CN115241781A - Control cabinet or electrical cabinet back plate assembly production line and assembly process thereof - Google Patents

Abstract

The invention provides a control cabinet or electrical cabinet backplane assembly production line and an assembly process thereof, wherein the production line includes an on-line station and an off-line station of the backplane, and the production line is in the direction from the on-line station to the off-line station in sequence. A component assembly station, a component wiring and wiring station, and a backplane conveying system are provided, which can transport the backplane from the component assembly station of the production line to the wiring and wiring station; the component assembly station It includes a component supply work group, a component assembly robot and a turning device; the wiring and wiring station includes a cable wiring supply work group, a wiring and wiring robot and a rotating device. Using the backplane assembly production line and its assembling process provided by the present invention can greatly improve the production efficiency of backplane assembly, save time and reduce labor, and the production line can be effectively connected with various automated line-making equipment and conveying equipment to realize intelligent and automated production.

Description

A control cabinet or electrical cabinet backplane assembly production line and its assembly process

technical field

The invention relates to the field of automatic tooling, in particular to a control cabinet or electrical cabinet backplane assembly production line and an assembly process thereof.

Background technique

In modern society, electricity occupies an extremely important position in the national industrial system. Whether it is equipment operation or factory production, it needs to be used in electrical and control cabinets. With the rapid economic development, my country's demand for electrical appliances has become increasingly significant, and the application of electrical cabinets has become more and more extensive. The electrical cabinet is a cabinet used to install electrical component equipment, which can protect the component equipment inside it. When the electrical cabinet is used to install electronic components, firstly, the bottom plate should be scribed and laid out according to the size of the electronic components to be installed, and then the wiring grooves, guide rails and related components should be installed on the bottom plate, and finally the wiring should be carried out according to the electrical schematic diagram. Wiring, connect each component to an external power supply, sensor or motor in sequence through wires.

With the rapid development and rise of my country's manufacturing industry, there is a huge market demand for intelligent manufacturing automation production technology, and personalized and customized manufacturing has gradually become the new normal of the future manufacturing industry. In the traditional industrial production of electrical cabinets, components such as guide rails, wire ducts, modules, and terminals are all installed manually. For electrical cabinet wiring, manual wiring and wiring of cables are also required, which is purely manual operation, low work efficiency, and wiring. The wiring process is completely implemented manually, and the application of automation and intelligence in this field is still at a relatively early stage.

SUMMARY OF THE INVENTION

Aiming at the defects and deficiencies existing in the prior art, the present invention aims to solve the problem, and one of the objectives of the present invention is to provide a control cabinet or electrical cabinet backplane assembly production line, including an on-line station and an off-line worker of the backplane. Positions, along the direction of the upper line station to the lower line station of the production line, are sequentially provided with a component assembly station and a component wiring and wiring station, and also include:

A backplane conveying system capable of conveying the backplane from a component assembly station of a production line to a wiring and wiring station; the component assembly station includes a component feeding work group, a component assembly robot, and a turning device ; The component feeding working group is used for feeding the components to be mounted on the backplane; the turning device is used to drive the backplane to complete a 0-180 degree inversion, so as to complete the front and/or backplane of the backplane. Or the installation of the components to be installed on the reverse side; the component assembly robot is used to control the execution of the component feeding work group and then install it to the target position of the backplane; the wiring and wiring station includes cable wiring supply. material working group, wiring and wiring robot and rotating equipment; the cable wiring supplying working group is used for supplying the cables of the components to be connected on the backplane; the rotating equipment is used for driving the backplane to complete the 0- Rotating 360 degrees, the wiring robot is used for controlled execution of the wiring position and routing position of the target element on the front and/or back of the backplane after taking the wiring from the wiring feed work group and installing it to the wiring position.

Further, the flipping equipment includes a flipping equipment rack, a rotating support structure, a backplane flipping mechanism, and a backplane flipping drive mechanism. Along the axis of the backplane flipping mechanism, the flipping equipment rack is close to the backplane flipping mechanism. One end of the on-line station of the backplane of the production line is set as the feed end of the backplane, and one end of the overturning equipment rack away from the on-line station of the backplane of the production line is set as the discharge end of the backplane; the backplane is turned over The mechanism includes a rotating ring assembly and a flipping bracket, the flipping bracket is fixedly connected with the rotating ring assembly, and the flipping bracket can fix the back plate; the rotating support structure is fixedly arranged on the flipping equipment rack, and the rotating The support structure rotatably supports the backboard turning mechanism; the backboard turning driving mechanism is arranged on the turning equipment rack, and can drive the backboard turning mechanism to rotate 0- 0 relative to the turning equipment frame 180 degrees; the flipping bracket is also provided with a backplane translation device 1, and the backplane translation device 1 can be controlled to drive the backplane along the central axis of the flipping bracket to be fed by the flipping equipment rack. The end moves towards the discharge end.

Further, the rotating equipment includes a rotating equipment rack, a rotating support mechanism, a rotating bracket capable of fixing the backplane, and a backplane rotating drive mechanism; along the axis of the rotating support mechanism, the rotating equipment rack is close to the One end of the on-line station of the backplane of the production line is set as the feed end of the backplane, and one end of the rotating equipment rack away from the on-line station of the backplane of the production line is set as the discharge end of the backplane;

The rotating support mechanism includes a supporting ring and a rotating ring, the supporting ring and the rotating ring are installed concentrically in a nest, the supporting ring rotates and supports the rotating ring, and the supporting ring is located in the inner ring or the rotating ring. the outer ring; the rotating bracket is fixedly connected with the rotating ring, and the support ring is fixedly connected with the frame; the back plate rotation driving mechanism is arranged on the rotating equipment frame and can drive the rotation The ring and the rotating bracket rotate 0-360 degrees relative to the rotating equipment rack together; the rotating support is provided with a second backplane translation device, and the second backplane translation device is used to control the driving of the backplane along the rotating support. The central axis moves from the feeding end of the rotating equipment rack to the direction of the discharging end of the rotating equipment rack.

Further, the feeding end of the rotating equipment rack is provided with a feeding rotating support mechanism, a feeding translation device and a feeding rotating support, and the rotating ring of the feeding rotating support mechanism is fixedly connected with the feeding rotating support. ; A feeding translation device is arranged on the feeding rotating support, and the feeding translation device is used to drive the back plate to move in the direction of the feeding end and the discharging end; the feeding end of the rotating equipment rack is provided with There are a discharge rotating support mechanism and a discharge rotating support, the rotating ring of the discharge rotating support mechanism is fixedly connected with the discharge rotating support; the discharge rotating support is provided with a discharge translation device, and the discharge rotating support The translation device is used to drive the back plate to move in the direction of the feed end and the discharge end; the second back plate translation device includes the feed translation device and the discharge translation device; the feed translation device and the A gap is set between the discharge translation devices, and the gap makes the feed translation device and the discharge translation device spaced along the direction of the feed end and the discharge end of the rotating equipment frame; the rotary drive mechanism drives the feed The rotating support mechanism and the rotating ring of the discharge rotating support mechanism rotate synchronously. Further, the production line also includes a backplane line station, a backplane inspection station, and a backplane offline station; the backplane line station, the component assembly station, the backplane inspection station, The wiring and wiring station and the backplane off-line station are arranged in sequence along the production line from the on-line station to the off-line station; the backplane conveying system includes three sections of conveyor lines, namely the backplane on-line station conveying Line, backplane inspection station conveyor line and backplane off-line station conveyor line; the backplane is sequentially transported through the backplane online station conveyor line, the component assembly station, and the backplane inspection station. The wire, the wiring and wiring station and the backplane off-line station convey lines to complete the backplane on-line, component assembly, component assembly inspection, wiring and wiring and backplane off-line operations.

Further, the production line further includes a production line control part, and the data information required for the assembly of the production line is set in the production line control part; Feeding work group, component assembling robot and turning equipment; the cable wiring feeding work group, wiring and wiring robot and rotating equipment signal connection in the wiring and wiring station.

