1. A programmable tool and fixture library oriented to a reconfigurable flexible assembly line is characterized in that: the reconfigurable laminated plate power assembly comprises a shell, a reconfigurable laminated plate and a power assembly, wherein the power assembly comprises a servo motor; the shell and the reconfigurable laminate are connected through the laminate support angle-shaped bracket, and the power of the servo motor is transmitted through the power shaft group; and configuring a multilayer jig platform on the reconfigurable laminate in a multilayer manner, wherein the jigs on the multilayer jig platform are coded according to the library units, the layer number and the positions.

2. A reconfigurable flexible assembly line-oriented programmable fixture library of claim 1, wherein: the shell body comprises a shell body, an upper cover plate, a bearing plate and a shell body door; the upper cover plate is provided with an upper bearing, the bearing plate is provided with a lower bearing, and the shell door is processed with a guide pin; the guide pin moves in the guide groove, and the upper bearing and the lower bearing support the power shaft to transmit power.

3. A reconfigurable flexible assembly line-oriented programmable tooling fixture library according to claim 2, wherein: the shell main body is provided with a clean air pipe passage and a clean air pipe, and the shell main body is provided with an integrally processed guide groove; the lower part of the clean air pipe is connected with a power assembly and is connected with air source accessories such as an electromagnetic valve, and the clean air pipe introduces an air source into each fixture layer through a clean air pipe passage.

4. A reconfigurable flexible assembly line-oriented programmable tool fixture library of claim 3, wherein: the reconfigurable laminated plate comprises an expansion laminated plate, a tool I laminated plate, a tool II laminated plate and a clamp laminated plate, wherein all the layers are used in a set; the reconfigurable laminated plate further comprises a laminated plate power assembly and a laminated plate main body, and the laminated plate power assembly and the laminated plate main body are meshed through gears to transmit power.

5. A reconfigurable flexible assembly line-oriented programmable tooling fixture library according to claim 4, wherein: the laminate power device further comprises a power cylinder and a pinion disengaging ring, and the power cylinder is connected with the pinion disengaging ring to complete power switching; the outer shell is connected with the power assembly; a power shaft group in the power assembly is connected with a speed reducer through a rotating bearing, the speed reducer is in meshing transmission with a servo motor through a gear, and the speed reducer and the servo motor module are arranged in a power cavity.

6. A reconfigurable flexible assembly line-oriented programmable tool fixture library of claim 5, wherein: the power device also comprises a PLC component, a wireless module and a servo driver, wherein the PLC component, the wireless module and the servo driver are placed in an electric control cavity of the power main body together; the air source module is arranged in the air source cavity.

7. A reconfigurable flexible assembly line-oriented programmable tooling fixture library according to claim 6, wherein: the small gear in the laminate power assembly is externally engaged, and the small gear is engaged with the inner gear of the laminate main body through external teeth to transmit power; the laminated plate main body is supported by the laminated plate supporting angle-shaped support, and eccentric force is eliminated by axially offsetting the balls on the laminated plate.

8. A reconfigurable flexible assembly line-oriented programmable tooling fixture library according to claim 7, wherein: the laminated plate assembly represented by the expansion laminated plate comprises a laminated plate main body, a laminated plate supporting angle-shaped bracket, a laminated plate power assembly and a laminated plate axial offset ball; the layer plate is axially offset, and balls are circumferentially embedded into the expansion layer plate; there is the internal gear plywood main part middle part, plywood support angle type support contains main part, universal ball, casing connecting bolt, and wherein, universal ball is embedded in the main part.

9. A reconfigurable flexible assembly line-oriented programmable fixture library of claim 8, wherein: the power assembly comprises a power assembly component which comprises a power shaft group, a power main body, a movable trundle, a PLC component, a wireless module, a servo driver, an air source valve island, an electromagnetic valve, a servo motor and a speed reducer. The power shaft group is provided with a key slot position in a subsection way, and the tail end of the power shaft group is provided with a rotating bearing; the power main body is divided into three parts through a main body partition plate, namely a gas source cavity for placing a gas source valve island and an electromagnetic valve, a power cavity for placing a motor and a speed reducer, and an electric control cavity for placing a PLC and the like.

