinder) realize and drive the 3rd cylinder 54 to move up and down in 180 ° of product upsets, the second cylinder 53.Additionally, due to the 3rd transmission Component is connected by connector with first transmission component, so the first cylinder 52 on the first transmission component can band The product of dynamic crawl moves in the horizontal direction, and is passed to transportation line, is sent into next installation procedure.By being located at State the shield 3 in frame 2 and be provided with visualization window 31, operating personnel or student can intuitively see respectively through the window The motion process of individual component, is easy to observation of students and understanding, and personnel easy to operation pinpoint the problems and repaired in time.

The frame 2 of the robot cell 6 is provided with a six axis robot 61 and material holding structure 62；The material is deposited The quantity of laying mechanism 62 is multiple, and is respectively fixedly disposed in frame 2, is all provided with needing on each material holding structure 62 Processing materials.

Preferably, design parameter is as follows：

Robot model：SR6-700-3

Brand：Win many six axis robots 6171

Joint number：6

Maximal rate (°/s)：

First joint 330

Second joint 275

3rd joint 225

4th joint 450

5th joint 720

6th joint 720

Load：Specified 3kg, maximum 5kg

Repetitive positioning accuracy：±0.02mm

0~45 DEG C of environment temperature

Mounting means：Ground is installed, and wall hanging installation, tilts installation, suspended fixing

This body weight (is free of cable weight)：33kg

Largest motion scope (P points：J4J5J6 centers)：700mm

Wrist flange face：772.5mm

Largest motion scope：

First joint ± 170 °

90 °~-135 ° of second joint

3rd 190 °~-80 ° of joint

4th 190 ° of joint

5th 135 ° of joint

6th 360 ° of joint

It is environment resistant：Equivalent to IP40.

Two joints more than the axis robot of six axis robot 61 to four, therefore have more " freedom of action degree ".Six shaft mechanicals First joint of hand 61 can rotate freely as four axis robots in horizontal plane, and latter two joint can be moved in vertical plane It is dynamic.In addition, six axis robot 61 has one " arm ", two " wrist " joints, this allows it to have the arm of the mankind similar with wrist Ability.61 more joints of six axis robot mean that they can pick up the part of any direction on horizontal plane, with special Angle be put into packaging product in.They can also carry out many operations that could be completed by experienced operator.

Operation principle of the present utility model is illustrated with a specific embodiment below.

It is processing object with a robot model 7 in the present embodiment, being set on the robot model 7 multiple needs to assemble Material (referring to the variously-shaped hollow part in robot module in Figure 10), these materials pass through different processing respectively Unit is completed.Specific in the present embodiment, before use, first by all machining cells in producing line respectively described in the present embodiment Flexible delivery unit 4 connect, i.e., realize and connect with the flexible delivery units 4 of other machining cells, ensure product or Carrier can realize transmission.Multiple flexible delivery units 4 are spliced to form a supply line each other, and transport thereon has etc. to be processed Robot model 7.Robot model 7 by adaptive pneumatic unit 5, after being machined by it, is passed by flexibility first Send unit 4 to be sent to robot cell 6, then flow into such as detection unit 1.Simultaneously as the setting of flexible delivery unit 4, can So that each machining cell to be used separately, a producing line can also be linked to be and used.If there are some additional function moulds in addition Block, producing line can also be connected into by flexible delivery unit 4, flexibility and practicality are higher.

In addition, other annexations in the present embodiment, can be screwed connection, can also be by welding, cutting with scissors Connect, the mode such as buckle realizes connection, due to the conventional technical means that it is those skilled in the art, therefore the present embodiment is not made to this Repeat, those skilled in the art should know.

The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The most wide scope consistent with features of novelty.

Claims (10)

1. A kind of 1. modified production line, it is characterised in that including：At least one machining cell and a detection unit, the processing Unit is connected with the detection unit, and each machining cell and the detection unit include a frame and be located at described Shield in frame, the shield are provided with least one visualization window；

   The detection unit includes X-axis module and Y-axis module, wherein the X-axis module includes X-axis base, section brace frame, X Axle servomotor, X-axis connecting plate, first sensor, second sensor, sensor installing plate, the X-axis base and the X-axis Servomotor is each attached to the side of the section brace frame, and the sensor installing plate is fixedly installed on the X-axis base Side away from the section brace frame, the first sensor and the second sensor are arranged at the sensor installation On plate, the X-axis connecting plate is fixedly installed on the lower section of the X-axis base and the section brace frame；

   The Y-axis module includes Y-axis base and the slide rail, Y-axis servomotor, shaft coupling, the silk that are arranged on the Y-axis base Bar, screw mandrel fixed seat, the Y-axis base are vertically arranged with the X-axis base, and the slide rail be arranged in parallel with the screw mandrel；Institute Y-axis servomotor is stated to be connected with the screw mandrel by the shaft coupling；The screw mandrel fixed seat is connected on screw mandrel, and with it is described Slide rail is connected on the X-axis connecting plate together.
2. 2. modified production line as claimed in claim 1, it is characterised in that：The detection unit also includes at least one gantry Support, its one end are connected with the Y-axis module, and the other end is fixedly installed on the workbench of the frame, the Y-axis module Reinforcement is provided between the gantry support.
3. 3. modified production line as claimed in claim 1 or 2, it is characterised in that：Also include multiple flexible delivery units, every two Connected between the individual machining cell, between machining cell and the detection unit by flexible delivery unit.
4. 4. modified production line as claimed in claim 3, it is characterised in that：The flexible delivery unit includes a board and cover Shell, described case are a framework, and it is located on board, and the case specifically includes four sides, a upper surface and one The lower surface of opening, the opening passed through for the first streamline, the lower end are respectively provided with the relative side of two of which Size and size and the board in face match；The upper surface of board is the first workbench, and first is provided with first workbench Streamline, the first streamline both ends are respectively equipped with connecting mechanism.
5. 5. modified production line as claimed in claim 4, it is characterised in that：The shield and/or the case are provided with one Man-machine interaction unit.
6. 6. modified production line as claimed in claim 5, it is characterised in that：The man-machine interaction unit includes touch-screen, pressed One or more in button, indicator lamp.
7. 7. modified production line as claimed in claim 6, it is characterised in that：The button include scram button, SR, Start button, manual/auto select button.
8. 8. modified production line as claimed in claim 1, it is characterised in that：The first sensor is color sensor, institute It is displacement transducer to state second sensor.
9. 9. modified production line as claimed in claim 1, it is characterised in that：The visualization window is transparent glass door.
10. 10. modified production line as claimed in claim 4, it is characterised in that：The lower end of the board and/or the frame is set There are four export-oriented wheels.