Further, the component feeding working group includes a component tray and a tray feeding conveyor belt, the component tray is used to realize the feeding of components to be installed, and the tray feeding conveyor belt is used to transport the component tray. to the feeding place; the component feeding working group further includes a small-parts feeding box and a feeding-box holder, the feeding-box holder is used for fixing the small-parts feeding box, and the small-parts feeding box is used for The supply of small components to be installed; the component assembly robot is used for controlled execution of picking up materials from the component supply work group and installing them to the target position of the backplane.

Further, the small-piece feeding box includes a feeding box frame, a fixed block, a movable block, a guide limit structure for the movable block, and a constant load spring; the fixed block is fixed to the feeding box frame connected or integrated; the movable block slides back and forth relative to the fixed block under the support of the guiding and limiting structure; a small element to be installed is placed between the movable block and the fixed block; the constant One end of the load spring is fixedly connected with the frame of the feeding box, and the other end is fixedly connected with the movable stopper. With the force of the constant load spring, the small component to be installed can be automatically clamped and fixed on the movable block. between the block and the fixed block.

Further, the component assembly station further includes a nail locking working group; the locking nail working group of the component assembly station is used to perform a nail locking operation by tightening screws for the components that have been installed on the backplane, and be fastened to the back panel; and/or, the wiring and wiring station further includes a lock nail work group; the lock nail work group of the wiring and wiring station is used to perform locking by tightening screws on components that have completed wiring operations Nail operation to fasten cable ends or lugs to components that have been wired.

Further, 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 for moving the locking nail module to the designated position; the locking nail module includes a quick-change tightening bit, a driving device for the quick-changing tightening bit, and a mounting frame, and the driving device for the quick-changing tightening bit is used to drive the quick-change tightening bit to move. Perform the tightening operation of the fastening screws.

Further, one side of the flipping device is provided with a quick-change workbench, a quick-change bracket is set on the quick-change workbench, and the quick-change clamp modules of different specifications are placed on the quick-change bracket. ; The component assembling robot can quickly replace component quick-change clamping jaw jig modules of different specifications, so as to realize the clamping and installation operations of different components.

Further, a wiring workbench is provided on one side of the rotating equipment; a quick-change bracket is provided on the wiring workbench, and the quick-change clamp modules of different specifications for cable wiring are placed on the quick-change bracket; The wiring and wiring robot can quickly replace the cable wiring quick-change clamping jaw fixture modules of different specifications, so as to realize the wire fetching and wiring operations of different cable wirings.

Further, the production line also includes a backboard online station, a backboard inspection station and a backboard off-line station; the backboard conveying system includes three sections of conveying lines, namely the backboard online station conveyor line, the backboard The inspection station conveyor line and the backplane off-line station conveyor line; the backplane line station conveyor line, the backplane translation device set on the flipping bracket 1. The backplane inspection station conveyor line, the backplane set on the rotating bracket The second plate translation device and the conveying line of the back plate offline station are connected end to end in sequence, and there is a gap between them to avoid interference with each other's movement.

Further, the component assembling robot further includes a vision module; the component assembling robot runs to a designated position to trigger the vision module to take a picture, and adjust the exact installation position of the target component according to the coordinates provided by the vision module;

And/or, the wiring and wiring robot further includes a vision module, and the wiring and wiring robot runs to a designated position to trigger the vision module to take a picture, and adjusts the target cable according to the coordinates provided by the vision module to accurately take the line and/or Wiring location.

Another aspect of the present invention aims to provide an assembly process for a control cabinet or an electrical cabinet backplane assembly production line, characterized in that the assembly process comprises the following steps:

(1) First, the backplane of the control cabinet or electrical cabinet after going online is transported to the component assembly station of the production line, and the turning device of the component assembly station is positioned to stop the backplane and fix it, and then drive the backplane. The board is turned 0-180 degrees; the component assembly robot cooperates with the corresponding gripper jig according to the pre-set assembly data to perform the reclaiming and fixed installation operations of the front and/or reverse target components of the backplane;

(2) Secondly, the flipping equipment drives the backplane to 0 degrees, and the backplane translation device of the flipping equipment cooperates with the conveyor line of the backplane inspection station to send the backplane out of the flipping equipment and transport it to the backplane inspection station. bit;

(3) Once again, after checking that the components are installed correctly on the backplane, the conveyor line of the backplane inspection station and the backplane translation device two of the rotating equipment cooperate with the rotating equipment to transport the backplane to the wiring and wiring station;

(4) Once again, after the backplane is transported in place, the rotating equipment presses and fixes the backplane, and then drives the backplane to complete a 0-360-degree rotation, and the wiring and wiring robot completes the wiring and wiring operations of the target components of the backplane;

(5) After the wiring and wiring tasks of the backplane are completed, the rotating equipment drives the backplane to run to 0 degrees, and the backplane translation device 2 of the rotating equipment and the conveyor line of the backplane offline station cooperate to move the backplane to 0 degrees. The backplane is transported to the backplane offline station to complete the assembly operation of the backplane.

Aspects and advantages of the invention will be set forth, in part, in the following description, or may be apparent from the description, or may be learned by practice of the invention.

The technical scheme of the present invention proposes a control cabinet or electrical cabinet backplane assembly production line and its assembly process. The component feeding work group, the component assembly robot and the turning device are used in the component assembly station. The wiring and wiring station includes the cable wiring supply. The effective combination of various types of equipment such as material work groups, wiring and wiring robots, and rotating equipment can replace manual operations to form automated production, save time, increase efficiency, and reduce labor. The conveying equipment is effectively connected to realize intelligent and automated production.

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 application and together with the description serve to explain the principles of the application.

Description of drawings

The complete and enlightening disclosure of the application, including its best mode, is set forth in this specification for those skilled in the art, and the specification refers to the accompanying drawings, in which:

Figure 1 shows the overall schematic diagram of the control cabinet or electrical cabinet backplane assembly production line;

Figure 2 shows a front view of a control cabinet or electrical cabinet backplane assembly line;

Fig. 3 shows the enlarged schematic diagram of the structure of the small parts feeding box at C in Fig. 2;

Fig. 4 shows the enlarged schematic diagram of the cross-sectional view along the line A-A in Fig. 3;

Figure 5 shows an enlarged schematic view of the structure of the quick-change workbench on the backplane assembly line of the control cabinet or electrical cabinet;

Figure 6 shows a perspective view of the structure of the component assembly station inversion device;

Figure 7 shows a front view of the component assembly station turning device;

Figure 8 shows a side view of the infeed end of the component assembly station turning device;

Figure 9 shows a top view of the component assembly station turning device;

Figure 10 shows a perspective view of the wiring and routing station rotating equipment;

Figure 11 shows the structure of the rotating support mechanism of the wiring and wiring station rotating equipment;

Fig. 12 shows the front view of the second back plate translation device of the wiring and wiring station rotating equipment;

Figure 13 shows a top view of the second backplane translation device of the wiring and wiring station rotating equipment;

Figure 14 shows a side view of the discharge end of the wire routing station rotary device.

Detailed ways

Reference will now be made in detail to the embodiments of the present application, one or more examples of which are illustrated in the accompanying drawings. Each example is provided to explain the application, not to limit the application. In fact, 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 application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a further embodiment. Therefore, this application is intended to cover 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," etc. are used interchangeably to distinguish one element from another and are not intended to denote the location or importance of each element. As used in the specification, the terms "a," "an," "the," and "said" are intended to mean that there are one or more elements unless the context clearly dictates otherwise. The terms "comprising", "including" and "having" are intended to be inclusive and mean that there may be other elements than the listed elements. The same numerals in all the drawings represent the same elements, and the present invention will be further explained below in conjunction with specific embodiments.

