CN103901861A - Control method for servo control mechanical arm and visual inspection production line and mechanical arm - Google Patents
Control method for servo control mechanical arm and visual inspection production line and mechanical arm Download PDFInfo
- Publication number
- CN103901861A CN103901861A CN201410141317.7A CN201410141317A CN103901861A CN 103901861 A CN103901861 A CN 103901861A CN 201410141317 A CN201410141317 A CN 201410141317A CN 103901861 A CN103901861 A CN 103901861A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- product
- control
- control system
- production line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method for a servo control mechanical arm and visual inspection production line. According to the control method, multiple mechanical arms on a production line conveyer belt and a centralized management and distributed control system for setting servo control and visual inspection are included. The control system is respectively connected with multiple mechanical arm servo control systems and visual inspection systems through a CAN control bus. The method includes the following steps that (1), the control system comprises a central control processor; (2) the control system further comprises the mechanical arm servo control systems; (3) the control system further comprises the visual inspection systems; (4) the mechanical arm servo control systems and the visual inspection systems are connected with the centralized management and distributed control system for servo control and visual inspection formed by the central control processor through the CAN control bus. The invention further discloses a mechanical arm for implementing the control method. According to the method and system, the mechanical arms are controlled simultaneously to operate in cooperation with the conveyer belt, and automatic production is achieved.
Description
Technical field
The present invention relates to the technical field of mechanical automation control, be specifically related to the control method of a kind of servocontrol mechanical arm and vision-based detection production line, and implement the mechanical arm of this control method.
Background technology
Along with the development of modern industry, people are for enhancing productivity, stabilize and increase product quality, improve workman's working condition, accelerate to realize the consideration of industrial production mechanization and robotization, invented mechanical arm, and it is widely used in production run, especially in high temperature, high pressure, dust, noise and the occasion with radioactivity and pollution, mechanical arm is widely used especially.Mechanical arm is the new technology occurring in automation field in modern age, and has become an important component part in modern industry production system.Mechanical arm is the one of industrial robot, and it is by manipulator, controller, and servo drive system and detect sensing device and form, is a kind of apery operation, automatically controls, can overprogram, can complete at three dimensions the automated production equipment of various operations.
Machine vision is the Science and Technology of the biological macroscopical visual performance of research computer simulation, replaces human eye that target is measured, followed the tracks of and identifies with the machine such as video camera and computing machine, and is judged.Be mainly used in as industrial detection, industrial flaw detection, accurate control, automatic production line, postal robotization, preferred, the micro-medical procedure of grain, and the robot of various dangerous situation work etc.
Machine vision foot image technique, mode identification technology, and the new product of technical development of computer are to realize intellectuality, robotization, informationalized advanced technology field.The application of Vision Builder for Automated Inspection, the intellectuality, the robotization that greatly improve equipment, improve the performance such as service efficiency, reliability of equipping.Along with the application in Vision Builder for Automated Inspection of new technology, new theory, machine vision is by the larger effect of every field performance in national economy, can bring new industrial growth point on the one hand, the Vision Builder for Automated Inspection product that meets various demands to marketing, produces direct economic benefit; On the other hand, by the application of Vision Builder for Automated Inspection, more effectively bring into play the usefulness of automated arm, promote automated production level, improve the quality of products, drive the production efficiency of whole industry significantly to improve.
But along with the appearance of the problems such as recruitment difficulty, factory need make the transition to technology-intensive type from population is labour-intensive, and robotization, mechanization production are replaced to traditional manual operation.At present, the artificial moulding that takes out of most injection moulding enterprise's employing is also classified, and its automaticity is extremely low, and efficiency is slow, and rejection rate is high.
Summary of the invention
This invention is for existing technical deficiency, the control method of a kind of servocontrol mechanical arm and vision-based detection production line is provided, by the centralized management of servocontrol and vision-based detection, scattered control system, control respectively the running that is positioned at different injection machines on same production line conveying belt, and the injecting products of detection production is whether qualified, the injecting products of different size model is put respectively, realize the full-automatic production in long conveying belt workshop, between unmanned vehicle, and efficiency is high, speed is fast, production efficiency and product percent of pass are improved, reduce labour intensity, improve operating personnel's security.
The present invention also provides a kind of mechanical arm that is used for implementing this control method.
