WO2018107328A1 - Flexible compensation-based robotic automated loading and unloading system - Google Patents
Flexible compensation-based robotic automated loading and unloading system Download PDFInfo
- Publication number
- WO2018107328A1 WO2018107328A1 PCT/CN2016/109489 CN2016109489W WO2018107328A1 WO 2018107328 A1 WO2018107328 A1 WO 2018107328A1 CN 2016109489 W CN2016109489 W CN 2016109489W WO 2018107328 A1 WO2018107328 A1 WO 2018107328A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- loading
- gripper
- unloading system
- rotor
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
Definitions
- the invention relates to a flexible loading and unloading robot automatic loading and unloading system, belonging to the technical field of automation equipment.
- the existing method is usually to manually put the generator rotor into the paint painting device, and then after the painting work is completed, it is manually The way the material is taken out of the generator rotor.
- the technical problem to be solved by the invention is to provide an automatic loading and unloading system of the flexible compensation robot, which is operated by the robot automatically loading and unloading, thereby improving work efficiency and product quality, and avoiding the worker staying at the painting work site for a long time.
- the technical solution adopted by the present invention is:
- the flexible compensating robot automatic loading and unloading system comprises a machine table, one side of which is provided with two sets of parallel feeding devices for loading and unloading, and the other side is provided with a first robot, and the lacquer loading and unloading robot Provided with a first gripper for gripping the rotor of the generator, the upper surface of the machine is provided with a second robot, and the second robot is provided with a second gripper for gripping the rotor of the generator, The upper surface of the machine is also provided with a plurality of mounting holes for placing the rotor of the generator.
- the flexible loading robot automatic loading and unloading system is characterized in that: the feeding device comprises a screw rod fixed on the machine table, a motor for driving the screw rod, and a wire rod connected to the screw rod L-shaped crane for supporting the magazine.
- the flexible loading robot automatic loading and unloading system is characterized in that: the upper surface of the machine table is further provided with a cartridge jaw, the cartridge jaw comprises an I-shaped bracket, and the four-end setting of the I-shaped bracket There is a third gripper, wherein the I-shaped bracket is further provided with two air pipes for driving the third gripper, and the second gripping hand is provided with two groups for grasping the trachea or generating electricity.
- the jaw of the shaft of the rotor of the machine is characterized in that: the upper surface of the machine table is further provided with a cartridge jaw, the cartridge jaw comprises an I-shaped bracket, and the four-end setting of the I-shaped bracket
- There is a third gripper wherein the I-shaped bracket is further provided with two air pipes for driving the third gripper, and the second gripping hand is provided with two groups for grasping the trachea or generating electricity.
- the jaw of the shaft of the rotor of the machine is characterized in that: the upper surface of the machine table is further provided with
- the flexible loading robot automatic loading and unloading system is characterized in that: the clamping jaw comprises a first clamping block disposed at a lower end portion thereof and movable toward an axis, and the lower end axis of the clamping jaw is disposed on the axis
- the gas pipe is connected to the gas pipe, and the gas column is provided with a spring.
- the flexible loading robot automatic loading and unloading system is characterized in that: the upper end portion of the air pipe is provided with three card slots at equal intervals along the circumference thereof, and the first clamping block is provided with a card corresponding to the shape of the card slot. Piece.
- the flexible loading robot automatic loading and unloading system is characterized in that: the first gripping hand is provided with two sets of grips for gripping the cylindrical surface of the generator rotor, and the grip is provided with a displacement sensor.
- the foregoing flexible compensation robot automatic loading and unloading system is characterized in that: the loading device further comprises a guiding frame disposed at the bottom of the machine.
- the invention has the beneficial effects that the loading and unloading is completed by two sets of automatic loading devices, and the two robots are used to realize the movement between the working stations of the product, thereby realizing the automatic operation of the rotor painting process of the generator rotor and improving the work. Efficiency and product quality, and avoiding workers staying at the painting site for a long time.
- FIG. 1 is a schematic structural view of an automatic loading and unloading system of a flexible compensation robot according to the present invention
- FIG. 2 is a schematic structural view of a cartridge jaw of the automatic loading and unloading system of the flexible compensation robot of the present invention
- FIG. 3 is a schematic structural view of a second gripper of the automatic loading and unloading system of the flexible compensation robot of the present invention
- FIG. 4 is a schematic structural view of a first gripper of the automatic loading and unloading system of the flexible compensation robot of the present invention
- Figure 5 is a side elevational view of the automatic loading and unloading system of the flexible compensating robot of the present invention.
- the flexible compensation robot automatic loading and unloading system includes a machine table 1.
- One side of the machine table 1 is provided with two sets of parallel loading devices 2 for loading and unloading, and the other side is set.
- the loading device 2 includes a screw 22 fixed on the machine table 1, a motor 24 for driving the screw rod 22, and a wire rod 22 connected to the screw rod 22 for supporting The L-shaped lifting frame 23 of the cartridge 8.
- the guiding frame 21 at the bottom is guided to ensure that it is accurately pushed to the L-shaped lifting frame 23, and the screw 24 is driven by the motor 24 to lift the feeding trolley, and the moving box 8 is moved to the grasping station as a whole.