As shown in Figures 1-2, a control cabinet or electrical cabinet backplane assembly production line of the present invention includes an online station and an offline station of the backplane, along the direction from the online station to the offline station of the production line , which are sequentially provided with a component assembly station and a component wiring and wiring station, and also include:

Backplane conveying system, which can transport the backplane from the component assembly station of the production line to the wiring and wiring station; the component assembly station includes a component supply work group, a component assembly robot 5 and a flip The device 10; the component feeding work group is used for feeding the components to be mounted on the backplane; the flipping device 10 is used to drive the backplane to complete a 0-180 degree inversion to complete the backplane The installation of the components to be installed on the front and/or the reverse side; the component assembly robot 5 is used for the controlled execution of the component feeding work group to install it to the target position of the backplane; the wiring and wiring station It includes a cable wiring supply working group, a wiring wiring robot and a rotating device 22; the cable wiring supplying working group is used for the supply of the cables of the components to be connected on the backplane; the rotating device 22 is used for driving all the The backplane completes a 0-360-degree rotation, and the wiring robot is used to perform controlled execution of fetching cables from the cable wiring supply work group and installing them to the front and/or back of the backplane. Wiring location and wiring location.

The flipping device 10 includes a flipping equipment rack 1001, a rotating support structure, a backplane flipping mechanism, and a backplane flipping drive mechanism. Along the axis of the backplane flipping mechanism, the flipping equipment rack is close to the production line. One end of the online station of the backplane is set as the feed end of the backplane, and one end of the turning equipment rack away from the online station of the backplane of the production line is set as the discharge end of the backplane; the backplane overturning mechanism It includes a rotating ring assembly and a flipping bracket, the flipping bracket is fixedly connected with the rotating ring assembly, and the flipping bracket can fix the back plate; the rotating support structure is fixedly arranged on the flipping equipment rack, and the rotating support structure The structure rotatably supports the backplane turning mechanism; the backboard turning drive mechanism is arranged on the turning equipment rack 1001 and can drive the backboard turning mechanism to rotate relative to the turning equipment rack 1001 by 0 -180 degrees; the flipping bracket is also provided with a backplane translation device 1, and the backplane translation device 1 can be controlled to drive the backplane along the central axis of the flipping bracket, and is driven by the advancing of the flipping equipment rack. The material end moves in the direction of the discharge end.

As shown in FIG. 6 , the turning device in the present invention is used to realize the automatic turning of the workpiece from 0 to 180 degrees, and the workpiece can be a control cabinet backplane or a cabinet backplane, or other workpieces to be processed. The turning device includes a turning device rack 1001, a rotating support structure, a backboard turning mechanism and a backboard turning driving mechanism. Along the axis line direction of the back plate turning mechanism, one end of the frame is set as the feed end A of the workpiece, and the other end of the frame is set as the discharge end B of the workpiece.

The flipping equipment rack 1001 is a frame-type structure. In order to increase its bearing strength, a lateral support beam can be set on the flipping equipment rack 1001; On the equipment rack 1001 , the rotating support structure supports the backplane flipping mechanism on the flipping equipment rack 1001 , and the backplane 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 back plate turning mechanism includes a rotating ring assembly and a rotating bracket, and the rotating ring assembly includes a first gear ring 1006, a second gear ring 1018, a first fixed ring 1007 and a first ring gear 1007. Two fixed rings 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 ring gear 1018 .

As shown in Figures 6-8, a rotating bracket is fixedly assembled on the rotating ring assembly, and the flip bracket includes a first connecting plate 1019, a second connecting plate 1020, a first beam 1012, a second beam 1015, a first connecting plate 1019 and a The two connecting plates 1020 are fixedly connected to the first fixing ring 1007 , and the first beam 1012 and the second beam 1015 are fixed to the first connecting plate 1019 and the second connecting plate 1020 respectively. Similarly, the second fixing ring 1017 is also provided with two connecting plates, namely the third connecting plate 1021 and the fourth connecting plate 1022 . The first beam 1012 is used to connect the first connecting plate 1019 and the third connecting plate 1021, the second beam 1015 is used to connect the second connecting plate 1020 and the fourth connecting plate 1022, The first beam 1012 and the second beam 1015 are used to support the workpiece. The two sets of rotating ring assemblies are kept parallel and concentric. The first fixed ring 1007 and the second fixed ring 1017 are installed concentrically with the first gear ring 1006 and the second gear ring 1018 as a whole, respectively, and the outer diameter of the fixed ring is larger than the outer diameter of the gear ring. The rotating bracket has sufficient rigidity to ensure the stability and smooth operation of the back plate turning mechanism, and to ensure that the two sets of rotating ring assemblies remain parallel and concentric.

In this embodiment, as required, the ring gear of the rotating ring assembly can also be arranged along the direction from the feed end to the discharge end of the frame, and the ring gear is located on the inner side and the outer side of the fixed ring, and the ring gear is simultaneously arranged on the fixed ring the inside and outside sides. In addition, the fixed ring and the gear ring are fixedly connected or integrally arranged; the back plate overturning drive mechanism is engaged with the gear ring for transmission, and the rotating support structure can rotatably support the fixed ring. In this embodiment, the fixing ring preferably uses a steel ring with sufficient hardness and toughness to ensure that it has sufficient supporting strength and impact resistance.

The backplane overturning drive mechanism includes a drive motor base 1010, a drive wheel frame, a drive motor 1011, a driving wheel 1009, and a drive wheel 1008, wherein the drive motor base 1010 is fixedly connected with the overturning equipment rack 1001, and the The drive motor 1011 is fixedly installed on the drive motor base 1010. The drive motor 1011 is used to drive the driving wheel 1009 to rotate. The driving wheel 1009 drives the transmission wheel 1008 to rotate. The roller 1003 is arranged on the roller bracket 1002. The roller 1003 rotatably supports the first fixed ring 1007 and the second fixed ring 1017; the transmission wheel 1008 and the first gear ring 1006 are engaged and driven, so that each of the back plate turning mechanisms is turned over, thereby controlling the workpiece to turn over to a specific angle, It is particularly preferred that the workpiece, such as the control cabinet or the back panel of the cabinet, can be turned over by 180 degrees.

When the back plate turning 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, and the conveyor belt is used to drive the workpiece to move along the axis of the rotating ring assembly. .

The first beam 1012 and the second beam 1015 are respectively provided with locking actuating cylinders 1013, which are used to lock the workpiece; the first beam 1012 and the second beam 1015 are respectively provided with stop-stop action. The moving cylinder 1016 is used for blocking and positioning the workpiece. The first beam 1012 and the second beam 1015 are respectively provided with four sets of the locking cylinders 1013 and one set of the stop cylinders 1016 . The locking actuating cylinder 1013 locks and fixes the workpieces to the first beam 1015 and the second beam 1012 respectively through actuating components such as a piston rod provided with a pressure plate or a pressure block, so as to ensure that the back plate is stable and does not fall off during the overturning process. drop; the stop actuating cylinder 1016 is used to block and accurately position the workpiece from the outside of the conveyor belt.

As shown in FIG. 6 , the second conveyor belt 1004 and the first conveyor belt 1005 pass through the first and second ring gears and the first and second fixed rings, and are respectively installed on the left and right rotating brackets. The two groups of The conveyor belt is parallel to the axial direction of the two sets of ring gears, and perpendicular to the sides of the ring gears. This structure is conducive to conveying the workpiece through the center of the ring gear.