10. A reconfigurable flexible assembly line-oriented programmable tooling fixture library according to claim 9, wherein: a power shaft group in the power assembly is connected with a speed reducer through a rotating bearing, and the speed reducer and the servo motor are in meshing transmission through a gear; the PLC assembly, the wireless module and the servo driver are placed in an electric control cavity of the power main body together.

Background

With the increasing frequency of new products in the market, the increasing of personalized and customized variants and other trends, recently, automated assembly equipment is gradually turning to high flexibility and high reconfigurability. Thus, at the end of automated assembly, the number and type of tool holders is increasing, and the need for tool holder placement and centralized management is increasing.

CN110238621B discloses a reconfigurable flexible assembly system, which requires different tools and jigs when assembling different parts, and because the assembly line can produce a variety of parts, the tool and jigs facing different kinds of parts are configured, and in the assembly of similar parts, the tool and jigs can be reused. However, in such a case, the number of types of parts to be produced increases, and the number of jigs also increases. In order to improve efficiency and save cost, the tool and fixture needs to be managed in a centralized manner, a tool and fixture coding system is configured, the robot is matched to take and place quickly, and proper expansion can be performed.

CN213054873U discloses a flexible robot end tool magazine, which can cooperate with a flexible robot to quickly change an end tool by rotating a turntable containing a plurality of tools, but can only place tools with a cylindrical shape, and cannot realize the placement of a horizontal clamp. CN112122901A discloses a robot quick-change fixture warehouse and a robot workstation, which adopt a semicircular design, and can store a large number of quick-change fixtures, but the quick-change structure is single, and the access space is limited by the movement range of the mechanical arm, and cannot be changed according to the assembly requirements.

CN111070230A discloses an intelligent stereo fixture library for robot workstation, which can increase the number of layers of library position storage components without increasing the floor area of the equipment when the storage number of fixtures is increased, however, due to the complexity of the fixture transfer device, the efficiency of space utilization can be further increased.

CN209140926U discloses a supporting tool magazine of robot, sets up the instrument in the closed shell, avoids influence such as dust, realizes the instrument of robot side and artifical side through two floating gates and gets and put, but the extension configuration of the frock clamp under the diversified assembly scene can not be satisfied to the standardized tool magazine that uses.

In general, previous library designs were built for tools or jigs alone, and in particular, tool jigs that only have access to standard interfaces were poorly scalable.

Disclosure of Invention

In order to make up for the defects of the prior art, the invention provides a programmable jig library for a reconfigurable flexible assembly line, which can meet various standard and non-standard jigs capable of rapidly accessing designated positions.

Therefore, the invention provides a programmable fixture library oriented to a reconfigurable flexible assembly line, which comprises a shell, a reconfigurable laminated plate and a power assembly, wherein the power assembly comprises a servo motor; the shell and the reconfigurable laminated plate are connected through the laminated plate supporting angle-shaped support, and power of the servo motor is transmitted through the power shaft group.

In some embodiments, the following optional technical features are also included:

the shell body comprises a shell body, an upper cover plate, a bearing plate and a shell body door; the upper cover plate is provided with an upper bearing, the bearing plate is provided with a lower bearing, and the shell door is processed with a guide pin; the guide pin moves the upper and lower bearings in the guide groove to support the power shaft to transmit power.

The shell main body is provided with a clean air pipe passage and a clean air pipe, and the shell main body is provided with an integrally processed guide groove; the lower part of the clean air pipe is connected with a power assembly and is connected with air source accessories such as an electromagnetic valve, and the clean air pipe introduces an air source into each fixture layer through a clean air pipe passage.

The reconfigurable laminated plate comprises an expansion laminated plate, a tool I laminated plate, a tool II laminated plate and a clamp laminated plate, wherein all the layers are used in a set; the reconfigurable laminated plate further comprises a laminated plate power assembly and a laminated plate main body, and the laminated plate power assembly and the laminated plate main body are meshed through gears to transmit power.