- the grabbing station is located at the upper surface of the machine table 1 to facilitate the quick grasping of the second gripper 5. Take the generator rotor to be processed.
- the second robot 3 drives the second gripper 5 to grasp the generator rotor in the uppermost fabric box and then temporarily store it in the mounting hole 9 on the upper surface of the machine table. During the placement process, it is usually placed on the machine side. In the mounting hole, the mounting hole on the other side is used to place the finished generator rotor, and in the process of the second gripper 5 grabbing the generator rotor to be processed, the first robot 4 drives the first gripper 6 to grasp The unprocessed generator rotor temporarily stored in the mounting hole is placed in a paint booth (not shown) for varnishing.
- the empty cartridge is moved to the other group of the dredging device 2 by the cartridge jaws 7 disposed on the upper surface of the machine 1.
- the L-shaped lifting frame On the L-shaped lifting frame, at this time, the L-shaped lifting frame is located at the upper end of the screw, which is just used to receive the empty magazine.
- the boxes on which the products to be processed are placed are transferred one by one to another group of feeding devices.
- the height of the magazines on each group of the material-feeding devices is controlled by the screw to ensure the top material. The same height of the upper end of the box machine facilitates the second gripper 5 to grab and place the generator rotor.
- the cartridge jaws 7 include an I-shaped bracket 71.
- the four ends of the I-shaped bracket 71 are provided with a third gripper 6, and the I-shaped bracket 71 is further provided with a driving unit.
- the two grippers 6 of the third gripper 6 are provided with two sets of jaws for grasping the shaft of the gas pipe 73 or the rotor of the generator.
- the two sets of jaws of the second gripper 5 grasp the two heeles 73 of the cartridge jaws 7 to move up to the upper of the empty magazine, and lift the edges of the cartridge by the four third grippers 6 to lift them up. And move.
- the clamping jaw includes a first clamping block 51 disposed at a lower end portion thereof and movable toward the axial center, and an air receiving column 52 connectable to the air pipe 73 is disposed on the lower end axis of the clamping jaw, and the connection is
- the air column 52 is provided with a spring 53.
- the upper end portion of the air tube 73 is provided with three card slots 74 at equal intervals along the circumference thereof.
- the first clamping block 51 is provided with a card block corresponding to the shape of the card slot 74. 54.
- the air column 52 is in close communication with the air tube 73 under the action of the spring 53, and is used for driving the four third grippers 6 and passing through three.
- the clamping of the first clamping block 51 causes the clamping block 54 to be snapped into the corresponding slot 74 to achieve the grasping of the air tube 73, thereby ensuring that the cartridge jaw 7 does not fall during the movement of the cartridge.
- the first gripper 6 is provided with two sets of grips 61 for gripping the cylindrical surface of the generator rotor, and one of the grips 61 of the first gripper grabs a rotor of the generator to be processed and moves At the time of the lacquering device, the processed rotor of the finished machine in the varnishing device is grasped by another hand, and the unprocessed product caught is put into the varnishing device, thereby improving the processing efficiency.
- a displacement sensor 62 is disposed on the hand grip 61. Since the grip 61 is a cylindrical surface that grabs the rotor of the generator, it can be determined by the displacement sensor 62 whether the cylindrical surface diameter of the grasped product is consistent with the previous processing.
- the automatic compensation loading and unloading system of the flexible compensating robot provided by the automatic loading and unloading system of the robot improves the working efficiency and the product quality, and avoids the worker staying at the painting work site for a long time.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
A flexible compensation-based robotic automated loading and unloading system, comprising an operation table (1), two parallel transport devices (2) for loading and unloading provided on one side of the operation table (1), a first robot (4) provided on the other side of the operation table (1), and a first gripper (6) provided on the first robot (4) to fetch a power generator rotor. A second robot (3) is provided on an upper surface of the operation table (1), and a second gripper (5) is provided on the second robot (3) to fetch a power generator rotor. Multiple holding holes (9) configured to hold power generator rotors are provided on an upper surface of the operation table (1).
Description
本发明涉及了一种柔性补偿机器人自动上下料***，属于自动化设备技术领域。The invention relates to a flexible loading and unloading robot automatic loading and unloading system, belonging to the technical field of automation equipment.
在发电机转子加工过程中，需要对其表面进行滚漆作业，，现有的方式通常是采用人工将发电机转子放入到滚漆装置中，然后待滚漆作业完成后，再通过人工下料的方式将发电机转子取出。In the process of generator rotor processing, it is necessary to carry out the painting work on the surface. The existing method is usually to manually put the generator rotor into the paint painting device, and then after the painting work is completed, it is manually The way the material is taken out of the generator rotor.
由于滚漆作业过程中，现场刺鼻性气味较重，而且工作环境相对较差，对于长期进行滚漆操作的工人身体危害较大，而且人工作业的方式效率较为低下，加工质量也无法得到保证。Due to the pungent smell on the site during the rolling paint operation, and the working environment is relatively poor, the workers who have been subjected to the paint painting operation for a long time are more harmful to the body, and the efficiency of the manual operation is relatively low, and the processing quality cannot be obtained. Guarantee.