As shown in Figures 10-13, the rotating equipment includes a rotating equipment rack 101, a rotating support mechanism, a rotating bracket capable of fixing the backplane, and a backplane rotating drive mechanism; along the axis of the rotating support mechanism, the The end of the rotating equipment rack 101 close to the on-line station of the production line backplane is set as the feed end of the backplane, and the end of the rotating equipment rack 101 away from the on-line station of the production line backplane is set as the backplane's feed end. The discharge end; the rotating support mechanism includes a support ring 201 and a rotation ring 202, the support ring 201 and the rotation ring 202 are concentrically nested and installed, the support ring 201 rotates and supports the rotation ring 202, and the support The ring 201 is located on the inner or outer ring of the rotating ring 202; the rotating bracket is fixedly connected to the rotating ring 202, and the supporting ring 201 is fixedly connected to the rotating equipment rack 101; the back plate is driven to rotate The mechanism is arranged on the rotating equipment rack 101, and can drive the rotating ring 202 and the rotating bracket to rotate 0-360 degrees relative to the rotating equipment rack 101; the rotating bracket is provided with a second back plate translation device, The second back plate translation device is used to control the movement of the back plate along the central axis of the rotating support from the feeding end of the rotating equipment rack 101 to the discharging end of the rotating equipment rack 101 .

The rotating equipment frame 101 is along the axis line of the rotating support mechanism, one end is the feeding end A, and the other end is the discharging end B; the rotating support is provided with a back plate translation device 2, the back plate translation device The second is used to drive the workpiece to move along the axis of the rotating support from the feeding end A of the rotating equipment frame 101 to the discharging end B of the rotating equipment frame 101 .

The feeding end A of the rotating equipment frame 101 is provided with a feeding rotating support mechanism 102, a feeding translation device 107 and a feeding rotating support 105, and the rotating ring 202 of the feeding rotating supporting mechanism 102 is connected to the feeding rotating support mechanism 102. The rotating support is fixedly connected; the feeding rotating support is provided with a feeding translation device, and the feeding translation device is used to drive the workpiece to move in the direction of the feeding end and the discharging end.

The discharge end B of the rotating equipment frame 101 is provided with a discharge rotating support mechanism 103 and a discharge rotating support 106, and the rotating ring 202 of the discharge rotating support mechanism 103 is fixedly connected to the discharge rotating support 106; The discharge rotation support 106 is provided with a discharge translation device 108, and the discharge translation device 108 is used to drive the workpiece to move in the direction of the feed end A to the discharge end B.

A gap 306 is provided between the feeding translation device 107 and the discharging translation device 108 , and the gap 306 enables the feeding translation device 107 and the discharging translation device 108 to move along the feeding end A and the output of the rotating equipment rack 101 . The material ends are spaced in the B direction. The rotary driving mechanism 104 drives the rotating rings 202 of the feeding rotary supporting mechanism 102 and the discharging rotary supporting mechanism 103 to rotate synchronously. The feeding rotary support mechanism 102 and the rotating ring 202 of the discharging rotary support mechanism 103 are synchronously driven by mechanical linkage and/or electrical control linkage mechanism. In this embodiment, a synchronous shaft with simple structure and high transmission efficiency is used. 111 as a mechanical linkage. 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 are not connected to each other, so as to ensure that the cables can be routed without obstacles when the front and back sides of the workpiece are assembled.

As shown in FIG. 10 and FIGS. 12-13 , 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 driving motor 1041 drives the driving wheel 1043 through the rotary reducer Rotating, the driving wheel 1043 drives the transmission wheel 1044 to rotate, the transmission wheel 1044 is rotated and arranged on the rotating equipment frame 101, and the transmission wheel 1044 meshes or frictionally transmits between the rotating ring 202 at the feeding end or the discharging end, In order to turn each of the rotating supports, and then control the workpiece to turn over to a specific angle, it is particularly preferable that the workpiece such as the control cabinet or the back panel of the cabinet can be turned over at any angle and continuously under the control of the controller. Moreover, it is preferable that: in order to make the feeding rotary support 105 and the discharging rotary support 106 rotate synchronously, a transmission wheel 1044 is respectively provided at the feeding end A and the discharging end B of the rotating equipment rack 101, and the two transmission wheels are located between the two transmission wheels. It is synchronously driven by the synchronous transmission shaft 112, and the driving motor 1041 is fixedly arranged at the discharge end of the rotating equipment rack 101, and is connected to the transmission wheel 1044 at the discharge end of the rack through the rotary reducer 1042 and the driving wheel 1043, and then synchronously The transmission shaft 112 transmits the power to the transmission wheel 1044 located at the feed end A of the frame, and the driving mechanism has a simple structure, high transmission efficiency and low cost.

The second back plate translation device on the feeding rotary support 105 and the discharging rotary support 106 respectively includes two workpiece conveying mechanisms, and the two workpiece conveying mechanisms are arranged symmetrically along the axis line of the rotating support (alternatively, it can also be asymmetrical. settings, not shown). A gap 305 is provided between the two workpiece transfer mechanisms, and the gap 305 is used as a work area for the workpiece.

As shown in FIG. 11 , the feeding rotary supporting mechanism 102 and the discharging rotary supporting mechanism 103 respectively comprise a supporting ring 201 , a rotating ring 202 and a rolling body 203 in the middle, and the supporting ring 201 is fixed to the rotating equipment frame 101 . The rotating ring 202 is connected with the feeding rotating support 105 and the discharging rotating support 106 respectively, and is used as the rotating support end of the workpiece. The rotating support mechanism is a large bearing that can withstand comprehensive loads, and can bear large axial and radial loads and overturning moments at the same time. It is used to support the rotating body and bear the overturning torque of the cantilever structure on both sides; The rotating ring meshes with the drive gear of the rotary drive mechanism for transmission. The feeding rotary supporting mechanism 102 and the discharging rotary supporting mechanism 103 further include oil nozzles 209, plugs 207, isolation blocks 204 and sealing belts 206, respectively. When the relative rotation occurs, the frictional resistance is greatly reduced. The oil nozzle 209 is used to add lubricating grease to the drum body. The block 7 is used to insert the rolling body between the inner rotating rings and block the installation hole 205. The spacer block 204 It is used to separate the rolling elements 203 to ensure that the rolling elements 203 are evenly distributed. The sealing belt 206 is used to prevent the loss of lubricant, and to isolate external dust and particles from entering the lubricant to cause pollution. The mounting holes 205 are used to connect with the external bracket. Install fixed. As shown in FIG. 10 , in order to make the rotation between the rotating ring 202 and the fixed ring 201 more stable, the concentricity between 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 turning mechanism. . In addition, since the rotating ring 202 of the rotating mechanism is fixedly connected with the rotating bracket, the fixed ring 201 rotates to support the rotating ring 202. In order to avoid the mutual interference between the rotating bracket and the fixed ring 201, the inner side of the rotating ring 202 protrudes from the rotating ring 202 (In the direction from the feed end to the discharge end of the backplane of the rotating equipment, the sides of the rotating ring 202 and the fixing ring 201 toward the center of the rotating equipment rack are their respective inner sides).

As shown in Figures 10, 12-13, the back plate translation device 2 is conveyed by double-sided synchronous belts, and the two sides of the feeding conveyor 301 and the discharging conveyor 302 are driven by the rotating drive motors 303 and 304 through the synchronous belt or chain. The drive shaft 111 rotates, and the two ends of the drive shaft 111 are respectively connected with the workpiece conveying mechanisms on both sides, that is, the conveyor belt mechanism. Through the setting of the drive shaft 111, during the movement of the workpiece from the feed end A to the discharge end B, the two ends move synchronously to avoid deflection. The conveying and positioning actuating cylinder 110 is used for blocking and positioning the backing plate during the conveying process of the backing plate from the feed end to the discharge end of the frame. The driving device of the workpiece locking mechanism is an actuating cylinder 402 fixedly connected with the rotating support; the rotating support is fixedly connected with an air pump 303 and an air storage tank 304; the air storage tank 304 is used for a controllable actuating cylinder 402 supply air; the collector ring 501 is electrically connected to the air pump 303 .

