A control cabinet or electrical cabinet back panel assembly production line and assembly process thereof

Abstract

The present invention provides a control cabinet or electrical cabinet backplane assembly production line and its assembly process, wherein the production line includes an on-line station and a off-line station for the backplane, and along the direction from the on-line station to the off-line station of the production line, a component assembly station and a component wiring station are sequentially arranged, and a backplane conveying system is provided, wherein the backplane conveying system can convey the backplane from the component assembly station of the production line to the wiring station; the component assembly station includes a component feeding work group, a component assembly robot, and a flipping device; the wiring station includes a cable wiring feeding work group, a wiring robot, and a rotating device. Utilizing the backplane assembly production line and its assembly process provided by the present invention, the production efficiency of backplane assembly can be greatly improved, time can be saved, and labor can be reduced. The production line can also be effectively connected with various types of automated line making equipment and conveying equipment to realize intelligent and automated production.

Description

Technical Field

[0001] The present invention relates to the field of automatic tooling, and in particular to a control cabinet or electrical cabinet back panel assembly production line and an assembly process thereof. Background Art

[0002] In modern society, electricity plays an extremely important role in the national industrial system. Whether it is equipment operation or factory production, electrical equipment and control cabinets are required. With the rapid development of the economy, my country's demand for electricity has become increasingly significant, and the application of electrical cabinets has become more and more widespread. Electrical cabinets are cabinets used to install electrical components and equipment, and can protect the components and equipment inside. When using electrical cabinets to install electronic components, the first step is to mark the bottom plate according to the size of the electronic components to be installed. Then, wire ducts, guide rails, and related components are installed on the bottom plate. Finally, wiring is carried out according to the electrical schematic diagram, and each component is connected to the external power supply, sensor, or motor through wires.

[0003] With the rapid development and rise of my country's manufacturing industry, there is a huge market demand for intelligent manufacturing and automated production technologies. Personalized and customized manufacturing is gradually becoming the new normal in the future manufacturing industry. However, in the traditional industrial production of electrical cabinets, components such as guide rails, wire ducts, modules, and terminals are all installed manually. The wiring of electrical cabinets also requires manual wiring and routing of cables. This purely manual operation is inefficient and relies entirely on manual labor. The application of automation and intelligentization in this field is still in its early stages. Summary of the Invention

[0004] In view of the defects and shortcomings in the prior art, the present invention is dedicated to solving the problems. One of the purposes of the present invention is to provide a control cabinet or electrical cabinet back panel assembly production line, including an on-line station and an off-line station for the back panel, and component assembly stations and component wiring stations are sequentially arranged along the direction from the on-line station to the off-line station of the production line, and further comprising:

[0005] A backplane conveying system, wherein the backplane conveying system is capable of conveying the backplane from the component assembly station of the production line to the wiring station; the component assembly station includes a component feeding workgroup, a component assembly robot and a flipping device; the component feeding workgroup is used to feed the components to be installed on the backplane; the flipping device is used to drive the backplane to complete a 0-180 degree flip to complete the installation of the components to be installed on the front and / or back of the backplane; the component assembly robot is used to control the execution of taking the material from the component feeding workgroup and installing it to the target position of the backplane; the wiring station includes a cable wiring feeding workgroup, a wiring robot and a rotating device; the cable wiring feeding workgroup is used to feed the cables of the components to be wired on the backplane; the rotating device is used to drive the backplane to complete a 0-360 degree rotation, and the wiring robot is used to control the execution of taking the cables from the cable wiring feeding workgroup and installing them to the wiring position and wiring position of the target components on the front and / or back of the backplane.

[0006] Furthermore, the flipping device includes a flipping device frame, a rotating support structure, a backboard flipping mechanism, and a backboard flipping drive mechanism. Along the axial center line direction of the backboard flipping mechanism, the end of the flipping device frame close to the on-line station of the backboard of the production line is set as the feeding end of the backboard, and the end of the flipping device frame away from the on-line station of the backboard of the production line is set as the discharging end of the backboard; the backboard flipping mechanism includes a rotating ring assembly and a flipping bracket, the flipping bracket is fixedly connected to the rotating ring assembly, and the flipping bracket can fix the backboard; the rotating support structure is fixedly set on the flipping device frame, and the rotating support structure can rotatably support the backboard flipping mechanism; the backboard flipping drive mechanism is set on the flipping device frame and can drive the backboard flipping mechanism to rotate 0-180 degrees relative to the flipping device frame; the flipping bracket is also provided with a backboard translation device 1, and the backboard translation device 1 can be controlled to drive the backboard along the central axis of the flip bracket, from the feeding end to the discharging end of the flipping device frame.

[0007] Furthermore, the rotating device includes a rotating device frame, a rotating support mechanism, a rotating bracket capable of fixing the backboard, and a backboard rotating drive mechanism; along the axis of the rotating support mechanism, the end of the rotating device frame close to the on-line station of the backboard of the production line is set as the feeding end of the backboard, and the end of the rotating device frame away from the on-line station of the backboard of the production line is set as the discharging end of the backboard;

[0008] The rotating support mechanism includes a support ring and a rotating ring, the support ring and the rotating ring are concentrically nested and installed, the support ring rotatably supports the rotating ring, and the support ring is located at the inner ring or outer ring of the rotating ring; the rotating bracket is fixedly connected to the rotating ring, and the support ring is fixedly connected to the frame; the backboard rotation drive mechanism is arranged on the rotating equipment frame, and can drive the rotating ring and the rotating bracket to rotate 0-360 degrees relative to the rotating equipment frame; the rotating bracket is provided with a backboard translation device 2, and the backboard translation device 2 is used to controllably drive the backboard along the central axis of the rotating bracket, and move from the feed end of the rotating equipment frame to the discharge end of the rotating equipment frame.

[0009] Furthermore, the feeding end of the rotating equipment frame is provided with a feeding rotating support mechanism, a feeding translation device and a feeding rotating bracket, and the rotating circle of the feeding rotating support mechanism is fixedly connected to the feeding rotating bracket; the feeding rotating bracket is provided with a feeding translation device, and the feeding translation device is used to drive the back plate to move along the feeding end and the discharging end; the feeding end of the rotating equipment frame is provided with a discharging rotating support mechanism and a discharging rotating bracket, and the rotating circle of the discharging rotating support mechanism is fixedly connected to the discharging rotating bracket; The discharging rotating bracket is provided with a discharging translation device, and the discharging translation device is used to drive the back plate to move along the feed end and the discharging end; the back plate translation device 2 includes the feed translation device and the discharging translation device; a gap is provided between the feed translation device and the discharging translation device, and the gap separates the feed translation device and the discharging translation device along the feed end and the discharging end of the rotating equipment frame; the rotary drive mechanism drives the rotating circles of the feed rotating support mechanism and the discharging rotating support mechanism to rotate synchronously. Furthermore, the production line also includes a backplane online station, a backplane inspection station and a backplane offline station; the backplane online station, the component assembly station, the backplane inspection station, the wiring station and the backplane offline station are arranged in sequence from the online station to the offline station of the production line; the backplane conveying system includes three conveyor lines, namely the backplane online station conveyor line, the backplane inspection station conveyor line and the backplane offline station conveyor line; the backplane passes through the backplane online station conveyor line, the component assembly station, the backplane inspection station conveyor line, the wiring station and the backplane offline station conveyor line in sequence to complete the backplane online, component assembly, component assembly inspection, wiring and backplane offline operations.

[0010] Furthermore, the production line also includes a production line control component, which is equipped with data information required for the assembly of the production line; the production line control component is respectively connected to the backplane conveying system, the component feeding work group, component assembly robot and flipping equipment of the component assembly station; and the cable wiring feeding work group, wiring robot and rotating equipment of the wiring station.