The technical scheme that the present invention adopted is for achieving the above object:
The control method of a kind of servocontrol mechanical arm and vision-based detection production line, it comprises many mechanical arms that are arranged on a production line conveying belt, on this mechanical arm, be provided with the portion of walking crosswise, pulling portion, positive arm and auxiliary portion, drive translation work by servomotor, positive arm and auxiliary portion are arranged in pulling portion, pulling portion is arranged in the portion of walking crosswise, it is characterized in that, the centralized management of servocontrol and vision-based detection is set, scattered control system, this control system connects respectively many mechanical arm servo-control systems and vision detection system by CAN control bus, it comprises the following steps:
(1) described control system comprises central control processor;
(2) described control system also comprises mechanical arm servo-control system, and the servo-control system on many mechanical arms is connected with central control processor by CAN control bus and forms a control network;
(3) described control system also comprises Machine Vision Inspecting System, this Machine Vision Inspecting System comprises that product quality pick-up unit and product specification detect and sorter, and product quality pick-up unit and product specification detect and sorter is connected with central control processor by CAN control bus and form a control network;
(4) mechanical arm servo-control system and Machine Vision Inspecting System are jointly by CAN control bus and the servocontrol of central control processor composition and centralized management, the scattered control system of vision-based detection, by this centralized management, scattered control system, controlling respectively many mechanical arms takes out different injection machine injecting products, testing product when taking-up, be placed on production line conveying belt, finally product classification is put, realized detecting fast, accurately, efficiently and classifying and put of different product.
The described mechanical arm servo-control system of step (2) is accurately to be copied the servo controller for position of input requirements by the output speed of position, speed and electric current three closed-loop controls realizations and distance, electric current loop guarantees that the electric current of mechanical arm servo-control system is optimum waveform dynamically time, and speed ring and position ring guarantee speed and the position that input request signal is accurately copied in output speed at any time of mechanical arm servo-control system and position, electric current loop is made up of current sample feedback circuit and current loop controller, complete output torque control, speed ring is by position probing feedback circuit, speed is calculated and speed ring regulator composition, realize stepless time adjustment, position ring is made up of outside specification signal and position ring regulator, guarantee positioning precision, assigned address pulse signal is as the input of position ring, the output of position ring regulator is as the input signal of speed ring, the output of speed ring regulator is as the input signal of electric current loop, the switching signal of electric current loop output three-phase PWM controller, three links are mutually coordinated to realize position command and are followed, the regulator of three links is controlled same PID cascade compensation by simulation and is realized.
Described mechanical arm servo-control system connects mechanical arm, mechanical arm is built-in with servomotor, described servo controller for position comprises the special control single chip computer of interconnective motor, current sensor, intelligent power IPM module, permagnetic synchronous motor PMSM and increment type magnetic encoder, and the special control single chip computer of this motor is built-in with three-phase motor driver module, A/D modular converter, eputmeter module.
The described product quality pick-up unit of step (3) is arranged on every mechanical arm, and the product information of collecting injecting products, product information is transferred in central control processor, judge that whether product is qualified, specification product are placed on the conveying belt of production line, substandard product is placed into garbage collection bucket.
The described product specification detection of step (3) and sorter are arranged on the end of production line conveying belt, detection is transferred the product specification of coming, and statistics is to central control processor, product specification detects and sorter is placed into assigned address by sorter by different product.
Described product quality pick-up unit comprises the video camera being arranged on mechanical arm, video camera obtains the product picture information of injecting products, and product picture information conveyance is arrived to central control processor, calculated by the program that central control processor is built-in, injecting products is changed, comparison, measure, Color discrimination, the product picture information processing action of grain size analysis, and contrast with built-in qualified injecting products information, whether the product that judgement is produced is qualified, this judged result is transported to mechanical arm servo-control system by central control processor, by mechanical arm servo-control system control mechanical arm, the product of producing is placed on production line conveying belt or in trash receptacle.
Described product specification detects and sorter comprises the video camera that is arranged on production line conveying belt end, the product picture information conveyance that video camera is obtained is in central control processor, carry out product picture information processing by binaryzation computing, then utilize interior point and the frontier point of the target image in Blob algorithm testing product pictorial information, draw the girth of object, area, and then calculate 6 not bending moment and circularities, these 7 data are identified as characteristic quantity, result to identification positions, determine specification and the centre coordinate of product, then above-mentioned information exchange is crossed to CAN control bus and pass to mechanical arm servo-control system, remove to control mechanical arm by mechanical arm servo-control system again and accurately capture the product on conveying belt, and the product of different size is placed into assigned address.
