Multi-mechanical-arm collaborative manufacturing system

Abstract

The utility model discloses a multi-mechanical-arm collaborative manufacturing system, and relates to the field of mechanical arm processing and manufacturing, the multi-mechanical-arm collaborative manufacturing system comprises a multi-mechanical-arm rack, the top end of the multi-mechanical-arm rack is provided and connected with a multi-mechanical-arm moving mechanism, and the multi-mechanical-arm moving mechanism is used for installing and connecting a multi-mechanical-arm collaborative manufacturing mechanism; the multi-mechanical-arm collaborative manufacturing mechanism comprises a first mechanical arm and a second mechanical arm. One end of the first mechanical arm is horizontally and slidably connected with the multi-mechanical-arm moving mechanism, and the other end of the first mechanical arm is connected with a gluing system and a suction cup used for sucking products; and one end of the second mechanical arm is horizontally and slidably connected with the multi-mechanical-arm moving mechanism, and the other end of the second mechanical arm is provided and connected with a product gripper and a 3D visual system. According to the system, multi-station serial work is changed into parallel engineering, so that the production efficiency is improved; the whole manufacturing process is managed in a centralized mode, and implementation cost and process maintenance and improvement cost are greatly saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical arm processing and manufacturing, and particularly to a multi-mechanical arm cooperative manufacturing system. BACKGROUND

[0002] In the existing production and manufacturing process, many processing operation systems are controlled separately, cannot work well in cooperation, and various manufacturing systems do not fully utilize the role of information technology and automatic equipment, that is, various systems work in series, thereby increasing the production cycle and the production and operation cost. UTILITY MODEL CONTENT

[0003] The utility model aims to realize the following technical scheme:

[0004] The multi-mechanical arm cooperative manufacturing system comprises a multi-mechanical arm rack, a multi-mechanical arm moving mechanism is installed and connected to the top end of the multi-mechanical arm rack, and a multi-mechanical arm cooperative manufacturing mechanism is installed and connected to the multi-mechanical arm moving mechanism.

[0005] The multi-mechanical arm cooperative manufacturing mechanism comprises a first mechanical arm and a second mechanical arm.

[0006] One end of the first mechanical arm is arranged in a horizontally slidable connection with the multi-mechanical arm moving mechanism, and the other end of the first mechanical arm is installed and connected with a glue applying system and a suction disc for sucking products.

[0007] One end of the second mechanical arm is arranged in a horizontally slidable connection with the multi-mechanical arm moving mechanism, and the other end of the second mechanical arm is installed and connected with a product gripper and a 3D vision system.

[0008] Preferably, one end of the first mechanical arm close to the multi-mechanical arm rack is installed and connected with a first sliding seat, the first sliding seat is arranged in a horizontally slidable connection with the multi-mechanical arm moving mechanism, and the other end of the first mechanical arm is used for installing and connecting the glue applying system and the suction disc for sucking products.

[0009] Preferably, one end of the second mechanical arm close to the multi-mechanical arm rack is installed and connected with a second sliding seat, the second sliding seat is arranged in a horizontally slidable connection with the multi-mechanical arm moving mechanism, and the other end of the second mechanical arm is used for installing and connecting the product gripper and the 3D vision system.

[0010] Preferably, the multi-mechanical arm cooperative manufacturing mechanism further comprises a third mechanical arm and a fourth mechanical arm.

[0011] The third mechanical arm and the fourth mechanical arm are provided with double sliding seats at one end close to the multi-mechanical arm moving mechanism, the double sliding seats are horizontally slidably connected with the multi-mechanical arm moving mechanism, and the third mechanical arm and the fourth mechanical arm are connected to the double sliding seats at one end close to the double sliding seats.

[0012] Preferably, the third mechanical arm is provided at one end away from the double sliding seat with a product automatic tightening mechanism and a product automatic feeding mechanism.

[0013] Preferably, the fourth mechanical arm is also provided at one end away from the double sliding seat with a product automatic tightening mechanism and a product automatic feeding mechanism.

[0014] Preferably, the multi-mechanical arm moving mechanism is provided below with an AGV system and a positioning rack.

[0015] The multi-mechanical arm cooperative manufacturing system of the utility model has the advantages that the purpose of the utility model is to provide a multi-mechanical arm cooperative manufacturing system, the system can be cooperatively manufactured, information technology and automatic equipment are fully utilized, serial work is changed into parallel engineering, production cycle is maximally shortened, customer demand is quickly responded, design and production flexibility is improved, product manufacturability and cost controllability are greatly improved, production and operation cost is reduced, and quality is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a whole installation effect schematic view of the multi-mechanical arm cooperative manufacturing system of the utility model.

[0017] Figure 2 It is a first mechanical arm connecting structure schematic view of the multi-mechanical arm cooperative manufacturing system of the utility model.

[0018] Figure 3 It is a second mechanical arm connecting structure schematic view of the multi-mechanical arm cooperative manufacturing system of the utility model.

[0019] Figure 4 It is a third mechanical arm and fourth mechanical arm connecting structure partial explosion schematic view of the multi-mechanical arm cooperative manufacturing system of the utility model.