[0011] Furthermore, the component feeding work group includes a component pallet and a pallet loading conveyor belt, the component pallet is used to realize the feeding of components to be installed, and the pallet loading conveyor belt is used to transport the component pallet to the feeding place; the component feeding work group also includes a small part feeding box and a feeding box rack, the feeding box rack is used to fix the small part feeding box, and the small part feeding box is used to feed small components to be installed; the component assembly robot is used to execute the controlled execution of picking up materials from the component feeding work group and installing them to the target position of the backplane.

[0012] Furthermore, the small-part feeding box includes a feeding box frame, a fixed stop, a movable stop, a guide and limiting structure of the movable stop, and a constant load spring; the fixed stop is fixedly connected to the feeding box frame or is integrally arranged; the movable stop slides back and forth relative to the fixed stop under the support of the guide and limiting structure; a small component to be installed is placed between the movable stop and the fixed stop; one end of the constant load spring is fixedly connected to the feeding box frame, and the other end is fixedly connected to the movable stop, and with the help of the force of the constant load spring, the small component to be installed can be automatically clamped and fixed between the movable stop and the fixed stop.

[0013] Furthermore, the component assembly station also includes a locking nail working group; the locking nail working group of the component assembly station is used to perform a locking nail operation on the components installed on the backplane by tightening the screws, so as to fasten them to the backplane; and / or, the wiring and routing station also includes a locking nail working group; the locking nail working group of the wiring and routing station is used to perform a locking nail operation on the components that have completed the wiring operation by tightening the screws, so as to fasten the cable end or the wiring head to the component that has completed the wiring operation.

[0014] Furthermore, the locking nail working group includes a locking nail robot and a locking nail module; the locking nail module is installed on the locking nail robot, and the locking nail robot is used to move the locking nail module to a specified position; the locking nail module includes a quick-change tightening bit, a driving device for the quick-change tightening bit and a mounting frame, and the driving device for the quick-change tightening bit is used to drive the quick-change tightening bit to move to perform the tightening operation of the fastening screw.

[0015] Furthermore, a quick-change workbench is provided on one side of the flipping device, a quick-change bracket is provided on the quick-change workbench, and quick-change clamping fixture modules of components of different specifications are placed on the quick-change bracket; the component assembly robot can quickly replace quick-change clamping fixture modules of components of different specifications to realize the clamping and installation operations of different components.

[0016] Furthermore, a wiring workbench is provided on one side of the rotating equipment; a quick-change bracket is provided on the wiring workbench, and quick-change clamp fixture modules of cable wiring of different specifications are placed on the quick-change bracket; the wiring robot can quickly replace quick-change clamp fixture modules of cable wiring of different specifications to realize the wire taking and wiring operations of different cable wiring.

[0017] Furthermore, the production line also includes a backboard online station, a backboard inspection station and a backboard offline station; the backboard conveying system includes three conveying lines, namely the backboard online station conveying line, the backboard inspection station conveying line and the backboard offline station conveying line; the backboard online station conveying line, the backboard translation device 1 set on the flip bracket, the backboard inspection station conveying line, the backboard translation device 2 set on the rotating bracket and the backboard offline station conveying line are connected end to end in sequence, and gaps are left between each other to avoid interference with each other's movement.

[0018] Furthermore, the component assembly robot further includes a vision module; when the component assembly robot moves to a designated position, the vision module is triggered to take a picture, and the accurate installation position of the target component is adjusted according to the coordinates provided by the vision module;

[0019] And / or, the wiring robot further includes a vision module, and when the wiring robot runs to a designated position, it triggers the vision module to take pictures, and adjusts the target cable's accurate line-taking and / or wiring position according to the coordinates provided by the vision module.

[0020] Another aspect of the present invention is to provide an assembly process for a control cabinet or electrical cabinet back panel assembly production line, wherein the assembly process comprises the following steps:

[0021] (1) First, the control cabinet or electrical cabinet backplane is transported to the component assembly station of the production line. The flipping device of the component assembly station stops the backplane and fixes it, and then drives the backplane to complete a 0-180 degree flip. The component assembly robot cooperates with the corresponding gripper fixture according to the pre-set assembly data to perform the material removal and fixed installation operations of the target components on the front and / or back of the backplane;

[0022] (2) Secondly, the flipping device drives the backboard to move to 0 degrees, and the backboard translation device of the flipping device cooperates with the backboard inspection station conveyor line to send the backboard out of the flipping device and transport it to the backboard inspection station;

[0023] (3) Once again, after checking that the components are correctly installed, the backplane is transported to the rotating equipment of the wiring station by the backplane inspection station conveyor line and the backplane translation device 2 of the rotating equipment;

[0024] (4) Once the backplane is delivered to its proper location, the rotating device presses and fixes the backplane, and then drives the backplane to rotate 0-360 degrees, and the wiring and routing robot completes the wiring and routing operations of the target components on the backplane;

[0025] (5) After the wiring and routing tasks of the backplane are completed, the rotating device drives the backplane to move to 0 degrees, and the backplane translation device 2 of the rotating device and the backplane offline station conveyor line cooperate to convey the backplane to the backplane offline station to complete the assembly operation of the backplane.

[0026] Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention.

[0027] The technical solution of the present invention proposes a control cabinet or electrical cabinet backplane assembly production line and its assembly process, which replaces manual work through the component feeding workgroup, component assembly robot and flipping equipment of the component assembly station, and the wiring station includes an effective combination of various equipment such as cable wiring feeding workgroup, wiring robot and rotating equipment, forming automated production, saving time, increasing efficiency and reducing labor. The automated production line can be effectively connected with various automated wire making equipment and transmission equipment to realize intelligent and automated production.

[0028] These and other features, aspects and advantages of the present application will become better understood with reference to the following description.The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] This specification sets forth the complete and instructive disclosure of the present application, including its best mode of implementation, for those skilled in the art. This specification refers to the accompanying drawings, in which:

[0030] Figure 1 Shows the overall schematic diagram of the control cabinet or electrical cabinet back panel assembly production line;

[0031] Figure 2 Shows the front view of the control cabinet or electrical cabinet back panel assembly line;

[0032] Figure 3 Shown Figure 2 An enlarged schematic diagram of the small parts feeding box structure at C in the middle;

[0033] Figure 4 Shown Figure 3 An enlarged schematic diagram of the cross-sectional view along line AA;

[0034] Figure 5 An enlarged schematic diagram of the quick-change workbench structure on a control cabinet or electrical cabinet back panel assembly production line is shown;

[0035] Figure 6 A perspective view showing the structure of the component assembly station flipping equipment;

[0036] Figure 7 Shows a front view of the component assembly station flip device;

[0037] Figure 8 A side view of the feed end of the component assembly station flip device is shown;

[0038] Figure 9 Shows a top view of the component assembly station flip device;

[0039] Figure 10 A perspective view of a wiring routing station rotary device is shown;

[0040] Figure 11 The structure of the rotary support mechanism of the wiring and routing station rotary equipment is shown;

[0041] Figure 12 It shows a front view of the back plate translation device 2 of the wiring and routing station rotation equipment;

[0042] Figure 13 Shows a top view of the backplane translation device 2 of the wiring and routing station rotation equipment;

[0043] Figure 14 Shown is a side view of the outfeed end of the wiring routing station rotary apparatus. DETAILED DESCRIPTION

[0044] Reference will now be made in detail to the embodiments of the present application, with one or more examples of the embodiments of the present application illustrated in the drawings. Each example is provided for the purpose of explaining the present application, not for the purpose of limiting the present application. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the scope or spirit of the present application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to produce a still further embodiment. Therefore, it is intended that the present application covers such modifications and variations as come within the scope of the appended claims and their equivalents. As used in this specification, the terms "first," "second," and the like are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of each component. As used in this specification, unless the context clearly dictates otherwise, the terms "a," "an," "the," and "said" are intended to indicate the presence of one or more elements. The terms "including," "comprising," and "having" are intended to be inclusive and mean that there may be additional elements in addition to the listed elements. Wherein like numbers represent like elements throughout the drawings, the present invention will be further explained below with reference to specific embodiments.