Described video camera is intelligent video camera head, it comprises shooting, image acquisition, image processing, CPU, IO interface, obtain the picture signal of test product by intelligent video camera head, obtain product picture information, then change and become digital signal and send in central control processor by A/D, according to pixel distribution, the information of brightness and color, carry out various computings and carry out the feature of extracting objects image, and then the criterion output judged result default according to the built-in sorter of central control processor, target product is judged to qualified or location, finally remove to control mechanical arm crawl article by mechanical arm servo-control system and be placed into assigned address.
A kind of mechanical arm of implementing above-mentioned control method, the described portion of walking crosswise is the king-size portion of walking crosswise, its length 4 meters or more than, mechanical arm takes out the product in injection machine and the mouth of a river in mould, by walking crosswise portion along injection machine overhead, carry and be placed on the production line conveying belt of injection machine tail end; Horizontal, longitudinal arm position capable of regulating of described pulling portion, described positive arm, by tool is set, after injection moulding machine mould open, comes downwards in mould and takes out product, and auxiliary subordinate walks to intake in mould, and the mouth of a river is placed into assigned address; Described pulling portion arranges pulling arm, line rail and slide block, on described positive arm, the online rail of auxiliary portion, slides; Described pulling portion also arranges pulling cylinder and affects seat, positive arm pulling cylinder mounting plate, auxiliary portion pulling cylinder mount pad, pulling cylinder mounting plate cushion block and pulling block, drive two arms to move by air cylinder driven mode, described pulling portion also arranges oil buffer and carrys out bounce cylinder action, and pulling arm connects by corner brace the portion of walking crosswise.
Described mechanical arm, it also comprises sorter, and this sorter comprises the positioning element and the interception parts that are arranged on a conveying belt end, and described positioning element comprises positioning cylinder and backstay, and the piston rod activity direction of this positioning cylinder is vertical with conveying belt; Described interception parts comprise interception frame, and be vertically arranged on interception symmetrical two interception cylinders on frame, laterally be connected to two interception cylinders piston rod on ejector beam, described interception parts also comprise that material postpones conveying assembly, it specifically comprises product delay cylinder, be arranged on the push pedal on product delay cylinder piston rod, and be arranged on the charging ram stub bar in push pedal front, described product delay cylinder is fixed on conveying belt side by cylinder fixation kit.
Beneficial effect of the present invention: the present invention is by centralized management, the scattered control system of servocontrol and vision-based detection, control respectively the running that is positioned at the mechanical arm on different injection machines on same production line conveying belt, and the injecting products of detection production is whether qualified, the injecting products of different size model is put respectively, realized automated production.
Mechanical arm servo-control system, control mechanical arm and from injection machine, take out product, simultaneously, whether product quality pick-up unit testing product is qualified, and transmitted a signal in mechanical arm servo-control system by central control processor, control mechanical arm and product is placed on conveying belt or is placed in trash receptacle; Servo-control system on multiple mechanical arms connects same central control processor, realizes efficient, synchronous, centralized management, and the ruuning situation of the servo-control system on multiple mechanical arms is controlled in real time, realizes intelligent allotment and produces.
Product specification detects and sorter, the intelligent video camera head arranging, the pictorial information of injecting products is transported in central control processor, and judge the specification of product by it, then by the sorter of mechanical arm, the product of the different size on same production line conveying belt is placed into the place of appointment.
Vision detection system has that resolution is high, frame per second advantages of higher, is the main flow of machine vision development.
Below in conjunction with accompanying drawing and embodiment, the present invention is described in more detail.
Accompanying drawing explanation
Fig. 1 is mechanical arm and the production line conveyer belt structure schematic diagram of the present embodiment;
Fig. 2 is the overall system control block diagram of the mechanical arm servo-control system of the present embodiment;
Fig. 3 is the overall hardware block diagram of the control system of the mechanical arm servo-control system of the present embodiment;
Fig. 4 is the mechanical arm one-piece construction schematic diagram of the present embodiment;
Fig. 5 is that the mechanical arm of the present embodiment is walked crosswise portion's structural representation;
Fig. 6 is the pulling portion structural representation of the present embodiment;
Fig. 7 is the sorter structural representation of the present embodiment.
In figure: 1. mechanical arm, 11 walk crosswise portion, 111. pedestal, 112. arch, 113. line rails, 114. walk crosswise slide plate, 115. motor fixed plate, 116. servo motor, 12. pulling portions, 121. pulling arms, 122. line rails, 123. cylinder, 124. slide block, 13. positive arms, 14. auxiliary portions, 15. sorters, 151. positioning element, 152. interception parts, 153. positioning cylinder, 154. backstay, 155. interception framves, 156. interception cylinders, 157. ejector beam, 158. materials postpone conveying assembly, 159. postpone cylinder, 2. injection machine, 21. trash receptacles, 3. production line conveying belt.