The laminate power assembly further comprises a power cylinder and a pinion disengaging ring, and the power cylinder is connected with the pinion disengaging ring to complete power switching; the outer shell is connected with the power assembly; and a power shaft group in the power assembly is connected with a speed reducer through a rotating bearing, and the speed reducer and the servo motor are in meshing transmission through a gear.

The power device also comprises a PLC component, a wireless module and a servo driver, wherein the PLC component, the wireless module and the servo driver are placed in an electric control cavity of the power main body together; the air supply device also comprises an air supply valve terminal and an electromagnetic valve, wherein the air supply valve terminal is connected with a clean air pipe and conveys an air supply to the air cylinder, and the air blowing mechanism is arranged.

The small gear in the laminate power assembly is externally engaged, and the small gear is engaged with the inner gear of the laminate main body through teeth to transmit power; the laminated plate main body is supported by the laminated plate supporting angle-shaped support, and eccentric force is eliminated by axially offsetting the balls on the laminated plate.

The expansion laminate comprises a laminate main body, a laminate supporting angle-shaped bracket, a laminate power assembly and laminate axial offset balls; the layer plate is axially offset, and balls are circumferentially embedded into the expansion layer plate; there is the internal gear plywood main part middle part, plywood support angle type support contains main part, universal ball, casing connecting bolt, and wherein, universal ball is embedded in the main part.

The power assembly comprises a power assembly component which comprises a power shaft group, a power main body, a movable trundle, a PLC component, a wireless module, a servo driver, an air source valve island, an electromagnetic valve, a servo motor and a speed reducer. The power shaft group is provided with a key slot position in a subsection way, and the tail end of the power shaft group is provided with a rotating bearing; the power main body is divided into three parts through a main body partition plate, namely a gas source cavity for placing a gas source valve island and an electromagnetic valve, a power cavity for placing a motor and a speed reducer, and an electric control cavity for placing a PLC and the like.

A power shaft group in the power assembly is connected with a speed reducer through a rotating bearing, and the speed reducer and the servo motor are in meshing transmission through a gear; the PLC component, the wireless module and the servo driver are placed in an electric control cavity of the power main body together.

The invention has the following advantages: the frock clamp storehouse is as a storehouse unit, can dispose multilayer frock clamp platform, at every layer of platform, can place different kinds of instrument or anchor clamps, in addition, can dispose suitable quick change female head as required, can deposit all kinds of standards and nonstandard assembly worker anchor clamps. The chemical clamp is coded according to the library unit, the layer number and the position so as to maximize the utilization efficiency of the chemical clamp.

In some embodiments, the following advantages are also provided:

particularly, each layer of platform can move independently or together, and the number of layers can be expanded and adjusted according to the type and the number of the clamping tools. In the storehouse, be provided with the new trend system, can keep the clean environment in the storehouse, improve worker's anchor clamps's life, guarantee the precision.

The tool and fixture library is provided with a PLC, a portable touch screen, a wireless module and the like, library-library communication can be realized, and the library-assembly line communication is strong in expansibility.

The tool and fixture integrated management system has the advantages that the closed cylindrical space is adopted, the structure is compact, the cleanliness is good, the number of units of the tool and fixture library can be expanded according to the actual assembly process, the units are formed internally, and the requirements of the reconfigurable flexible assembly system on the tool and fixture integrated management are met.

Drawings

Fig. 1 is an overall perspective view of an embodiment of the present invention.

Fig. 2 is a perspective view of an outer shell according to an embodiment of the present invention.

Fig. 3 is a schematic internal perspective view of an embodiment of the present invention.

FIG. 4 is a schematic view of an expansion laminate according to an embodiment of the present invention.

FIG. 5 is a schematic illustration of a powertrain according to an embodiment of the present invention.