发明内容Summary of the invention
本发明所要解决的技术问题是提供柔性补偿机器人自动上下料***，通过机器人自动上下料的方式进行作业，提高了工作效率和产品质量，而且避免了工人长时间停留在滚漆作业现场。The technical problem to be solved by the invention is to provide an automatic loading and unloading system of the flexible compensation robot, which is operated by the robot automatically loading and unloading, thereby improving work efficiency and product quality, and avoiding the worker staying at the painting work site for a long time.
为了解决上述技术问题，本发明所采用的技术方案是：In order to solve the above technical problems, the technical solution adopted by the present invention is:
柔性补偿机器人自动上下料***，包括机台，所述机台的一侧设置有两组并列的用于上下料的走料装置，另一侧设置有第一机器人，所述滚漆上下料机器人上设置有用于抓取发电机转子的第一抓手，所述机台的上表面设置有第二机器人，所述第二机器人上设置有用于抓取发电机转子的第二抓手，所述机台的上表面还设置有多个用于放置发电机转子的安放孔。The flexible compensating robot automatic loading and unloading system comprises a machine table, one side of which is provided with two sets of parallel feeding devices for loading and unloading, and the other side is provided with a first robot, and the lacquer loading and unloading robot Provided with a first gripper for gripping the rotor of the generator, the upper surface of the machine is provided with a second robot, and the second robot is provided with a second gripper for gripping the rotor of the generator, The upper surface of the machine is also provided with a plurality of mounting holes for placing the rotor of the generator.
前述的柔性补偿机器人自动上下料***，其特征在于：所述走料装置包括固定在机台上的丝杆、用于驱动所述丝杆的电机、通过丝套连接在所述丝杆上的用于支撑料盒的L型升降架。The flexible loading robot automatic loading and unloading system is characterized in that: the feeding device comprises a screw rod fixed on the machine table, a motor for driving the screw rod, and a wire rod connected to the screw rod L-shaped crane for supporting the magazine.
前述的柔性补偿机器人自动上下料***，其特征在于：所述机台的上表面还放置有料盒夹爪，所述料盒夹爪包括工字型支架，所述工字型支架的四端设置有第三抓手，所述工字型支架上还设置有用于驱动所述第三抓手的两根气管，且所述第二抓手上设置有两组可用于抓取所述气管或发电机转子的转轴的夹爪。The flexible loading robot automatic loading and unloading system is characterized in that: the upper surface of the machine table is further provided with a cartridge jaw, the cartridge jaw comprises an I-shaped bracket, and the four-end setting of the I-shaped bracket There is a third gripper, wherein the I-shaped bracket is further provided with two air pipes for driving the third gripper, and the second gripping hand is provided with two groups for grasping the trachea or generating electricity. The jaw of the shaft of the rotor of the machine.
前述的柔性补偿机器人自动上下料***，其特征在于：所述夹爪包括设置在其下端部三块可向轴心移动的第一夹块，且夹爪下端面轴线上设置有可与所述气管连通的接气柱，且所述接气柱上设置有弹簧。
The flexible loading robot automatic loading and unloading system is characterized in that: the clamping jaw comprises a first clamping block disposed at a lower end portion thereof and movable toward an axis, and the lower end axis of the clamping jaw is disposed on the axis The gas pipe is connected to the gas pipe, and the gas column is provided with a spring.
前述的柔性补偿机器人自动上下料***，其特征在于：所述气管上端部沿其周线等间距设置有三个卡槽，所述第一夹块上设置有与所述卡槽形状相对应的卡块。The flexible loading robot automatic loading and unloading system is characterized in that: the upper end portion of the air pipe is provided with three card slots at equal intervals along the circumference thereof, and the first clamping block is provided with a card corresponding to the shape of the card slot. Piece.
前述的柔性补偿机器人自动上下料***，其特征在于：所述第一抓手上设置有两组用于抓取发电机转子的圆柱面的手抓，所述手抓上设置有位移传感器。The flexible loading robot automatic loading and unloading system is characterized in that: the first gripping hand is provided with two sets of grips for gripping the cylindrical surface of the generator rotor, and the grip is provided with a displacement sensor.
前述的柔性补偿机器人自动上下料***，其特征在于：所述走料装置还包括设置在所述机台底部的导料架。The foregoing flexible compensation robot automatic loading and unloading system is characterized in that: the loading device further comprises a guiding frame disposed at the bottom of the machine.
本发明的有益效果是：通过两组自动化走料装置完成上下料，并通过两个机器人用于实现产品各工位间的移动，从而实现了发电机转子滚漆工序的自动化作业，提高了工作效率和产品质量，而且避免了工人长时间停留在滚漆作业现场。The invention has the beneficial effects that the loading and unloading is completed by two sets of automatic loading devices, and the two robots are used to realize the movement between the working stations of the product, thereby realizing the automatic operation of the rotor painting process of the generator rotor and improving the work. Efficiency and product quality, and avoiding workers staying at the painting site for a long time.