The pneumatic actuator used for positioning and clamping of the back plate includes 2 blocking positioning cylinders 401 and 8 actuating cylinders 402 respectively arranged on the feeding rotary support 105 or the discharging rotary support 106, and the blocking positioning cylinder 401 is set at the discharge end, the backing plate can be precisely positioned along the conveying direction. The actuating cylinder 402 is used to press the backboard after the backboard is positioned, so as to prevent the backboard from moving during the assembly operation, and at the same time to ensure that the backboard does not slip and fall during the rotation process. A stable air supply is provided by the air pump 303 installed on the outer side of the rotating bracket at both ends of the feeding and discharging materials and the air storage tank 304 installed on the mounting plate of the conveying motor, and the driving cylinder compresses and maintains the back plate to ensure the stability of the back plate during rotation. No risk of falling. A set of air pump 303 and an air storage tank 304 are respectively provided at the feed end A and the discharge end B of the rotating support.

The power supply mode of each component of the rotating equipment is as follows: after the external power supply is connected to the equipment, it is divided into multiple channels to supply power to each driving part of the equipment: one power supply directly supplies the rotating drive motor; The synchronous belt conveyors at the two ends of the feeding and discharging are respectively supplied in the rotating work position; the two-way power supply supplies power to the feeding and discharging through the movable contacts installed on the equipment rack in a sliding or rolling manner. Both ends of the material rotate to support the collector ring 501 on the rotating ring. The collector ring 501 is installed on the rotating ring of the rotating support mechanism, and moves synchronously with the feeding rotating support 105 and the discharging rotating support 106 .

The feed rotary support 105 and the discharge rotary support 106 are fixedly connected with a back plate locking mechanism, and the back plate locking mechanism is used to fix the back plate to the feed rotary support 105 and the discharge rotary support 106 after the back plate is positioned; The slip ring 501 is connected with the air pump and the slip ring through a cable, and continuously supplies power to the driving air pump of the backplane locking mechanism. The driving air pump selects the actuating cylinder 402, the rotating support is fixedly connected with the air pump 303 and the air storage tank 304, and the air storage tank 304 is used to controllably supply air for the actuating cylinder 403, and the collector ring 501 is connected to the air pump 303 Electrical connection. The feeding rotating support 105 or the discharging rotating support 106 is fixedly connected with a DC transformer, the DC transformer is electrically connected with the collector ring 501 , and the DC transformer is used for providing DC power.

The feed end rotating support 105 or the discharge end rotating support 106 is also fixedly connected with a DC transformer, the DC transformer is specifically a 24V DC transformer, and the DC transformer is electrically connected to the collector ring; It is used to provide DC power supply, and continuously supply power for cylinder solenoid valve, cylinder sensor, backplane detection and other sensors, as well as wireless communication modules.

The electrical control method of the rotating equipment uses a drive controller as a complete machine controller, and the drive controller can use PLC, industrial computer, and single-chip microcomputer to realize automatic actions. The driving device of the rotary driving mechanism is a rotary driving motor, which is directly connected with the driving controller to control the action; the driving device of the back plate translation device 2 is a conveying motor. controller connection control action. The air pump on the rotating bracket is always energized to ensure that the pressure of the cylinder air source is stable; the cylinder solenoid valve on the rotating bracket is connected to the drive controller through the wireless communication module to control the action; the cylinder sensor on the rotating bracket, workpiece detection and other sensors, The detection results are sent to the drive controller through the wireless communication module, so that the status of each sensor can be monitored in real time.

The production line also includes a backplane line station, a backplane inspection station, and a backplane offline station; the backplane line station, the component assembly station, the backplane inspection station, the wiring The wiring station and the backplane off-line station are arranged in sequence along the production line from the on-line station to the off-line station; the backplane conveyor system includes three sections of conveyor lines, namely the backplane on-line 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, and the backplane inspection station in turn. The conveying line 30 , the wiring and wiring station and the backplane off-line station conveyor line 31 are used to complete the backplane on-line, component assembly, component assembly inspection, wiring and backplane off-line operations.

The production line also includes a production line control part 17, and the production line control part 17 is provided with the data information required for the assembly of the production line; The material supply work group, the component assembly robot and the turning device 10; the cable wiring material supply work group, the wiring and wiring robot 5 and the rotating equipment 22 of the wiring and wiring station are signally connected.

The component feeding working group includes a component tray 1 and a tray feeding conveyor belt, the component tray 1 is used to realize the feeding of components to be installed, and the tray feeding conveyor belt is used to transport the component trays to Feeding place; the component feeding working group also includes a small-parts feeding box and a feeding-box frame 8, the feeding-box frame 8 is used to fix the small-parts feeding box, and the small-parts feeding box is used for For the supply of small components to be installed; the component assembly robot 5 is used for controlled execution of picking up materials from the component supply work group and then installing them to the target position of the backplane.

Specifically, as shown in Figures 1-2, the component tray 1 is processed with limit devices according to different models to prevent the components from moving or tilting during the conveying process. The component tray 1 is equipped with an RFID chip to identify and track the components in the tray. When the component tray 1 is not in use, it is placed on the tray temporary storage rack 2. Two tray feeding conveyor belts, namely the first tray feeding conveyor belt 3 and the second tray feeding conveyor belt 4, can be set up respectively as needed. The component trays 1 placed in a specific order are placed on the first tray feeding conveyor belt 3 and the second tray feeding conveyor belt 4 respectively. The tray temporary storage rack 2 is used for the temporary storage of the component tray 1, and is equipped with RFID read-write heads, sensors, etc., which are used to detect the tray information and track information; the tray temporary storage rack 2 is constructed of profiles, connectors, and the like.

The small parts supply box includes a supply box frame, a fixed stopper 41, a movable stopper 36, a guide limit structure for the movable stopper 36 and a constant load spring 38; the fixed stopper 41 and the frame of the supply box Fixed connection or integral arrangement; the movable block 36 slides reciprocally relative to the fixed block under the support of the guiding and limiting structure; small components to be installed are placed between the movable block 36 and the fixed block 41 ; One end of the constant load spring 38 is fixedly connected with the frame of the feed box, and the other end is fixedly connected with the movable stopper 36, and the force of the constant load spring 38 can make the small component to be installed It is automatically clamped and fixed between the movable block 36 and the fixed block 41 . The small parts feeding box package is fixedly placed on the small parts feeding box frame 8, and the small parts feeding box frame 8 is fixedly arranged on the mounting frame of the first tray feeding conveyor belt 3 and the second tray feeding conveyor belt 4 On top or in one piece to simplify structure, reduce cost and improve manufacturing efficiency.

Specifically, as shown in FIG. 3-FIG. 4, the frame of the feeding box includes a bottom plate 32. Two side plates 42 are arranged at both ends of the bottom plate 32. The guide shaft 34, the guide bar 45 and the guide groove 43 extending in the direction of the side plate. A sliding block connecting block 37 is slidably disposed on the guide shaft 34 , and a mounting member 35 is fixedly disposed on the sliding block connecting block 37 , and the mounting member 35 is fixedly connected with the sliding block 36 . The small element 39 to be installed is slidably disposed between the guide bar 33 and the guide groove 43; and in order to further enable the small element to slide smoothly along the guide bar 45 and the guide groove 43, the guide bar 33 is also fixedly provided with a blocking bar 44. A space for the small element 39 to be installed to slide is formed between the guide groove 43 and the blocking bar 44. One end of the constant load spring 38 is mounted on the spring mounting block 40 and the other end is mounted on the sliding base 32 assembly. The spring mounting block 40 is fixedly connected to the side plate 42 , and components such as terminals, safety barriers, and relays are placed between the movable block 36 and the terminal block 41 . The components between the sliding base 32 assembly and the end stop 41 are clamped by spring tension. When the robot clamps one or a group of components, the sliding base 32 is pulled by the spring tension to automatically clamp the components.

The component assembly station further includes a locking nail working group; the locking nail working group of the component assembly station is used to perform a locking nail operation by tightening screws for the components that have been installed on the backplane, and fasten them to the backplane. on the backplane. The wiring and wiring station also includes a nail-locking work group; the nail-locking workgroup of the wiring and wiring station is used to perform a nail-locking operation by tightening screws for the components that have completed the wiring operation, so as to tighten the cable end or the wire head. Fastened to the component that has been wired.