Detailed Description

The following further describes the embodiments of the present invention with reference to the drawings and preferred embodiments. It should be noted that, in the present application, features of the embodiments and examples may be combined with each other without conflict, and directional terms such as left, right, up, down, top, bottom, and the like in the embodiments are only relative concepts to each other or are referred to a normal use state of a product, and should not be considered as limiting.

In the library design oriented to the reconfigurable flexible assembly system, the medium-sized and small-sized tool clamps need to be accessed, the reconfigurable flexible assembly system is compatible with different types of tool clamps, has larger capacity and compact structure, and needs to contain a tool clamp coding system to realize the access of the tool clamps at specific positions. For this reason, in the following embodiments, the solution is achieved by the following technical solutions:

as shown in fig. 1, a programmable tool and fixture library for a reconfigurable flexible assembly line is disclosed, the tool and fixture library comprises an outer shell 1, a reconfigurable laminated plate 2 and a power assembly 3, and relative position relations of all parts are ensured according to welding or a stated bolt connection mode and the like. The outer shell and the reconfigurable laminated plate are connected through a laminated plate supporting angle-shaped bracket 212, and power of the servo motor 38 is transmitted through the power shaft group 31.

As shown in fig. 2, the outer case includes a case main body 11, an upper cover plate 12, a carrier plate 13, and a case door 14. The housing body is provided with a clean air pipe passage 111 and a clean air pipe 112, and the housing body has an integrally formed guide groove 113. The lower part of the clean air pipe is connected with a power assembly and is connected with air source accessories such as an electromagnetic valve, and the clean air pipe introduces an air source into each fixture layer through a clean air pipe passage. The upper cover plate is provided with an upper bearing 121, the bearing plate is provided with a lower bearing 131, and the shell door is provided with a guide pin 141. The guide pins move in guide slots, and the upper and lower bearings support the power shaft 311 to transmit power.

As shown in FIG. 3, the reconfigurable laminate includes expansion laminate 21, tool one laminate 22, tool two laminate 23, and fixture laminate 24, each in kit form. The tool-laminate placement tool one 221, the tool-quick release master 222. The second tool layer plate is provided with a second tool 231 and a second tool quick-release mother disc 232. The fixture laminate is provided with a fixture 241 and a fixture quick-release mother disc 242. Preferably, six clamp positions are distributed on the circumference of the clamp layer, eight tool positions are distributed on the circumference of the first tool, and eight tool positions are distributed on the circumference of the second tool. Specifically, the common structure of each laminate is further described by taking the expansion laminate as an example. The layer power assembly 213 and the layer main body 211 transmit power through gear engagement. The power cylinder 2134 is connected with the pinion disengaging ring 2136 to complete power switching. The outer shell is connected with the power assembly 3 through bolts. The power shaft group 31 in the power assembly is connected with a speed reducer 39 through a rotating bearing 312, and the speed reducer and the servo motor 38 are in meshing transmission through gears. The PLC assembly 34, wireless module 35 and servo driver 36 are placed together in the electrically controlled cavity of the power body 32. The air source valve island and electromagnetic valve 37 is connected with the clean air pipe 112 and transmits the air source to the air cylinder and the air blowing mechanism. The power body 32 is connected to the caster 33 by bolts.

A worker clamp is placed on the laminate, a master disc is quickly disassembled by the worker clamp, a small gear in the laminate power assembly is in external engagement, and the small gear is engaged with an internal gear of a laminate main body through teeth 2137 to transmit power. The ply body is carried by a ply support angle bracket 212, which eliminates the off-center forces by axially biasing the balls 214 against the ply.

As shown in FIG. 4, the expansion ply includes a ply body 211, a ply support angle bracket 212, a ply power assembly 213, and ply axial offset balls 214. The ply is axially offset with balls circumferentially embedded in the expansion ply. The laminated plate main body is provided with an internal gear 2111 at the middle part, and the laminated plate supporting angle-shaped bracket comprises a main body 2121, a universal ball 2122 and a shell connecting bolt 2123, wherein the universal ball is embedded in the main body. The laminate power assembly comprises a pinion 2131, a flat key 2132 is arranged on the inner side of the pinion, a power cylinder 2134 is connected with a power shaft 311 through a quick-release lock 2135, the tail end of the cylinder is connected with a pinion disengaging ring 2136, the pinion is in external meshing, and the pinion is meshed with an internal gear of a laminate body through teeth 2137 to transmit power.