图1是本发明柔性补偿机器人自动上下料***的结构示意图；1 is a schematic structural view of an automatic loading and unloading system of a flexible compensation robot according to the present invention;
图2是本发明柔性补偿机器人自动上下料***的料盒夹爪的结构示意图；2 is a schematic structural view of a cartridge jaw of the automatic loading and unloading system of the flexible compensation robot of the present invention;
图3是本发明柔性补偿机器人自动上下料***的第二抓手的结构示意图；3 is a schematic structural view of a second gripper of the automatic loading and unloading system of the flexible compensation robot of the present invention;
图4是本发明柔性补偿机器人自动上下料***的第一抓手的结构示意图；4 is a schematic structural view of a first gripper of the automatic loading and unloading system of the flexible compensation robot of the present invention;
图5是本发明柔性补偿机器人自动上下料***的侧视图。Figure 5 is a side elevational view of the automatic loading and unloading system of the flexible compensating robot of the present invention.
下面将结合说明书附图，对本发明作进一步的说明。The invention will now be further described with reference to the drawings of the specification.
如图1-图5所示，柔性补偿机器人自动上下料***，包括机台1，所述机台1的一侧设置有两组并列的用于上下料的走料装置2，另一侧设置有第一机器人4，所述滚漆上下料机器人4上设置有用于抓取发电机转子的第一抓手6，所述机台1的上表面设置有第二机器人3，所述第二机器人3上设置有用于抓取发电机转子的第二抓手5，所述机台1的上表面还设置有多个用于放置发电机转子的安放孔9。As shown in FIG. 1 to FIG. 5, the flexible compensation robot automatic loading and unloading system includes a machine table 1. One side of the machine table 1 is provided with two sets of parallel loading devices 2 for loading and unloading, and the other side is set. There is a first robot 4 on which the first gripper 6 for gripping the rotor of the generator is disposed, and the upper surface of the machine 1 is provided with a second robot 3, the second robot A second gripper 5 for gripping the rotor of the generator is disposed on the upper surface of the machine 1, and a plurality of mounting holes 9 for placing the rotor of the generator are further disposed on the upper surface of the machine 1.
本实施例中，所述走料装置2包括固定在机台1上的丝杆22、用于驱动所述丝杆22的电机24、通过丝套连接在所述丝杆22上的用于支撑料盒8的L型升降架23。将多个装载有待加工的发电机转子的料盒堆叠到送料小车上，并将送料小车推送至其中一组走料装置的L型升降架23处，在推送过程中，通过设置在机台1底部的导料架21进行导向，保证其被准确的推送至L型升降架23处，通过电机24驱动丝杆转动，抬起送料小车，带动料盒8整体上移至抓取工位，本实施例中，抓取工位位于机台1的上表面处，便于第二抓手5快速的抓
取到待加工的发电机转子。In this embodiment, the loading device 2 includes a screw 22 fixed on the machine table 1, a motor 24 for driving the screw rod 22, and a wire rod 22 connected to the screw rod 22 for supporting The L-shaped lifting frame 23 of the cartridge 8. Stacking a plurality of cartridges loaded with generator rotors to be processed onto a feeding trolley, and pushing the feeding trolleys to an L-shaped lifting frame 23 of one of the feeding devices, and in the pushing process, passing through the machine 1 The guiding frame 21 at the bottom is guided to ensure that it is accurately pushed to the L-shaped lifting frame 23, and the screw 24 is driven by the motor 24 to lift the feeding trolley, and the moving box 8 is moved to the grasping station as a whole. In the embodiment, the grabbing station is located at the upper surface of the machine table 1 to facilitate the quick grasping of the second gripper 5.
Take the generator rotor to be processed.
第二机器人3驱动第二抓手5将最上面料盒中的发电机转子抓取后放置到机台上表面的安放孔9中暂存，在放置的过程中，通常会放置在机台一侧的安放孔中，另一侧的安放孔用于放置加工完成的发电机转子，在第二抓手5抓取待加工的发电机转子的过程中，第一机器人4驱动第一抓手6抓取暂存在安放孔中未加工的发电机转子，并将其放入到滚漆装置(图中未示出)中进行滚漆加工。The second robot 3 drives the second gripper 5 to grasp the generator rotor in the uppermost fabric box and then temporarily store it in the mounting hole 9 on the upper surface of the machine table. During the placement process, it is usually placed on the machine side. In the mounting hole, the mounting hole on the other side is used to place the finished generator rotor, and in the process of the second gripper 5 grabbing the generator rotor to be processed, the first robot 4 drives the first gripper 6 to grasp The unprocessed generator rotor temporarily stored in the mounting hole is placed in a paint booth (not shown) for varnishing.