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 designated position; The locking nail module includes a quick-change tightening bit, a driving device for the quick-changing tightening bit, and a mounting frame, and the driving device for the quick-changing tightening bit is used to drive the quick-change tightening bit to move to execute the Tightening operation of the fastening screws. The mounting frame is detachably and fixedly connected to the nail-locking robot; a driving device for quick-change tightening bits is installed on the mounting frame. The mounting frame is provided with a pressing cylinder, a guide rail and a sliding block, and the sliding block can slide back and forth along the guide rail on the mounting frame under the driving of the pressing cylinder. The slider is further provided with a servo motor and a quick-change tightening bit, and the servo motor is used to drive the quick-change tightening bit to rotate, and at the same time, combined with the pressing push of the pressing cylinder, so that the wiring operation has been completed. Tighten its fastening screws to complete the locking operation. According to needs, three or more sets of quick-change tightening bits can be set to adapt to the tightening of screws of different specifications.

The nail locking table 12 of the component assembly station includes a translation shaft 15 of the component assembly station, a four-axis robot, a nail locking module 11 of the component assembly station, a locking nail bit quick change bracket 78, and a locking nail bit module. The nail-locking table 12 in the assembly station is used to realize the function of locking the nails in the installation of various components of the assembly station.

As shown in FIG. 5 , one side of the flipping device is provided with a quick-change workbench 6 , and a quick-change bracket 78 is provided on the quick-change workbench 6 . Change jaw fixture modules, such as quick-change jaw fixture module 1 76 and quick-change jaw fixture module 2 79; the quick-change jaw fixture module 1 76 and quick-change jaw fixture module 1 76 The second tool module 79 includes a cylinder 81, a quick-change female head 75, a pneumatic gripper 80 and a gripper finger 82, respectively. The quick-change gripper jig module 1 76 and the quick-change gripper jig module 2 79 are placed on the on the quick-change bracket 78 . The air cylinder 81 is fixedly connected to the female head 75 of the quick-change module, and the air cylinder 81 can drive the pneumatic clamping jaw 80 and the clamping finger 82 to perform a loosening or clamping operation to clamp or loosen the target component. The quick-change bracket 78 is also provided with a sensor 77, and the sensor 77 is used to detect the placement state of the quick-change clamping jaw jig module. The component assembling machine can quickly replace the component quick-change clamping jaw fixture modules of different specifications through the attraction and engagement of the quick-change male head and the quick-change female head 75, so as to realize the clamping and installation operations of different components.

One side of the rotating device is provided with a wiring workbench 19, the wiring wiring robot includes wiring wiring robot one 21 and wiring wiring robot two 23, the wiring wiring workbench 19 is also provided with a wiring wiring robot one 21 walking. The first axis 20, the second walking axis 24 of the wiring and wiring robot two, and the quick-change bracket 78 for single and/or multiple cable wiring. The wiring workbench 19 is provided with a quick-change bracket 78 for connecting single and/or multiple cables, and the quick-change bracket 78 is placed with different specifications of quick-change clamping jaw jig modules for cable wiring. The quick-change clamping jaw fixture module includes a quick-change module female head 75 , a cylinder 81 and a clamping finger 80 . The cylinder 81 is fixedly connected with the female head 75 of the quick-change module, and the cylinder 81 can drive the clamping fingers 80 to clamp or loosen, so as to clamp and loosen components of different specifications, and the components can be cables. The quick-change bracket 78 is also provided with a sensor 77, and the sensor 77 is used to detect the placement state of the quick-change clamping jaw jig module. The wiring and wiring robot can quickly replace different specifications of the cable wiring quick-change clamping jaw fixture modules through the pull-in of the quick-change male head and the quick-change female head 75, so as to realize the wire taking and wiring operations of different cable connections.

One side of the rotating device 22 is connected with the cable tray 18 and the wiring workbench 19 respectively, and the inside is connected with the wiring and wiring robot 1 21 and the wiring wiring robot 2 23 respectively. The wiring workbench 19 is respectively provided with a walking axis 1 20 of the wiring and wiring robot 1 21 and a walking axis 2 24 of the wiring and wiring robot 2. The walking axis 1 20 can transport the wiring and wiring robot 1 21 from one end of the walking axis to the walking axis 24. On the other end, the walking shaft two 24 can transport the wiring and wiring robot one 23 from one end of the walking shaft to the other end. The other side of the rotary device 22 is provided with a pinning table 28 for a wiring and wiring station. The lock nail workbench 28 of the wiring and wiring station includes a translation axis 26 of the wiring and wiring station, a four-axis robot, a lock nail module 25 of the wiring and wiring station, a lock nail bit quick change bracket 78, and a lock nail bit module. The pinning table 28 of the wiring and wiring station is used to perform a pinning operation by tightening screws for the components that have completed the wiring operation, so as to fasten the cable end or the terminal head to the component that has completed the wiring operation.

The wiring workbench 19 is also provided with a cable wiring quick-change clamping jaw fixture module and a quick-change bracket 78 . The quick-change bracket 78 is used to place the clamping jaw quick-change jig set, so as to adapt to the accurate and rapid change of the jig of the wiring and wiring robot. The cable wiring quick-change clamping jaw fixture module includes quick-change module female head, mounting plate, cylinder, clamping finger, etc. The quick-change fixture is used for different cable clamping. The single-cable wiring quick-change clamping jaw fixture module is used for single-cable wiring requirements, and the multiple-cable wiring quick-change clamping jaw fixture module is used for multiple cable wiring requirements.

The cable wiring supply work group includes a plurality of cable trays 18 and a cable supply module 16 arranged on the wiring workbench 19 . The cable tray 18 is processed according to different cable joints, so that the cables are arranged in an orderly manner.

In the production line of the present invention, safety fences are respectively provided on the outer layers of the component assembly station and the wiring and wiring station. Specifically, it also includes that the lock nail workbench 12 of the component assembly station is provided with the lock nail workbench fence 14 of the component assembly station, and the lock nail workbench 28 of the wiring and wiring station is provided with the lock nail of the wiring and wiring station outside. Workbench fence 29.

The production line in this embodiment also includes a backboard online station, a backboard inspection station, and a backboard off-line station; the backboard conveying system includes three sections of conveying lines, namely, the backboard online station conveyor line 9, the backboard Plate inspection station conveyor line 30 and back plate off-line station conveyor line 31; the back plate online station conveyor line 9, the back plate translation device set on the flip bracket 1. The back plate inspection station conveyor line 30, the rotation The second backplane translation device and the backplane off-line station conveying line 31 arranged on the bracket are connected end to end in sequence, and there is a gap between them to avoid mutual movement interference.

The component assembling robot 5 also includes a vision module; the component assembling robot runs to a designated position to trigger the vision module to take a picture, and adjust the accurate installation position of the target component according to the coordinates provided by the vision module;

The wiring and wiring robots 21 and 23 further include a vision module. The wiring and wiring robots 21 and 23 run to a designated position to trigger the vision module to take pictures, and adjust the target cable to accurately take and take pictures according to the coordinates provided by the vision module. / or wiring location.