[0020] Figure 5 It is an AGV system connecting structure schematic view of the multi-mechanical arm cooperative manufacturing system of the utility model.

[0021] In the drawing, 6-AGV system, 11-first mechanical arm, 12-gluing system, 13-suction cup, 21-second mechanical arm, 22-product gripper, 23-3D vision system, 31-third mechanical arm, 32-product automatic tightening mechanism, 33-product automatic feeding mechanism. DETAILED DESCRIPTION

[0022] In order to make the utility model purposes, technical scheme and advantages more clearly, the following will be combined with the drawings and examples, and the utility model will be further described in detail.

[0023] Embodiment 1

[0024] As Figures 1 to 5 shown, the multi-mechanical arm cooperative manufacturing system, including multi-mechanical arm rack 1, the top of multi-mechanical arm rack 1 is installed and connected with multi-mechanical arm moving mechanism, and the multi-mechanical arm moving mechanism is used to install and connect the multi-mechanical arm cooperative manufacturing mechanism;The multi-mechanical arm cooperative manufacturing mechanism set includes first mechanical arm 11, second mechanical arm 21 and third mechanical arm 31, fourth mechanical arm 41;

[0025] Among them, the one end of first mechanical arm 11 is arranged with the horizontal sliding connection of multi-mechanical arm moving mechanism, and the other end of first mechanical arm 11 is installed and connected with glue coating system 12 and suction disc 13 used for sucking product;The specific embodiment can be: the one end of first mechanical arm 11 close to multi-mechanical arm rack 1 is installed and connected with first sliding seat, and the first sliding seat is arranged with the horizontal sliding connection of multi-mechanical arm moving mechanism, and the other end of first mechanical arm 11 is used to install and connect glue coating system 12 and suction disc 13 used for sucking product;

[0026] The one end of second mechanical arm 21 is arranged with the horizontal sliding connection of multi-mechanical arm moving mechanism, and the other end of second mechanical arm 21 is installed and connected with product gripper 22 and 3D vision system 23;The specific embodiment can be: the one end of second mechanical arm 21 close to multi-mechanical arm rack 1 is installed and connected with second sliding seat, and the second sliding seat is arranged with the horizontal sliding connection of multi-mechanical arm moving mechanism, and the other end of second mechanical arm 21 is used to install and connect product gripper 22 and 3D vision system 23.

[0027] Embodiment 2

[0028] Based on embodiment 1, the multi-mechanical arm cooperative manufacturing mechanism further includes third mechanical arm 31, fourth mechanical arm 41;The one end of third mechanical arm 31, fourth mechanical arm 41 close to multi-mechanical arm moving mechanism is provided with double-type sliding seat, and the double-type sliding seat is arranged with the horizontal sliding connection of multi-mechanical arm moving mechanism, and the one end of third mechanical arm 31, fourth mechanical arm 41 close to double-type sliding seat is installed and connected on double-type sliding seat.

[0029] In the embodiment, the one end of third mechanical arm 31 away from double-type sliding seat is installed and connected with product automatic tightening mechanism 32 and product automatic feeding mechanism 33. The one end of fourth mechanical arm 41 away from double-type sliding seat is also installed and connected with product automatic tightening mechanism 32 and product automatic feeding mechanism 33. And, the lower part of multi-mechanical arm moving mechanism is provided with AGV system 6 (intelligent robot system) and positioning rack.

[0030] It should be noted that in the entire embodiment, the multi-arm moving mechanism provided in the system includes a linear guide rail which is mounted and connected to the multi-arm rack 1, and the first sliding seat, the second sliding seat and the double sliding seat provided by the multi-arm collaborative manufacturing mechanism are horizontally slidably provided with the multi-arm rack 1 through the linear guide rail; the relative sliding of the first sliding seat, the second sliding seat and the double sliding seat with the multi-arm rack 1 is realized by controlling the linear guide rail, so as to realize the adjustment of the positions of the first sliding seat, the second sliding seat and the double sliding seat; in the embodiment, the glue applying system 12 and the suction cup 13, the product gripper 22 and the 3D vision system 23, the product automatic tightening mechanism 32 and the product automatic feeding mechanism 33 are all existing system structures in the field of intelligent robots and can realize their respective functions. For those skilled in the art, it is prior art, so it is not specifically recorded and described in the embodiment.

[0031] Embodiment 3

[0032] In a specific embodiment, the multi-arm collaborative manufacturing system is as shown in Figures 1 to 5 and is applied to the cavity assembly of some models of radar.

[0033] The multi-arm is composed of a mounting seat (sliding seat in the above-mentioned embodiments 1 and 2), four mechanical arms and a mechanical arm controller. The mounting seat is used to mount the mechanical arm, and the mechanical arm is fixed as a whole on the multi-arm moving mechanism of the multi-arm rack 1 of the support platform. The multi-arm moving mechanism can be moved at any position to realize the shared use of the system by multiple workstations, and the multi-arm moving mechanism can be determined according to various application scenarios.

