The specific embodiment
Below in conjunction with embodiment the present invention is further described.
See also Fig. 1 to Fig. 3, sheet laser cutting bonding machine of the present invention comprises laser welding system (not shown), base 4, is installed in upper table 2 and lower table 5 on the base 4, and these two workbench 2,5 are in being respectively applied for splint fixation workpiece 3,6.Precision ball screw (not shown) is installed on the base 4, accurate line slideway 8,9 links to each other with above-mentioned leading screw, lower table 5 is installed on the accurate length guide rail 9, and accurate straight line short lead rail 8 is installed on the lower table 5, and upper table 2 is installed on the accurate straight line short lead rail 8.Drive the precision ball screw motion by Digit Control Machine Tool control servomotor, and then workbench 2,5 can be slided along guide rail 9,8.
Lower table 5 comprises two parts, wherein first can extend into upper table 2 below, another part is concordant with upper table 2, a horizontal row is arranged in the first of lower table 5 to the alignment pin 1 of parallel arranged.See also Fig. 4, alignment pin 1 comprises cylinder 12, is fixed in the linear bearing 13 of cylinder top, be installed on the cylinder 14 in the linear bearing 13 and be installed on the bearing 15 of cylinder 14 tops, and bearing 15 can roll around cylinder 14.By the piston motion of cylinder 12, can make cylinder 14 drive bearing 15 and move in vertical direction.The cutting edge of workpiece 3 is resisted against on the bearing 15 of alignment pin 1 so that these workpiece 3 location; When needs when welding cutting, alignment pin 1 is retracted into downwards in the workbench 5, travelling table 2, make alignment pin 1 and workpiece 3 produce horizontal directions relative displacement so that alignment pin 1 away from the cutting welding edge of workpiece 3.
Please continue and consult Fig. 8, workbench 2,5 is provided with a plurality of electromagnet 7, can produce attraction with fixation workpiece 3,6 to workpiece after electromagnet 7 energisings.Also be provided with a plurality of pneumatic pinch mechanism 11 on the workbench 2,5, it is clamped that electromagnet 7 energisings are carried out workpiece, when the cutting welding, with cancelling electromagnet 7 behind pneumatic pinch mechanism 11 clamping work pieces, do not influence other electronic installation to guarantee electromagnet 7.
Pneumatic pinch mechanism 11 comprises vacuum cup 119, electromagnetic locking mechanism 110, and magnetic valve 111 and vacuum valve 112 are connected, and magnetic valve 111 is opened, sucker work, workpiece is held; When vacuum reaches setting, 110 actions of electromagnetic locking mechanism, the upright position of locking vacuum cup 119.Thereby vacuum cup 119 can be finely tuned on vertical.Two cross sides of base 3 relative workbench 2,5 are provided with alignment pin 10, with fixation workpiece 3,6 in a lateral direction.The effect of pneumatic pinch will detect intratracheal pressure with pressure cell (not shown) be determined, have only this pressure to be lower than setting value after, electromagnet 7 clamping devices are dead electricity.Pneumatic pinch mechanism 11 has a plurality of, and whether each pneumatic pinch mechanism works, and all can be provided with arbitrarily, and each is independent controlled by microcomputer; All there is an electromagnet retaining mechanism 110 in each pneumatic pinch mechanism, locking pneumatic pinch mechanism.The locking of retaining mechanism 10 is still floated, and is controlled by the I/O interface by microcomputer.
The principle of workpiece location photoelectric observing and controlling device is that the contour images during with workpiece 3 location is taken in camera, and the corresponding view data of formation, by analyzing and processing to this view data, calculate the position error of workpiece, make corresponding indication then and drive the motion of corresponding servomotor, meet the demands up to the workpiece positioning accuracy.The position error of workpiece 3 is definite by taking in edge of work line position data and exemplar in the image (as the clamping workpiece of benchmark time position) locator data contrast back, as not meeting the demands, then according to the direction of error and size determine servomotor turn to angular displacement how much.See also Fig. 5 and Fig. 6, the electrical system of photoelectric detecting and positioning system is by CCD camera, image card, pneumatic operated valve electromagnet, locking electromagnet, servomotor and controller, pressure cell, I/O interface card, A/D interface card, composition such as vavuum pump and microcomputer, camera comprise CCD dot matrix 101 and lens 102 compositions.