Another aspect of the present invention aims to provide an assembly process for a control cabinet or an electrical cabinet backplane assembly production line, characterized in that the assembly process comprises the following steps:

(1) First, the backplane of the control cabinet or electrical cabinet after going online is transported to the component assembly station of the production line, and the turning device of the component assembly station is positioned to stop the backplane and fix it, and then drive the backplane. The board is turned 0-180 degrees; the component assembly robot cooperates with the corresponding gripper jig according to the pre-set assembly data to perform the reclaiming and fixed installation operations of the front and/or reverse target components of the backplane;

(2) Secondly, the flipping equipment drives the backplane to 0 degrees, and the backplane translation device of the flipping equipment cooperates with the conveyor line of the backplane inspection station to send the backplane out of the flipping equipment and transport it to the backplane inspection station. bit;

(3) Once again, after checking that the components are installed correctly on the backplane, the conveyor line of the backplane inspection station and the backplane translation device two of the rotating equipment cooperate with the rotating equipment to transport the backplane to the wiring and wiring station;

(4) Once again, after the backplane is transported in place, the rotating equipment presses and fixes the backplane, and then drives the backplane to complete a 0-360-degree rotation, and the wiring and wiring robot completes the wiring and wiring operations of the target components of the backplane;

(5) After the wiring and wiring tasks of the backplane are completed, the rotating equipment drives the backplane to run to 0 degrees, and the backplane translation device 2 of the rotating equipment and the conveyor line of the backplane offline station cooperate to move the backplane to 0 degrees. The backplane is transported to the backplane offline station to complete the assembly of the electrical control cabinet or the electrical cabinet backplane.

In this embodiment, a rotating device is selected. To avoid interference between the finished cable and the wire trough or module, the two wiring and wiring robots, the wiring and wiring robot 1 21 and the wiring and wiring robot 2 23, cooperate with each other to complete the wiring and wiring operations to meet the need for threading on both sides of the backplane of the control cabinet or electrical cabinet. demand.

After the wiring and wiring robot replaces the corresponding gripper jig according to the wiring data preset by the production line control part 17, the wiring and wiring robot 1 21 clamps the cable head from the cable supply tray, and the wiring and wiring robot walking axis 1 20 transports the wiring The wiring robot 1 21 goes to the distal end of the wiring and wiring robot walking shaft 1, and the wiring and wiring robot 2 23 clamps the other end of the cable to lift the cable as a whole.

The wiring and wiring robot 1 21 and the wiring and wiring robot 2 23 run and move at the same time. The wiring and wiring robot 2 23 first runs to the vicinity of the first wiring point, and the vision module takes pictures and transmits the coordinate data to the wiring and wiring robot 2 23. The wiring and wiring robot 223 Correct the connection point according to the coordinates and connect the cable to the connection terminal, lock the nail four-axis robot and the lock nail module 25 of the wiring and wiring station to replace the accurate batch head according to the setting of the production line control part 17, and run to the designated position The rear vision module performs photo processing and transmits the coordinate data to the lock nail four-axis robot and the lock nail module 25 of the wiring and wiring station. position, perform the operation of locking the terminal screws, and the wiring and wiring robot II 23 returns to complete the wiring lock nails at the first end of the cable.

The wiring and wiring robot 1 21 runs to the vicinity of the second wiring point according to the program requirements, and the wiring and wiring robot 2 23 arranges the wires according to the predetermined route, so that the cables are arranged in the wire grooves. The wiring and wiring robot 1 21 triggers the vision module to take pictures, processes and transmits the coordinate data to the wiring and wiring robot 1 21. The wiring and wiring robot 1 21 corrects the wiring points according to the coordinates and connects the cables to the terminals, locks the four-axis robot and the wiring and wiring The lock nail module 25 of the station replaces the accurate batch head according to the setting of the production line control part 17, and after running to the designated position, triggers the vision to take pictures and transmits the coordinate data to the lock nail robot, and the lock nail robot runs to the accurate position according to the coordinates , tighten the terminal screws, complete the wiring of the cable and the wiring lock nails at the second end of the cable.

After the front wiring of the backplane is completed, the rotating device 22 is turned 180 degrees according to the program requirements, and the wiring and wiring robot completes the wiring requirements of all cables on the back according to the wiring data preset by the production line control unit 17 . When the cable required for wiring needs to be threaded through both sides of the backplane, when the wiring and wiring robot completes the wiring of the first end of the cable and the wiring on this side, the rotating device 22 is turned 180 degrees according to the program requirements, and the two wiring and wiring robots cooperate to complete the cable. For the wiring of the second end, after the wiring requirements are completed, the rotating device 22 is turned to 0 degrees and waits for the next wiring task.

After all the wiring tasks of the control cabinet or the backplane of the electrical cabinet are completed, the rotating equipment runs to 0 degrees, the stop cylinder and the pressing cylinder of the rotating equipment release the backplane, and send it out of the rotating equipment to the backplane offline station 31. Manually go offline to complete the automatic installation and automatic wiring of components on the backplane of the electrical control cabinet or electrical cabinet.

The above are the preferred embodiments of the present invention. For those skilled in the art, based on the technical solutions disclosed in the present invention and the essence of the invention, other modifications and improvements can be made, but these modifications and improvements are based on the present invention. , should be covered by the protection scope of the present invention. This specification uses embodiments to disclose the application, including the best embodiment, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the application is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Claims (15)

1. The utility model provides a switch board or regulator cubicle backplate assembly line, the production line includes that the backplate reaches the standard grade station and the backplate station of unloading, follows the station of reaching the standard grade extremely the station direction of unloading has set gradually component equipment station and component wiring station, its characterized in that, the production line still includes:

a backplane transport system capable of transporting the backplane from a component assembly station to a wire routing station of a production line;

the component assembling station comprises a component feeding working group, a component assembling robot and turnover equipment; the component feeding working group is used for feeding components to be mounted on the back plate; the turnover equipment is used for driving the back plate to complete 0-180-degree turnover so as to complete the installation of elements to be installed on the front surface and/or the back surface of the back plate; the component assembling robot is used for controlling to take materials from a component feeding working group and then install the materials to a target position of the back plate;

the wiring and wiring station comprises a cable wiring and feeding working group, a wiring and wiring robot and rotary equipment; the cable wiring and feeding working group is used for feeding cables of elements to be wired on the back plate; the rotating equipment is used for driving the back plate to rotate by 0-360 degrees, and the wiring and wiring robot is used for carrying out controlled installation on the wiring position and the wiring position of the target element on the front surface and/or the back surface of the back plate after the cable wires are taken from the cable wiring and feeding working group.

2. The production line of claim 1,

the turnover device comprises a turnover device frame, a turnover support structure, a back plate turnover mechanism and a back plate turnover driving mechanism,

along the axial lead direction of the backboard overturning mechanism, one end of the overturning equipment rack close to the wire feeding station of the production line backboard is set as a feeding end of the backboard, and one end of the overturning equipment rack far away from the wire feeding station of the production line backboard is set as a discharging end of the backboard;

the backboard overturning mechanism comprises a rotating ring assembly and a rotating bracket, the rotating bracket is fixedly connected with the rotating ring assembly, and the rotating bracket can fix the backboard;

the turnover support structure is fixedly arranged on the turnover equipment rack and can rotatably support the backboard turnover mechanism;

the back plate turnover driving mechanism is arranged on the turnover equipment rack and can drive the back plate turnover mechanism to rotate 0-180 degrees relative to the turnover equipment rack;

the rotary support is further provided with a first backboard translation device, and the first backboard translation device can be driven by a controller to drive the backboard to move towards the direction of the discharge end from the feed end of the turnover equipment rack along the central axis of the rotary support.

3. The production line of claim 2,

the rotary equipment comprises a rotary equipment rack, a rotary supporting mechanism, a rotary bracket capable of fixing the back plate and a back plate rotary driving mechanism;

along the axial lead of the rotary supporting mechanism, one end of the rotary equipment rack close to the line feeding station of the production line backboard is set as a feeding end of the backboard, and one end of the rotary equipment rack far away from the line feeding station of the production line backboard is set as a discharging end of the backboard;

the rotary supporting mechanism comprises a supporting ring and a rotating ring, the supporting ring and the rotating ring are concentrically nested, the supporting ring rotatably supports the rotating ring, and the supporting ring is positioned on the inner ring or the outer ring of the rotating ring;

the rotating bracket is fixedly connected with the rotating ring, and the support ring is fixedly connected with the rack;

the back plate rotation driving mechanism is arranged on the rotating equipment rack and can drive the rotating ring and the rotating bracket to rotate 0-360 degrees relative to the rotating equipment rack together;

and a second backboard translation device is arranged on the rotating support and is used for being driven by a controller to move towards the direction of the discharge end of the rotating equipment rack from the feed end of the rotating equipment rack along the central axis of the rotating support.