[0045] like Figure 1-2 As shown, a control cabinet or electrical cabinet backplane assembly production line of the present invention includes an on-line station and an off-line station for the backplane, and component assembly stations and component wiring stations are sequentially arranged along the direction from the on-line station to the off-line station of the production line, and also includes:

[0046] A backplane conveying system, wherein the backplane conveying system is capable of conveying the backplane from the component assembly station of the production line to the wiring station; the component assembly station includes a component feeding workgroup, a component assembly robot 5 and a flipping device 10; the component feeding workgroup is used to feed the components to be installed on the backplane; the flipping device 10 is used to drive the backplane to complete a 0-180 degree flip to complete the installation of the components to be installed on the front and / or back of the backplane; the component assembly robot 5 is used to control the execution of taking the material from the component feeding workgroup and installing it to the target position of the backplane; the wiring station includes a cable wiring feeding workgroup, a wiring robot and a rotating device 22; the cable wiring feeding workgroup is used to feed the cables of the components to be wired on the backplane; the rotating device 22 is used to drive the backplane to complete a 0-360 degree rotation, and the wiring robot is used to control the execution of taking the cables from the cable wiring feeding workgroup and installing them to the wiring position and wiring position of the target components on the front and / or back of the backplane.

[0047] The flipping device 10 includes a flipping device frame 1001, a rotating support structure, a backboard flipping mechanism, and a backboard flipping driving mechanism. Along the axis direction of the backboard flipping mechanism, the end of the flipping device frame close to the on-line station of the backboard of the production line is set as the feeding end of the backboard, and the end of the flipping device frame away from the on-line station of the backboard of the production line is set as the discharging end of the backboard; the backboard flipping mechanism includes a rotating circle component and a flipping bracket, the flipping bracket is fixedly connected to the rotating circle component, and the flipping bracket can fix the The backboard; the rotating support structure is fixedly arranged on the flipping equipment frame, and the rotating support structure can rotatably support the backboard flipping mechanism; the backboard flipping drive mechanism is arranged on the flipping equipment frame 1001, and can drive the backboard flipping mechanism to rotate 0-180 degrees relative to the flipping equipment frame 1001; the flipping bracket is also provided with a backboard translation device 1, and the backboard translation device 1 can be controlled to drive the backboard along the central axis of the flipping bracket, and move from the feed end to the discharge end of the flipping equipment frame.

[0048] like Figure 6 As shown, the turning device of the present invention is used to automatically turn a workpiece between 0 and 180 degrees. The workpiece can be a control cabinet backplane or cabinet backplane, or any other workpiece to be processed. The turning device includes a turning device frame 1001, a rotation support structure, a backplane turning mechanism, and a backplane turning drive mechanism. Along the axis of the backplane turning mechanism, one end of the frame is configured as the workpiece feed end A, and the other end of the frame is configured as the workpiece discharge end B.

[0049] The flipping device frame 1001 is a frame-type structure. To increase its bearing strength, a transverse support beam can be provided on the flipping device frame 1001. The rotating support structure, the backboard flipping mechanism, and the backboard flipping drive mechanism are all detachably fixed to the flipping device frame 1001. The rotating support structure supports the backboard flipping mechanism on the flipping device frame 1001, and the backboard flipping mechanism can rotate under the support of the rotating support structure. The rotating support structure includes a roller bracket 1002 and a roller 1003. The backboard flipping mechanism includes a rotating ring assembly and a rotating bracket. The rotating ring assembly includes a first gear ring 1006, a second gear ring 1018, a first fixed ring 1007, and a second fixed ring 1017. The first gear ring 1006 and the second gear ring 1018 are fixedly assembled on the first fixed ring 1007 and the second fixed ring 1017, respectively. The first fixed ring 1007 provides support for the first gear ring, and the second fixed ring 1017 provides support for the second gear ring 1018.

[0050] like Figure 6-8As shown, a rotating bracket is fixedly mounted on the rotating ring assembly. The tilting bracket includes a first connecting plate 1019, a second connecting plate 1020, a first crossbeam 1012, and a second crossbeam 1015. The first and second connecting plates 1019, 1020 are fixedly connected to the first fixed ring 1007, while the first and second crossbeams 1012, 1015 are respectively fixed to the first and second connecting plates 1019, 1020. Similarly, the second fixed ring 1017 is also provided with two connecting plates, namely a third connecting plate 1021 and a fourth connecting plate 1022. The first crossbeam 1012 is used to connect the first and third connecting plates 1019, 1021, and the second crossbeam 1015 is used to connect the second and fourth connecting plates 1020, 1022. The first and second crossbeams 1012, 1015 are used to support the workpiece. The two rotating ring assemblies remain parallel and concentric. The first and second fixed rings 1007, 1017 are concentrically mounted with the first and second gear rings 1006, 1018, respectively, as a single unit. The outer diameters of the fixed rings are larger than those of the gear rings. The rotating bracket has sufficient rigidity to ensure the stability and smooth operation of the backplane flip mechanism and to ensure that the two rotating ring assemblies remain parallel and concentric.

[0051] In this embodiment, the gear ring of the rotating ring assembly can be positioned inside, outside, or both inside and outside the fixed ring, as needed, along the direction from the feed end to the discharge end of the frame. Furthermore, the fixed ring and the gear ring are fixedly connected or integrally formed; the backplate flip drive mechanism meshes with the gear ring, and the rotating support structure rotatably supports the fixed ring. In this embodiment, the fixed ring is preferably made of a steel ring with sufficient hardness and toughness to ensure sufficient support strength and impact resistance.

[0052] The back panel flipping drive mechanism includes a driving motor seat 1010, a transmission wheel frame, a driving motor 1011, a driving wheel 1009, and a transmission wheel 1008, wherein the driving motor seat 1010 is fixedly connected to the flipping device frame 1001, and the driving motor 1011 is fixedly installed on the driving motor seat 1010, and the driving motor 1011 is used to drive the driving wheel 1009 to rotate, and the driving wheel 1009 drives the transmission wheel 1008 to rotate, and the roller 1003 is arranged on the roller bracket 1002, and the roller 1003 rotatably supports the first fixed ring 1007 and the second fixed ring 1017; the transmission wheel 1008 is engaged with the first gear ring 1006 to cause each back panel flipping mechanism to flip, thereby controlling the workpiece to flip to a specific angle. It is particularly preferred that the workpiece, such as the back panel of a control cabinet or a cabinet, can be flipped 180 degrees.

[0053] When the back plate flip mechanism rotates, the roller 1003 rotates to support the outer edge of the fixed ring. The rotating bracket is also provided with a conveyor belt mounting member, which is used to install the second conveyor belt 1004 and the first conveyor belt 1005 respectively. The conveyor belt is used to drive the workpiece to move along the axis of the rotating ring assembly.

[0054] The first crossbeam 1012 and the second crossbeam 1015 are each provided with a locking cylinder 1013 for locking the workpiece; the first crossbeam 1012 and the second crossbeam 1015 are each provided with a stopping cylinder 1016 for blocking and positioning the workpiece. Four sets of locking cylinders 1013 and one set of stopping cylinders 1016 are each provided on the first crossbeam 1012 and the second crossbeam 1015. The locking cylinders 1013 lock and secure the workpiece to the first crossbeam 1015 and the second crossbeam 1012, respectively, through an actuating component, such as a piston rod equipped with a pressure plate or a pressure block, to ensure the backplate remains stable and does not fall during the flipping process; the stopping cylinders 1016 are used to block and accurately position the workpiece from the outside of the conveyor belt.