待第二抓手将最上方的料盒8内的产品抓取完后，通过设置在机台1的上表面的料盒夹爪7将空料盒放置移动至另一组走料装置2的L型升降架上，此时，L型升降架位于丝杠的上端部，正好用于承接空料盒。依次类推，将放置有待加工产品的料盒逐个转移到另一组走料装置上，在转移的过程中，通过丝杆控制每一组走料装置上料盒的高度，保证其最上方的料盒机台上端部的同一高度，便于第二抓手5抓取和放置发电机转子。After the second gripper has grasped the product in the uppermost cartridge 8, the empty cartridge is moved to the other group of the dredging device 2 by the cartridge jaws 7 disposed on the upper surface of the machine 1. On the L-shaped lifting frame, at this time, the L-shaped lifting frame is located at the upper end of the screw, which is just used to receive the empty magazine. By analogy, the boxes on which the products to be processed are placed are transferred one by one to another group of feeding devices. During the transfer process, the height of the magazines on each group of the material-feeding devices is controlled by the screw to ensure the top material. The same height of the upper end of the box machine facilitates the second gripper 5 to grab and place the generator rotor.
本实施例中，料盒夹爪7包括工字型支架71，所述工字型支架71的四端设置有第三抓手6，所述工字型支架71上还设置有用于驱动所述第三抓手6的两根气管73，且所述第二抓手5上设置有两组可用于抓取所述气管73或发电机转子的转轴的夹爪。第二抓手5的两组夹爪抓住料盒夹爪7的两跟气管73带动起移动至空料盒上方，通过四个第三抓手6抓住料盒的边缘将其抬起，并移动。In this embodiment, the cartridge jaws 7 include an I-shaped bracket 71. The four ends of the I-shaped bracket 71 are provided with a third gripper 6, and the I-shaped bracket 71 is further provided with a driving unit. The two grippers 6 of the third gripper 6 are provided with two sets of jaws for grasping the shaft of the gas pipe 73 or the rotor of the generator. The two sets of jaws of the second gripper 5 grasp the two heeles 73 of the cartridge jaws 7 to move up to the upper of the empty magazine, and lift the edges of the cartridge by the four third grippers 6 to lift them up. And move.
其中，夹爪包括设置在其下端部三块可向轴心移动的第一夹块51，且夹爪下端面轴线上设置有可与所述气管73连通的接气柱52，且所述接气柱52上设置有弹簧53，所述气管73上端部沿其周线等间距设置有三个卡槽74，所述第一夹块51上设置有与所述卡槽74形状相对应的卡块54。在夹爪下移抓取料盒夹爪7的过程中，接气柱52在弹簧53的作用下与气管73紧密连通对其供气，用于驱动四个第三抓手6，并通过三个第一夹块51的夹紧，使卡块54卡入对应的卡槽74中，实现对气管73的抓取，从而保证在料盒夹爪7的移动过程中不会掉落。Wherein, the clamping jaw includes a first clamping block 51 disposed at a lower end portion thereof and movable toward the axial center, and an air receiving column 52 connectable to the air pipe 73 is disposed on the lower end axis of the clamping jaw, and the connection is The air column 52 is provided with a spring 53. The upper end portion of the air tube 73 is provided with three card slots 74 at equal intervals along the circumference thereof. The first clamping block 51 is provided with a card block corresponding to the shape of the card slot 74. 54. During the process of moving the gripper jaw 7 downward, the air column 52 is in close communication with the air tube 73 under the action of the spring 53, and is used for driving the four third grippers 6 and passing through three. The clamping of the first clamping block 51 causes the clamping block 54 to be snapped into the corresponding slot 74 to achieve the grasping of the air tube 73, thereby ensuring that the cartridge jaw 7 does not fall during the movement of the cartridge.
所述第一抓手6上设置有两组用于抓取发电机转子的圆柱面的手抓61，在第一抓手的其中一个手抓61抓取到一个待加工的发电机转子并移动至滚漆装置处时，利用另一个手抓抓取滚漆装置中的已加工完成的发电机转子，并将抓取到的未加工的产品放入滚漆装置中，从而提高了加工效率。且在手抓61上设置有位移传感器62，由于手抓61是抓取发电机转子的圆柱面，通过位移传感器62能够判定抓取到的产品的圆柱面直径是否与之前加工完成的一致，
如果一致，可以继续将其放入同一个料盒中，如果不一致，表明正在加工的发电机转子与之前的型号不同，需要用一个空的料盒进行收料，则通过给第二机器人3传递一个控制信号，控制其将正在抓取的待加工产品的料盒内的产品全部抓取放置到安放孔9中，然后将清空的料盒8堆放到旁边的一组走料装置2上的料盒上，重新开始收料，便于区分不同型号，保证同一个料盒内的产品型号是一致的。The first gripper 6 is provided with two sets of grips 61 for gripping the cylindrical surface of the generator rotor, and one of the grips 61 of the first gripper grabs a rotor of the generator to be processed and moves At the time of the lacquering device, the processed rotor of the finished machine in the varnishing device is grasped by another hand, and the unprocessed product caught is put into the varnishing device, thereby improving the processing efficiency. And a displacement sensor 62 is disposed on the hand grip 61. Since the grip 61 is a cylindrical surface that grabs the rotor of the generator, it can be determined by the displacement sensor 62 whether the cylindrical surface diameter of the grasped product is consistent with the previous processing.