4. The production line of claim 3,

a feeding rotary supporting mechanism, a feeding translation device and a feeding rotary support are arranged at the feeding end of the rotary equipment rack, and a rotating ring of the feeding rotary supporting mechanism is fixedly connected with the feeding rotary support; the feeding rotating support is provided with a feeding translation device, and the feeding translation device is used for driving the back plate to move along the directions of the feeding end and the discharging end;

a discharging rotary supporting mechanism and a discharging rotary support are arranged at the feeding end of the rotary equipment rack, and a rotating ring of the discharging rotary supporting mechanism is fixedly connected with the discharging rotary support; the discharging rotating bracket is provided with a discharging translation device, and the discharging translation device is used for driving the back plate to move along the directions of the feeding end and the discharging end;

the second back plate translation device comprises the feeding translation device and the discharging translation device;

a gap is formed between the feeding translation device and the discharging translation device, and the feeding translation device and the discharging translation device are spaced along the directions of the feeding end and the discharging end of the rotating equipment rack by the gap;

the rotary driving mechanism drives the rotary rings of the feeding rotary supporting mechanism and the discharging rotary supporting mechanism to synchronously rotate.

5. The production line of claim 1,

the production line further comprises a back plate inspection station;

the backboard on-line station, the component assembling station, the backboard checking station, the wiring and wiring station and the backboard off-line station are sequentially arranged;

the backboard conveying system comprises three sections of conveying lines, namely a backboard on-line station conveying line, a backboard inspection station conveying line and a backboard off-line station conveying line;

the backboard sequentially passes through the backboard on-line station conveying line, the element assembling station, the backboard checking station conveying line, the wiring station and the backboard off-line station conveying line, and the operations of the backboard on-line, element assembling checking, wiring and backboard off-line are sequentially completed.

6. The production line of claim 1,

the production line also comprises a production line control component, and data information required by the assembly of the production line is arranged in the production line control component;

the production line control component is respectively connected with the back plate conveying system, the component feeding working group, the component assembling robot and the turnover device of the component assembling station, and the cable wiring feeding working group, the wiring robot and the rotary device of the wiring station in a signal mode.

7. The production line of claim 1,

the component feeding working group comprises a component tray and a tray feeding conveying belt, wherein the component tray is used for feeding components to be mounted, and the tray feeding conveying belt is used for conveying the component tray to a feeding position;

the component feeding working group also comprises a small component feeding box and a feeding box frame, wherein the feeding box frame is used for fixing the small component feeding box, and the small component feeding box is used for feeding the small components to be installed;

the component assembling robot is used for controlling and executing the material taking from the component feeding working group and then installing the component assembling robot to the target position of the back plate.

8. The production line of claim 7, wherein the small piece supply magazine comprises a magazine frame, a fixed stop, a movable stop, a guide limit structure for the movable stop, and a constant load spring;

the fixed stop block is fixedly connected with or integrally arranged with the feed box frame;

the movable stop block slides in a reciprocating manner relative to the fixed stop block under the support of the guide limiting structure;

a small element to be installed is placed between the movable stop block and the fixed stop block;

one end of the constant load spring is fixedly connected with the feeding box frame, the other end of the constant load spring is fixedly connected with the movable stop block, and the small element to be installed can be automatically clamped and fixed between the movable stop block and the fixed stop block under the action of the acting force of the constant load spring.

9. The production line of claim 1,

the component assembling station further comprises a locking nail working group;

the locking nail working group of the component assembling station is used for performing locking nail operation on the components which are installed on the back plate through fastening screws so as to fasten the components on the back plate;

and/or the wiring and wiring station further comprises a locking nail working group;

the locking nail working group of the wiring and wiring station is used for performing locking nail operation on the elements which are subjected to wiring operation through fastening screws so as to fasten cable heads or connector heads to the elements which are subjected to wiring operation.

10. The production line of claim 9,

the locking nail working group comprises a locking nail robot and a locking nail module;

the locking bolt robot is provided with the locking bolt module and is used for moving the locking bolt module to a specified position;

the locking screw module comprises a quick-change tightening screwdriver head, a driving device for quickly changing the tightening screwdriver head and a mounting rack, wherein the driving device for quickly changing the tightening screwdriver head is used for driving the quick-change tightening screwdriver head to move so as to execute the tightening operation of the fastening screw.

11. The production line of claim 2,

a quick-change workbench is arranged on one side of the turnover equipment, a quick-change support is arranged on the quick-change workbench, and quick-change clamping jaw jig modules of elements with different specifications are placed on the quick-change support;

the component assembling robot can quickly replace components with different specifications so as to realize the clamping and mounting operation of different components.

12. The production line of claim 3,

a wiring workbench is arranged on one side of the rotating equipment; the wiring workbench is provided with a quick-change bracket, and cable wiring quick-change clamping jaw jig modules with different specifications are placed on the quick-change bracket;

the wiring robot can rapidly replace cable wiring quick-change clamping jaw jig modules with different specifications so as to achieve wire taking and wiring operations of different cable wirings.

13. The production line of claim 3,

the production line also comprises a back plate on-line station, a back plate inspection station and a back plate off-line station;

the backboard conveying system comprises three sections of conveying lines, namely a backboard on-line station conveying line, a backboard inspection station conveying line and a backboard off-line station conveying line;

the backboard is characterized in that the backboard is provided with an on-line station conveying line, a backboard translation device I arranged on the rotating support, a backboard inspection station conveying line, a backboard translation device II arranged on the rotating support and a backboard off-line station conveying line, the two parts are connected end to end according to a sequence, and a gap for avoiding mutual movement interference is reserved between the two parts.

14. The production line of claim 1,

the component assembly robot further comprises a vision module; the component assembling robot runs to a specified position to trigger the vision module 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 comprises a vision module, the wiring robot runs to a specified position to trigger the vision module to take a picture, and the accurate wire taking and/or wiring position of the target cable is adjusted according to the coordinates provided by the vision module.

15. An assembly process of a control cabinet or electrical cabinet backplane assembly line according to any one of claims 1 to 14, wherein the assembly process comprises the steps of:

(1) Firstly, transporting a control cabinet or electrical cabinet back plate which is on line to an element assembling station of a production line, positioning and stopping the back plate by using overturning equipment of the element assembling station and fixing the back plate, and then driving the back plate to complete 0-180-degree overturning; the component assembling robot is matched with the corresponding clamping jaw jig according to preset assembling data to execute material taking and fixed installation operations of the target components on the front side and/or the back side of the back plate;

(2) Secondly, the turnover equipment drives the back plate to operate to 0 ℃, and a back plate translation device of the turnover equipment is matched with a back plate inspection station conveying line to convey the back plate out of the turnover equipment and convey the back plate to a back plate inspection station;

(3) Thirdly, the backboard which is correctly installed through the inspection element is conveyed to the rotating equipment of the wiring station through the cooperation of the backboard inspection station conveying line and the backboard translation device II of the rotating equipment;

(4) Thirdly, after the back plate is conveyed to the right position, the rotating equipment compresses and fixes the back plate, then the back plate is driven to rotate by 0-360 degrees, and the wiring and wiring operation of the back plate target element is completed by a wiring and wiring robot;

(5) After the wiring and wiring tasks of the back plate are completed, the rotating equipment drives the back plate to operate to 0 degree, the back plate is conveyed to a back plate off-line station by the cooperation of a back plate translation device II of the rotating equipment and a back plate off-line station conveying line, and the assembling operation of the back plate is completed.

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