[0055] like Figure 6 As shown, the second conveyor belt 1004 and the first conveyor belt 1005 pass through the first and second gear rings and the first and second fixed rings, and are respectively mounted on the left and right rotating brackets. The two sets of conveyor belts are parallel to the axis of the two sets of gear rings and perpendicular to the side surfaces of the gear rings. This structure facilitates conveying workpieces through the center of the gear rings.

[0056] like Figure 10-13As shown, the rotating device includes a rotating device frame 101, a rotating support mechanism, a rotating bracket capable of fixing the backboard and a backboard rotating drive mechanism; along the axis of the rotating support mechanism, one end of the rotating device frame 101 close to the on-line station of the backboard of the production line is set as the feeding end of the backboard, and the one end of the rotating device frame 101 away from the on-line station of the backboard of the production line is set as the discharging end of the backboard; the rotating support mechanism includes a supporting ring 201 and a rotating ring 202, the supporting ring 201 and the rotating ring 202 are concentrically nested and installed, the supporting ring 201 rotatably supports the rotating ring 202, and the supporting ring 201 rotates and supports the rotating ring 202. 01 is located in the inner ring or outer ring of the rotating circle 202; the rotating bracket is fixedly connected to the rotating ring 202, and the supporting ring 201 is fixedly connected to the rotating equipment frame 101; the backboard rotation driving mechanism is arranged on the rotating equipment frame 101, and can drive the rotating circle 202 and the rotating bracket to rotate 0-360 degrees relative to the rotating equipment frame 101; the rotating bracket is provided with a backboard translation device 2, and the backboard translation device 2 is used to controllably drive the backboard along the central axis of the rotating bracket, from the feed end of the rotating equipment frame 101 to the discharge end of the rotating equipment frame 101.

[0057] The rotating equipment frame 101 is along the axis of the rotating support mechanism, with one end being the feed end A and the other end being the discharge end B; a back plate translation device 2 is provided on the rotating bracket, and the back plate translation device 2 is used to drive the workpiece along the central axis of the rotating bracket, from the feed end A of the rotating equipment frame 101 to the discharge end B of the rotating equipment frame 101.

[0058] The feed end A of the rotating equipment frame 101 is provided with a feed rotating support mechanism 102, a feed translation device 107 and a feed rotating bracket 105, and the rotating circle 202 of the feed rotating support mechanism 102 is fixedly connected to the feed rotating bracket; the feed rotating bracket is provided with a feed translation device, and the feed translation device is used to drive the workpiece to move along the feed end and the discharge end.

[0059] The discharging end B of the rotating equipment frame 101 is provided with a discharging rotating support mechanism 103 and a discharging rotating bracket 106, and the rotating circle 202 of the discharging rotating support mechanism 103 is fixedly connected to the discharging rotating bracket 106; the discharging rotating bracket 106 is provided with a discharging translation device 108, and the discharging translation device 108 is used to drive the workpiece to move along the feed end A to the discharging end B.

[0060] A gap 306 is provided between the feed translation device 107 and the discharge translation device 108. The gap 306 separates the feed translation device 107 and the discharge translation device 108 along the feed end A and the discharge end B of the rotating equipment frame 101. The rotary drive mechanism 104 drives the rotating rings 202 of the feed rotary support mechanism 102 and the discharge rotary support mechanism 103 to rotate synchronously. The rotating rings 202 of the feed rotary support mechanism 102 and the discharge rotary support mechanism 103 are synchronously driven by a mechanical linkage and / or an electrically controlled linkage mechanism. In this embodiment, a synchronous shaft 111 with a simple structure and high transmission efficiency is specifically used as the mechanical linkage mechanism. The feed translation device 107 and the discharge translation device 108 located at the feed end A and the discharge end B are independent of each other and have no connection, ensuring that the cable routing is unobstructed when assembling the front and back sides of the workpiece.

[0061] like Figure 10 and Figure 12-13 As shown, the rotary drive mechanism 104 includes a drive motor 1041, a rotary reducer 1042, a driving wheel 1043 and a transmission wheel 1044, wherein the drive motor 1041 drives the driving wheel 1043 to rotate through the rotary reducer, and the driving wheel 1043 drives the transmission wheel 1044 to rotate, and the transmission wheel 1044 is rotatably arranged on the rotating equipment frame 101, and the transmission wheel 1044 is engaged or friction-transmitted with the rotating ring 202 located at the feed end or the discharge end to flip each of the rotary brackets, thereby controlling the workpiece to flip to a specific angle. It is particularly preferred that the workpiece, such as the back panel of a control cabinet or a cabinet, can be flipped at any angle and continuously under the control of the controller. Moreover, it is preferred that: in order to make the feeding rotating bracket 105 and the discharging rotating bracket 106 rotate synchronously, a transmission wheel 1044 is respectively provided at the feeding end A and the discharging end B of the rotating equipment frame 101, and the two transmission wheels are synchronously driven by the synchronous transmission shaft 112. The driving motor 1041 is fixedly arranged at the discharging end of the rotating equipment frame 101, and is connected to the transmission wheel 1044 at the discharging end of the frame through the rotating reducer 1042 and the driving wheel 1043, and then transmits power to the transmission wheel 1044 at the feeding end A of the frame through the synchronous transmission shaft 112. This driving mechanism has a simple structure, high transmission efficiency and low cost.

[0062] The backplate translation devices 2 on the feed rotary support 105 and the discharge rotary support 106 each include two workpiece transfer mechanisms, symmetrically arranged along the axis of the rotary support (alternatively, they can be asymmetrically arranged, not shown). A gap 305 is provided between the two workpiece transfer mechanisms, serving as an operating area for the workpieces.

[0063] like Figure 11As shown, the feed rotary support mechanism 102 and the discharge rotary support mechanism 103 each comprise a support ring 201, a rotating ring 202, and a central rolling element 203. The support ring 201 is fixedly connected to the rotating device frame 101, serving as a fixed support end. The rotating ring 202 is connected to the feed rotary support 105 and the discharge rotary support 106, respectively, serving as a rotating support end for the workpiece. The rotary support mechanism is a large bearing capable of withstanding combined loads, including large axial and radial loads and overturning moments. It is used to support the rotating body and withstand the overturning torque of the cantilever structures on both sides. The rotating ring of the rotary support mechanism meshes with the drive gear of the rotary drive mechanism. The feed rotary support mechanism 102 and the discharge rotary support mechanism 103 further include an oil nozzle 209, a plug 207, an isolation block 204 and a sealing strip 206, respectively. The rolling element 203 is used to transfer the load and significantly reduce the friction resistance when the support ring and the rotating ring rotate relative to each other. The oil nozzle 209 is used to add lubricating grease to the roller body. The plug 7 is used to seal the mounting hole 205 after the rolling element is installed between the inner rotating rings. The isolation block 204 is used to separate the rolling elements 203 to ensure that the rolling elements 203 are evenly distributed. The sealing strip 206 is used to prevent the loss of lubricant and isolate external dust and particles from entering the lubricant to cause pollution. The mounting hole 205 is used for mounting and fixing with the external bracket. Figure 10 As shown, in order to ensure smoother rotation between the rotating ring 202 and the fixed ring 201, the concentricity of the rotating ring 202 and the fixed ring 201 is required to be higher than the concentricity between the gear ring and the fixed ring in the flip mechanism. In addition, because the rotating ring 202 of the rotating mechanism is fixedly connected to the rotating bracket, and the fixed ring 201 rotatably supports the rotating ring 202, to prevent the rotating bracket and the fixed ring 201 from interfering with each other's movement, the inner side surface of the rotating ring 202 protrudes from the inner side surface of the rotating ring 202 (along the direction from the feed end to the discharge end of the rotating device back plate, the sides of the rotating ring 202 and the fixed ring 201 facing the center of the rotating device frame are their respective inner side surfaces).