If they are consistent, they can continue to be placed in the same magazine. If they are inconsistent, it indicates that the generator rotor being processed is different from the previous model. It needs to be received by an empty magazine, and then passed to the second robot 3. a control signal that controls the product in the cartridge of the product to be processed that is being grabbed to be completely grasped and placed in the mounting hole 9, and then the empty cartridge 8 is stacked on the material of the group of the feeding device 2 next to it. On the box, the material collection is restarted, so that it is easy to distinguish different models and ensure that the product models in the same cartridge are consistent.
综上所述，本发明提供的柔性补偿机器人自动上下料***，通过机器人自动上下料的方式进行作业，提高了工作效率和产品质量，而且避免了工人长时间停留在滚漆作业现场。In summary, the automatic compensation loading and unloading system of the flexible compensating robot provided by the automatic loading and unloading system of the robot improves the working efficiency and the product quality, and avoids the worker staying at the painting work site for a long time.
以上显示和描述了本发明的基本原理、主要特征及优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界。
The basic principles, main features and advantages of the present invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing description and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.
Claims (7)
- 一种柔性补偿机器人自动上下料***，其特征在于：包括机台(1)，所述机台(1)的一侧设置有两组并列的用于上下料的走料装置(2)，另一侧设置有第一机器人(4)，所述滚漆上下料机器人(4)上设置有用于抓取发电机转子的第一抓手(6)，和所述机台(1)的上表面设置有第二机器人(3)，所述第二机器人(3)上设置有用于抓取发电机转子的第二抓手(5)，所述机台(1)的上表面还设置有多个用于放置发电机转子的安放孔(9)。A flexible compensating robot automatic loading and unloading system, comprising: a machine table (1), one side of the machine table (1) is provided with two sets of parallel feeding devices (2) for loading and unloading, and another A first robot (4) is disposed on one side, and the paint loading and unloading robot (4) is provided with a first gripper (6) for gripping the rotor of the generator, and an upper surface of the machine (1) a second robot (3) is provided, and the second robot (3) is provided with a second gripper (5) for gripping the rotor of the generator, and the upper surface of the machine (1) is further provided with a plurality of A mounting hole (9) for placing the rotor of the generator.
- 根据权利要求1所述的柔性补偿机器人自动上下料***，其特征在于：所述走料装置(2)包括固定在机台(1)上的丝杆(22)、用于驱动所述丝杆(22)的电机(24)、通过丝套连接在所述丝杆(22)上的用于支撑料盒(8)的L型升降架(23)。The automatic compensating robot automatic loading and unloading system according to claim 1, wherein the loading device (2) comprises a screw (22) fixed on the machine table (1) for driving the screw The motor (24) of (22) is connected to the L-shaped lift frame (23) of the screw (22) for supporting the cartridge (8) via a wire sleeve.
- 根据权利要求2所述的柔性补偿机器人自动上下料***，其特征在于：所述机台(1)的上表面还放置有料盒夹爪(7)，所述料盒夹爪(7)包括工字型支架(71)，所述工字型支架(71)的四端设置有第三抓手(6)，所述工字型支架(71)上还设置有用于驱动所述第三抓手(6)的两根气管(73)，且所述第二抓手(5)上设置有两组可用于抓取所述气管(73)或发电机转子的转轴的夹爪。The automatic compensating robot automatic loading and unloading system according to claim 2, characterized in that: the upper surface of the machine table (1) is further provided with a cartridge jaw (7), and the cartridge jaw (7) includes a font holder (71), a fourth end of the I-shaped bracket (71) is provided with a third gripper (6), and the I-shaped bracket (71) is further provided with a third gripper for driving (6) Two air pipes (73), and the second gripper (5) is provided with two sets of jaws for grasping the air pipe (73) or the rotating shaft of the generator rotor.
- 根据权利要求3所述的柔性补偿机器人自动上下料***，其特征在于：所述夹爪包括设置在其下端部三块可向轴心移动的第一夹块(51)，且夹爪下端面轴线上设置有可与所述气管(73)连通的接气柱(52)，且所述接气柱(52)上设置有弹簧(53)。The automatic compensating robot automatic loading and unloading system according to claim 3, wherein the clamping jaw comprises a first clamping block (51) disposed at a lower end portion thereof for moving to the axial center, and a lower end surface of the clamping jaw An air receiving column (52) connectable to the air pipe (73) is disposed on the axis, and a spring (53) is disposed on the air receiving column (52).
- 根据权利要求4所述的柔性补偿机器人自动上下料***，其特征在于：所述气管(73)上端部沿其周线等间距设置有三个卡槽(74)，所述第一夹块(51)上设置有与所述卡槽(74)形状相对应的卡块(54)。The automatic loading and unloading system of the flexible compensating robot according to claim 4, wherein the upper end portions of the air pipe (73) are provided with three card slots (74) at equal intervals along the circumference thereof, and the first clamping block (51) A card block (54) corresponding to the shape of the card slot (74) is provided.
- 根据权利要求1所述的柔性补偿机器人自动上下料***，其特征在于：所述第一抓手(6)上设置有两组用于抓取发电机转子的圆柱面的手抓(61)，所述手抓(61)上设置有位移传感器(62)。The automatic compensation loading and unloading system of claim 1 is characterized in that: the first gripper (6) is provided with two sets of grips (61) for gripping the cylindrical surface of the generator rotor. A displacement sensor (62) is disposed on the grip (61).