The edge contour of workpiece profile is taken in to CCD dot matrix 101 image forming surface signals by the optical system of camera, and imports microcomputer into by image card; Every bit light-sensitive element on the CCD dot matrix 101 is subjected to the power of light to divide 256 grades.Two cameras are placed on the two ends that need the tested edge line of location workpiece.
The workpiece image processing procedure is:
(1) CCD dot matrix 101 has N * M light-sensitive element, and each light-sensitive element can record the luminous intensity of some pixels, then can record the image of N * M pixel altogether, and each pixel has 256 tonal gradations.By this data generator matrix A and B, each data is exactly the tonal gradation number of correspondence image pixel light intensity in the matrix.As matrix A among Fig. 7, element a
I, j(i=0,1 ... N; J=0,1 ... M; a
I, j∈ [0,1 ... 255]), represent that I is capable, the light intensity data of j row pixel.
(2) remove the influence of DC level in the data with digital method; With the matrix element binary conversion treatment, form the Matrix C and the D of two-value again.As Matrix C among Fig. 7, element c
I, j(i=0,1 ... N; J=0,1 ... M; c
I, j∈ [0,1]), 1 expression has the point of workpiece, and 0 expression is not to there being the point of steel plate.
(3) (that is, among Matrix C and the D) finds out steel plate image corresponding points in view data, obtains the position of edge of work line.
(4) data and the normal data (through accurately measuring, being stored in the data of disk) that record are compared the position error of calculating on two vertical direction.
The workpiece Positioning Process is:
(1) after standard workpiece is placed into the precalculated position, two cameras are placed on the two ends of the tested edge line of standard workpiece, the profile of standard workpiece is taken in by two CCD cameras and is formed picture signal, and imports microcomputer into by image card, the picture signal of generation standard workpiece;
(2) need the profile of location workpiece 3 to form picture signal, and import microcomputer into by image card by two CCD cameras absorptions;
(3) microcomputer compares the picture signal of workpiece image signal and standard workpiece, calculates position error;
(4) microcomputer is by the direction and the size of position error, determines the direction that the driven by servomotor workpiece moves and the size of displacement;
(5) repeat (1), (2) and (3) step, reach the requirement of positioning accuracy until position error;
(6) microcomputer by the I/O interface make clamp electromagnet 7 electric, workpiece is tentatively clamped;
(7) microcomputer makes by the I/O interface needs 11 actions of the pneumatic pinch of pneumatic clamps mechanism, and workpiece is clamped;
(8) whether microcomputer is finished to determine clamping process by the pressure in the A/D interface detection vacuum cup 119.
(9) after the pneumatic pinch process was finished, microcomputer made retaining mechanism 110 actions by the I/O interface, locking pneumatic pinch mechanism 11;
(10) microcomputer makes by the I/O interface and clamps electromagnet 7 dead electricity, finishes the location and clamps all processes.
The advantage of sheet laser cutting bonding machine Workpiece clamping device of the present invention is: the piece-holder that is cut and welds is reliable and stable, fast, realize automation, improved production efficiency greatly, improve cutting and welding quality, and can not influence the operate as normal of other electronic installation.
Second embodiment of the invention sees also Fig. 9 and Figure 10, and the vacuum cup of present embodiment employing high precision replaces the vacuum cup 119 in first embodiment.This vacuum cup comprises sucker 112, and hollow rod 113, fixed cover 114 are fixed on the work stage 2 hollow rod 113, are provided with spring 115 in the fixed cover 114, to be resisted against hollow rod 113 belows and fixing vacuum cup.Spring washer 117 and nut 118 are used for fixing hollow rod 113 and fixed cover 114.After adopting above-mentioned vacuum cup, in position fixing process, just can save the step (9) of pneumatic pinch mechanism being locked with the electromagnetic locking structure among first embodiment.