[0064] like Figure 10As shown in Figures 12-13, the second backplate translation device specifically utilizes a double-sided synchronous belt conveyor. The rotary drive motors 303 and 304 on either side of the feed conveyor 301 and discharge conveyor 302 drive a drive shaft 111 via a synchronous belt or chain. The ends of the drive shaft 111 are connected to the workpiece transport mechanism, or conveyor belt mechanism, on either side. The configuration of the drive shaft 111 ensures that both ends of the workpiece move synchronously as it moves from the feed end A to the discharge end B, preventing skew. The conveying positioning actuator 110 is used to block and position the backplate as it is conveyed along the frame from the feed end to the discharge end. The drive device for the workpiece locking mechanism is an actuator cylinder 402 fixedly connected to a rotating bracket; the rotating bracket is fixedly connected to an air pump 303 and an air tank 304; the air tank 304 controls the air supply to the actuator cylinder 402. The slip ring 501 is electrically connected to the air pump 303.

[0065] The pneumatic actuator used to position and clamp the backplate includes two blocking and positioning cylinders 401 and eight actuating cylinders 402, respectively mounted on the feed rotary bracket 105 or the discharge rotary bracket 106. The blocking and positioning cylinders 401, located at the discharge end, precisely position the backplate along the conveying direction. The actuating cylinders 402 are used to compress the backplate after it has been positioned, preventing it from shifting during assembly and ensuring it does not slip or fall during rotation. A stable air supply is provided by an air pump 303 mounted on the outside of the feed and discharge rotary brackets and an air tank 304 mounted on the conveying motor mounting plate. These drive the cylinders to compress and hold the backplate, ensuring stability and preventing the risk of it falling during rotation. An air pump 303 and air tank 304 are each installed at the feed end A and the discharge end B of the rotary bracket.

[0066] The power supply method for the various components of the rotating equipment is as follows: after the external power supply is connected to the equipment, it is divided into multiple power supply channels to supply various driving parts of the equipment: one power channel directly supplies the rotary drive motor; two power channels are connected through quick plug-in to supply the synchronous belt conveyors at the feed and discharge ends respectively in the rotating working position; and two power channels are connected through movable contacts installed on the equipment frame, and power is supplied to the slip rings 501 installed on the rotating rings of the rotating support at the feed and discharge ends by sliding or rolling contact. The slip rings 501 are installed on the rotating rings of the rotating support mechanism and move synchronously with the feed rotating bracket 105 and the discharge rotating bracket 106.

[0067] The feed and discharge rotating brackets 105 and 106 are fixedly connected to a backplate locking mechanism, which secures the backplate to the feed and discharge rotating brackets 105 and 106 after positioning. A cable connects the slip ring 501 to the air pump and the slip rings, providing continuous power to the air pump driving the backplate locking mechanism. The air pump drives the actuating cylinder 402. The rotating brackets are fixedly connected to the air pump 303 and the air tank 304, which controls the air supply to the actuating cylinder 403. The slip ring 501 is electrically connected to the air pump 303. A DC transformer is fixedly connected to the feed and discharge rotating brackets 105 and 106, electrically connected to the slip ring 501, providing a DC power source.

[0068] A DC transformer is also fixedly connected to the feed end rotating bracket 105 or the discharge end rotating bracket 106. The DC transformer is specifically a 24V DC transformer, and the DC transformer is electrically connected to the slip ring; the DC transformer is used to provide a DC power supply to continuously power the cylinder solenoid valve, cylinder sensor, backplane detection and other sensors and the wireless communication module.

[0069] The electrical control method of this rotating equipment uses a drive controller as the whole machine controller. The drive controller can use PLC, industrial computer and single chip microcomputer, etc. to realize automatic action. The driving device of the rotating drive mechanism is a rotating drive motor, which is directly connected to the drive controller to control the action; the driving device of the backplane translation device 2 is a conveying motor, which is connected to the drive controller by plugging when it is in the working position to control the action. The air pump on the rotating bracket is always kept powered to ensure the stability of the cylinder air source pressure; the cylinder solenoid valve on the rotating bracket is connected to the drive controller through a wireless communication module to control the action; the cylinder sensor, workpiece detection and other sensors on the rotating bracket send the detection results to the drive controller through the wireless communication module, so as to monitor the status of each sensor in real time.

[0070] The production line also includes a backplane online station, a backplane inspection station and a backplane offline station; the backplane online station, the component assembly station, the backplane inspection station, the wiring station and the backplane offline station are arranged in sequence from the online station to the offline station of the production line; the backplane conveying system includes three conveyor lines, namely the backplane online station conveyor line 9, the backplane inspection station conveyor line 30 and the backplane offline station conveyor line 31; the backplane passes through the backplane online station conveyor line 9, the component assembly station, the backplane inspection station conveyor line 30, the wiring station and the backplane offline station conveyor line 31 in sequence to complete the backplane online, component assembly, component assembly inspection, wiring and backplane offline operations.

[0071] The production line also includes a production line control component 17, which is provided with data information required for the assembly of the production line; the production line control component 17 is respectively connected to the backplane conveying system, the component feeding work group, the component assembly robot and the flipping device 10 of the component assembly station; the cable wiring feeding work group, the wiring robot 5 and the rotating device 22 of the wiring station.

[0072] The component feeding working group includes a component pallet 1 and a pallet loading conveyor belt. The component pallet 1 is used to feed the components to be installed, and the pallet loading conveyor belt is used to transport the component pallet to the feeding place; the component feeding working group also includes a small part feeding box and a feeding box rack 8. The feeding box rack 8 is used to fix the small part feeding box, and the small part feeding box is used to feed small components to be installed; the component assembly robot 5 is used to execute controlled execution of picking up materials from the component feeding working group and installing them to the target position of the backplane.

[0073] Specifically, such as Figure 1-2 As shown, the component pallet 1 is processed with a limit device according to different models to prevent the components from moving or tilting during transportation. The component pallet 1 is equipped with an RFID chip for identifying and tracking the components in the pallet. When the component pallet 1 is not in use, it is placed on the pallet temporary storage rack 2. Two pallet loading conveyor belts can be set up as needed, namely the first pallet loading conveyor belt 3 and the second pallet loading conveyor belt 4. When in use, the component pallets 1 arranged in a specific order are placed on the first pallet loading conveyor belt 3 and the second pallet loading conveyor belt 4 respectively. The pallet temporary storage rack 2 is used for temporary storage of component pallets 1 and is equipped with RFID read / write heads, sensors, etc. for detecting pallet information and information tracking; the pallet temporary storage rack 2 is constructed of profiles, connectors, etc.

[0074] The small-piece feeding box includes a feeding box frame, a fixed stopper 41, a movable stopper 36, a guide and limiting structure for the movable stopper 36, and a constant-load spring 38. The fixed stopper 41 is fixedly connected to the feeding box frame or integrally provided. The movable stopper 36 slides back and forth relative to the fixed stopper under the support of the guide and limiting structure. A small component to be installed is placed between the movable stopper 36 and the fixed stopper 41. One end of the constant-load spring 38 is fixedly connected to the feeding box frame, and the other end is fixedly connected to the movable stopper 36. With the force of the constant-load spring 38, the small component to be installed can be automatically clamped and fixed between the movable stopper 36 and the fixed stopper 41. The small-piece feeding box package is fixedly placed on the small-piece feeding box rack 8, which is fixedly provided on the mounting brackets of the first tray feeding conveyor belt 3 and the second tray feeding conveyor belt 4 or integrally provided to simplify the structure, reduce costs, and improve manufacturing efficiency.