- 根据权利要求2所述的柔性补偿机器人自动上下料***，其特征在于：所述走料装置(2)还包括设置在所述机台(1)底部的导料架(21)。 The flexible compensating robot automatic loading and unloading system according to claim 2, characterized in that the loading device (2) further comprises a guiding frame (21) arranged at the bottom of the machine table (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/109489 WO2018107328A1 (en) | 2016-12-12 | 2016-12-12 | Flexible compensation-based robotic automated loading and unloading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/109489 WO2018107328A1 (en) | 2016-12-12 | 2016-12-12 | Flexible compensation-based robotic automated loading and unloading system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018107328A1 true WO2018107328A1 (en) | 2018-06-21 |
Family
ID=62557831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2016/109489 WO2018107328A1 (en) | 2016-12-12 | 2016-12-12 | Flexible compensation-based robotic automated loading and unloading system |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2018107328A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623732A (en) * | 2019-01-30 | 2019-04-16 | 领胜城科技（江苏）有限公司 | A kind of keyboard glue product automatic assembly equipment and the packaging technology using it |
| CN109911303A (en) * | 2019-03-22 | 2019-06-21 | 南京航空航天大学 | A kind of medical latex glove packing machine automatic feeding |
| CN109909985A (en) * | 2019-03-19 | 2019-06-21 | 江苏裕铭铜业有限公司 | A kind of balance placement and the mutual copper sheet that not will cause abrasion |
| CN110561384A (en) * | 2019-09-06 | 2019-12-13 | 宁波大学 | Two-dimensional walking magnetic control gripper |
| CN111195691A (en) * | 2020-02-24 | 2020-05-26 | 深圳市拓野机器人自动化有限公司 | Bulb middle plate riveting mechanism and method |
| CN112720418A (en) * | 2020-12-31 | 2021-04-30 | 江苏南高智能装备创新中心有限公司 | Manipulator device for intelligent production line |
| CN113275792A (en) * | 2021-04-27 | 2021-08-20 | 西安费米人工智能有限公司 | A unloader in automation for crew cut welding machine equipment is used |
| CN113816132A (en) * | 2021-09-20 | 2021-12-21 | 山东泓瑞光电科技有限公司 | Control method and device for chip sorter material box |
| CN114932446A (en) * | 2022-07-25 | 2022-08-23 | 广东原点智能技术有限公司 | Cylinder body finish machining system |
| CN114952318A (en) * | 2022-07-29 | 2022-08-30 | 杭州纳志机器人科技有限公司 | Automatic production line for turbine reduction gearbox body |
| CN115547903A (en) * | 2022-09-26 | 2022-12-30 | 先之科半导体科技(东莞)有限公司 | Diode packaging and feeding device with taking and placing structure |
| CN116191786A (en) * | 2022-11-08 | 2023-05-30 | 佳木斯大学 | Motor assembling device and assembling method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1391992A (en) * | 2001-06-18 | 2003-01-22 | 李树明 | Antomatic rotor lacquer coating machine |
| CN101518772A (en) * | 2008-02-29 | 2009-09-02 | Abb股份有限公司 | Arrangement for the coating of workpieces |
| CN203899880U (en) * | 2014-05-26 | 2014-10-29 | 宁波银利机电有限公司 | Manipulator special for hot coating of micro motor rotor |
| JP2015061344A (en) * | 2013-09-17 | 2015-03-30 | 東芝産業機器システム株式会社 | Rotor manufacturing apparatus and method of manufacturing rotor |
| CN204524273U (en) * | 2014-12-31 | 2015-08-05 | 苏州紫金港智能制造装备有限公司 | A kind of rotor automation machining production line |
| CN103647375B (en) * | 2013-11-25 | 2016-01-20 | 大久制作(大连)有限公司 | A kind of motor coil coating applications equipment |
| CN205051529U (en) * | 2015-10-26 | 2016-02-24 | 珠海凯邦电机制造有限公司 | Rotor surfaces processing apparatus |
-
2016
- 2016-12-12 WO PCT/CN2016/109489 patent/WO2018107328A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1391992A (en) * | 2001-06-18 | 2003-01-22 | 李树明 | Antomatic rotor lacquer coating machine |
| CN101518772A (en) * | 2008-02-29 | 2009-09-02 | Abb股份有限公司 | Arrangement for the coating of workpieces |
| JP2015061344A (en) * | 2013-09-17 | 2015-03-30 | 東芝産業機器システム株式会社 | Rotor manufacturing apparatus and method of manufacturing rotor |
| CN103647375B (en) * | 2013-11-25 | 2016-01-20 | 大久制作(大连)有限公司 | A kind of motor coil coating applications equipment |
| CN203899880U (en) * | 2014-05-26 | 2014-10-29 | 宁波银利机电有限公司 | Manipulator special for hot coating of micro motor rotor |
| CN204524273U (en) * | 2014-12-31 | 2015-08-05 | 苏州紫金港智能制造装备有限公司 | A kind of rotor automation machining production line |
| CN205051529U (en) * | 2015-10-26 | 2016-02-24 | 珠海凯邦电机制造有限公司 | Rotor surfaces processing apparatus |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623732B (en) * | 2019-01-30 | 2023-12-15 | 领胜城科技（江苏）有限公司 | Automatic keyboard glue product assembling equipment and assembling process using same |