[0034] At the same time, each mechanical arm is provided with a built-in DCS position / speed (position and speed) checking function, and the working range and stopping distance can be set for the robot operation area. When the robot tool or body leaves the safety area, the robot motor power is turned off to stop the movement. It can effectively save space and prevent the robot tool and body from colliding with the surrounding equipment under the condition that the robot safety area is protected.

[0035] The functions of each mechanical arm of the multi-arm collaborative manufacturing mechanism are as follows:

[0036] The first mechanical arm 11 is used for product positioning and glue applying, and the first mechanical arm 11 is provided with a glue applying system 12, a suction cup 13 for sucking the product, and a 3D vision positioning system.

[0037] The second mechanical arm 21 is used for grabbing the upper cavity, and is installed on the product according to the positioning information. The first mechanical arm 11 is provided with an upper product gripper 22 and a 3D vision system 23.

[0038] The third mechanical arm 31 and the fourth mechanical arm 41 are respectively provided with a product automatic tightening mechanism 32 and a product automatic feeding mechanism 33, and the product automatic tightening mechanism 32 and the product automatic feeding mechanism 33 on the third mechanical arm 31 and the fourth mechanical arm 41 are used to process the product (screws in this example).

[0039] In addition, unit auxiliary components are also provided in the whole system, including safety fences, cable bridges, equipment fixing bolts, electronic boards, etc.

[0040] The operator places the product on the positioning rack at the unit station, and the AGV transports it to the multi-arm collaborative manufacturing unit, and the manufacturing system assembles the product.

[0041] As shown in the figure, after the AGV system 6 transports the positioning rack to the position, the 3D vision system installed on the first mechanical arm 11 positions the product on the rack and transmits the information to the control system; the glue applying mechanism installed on the first mechanical arm 11 applies glue to the product mounting surface according to the positioning information. Figure 5

[0042] After the glue applying is completed, the second mechanical arm 21 installs the grabbed product on the product, and at the same time, the product tightening mechanism on the third mechanical arm 31 and the fourth mechanical arm 41 automatically sends the product to tighten it on the corresponding radar main body to fix and lock the cavity on the radar, as shown in the figure. Figure 2 、 Figure 3 、 Figure 4 After the second mechanical arm 21 leaves, the product tightening mechanism 33 on the third mechanical arm 31 and the fourth mechanical arm 41 tightens the 2nd mechanical arm gripper shielding part, and after the completion, the third mechanical arm 31 and the fourth mechanical arm 41 are reset, and the AGV system 6 transports the positioning rack to the comprehensive test station.

[0043] The system can be collaboratively manufactured and fully utilize the role of information technology and automation equipment, change serial work into parallel engineering, thereby greatly shorten the production cycle, quickly respond to customer demand, improve the flexibility of design and production, greatly improve the manufacturability of the product and the controllability of the cost, which is conducive to reducing the production and operation cost and improving the quality.​

Claims

1. A multi-robot collaborative manufacturing system, characterized by, The application relates to a multi-robot rack, which comprises a multi-robot moving mechanism installed at the top end of the multi-robot rack, and a multi-robot cooperative manufacturing mechanism installed on the multi-robot moving mechanism. The multi-robot cooperative manufacturing mechanism comprises a first robot and a second robot. One end of the first robot is horizontally slidably connected with the multi-robot moving mechanism, and the other end of the first robot is installed with a glue coating system and a suction disc for sucking products. One end of the second robot is horizontally slidably connected with the multi-robot moving mechanism, and the other end of the second robot is installed with a product gripper and a 3D vision system.

2. The multi-arm collaborative manufacturing system of claim 1, wherein, One end of the first robot close to the multi-robot rack is installed with a first sliding seat, the first sliding seat is horizontally slidably connected with the multi-robot moving mechanism, and the other end of the first robot is installed with the glue coating system and the suction disc for sucking products.

3. The multi-arm collaborative manufacturing system of claim 1, wherein, One end of the second robot close to the multi-robot rack is installed with a second sliding seat, the second sliding seat is horizontally slidably connected with the multi-robot moving mechanism, and the other end of the second robot is installed with the product gripper and the 3D vision system.

4. The multi-arm collaborative manufacturing system of claim 1, wherein, The multi-robot cooperative manufacturing mechanism further comprises a third robot and a fourth robot. One end of the third robot and the fourth robot close to the multi-robot moving mechanism is provided with a double sliding seat, the double sliding seat is horizontally slidably connected with the multi-robot moving mechanism, and the other end of the third robot and the fourth robot close to the double sliding seat is installed on the double sliding seat.

5. The multi-arm collaborative manufacturing system of claim 4, wherein, One end of the third robot away from the double sliding seat is installed with a product automatic tightening mechanism and a product automatic feeding mechanism.

6. The multi-arm collaborative manufacturing system of claim 5, wherein, One end of the fourth robot away from the double sliding seat is also installed with the product automatic tightening mechanism and the product automatic feeding mechanism.

7. The multi-arm collaborative manufacturing system of claim 1, wherein, The multi-robot moving mechanism is provided below with an AGV system and a positioning rack.

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