[0075] Specifically, such as Figure 3-Figure 4 As shown, the frame of the feed box includes a base plate 32, with two side plates 42 disposed at either end. A guide shaft 34, a guide bar 45, and a guide slot 43 are fixedly disposed between the two side plates 42, extending from one side plate toward the other. A slider connecting block 37 is slidably mounted on the guide shaft 34, and a mounting member 35 is fixedly mounted on the slider connecting block 37. The mounting member 35 is fixedly connected to a sliding block 36. A small component 39 to be mounted is slidably mounted between the guide bar 33 and the guide slot 43. To further ensure smooth sliding of the small component along the guide bar 45 and the guide slot 43, a stop bar 44 is also fixedly mounted on the guide bar 33. The guide slot 43 and the stop bar 44 together form a sliding space for the small component 39 to be mounted. A constant-load spring 38 is mounted on the spring mounting block 40 at one end and on the sliding base plate 32 assembly at the other end. Spring mounting blocks 40 are fixedly connected to the side plates 42. Components such as terminals, safety barriers, and relays are placed between the movable block 36 and the terminal block 41. Spring tension clamps the components between the sliding base plate 32 assembly and the terminal block 41. When the robot grasps a component or a group of components, the spring tension pulls the sliding base plate 32 assembly, automatically clamping the components.

[0076] The component assembly station also includes a locking nail working group; this working group is used to lock components installed on the backplane by tightening screws to secure them to the backplane. The wiring and wiring station also includes a locking nail working group; this working group is used to lock components that have completed wiring operations by tightening screws to secure cable ends or wiring connectors to the components that have completed wiring operations.

[0077] The nail locking work group includes a nail locking robot and a nail locking module. The nail locking module is mounted on the nail locking robot and is used to move the nail locking module to a designated position. The nail locking module includes a quick-change tightening bit, a drive device for the quick-change tightening bit, and a mounting frame. The drive device for the quick-change tightening bit is used to drive the quick-change tightening bit to perform the tightening operation. The mounting frame is detachably fixed to the nail locking robot; the drive device for the quick-change tightening bit is mounted on the mounting frame. The mounting frame is equipped with a downward pressure cylinder, a guide rail, and a slider. The slider is driven by the downward pressure cylinder to slide back and forth along the guide rail on the mounting frame. The slider is further equipped with a servo motor and a quick-change tightening bit. The servo motor is used to drive the quick-change tightening bit to rotate, and in conjunction with the downward pressure of the downward pressure cylinder, it tightens the fastening screws of the component that has completed the wiring operation, completing the nail locking operation. Three or more sets of quick-change tightening bits can be set as needed to adapt to the tightening of screws of different specifications.

[0078] The component assembly station's locking workbench 12 includes a translation axis 15, a four-axis robot, a component assembly station's locking module 11, a locking bit quick-change bracket 78, and a locking bit module. The assembly station's locking workbench 12 is used to lock the screws of various components installed at the assembly station.

[0079] like Figure 5 As shown, a quick-change workbench 6 is provided on one side of the flipping device, and a quick-change bracket 78 is provided on the quick-change workbench 6. Quick-change clamping fixture modules of different specifications are placed on the quick-change clamping fixture module 78, such as quick-change clamping fixture module 1 76 and quick-change clamping fixture module 2 79. The quick-change clamping fixture module 1 76 and the quick-change clamping fixture module 2 79 respectively include a cylinder 81, a quick-change female connector 75, a pneumatic clamping jaw 80, and a clamping finger 82. The quick-change clamping fixture module 1 76 and the quick-change clamping fixture module 2 79 are placed on the quick-change bracket 78. The cylinder 81 is fixedly connected to the quick-change module female connector 75. The cylinder 81 can drive the pneumatic clamping jaw 80 and the clamping finger 82 to perform a loosening or clamping operation to clamp or release the target component. The quick-change bracket 78 is also provided with a sensor 77, which is used to detect the placement status of the quick-change clamping fixture module. The component assembly machine can quickly replace component quick-change clamping fixture modules of different specifications by engaging the quick-change male head and the quick-change female head 75 to achieve clamping and installation operations of different components.

[0080] A wiring workbench 19 is located on one side of the rotating device. The wiring robots include a wiring robot 1 21 and a wiring robot 2 23. Also located on the wiring workbench 19 are a travel axis 1 20 for wiring robot 1 21, a travel axis 2 24 for wiring robot 2, and a quick-change bracket 78 for connecting single and / or multiple cables. The wiring workbench 19 also includes a quick-change bracket 78 for connecting single and / or multiple cables. The bracket 78 houses quick-change gripper modules of various sizes for cable connection. The quick-change gripper modules include a quick-change module female connector 75, a cylinder 81, and gripper fingers 80. The cylinder 81 is fixedly connected to the quick-change module female connector 75 and drives the gripper fingers 80 to clamp or release components of varying sizes, such as cables. A sensor 77 is also located on the quick-change bracket 78 to detect the placement of the quick-change gripper modules. The wiring robot can quickly replace the cable wiring quick-change clamping fixture modules of different specifications by attracting the quick-change male head and the quick-change female head 75 to realize the wire taking and wiring operations of different cable connections.

[0081] One side of the rotating device 22 is docked with the cable tray 18 and the wiring workbench 19, respectively. Its interior is docked with wiring robot 1 21 and wiring robot 2 23. The wiring workbench 19 is equipped with a travel axis 1 20 for wiring robot 1 21 and a travel axis 2 24 for wiring robot 2. Travel axis 1 20 can transport wiring robot 1 21 from one end to the other, while travel axis 2 24 can transport wiring robot 1 23 from one end to the other. On the other side of the rotating device 22 is a nail locking workbench 28 for the wiring station. This nail locking workbench 28 includes the wiring station's translation axis 26, a four-axis robot, a nail locking module 25, a nail locking bit quick-change bracket 78, and a nail locking bit module. The nail locking workbench 28 is used to lock the wired components by tightening screws to secure the cable ends or wiring terminals to the wired components.

[0082] The wiring workbench 19 is also equipped with a quick-change clamping fixture module and a quick-change bracket 78 for cable wiring. The quick-change bracket 78 is used to house the quick-change clamping fixture assembly, enabling the wiring robot to accurately and quickly change fixtures. The quick-change clamping fixture module for cable wiring includes a quick-change module female connector, mounting plate, cylinder, and clamping fingers. The quick-change fixture is designed for gripping different cables. The single-cable quick-change clamping fixture module is used for wiring a single cable, while the multi-cable quick-change clamping fixture module is used for wiring multiple cables in groups.

[0083] The cable connection and supply working group includes a plurality of cable trays 18 and a cable supply module 16 arranged on a connection workbench 19. The cable trays 18 are processed according to different cable connectors so that the cables are arranged in an orderly manner.

[0084] The production line of the present invention is provided with safety fences at the outer layers of the component assembly station and the wiring and routing station. Specifically, the component assembly station's nailing workbench 12 is provided with a component assembly station's nailing workbench fence 14, and the wiring and routing station's nailing workbench 28 is provided with a wiring and routing station's nailing workbench fence 29.

[0085] The production line in this embodiment also includes a backboard online station, a backboard inspection station and a backboard offline station; the backboard conveying system includes three conveying lines, namely the backboard online station conveying line 9, the backboard inspection station conveying line 30 and the backboard offline station conveying line 31; the backboard online station conveying line 9, the backboard translation device 1 set on the flip bracket, the backboard inspection station conveying line 30, the backboard translation device 2 set on the rotating bracket and the backboard offline station conveying line 31 are connected end to end in sequence, and gaps are left between each other to avoid interference with each other's movement.

[0086] The component assembly robot 5 also includes a vision module; when the component assembly robot moves to a designated position, it triggers the vision module to take a picture, and adjusts the accurate installation position of the target component according to the coordinates provided by the vision module;

[0087] The wiring robot 21, 23 further includes a vision module. When the wiring robot 21, 23 runs to a designated position, it triggers the vision module to take a picture and adjusts the target cable's accurate line taking and / or wiring position according to the coordinates provided by the vision module.