| CN109623732A (en) * | 2019-01-30 | 2019-04-16 | 领胜城科技（江苏）有限公司 | A kind of keyboard glue product automatic assembly equipment and the packaging technology using it |
| CN109909985A (en) * | 2019-03-19 | 2019-06-21 | 江苏裕铭铜业有限公司 | A kind of balance placement and the mutual copper sheet that not will cause abrasion |
| CN109909985B (en) * | 2019-03-19 | 2024-01-02 | 江苏裕铭铜业有限公司 | Copper plate which is placed in balance and cannot cause abrasion |
| CN109911303A (en) * | 2019-03-22 | 2019-06-21 | 南京航空航天大学 | A kind of medical latex glove packing machine automatic feeding |
| CN110561384A (en) * | 2019-09-06 | 2019-12-13 | 宁波大学 | Two-dimensional walking magnetic control gripper |
| CN111195691A (en) * | 2020-02-24 | 2020-05-26 | 深圳市拓野机器人自动化有限公司 | Bulb middle plate riveting mechanism and method |
| CN112720418A (en) * | 2020-12-31 | 2021-04-30 | 江苏南高智能装备创新中心有限公司 | Manipulator device for intelligent production line |
| CN113275792A (en) * | 2021-04-27 | 2021-08-20 | 西安费米人工智能有限公司 | A unloader in automation for crew cut welding machine equipment is used |
| CN113275792B (en) * | 2021-04-27 | 2022-11-01 | 西安费米人工智能有限公司 | Automatic feeding and discharging device for flat head welding machine equipment |
| CN113816132A (en) * | 2021-09-20 | 2021-12-21 | 山东泓瑞光电科技有限公司 | Control method and device for chip sorter material box |
| CN114932446A (en) * | 2022-07-25 | 2022-08-23 | 广东原点智能技术有限公司 | Cylinder body finish machining system |
| CN114952318A (en) * | 2022-07-29 | 2022-08-30 | 杭州纳志机器人科技有限公司 | Automatic production line for turbine reduction gearbox body |
| CN115547903B (en) * | 2022-09-26 | 2023-09-08 | 先之科半导体科技(东莞)有限公司 | Diode packaging and feeding device with taking and placing structure |
| CN115547903A (en) * | 2022-09-26 | 2022-12-30 | 先之科半导体科技(东莞)有限公司 | Diode packaging and feeding device with taking and placing structure |
| CN116191786A (en) * | 2022-11-08 | 2023-05-30 | 佳木斯大学 | Motor assembling device and assembling method |
| CN116191786B (en) * | 2022-11-08 | 2023-11-28 | 佳木斯大学 | Motor assembling device and assembling method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018107328A1 (en) | Flexible compensation-based robotic automated loading and unloading system | |
| CN106743550B (en) | Flexible compensation robot automatic loading and unloading system | |
| CN109110511B (en) | Automatic tray unstacking and stacking mechanism and automatic unstacking and stacking method | |
| CN202727607U (en) | Mobile phone middle plate laser automatic marking device | |
| WO2018076256A1 (en) | Motor blanking-plate stacking system | |
| CN202878012U (en) | Automatic feeding and blanking mechanism for vertical machining center | |
| CN106409494B (en) | Inductance coil assembles bending equipment and its method automatically | |
| CN114502295A (en) | Method for transporting and/or handling components | |
| CN209518480U (en) | Toothbrush automated production all-in-one machine | |
| CN219626619U (en) | Wafer transfer device and wafer cleaning equipment | |
| CN113772430A (en) | Automatic gantry production line for spindle stacking and working method thereof | |
| CN211276895U (en) | Automatic welding production system for net rack connecting rod | |
| CN110000655B (en) | Valve pocket grinder | |
| CN203817752U (en) | Automatic assembling device of connector | |
| CN109676048B (en) | FMS panel beating numerical control production line | |
| CN107081740A (en) | Aluminum alloy pattern plate automatic welding device feed appliance | |
| CN212049464U (en) | Full-automatic flexible glue dispensing production line | |
| CN110711983B (en) | Robot welding work unit and operation process thereof | |
| CN210937591U (en) | Automatic welding unit of automatic welding production system for net rack connecting rod | |
| CN211277084U (en) | Closing plate or conical head supply unit of automatic welding production system for net rack connecting rod | |
| CN106271546A (en) | A kind of automation equipment for flange with steel ring riveting assembling | |
| CN114050051B (en) | Full-automatic bonding device and method for end ring cushion block of transformer | |
| CN210937812U (en) | Automatic bolt imbedding unit of automatic welding production system for net rack connecting rod | |
| CN114047012A (en) | Flexible cooperative robot automatic assembly function test verification line | |
| CN208155838U (en) | Flat parts Smart Stacking detects all-in-one machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16924155 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 16924155 Country of ref document: EP Kind code of ref document: A1 |