As shown in fig. 5, the power assembly component includes a power shaft set 31, a power body 32, a movable caster 33, a PLC component 34, a wireless module 35, a servo driver 36, an air source valve island and solenoid valve 37, a servo motor 38, and a speed reducer 39. The power module is provided with a key slot 311, and the tail end of the power module is provided with a rotating bearing 312. The power main body is divided into three parts through a main body partition 321, namely a gas source cavity for placing a gas source valve island and an electromagnetic valve, a power cavity for placing a motor and a speed reducer, and an electric control cavity for placing a PLC and the like. The electric element is installed through a guide rail, and the motor is connected with the speed reducer through a bolt. The caster has a support body 331, a caster 332 and is fastened by bolts 333. The power shaft group 31 in the power assembly is connected with a speed reducer 39 through a rotating bearing, and the speed reducer and the servo motor 38 are in meshing transmission through gears. The PLC assembly 34, wireless module 35 and servo driver 36 are placed together in the electrically controlled cavity of the power body 32. The air source valve island and electromagnetic valve 37 is connected with the clean air pipe 112 and transmits the air source to the air cylinder and the air blowing mechanism. The power body 32 is connected to the caster 33 by bolts.

The working principle of the above embodiment of the invention is as follows: when the robot needs to store and take out the tool fixture, the robot sends a signal to the wireless unit of the tool fixture library, the PLC controls the air cylinder to open the shell door, the shell door moves in the guide groove of the shell main body through the guide pin, and the specific library, layer and position determined by the codes can determine the specific tool fixture to be taken and put. The coding rule is GJ010203, wherein letters indicate fixture type abbreviations, a placeholder where 01 is located represents library coding, a placeholder where 02 is located represents layer coding, a placeholder where 03 is located represents position coding, and the coding carry mode is preferably 16-system. Meanwhile, the PLC calculates a layer to be rotated according to the position of the given code of the robot, the layer power assembly on the corresponding layer is controlled to act, the motor rotates through the speed reducer, the power shaft group power is transmitted to the layer through gear meshing, the layer is taken and placed to a fixed position by the robot, the work fixture is provided with the position sensor, and the work fixture access state of the current position can be detected redundantly. After the completion, the PLC controls the cylinder to close the shell door.

The embodiment of the invention has the following main innovation points: the main innovation point of the embodiment of the invention is that the cylinder is of a multi-layer structure, each layer can rotate independently or rotate in multiple layers, the number of layers can be increased or decreased according to actual requirements, different tools and fixtures are configured for each layer according to requirements, and the same power device is used for each layer. The specific list is as follows:

compared with the prior art, the embodiment of the invention has the advantages that:

in the embodiment of the invention, the tool and fixture library is used as a library unit and can be conveniently moved through the caster, so that the position of the library on an assembly line can be reasonably adjusted according to the requirements of an assembly process. In the storehouse, can dispose multilayer worker's anchor clamps platform, at every layer of platform, can place different kinds of instrument or anchor clamps, in addition, can dispose suitable quick change female head as required, can deposit all kinds of standards and nonstandard assembly worker's anchor clamps. Particularly, each layer of platform can move independently or together, and the number of layers can be expanded and adjusted according to the type and the number of the clamping tools. The chemical clamp is coded according to the library unit, the layer number and the position so as to maximize the utilization efficiency of the chemical clamp. In the storehouse, be provided with the new trend system, can keep the clean environment in the storehouse, improve worker's anchor clamps's life, guarantee the precision. The tool and fixture library is provided with a PLC, a portable touch screen, a wireless module and the like, library-library communication can be realized, and the library-assembly line communication is strong in expansibility.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.