[0088] Another aspect of the present invention is to provide an assembly process for a control cabinet or electrical cabinet back panel assembly production line, wherein the assembly process comprises the following steps:

[0089] (1) First, the control cabinet or electrical cabinet backplane is transported to the component assembly station of the production line. The flipping device of the component assembly station stops the backplane and fixes it, and then drives the backplane to complete a 0-180 degree flip. The component assembly robot cooperates with the corresponding gripper fixture according to the pre-set assembly data to perform the material removal and fixed installation operations of the target components on the front and / or back of the backplane;

[0090] (2) Secondly, the flipping device drives the backboard to move to 0 degrees, and the backboard translation device of the flipping device cooperates with the backboard inspection station conveyor line to send the backboard out of the flipping device and transport it to the backboard inspection station;

[0091] (3) Once again, after checking that the components are correctly installed, the backplane is transported to the rotating equipment of the wiring station by the backplane inspection station conveyor line and the backplane translation device 2 of the rotating equipment;

[0092] (4) Once the backplane is delivered to its proper location, the rotating device presses and fixes the backplane, and then drives the backplane to rotate 0-360 degrees, and the wiring and routing robot completes the wiring and routing operations of the target components on the backplane;

[0093] (5) After the wiring and routing tasks of the backplane are completed, the rotating device drives the backplane to move to 0 degrees, and the backplane translation device 2 of the rotating device and the backplane offline station conveyor line cooperate to convey the backplane to the backplane offline station, completing the assembly operation of the electric control cabinet or electrical cabinet backplane.

[0094] In this embodiment, a rotating device is selected to avoid interference between finished cables and cable ducts or modules. Two wiring robots, wiring robot 1 21 and wiring robot 2 23, cooperate with each other to complete wiring and wiring operations to meet the need for threading on both sides of the control cabinet or electrical cabinet backplane.

[0095] After the wiring robot replaces the corresponding clamping fixture according to the wiring data pre-set by the production line control component 17, the wiring robot 21 clamps the cable head from the cable feeding tray, and the wiring robot walking axis 1 20 transports the wiring robot 21 to the far end of the wiring robot walking axis 1. The wiring robot 2 23 clamps the other end of the cable and lifts the cable as a whole.

[0096] The wiring robot 1 21 and the wiring robot 2 23 move simultaneously. The wiring robot 2 23 first moves to the vicinity of the first wiring point. The visual module takes pictures and transmits the coordinate data to the wiring robot 2 23. The wiring robot 2 23 corrects the wiring point according to the coordinates and connects the cable to the terminal. The locking nail four-axis robot and the locking nail module 25 of the wiring and wiring station replace the accurate batch head according to the setting of the production line control component 17. After running to the specified position, the visual module takes pictures and transmits the coordinate data to the locking nail four-axis robot and the locking nail module 25 of the wiring and wiring station. The locking nail four-axis robot and the locking nail module 25 of the wiring and wiring station run to the exact position according to the coordinates, tighten the terminal screws, and the wiring robot 2 23 returns to complete the wiring locking nail at the first end of the cable.

[0097] Wiring and wiring robot 1 (21) moves to the vicinity of the second wiring point as programmed. Wiring and wiring robot 2 (23) arranges the cables along the predetermined route, placing them in the cable trough. Wiring and wiring robot 1 (21) triggers the vision module to take a photo, which is processed and transmitted to the wiring robot 1 (21). Wiring and wiring robot 1 (21) adjusts the wiring point based on the coordinates and connects the cable to the terminal. The four-axis locking robot and the locking module 25 at the wiring and wiring station replace the correct screwdriver bit according to the settings of the production line control unit 17. After reaching the designated position, the vision module triggers the image processing and transmits the coordinate data to the locking robot. The locking robot moves to the correct position based on the coordinates and tightens the terminal screws, completing the cable routing and the second end of the cable.

[0098] When the wiring on the front of the backplane is complete, the rotating device 22 flips 180 degrees as required by the program, and the wiring robot completes the wiring of all cables on the back side according to the wiring data pre-set by the production line control unit 17. When the required cables need to be threaded through both sides of the backplane, after the wiring robot completes the wiring of the first end of the cable and the wiring on the back side, the rotating device 22 flips 180 degrees as required by the program, and the two wiring robots collaborate to complete the wiring of the second end of the cable. After the wiring requirements are completed, the rotating device 22 flips to 0 degrees and waits for the next wiring task.

[0099] After all wiring tasks of the control cabinet or electrical cabinet backplane are completed, the rotating device moves to 0 degrees, the stop cylinder and the pressing cylinder of the rotating device are actuated to release the backplane, and the backplane is sent out of the rotating device to the backplane off-line station 31, where it is manually taken off the line, completing the automatic installation of components and automatic wiring of the control cabinet or electrical cabinet backplane.

[0100] The above is a preferred embodiment of the present invention. For those skilled in the art, other variations and improvements can be made based on the technical solutions and inventive essence disclosed in the present invention, but these variations and improvements based on the present invention should all be included in the scope of protection of the present invention. This specification uses embodiments to disclose the present application, including the best embodiment, and also enables those skilled in the art to practice the present application, including making and using any device or system and performing any incorporated method. The patentable scope of this application is defined by the claims and may include other embodiments that occur to those skilled in the art. If such other embodiments include structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims, then they are defined to be within the scope of the claims.

Claims

1. A control cabinet or electrical cabinet backplane assembly production line, the production line includes a backplane online station and a backplane offline station, and along the direction from the online station to the offline station, component assembly stations and component wiring stations are sequentially arranged, characterized in that: The production line also includes: A backplane conveying system capable of conveying the backplane from a component assembly station to a wiring and routing station of a production line; The component assembly station includes a component feeding workgroup, a component assembly robot, and a flipping device; the component feeding workgroup is used to feed components to be mounted on the backplane; the flipping device is used to drive the backplane to complete a 0-180 degree flip to complete the installation of components to be mounted on the front and / or back of the backplane; the component assembly robot is used to controllably take components from the component feeding workgroup and install them at the target position on the backplane; The wiring station includes a cable wiring feeding work group, a wiring robot and a rotating device; the cable wiring feeding work group is used to feed cables to the components to be wired on the backplane; the rotating device is used to drive the backplane to complete a 0-360 degree rotation, and the wiring robot is used to controllably take cables from the cable wiring feeding work group and install them at the wiring positions and wiring positions of the target components on the front and / or back of the backplane; The flipping device includes a flipping device frame, a flipping support structure, a backboard flipping mechanism, and a backboard flipping driving mechanism. Along the axis direction of the backboard flipping mechanism, the end of the flipping device frame close to the on-line station of the backboard of the production line is set as the feeding end of the backboard, and the end of the flipping device frame away from the on-line station of the backboard of the production line is set as the discharging end of the backboard; The backboard flipping mechanism includes a rotating circle assembly and a rotating bracket, wherein the rotating bracket is fixedly connected to the rotating circle assembly and the rotating bracket can fix the backboard; The flip support structure is fixedly arranged on the flip device frame, and the flip support structure can rotatably support the backboard flip mechanism; The backplane flipping drive mechanism is arranged on the flipping device frame and can drive the backplane flipping mechanism to rotate 0-180 degrees relative to the flipping device frame; The rotating bracket is also provided with a backboard translation device 1, which can be controlled to drive the backboard along the central axis of the rotating bracket, moving from the feed end to the discharge end of the flip device frame.

2. The production line according to claim 1, characterized in that: The rotating device includes a rotating device frame, a rotating support mechanism, a rotating bracket capable of fixing the back plate, and a back plate rotating drive mechanism; Along the axis of the rotating support mechanism, one end of the rotating equipment frame close to the on-line station of the production line backboard is set as the feeding end of the backboard, and the one end of the rotating equipment frame away from the on-line station of the production line backboard is set as the discharging end of the backboard; The rotary support mechanism includes a support ring and a rotating ring, wherein the support ring is concentrically nested with the rotating ring, the support ring rotatably supports the rotating ring, and the support ring is located in the inner ring or outer ring of the rotating ring; The rotating bracket is fixedly connected to the rotating ring, and the supporting ring is fixedly connected to the frame; The back plate rotation drive mechanism is provided on the rotating device frame and is capable of driving the rotating ring and the rotating bracket to rotate 0-360 degrees relative to the rotating device frame; The rotating bracket is provided with a second backboard translation device, which is used to controllably drive the backboard along the central axis of the rotating bracket, moving from the feed end of the rotating equipment frame to the discharge end of the rotating equipment frame.

3. The production line according to claim 2, characterized in that: The feeding end of the rotating equipment frame is provided with a feeding rotating support mechanism, a feeding translation device and a feeding rotating bracket, and the rotating circle of the feeding rotating support mechanism is fixedly connected to the feeding rotating bracket; the feeding translation device is provided on the feeding rotating bracket, and the feeding translation device is used to drive the back plate to move along the feeding end and the discharging end; The feed end of the rotating equipment frame is provided with a discharging rotating support mechanism and a discharging rotating bracket, and the rotating circle of the discharging rotating support mechanism is fixedly connected to the discharging rotating bracket; the discharging rotating bracket is provided with a discharging translation device, and the discharging translation device is used to drive the back plate to move along the feed end and the discharging end; The second backboard translation device includes the feeding translation device and the discharging translation device; A gap is provided between the feed translation device and the discharge translation device, and the gap separates the feed translation device and the discharge translation device in the direction of the feed end and the discharge end of the rotating equipment frame; The rotary drive mechanism drives the rotating circles of the feed rotary support mechanism and the discharge rotary support mechanism to rotate synchronously.

4. The production line according to claim 1, characterized in that: The production line also includes a back panel inspection station; The backplane online workstation, the component assembly workstation, the backplane inspection workstation, the wiring and routing workstation, and the backplane offline workstation are arranged in sequence; The backboard conveying system includes three sections of conveying lines, namely the backboard online station conveying line, the backboard inspection station conveying line and the backboard offline station conveying line; The backplane passes through the backplane online station conveyor line, the component assembly station, the backplane inspection station conveyor line, the wiring station and the backplane offline station conveyor line in sequence, completing the backplane online, component assembly, component assembly inspection, wiring and backplane offline operations in sequence.

5. The production line according to claim 1, characterized in that: The production line also includes a production line control component, in which the data information required for assembly of the production line is set; The production line control components are respectively connected to the backplane conveying system, the component feeding workgroup, component assembly robot and flipping equipment of the component assembly station, and the cable wiring feeding workgroup, wiring robot and rotating equipment of the wiring station.

6. The production line according to claim 1, characterized in that: The component feeding work group includes a component tray and a tray loading conveyor belt. The component tray is used to feed the components to be installed, and the tray loading conveyor belt is used to transport the component tray to the feeding location. The component feeding working group also includes a small component feeding box and a feeding box rack, wherein the feeding box rack is used to fix the small component feeding box, and the small component feeding box is used to feed small components to be installed; The component assembly robot is used to controllably pick up materials from the component feeding work group and then install them at the target position of the backplane.

7. The production line according to claim 6, characterized in that The small parts feeding box includes a feeding box frame, a fixed stopper, a movable stopper, a guide and limiting structure of the movable stopper, and a constant load spring; The fixed stopper is fixedly connected to or integrally provided with the feed box frame; The movable stopper slides back and forth relative to the fixed stopper under the support of the guide limiting structure; A small component to be installed is placed between the movable stopper and the fixed stopper; One end of the constant load spring is fixedly connected to the feed box frame, and the other end is fixedly connected to the movable stopper. With the help of the force of the constant load spring, the small component to be installed can be automatically clamped and fixed between the movable stopper and the fixed stopper.

8. The production line according to claim 1, characterized in that: The component assembly station also includes a locking nail working group; The locking nail working group of the component assembly station is used to perform a locking nail operation on the components installed on the back plate by tightening screws to fasten them to the back plate; And / or, the wiring and wiring station further includes a locking nail working group; The locking nail working group of the wiring and wiring station is used to perform locking nail operations on components that have completed wiring operations by tightening screws to fasten the cable ends or terminal ends to the components that have completed wiring operations.

9. The production line according to claim 8, characterized in that The nail locking working group includes a nail locking robot and a nail locking module; The nail locking robot is equipped with the nail locking module, and the nail locking robot is used to move the nail locking module to a designated position; The locking screw module includes a quick-change tightening bit, a driving device for the quick-change tightening bit, and a mounting frame. The driving device for the quick-change tightening bit is used to drive the quick-change tightening bit to move to perform the tightening operation of the fastening screw.

10. The production line according to claim 1, characterized in that: A quick-change workbench is provided on one side of the flipping device, a quick-change bracket is provided on the quick-change workbench, and a quick-change clamping fixture module for components of different specifications is placed on the quick-change bracket; The component assembly robot can quickly replace components of different specifications to achieve clamping and installation operations of different components.

11. The production line according to claim 2, characterized in that: A wiring workbench is provided on one side of the rotating device; a quick-change bracket is provided on the wiring workbench, and a quick-change clamping fixture module of different specifications of cable wiring is placed on the quick-change bracket; The wiring robot can quickly replace cable wiring quick-change clamp modules of different specifications to achieve wire taking and wiring operations for different cable connections.

12. The production line according to claim 2, characterized in that: The production line also includes a backboard online station, a backboard inspection station and a backboard offline station; The backboard conveying system includes three sections of conveying lines, namely the backboard online station conveying line, the backboard inspection station conveying line and the backboard offline station conveying line; The backboard online station conveyor line, the backboard translation device 1 set on the rotating bracket, the backboard inspection station conveyor line, the backboard translation device 2 set on the rotating bracket and the backboard offline station conveyor line are connected end to end in sequence, and gaps are left between each other to avoid interference with each other's movement.

13. The production line according to claim 1, characterized in that The component assembly robot further includes a vision module; when the component assembly robot moves to a designated position, the vision module is triggered to take a picture, and the accurate installation position of the target component is adjusted according to the coordinates provided by the vision module; And / or, the wiring robot further includes a vision module, and when the wiring robot runs to a designated position, it triggers the vision module to take pictures, and adjusts the target cable's accurate line-taking and / or wiring position according to the coordinates provided by the vision module.

14. An assembly process for a control cabinet or electrical cabinet back panel assembly line according to any one of claims 1 to 13, characterized in that The assembly process comprises the following steps: (1) First, the control cabinet or electrical cabinet backplane after being put into operation is transported to the component assembly station of the production line. The flipping device of the component assembly station stops the backplane and fixes it, and then drives the backplane to complete a 0-180 degree flip; the component assembly robot cooperates with the corresponding gripper fixture according to the pre-set assembly data to perform the material removal and fixed installation operations of the target components on the front and / or back of the backplane; (2) Secondly, the flipping device drives the backboard to move to 0 degrees, and the backboard translation device of the flipping device cooperates with the backboard inspection station conveyor line to send the backboard out of the flipping device and transport it to the backboard inspection station; (3) Once again, after checking that the components are correctly installed, the backplane is transported to the rotating equipment of the wiring station by the backplane inspection station conveyor line and the backplane translation device 2 of the rotating equipment; (4) Once the backplane is in place, the rotating device presses and fixes the backplane, and then drives the backplane to complete a 0-360 degree rotation, and the wiring and routing robot completes the wiring and routing operations of the target components of the backplane; (5) After the connection and wiring tasks of the backplane are completed, the rotating device drives the backplane to run to 0 degrees, and the backplane translation device 2 of the rotating device and the backplane offline station conveyor line cooperate to convey the backplane to the backplane offline station to complete the assembly operation of the backplane.

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