Embodiment
Embodiment, referring to Fig. 1, the servocontrol mechanical arm that the present embodiment provides and the control method of vision-based detection production line, it comprises many mechanical arms 1 that are arranged on a production line conveying belt 3, on this mechanical arm 1, be provided with the portion of walking crosswise 11, pulling portion 12, positive arm 13 and auxiliary portion 14, drive translation work by servomotor, positive arm 13 and auxiliary portion 14 are arranged in pulling portion 12, pulling portion 12 is arranged in the portion of walking crosswise 11, the centralized management of servocontrol and vision-based detection is set, scattered control system, this control system connects respectively many mechanical arm servo-control systems and vision detection system by CAN control bus, it comprises the following steps:
(1) described control system comprises central control processor;
(2) described control system also comprises mechanical arm servo-control system, and the servo-control system on many mechanical arms 1 is connected with central control processor by CAN control bus and forms a control network;
Referring to Fig. 2～Fig. 3, described mechanical arm servo-control system is accurately to be copied the servo controller for position of input requirements by the output speed of position, speed and electric current three closed-loop controls realizations and distance, electric current loop guarantees that the electric current of mechanical arm servo-control system is optimum waveform dynamically time, and speed ring and position ring guarantee speed and the position that input request signal is accurately copied in output speed at any time of mechanical arm servo-control system and position, electric current loop is made up of current sample feedback circuit and current loop controller, complete output torque control, speed ring is by position probing feedback circuit, speed is calculated and speed ring regulator composition, realize stepless time adjustment, position ring is made up of outside specification signal and position ring regulator, guarantee positioning precision, assigned address pulse signal is as the input of position ring, the output of position ring regulator is as the input signal of speed ring, the output of speed ring regulator is as the input signal of electric current loop, the switching signal of electric current loop output three-phase PWM controller, three links are mutually coordinated to realize position command and are followed, the regulator of three links is controlled same PID cascade compensation by simulation and is realized, described mechanical arm servo-control system connects mechanical arm 1, and mechanical arm 1 is built-in with servomotor, i.e. permagnetic synchronous motor PMSM, described servo controller for position comprises the special control single chip computer of interconnective motor, current sensor, intelligent power IPM module, permagnetic synchronous motor PMSM and increment type magnetic encoder, and the special control single chip computer of this motor is built-in with three-phase motor driver module, A/D modular converter, eputmeter module,
(3) described control system also comprises Machine Vision Inspecting System, this Machine Vision Inspecting System comprises that product quality pick-up unit and product specification detect and sorter 15, and product quality pick-up unit and product specification detect and sorter 15 is connected with central control processor by CAN control bus and form a control network;
Described product quality pick-up unit is arranged on every mechanical arm 1, and the product information of collecting injecting products, product information is transferred in central control processor, judge that whether product is qualified, specification product are placed on the conveying belt of production line, substandard product is placed into garbage collection bucket;
Described product specification detection and sorter 15 are arranged on the end of production line conveying belt 3, detection is transferred the product specification of coming, and statistics is to central control processor, product specification detects and sorter 15 is placed into assigned address by sorter 15 by different product;
(4) mechanical arm servo-control system and Machine Vision Inspecting System are jointly by CAN control bus and the servocontrol of central control processor composition and centralized management, the scattered control system of vision-based detection, by this centralized management, scattered control system, controlling respectively many mechanical arms 1 takes out different injection machine 2 injecting products, testing product when taking-up, be placed on production line conveying belt 3, finally product classification is put, realized detecting fast, accurately, efficiently and classifying and put of different product.
The special control single chip computer of motor is selected the single-chip microcomputer of Japanese Renesas, series number is M16C/Tiny, concrete model is M16C26, this series monolithic adopts high-performance Si-gate CMOS technique, be equipped with 16 Multifunctional timers, comprise the timer function for three-phase unsteady flow motor control, clock synchronous/Asynchronous Serial Interface, 10 A/D converters, DMAC, WatchDog Timer and vibrations stop measuring ability etc.
Described product quality pick-up unit comprises the video camera being arranged on mechanical arm 1, video camera obtains the product picture information of injecting products, and product picture information conveyance is arrived to central control processor, calculated by the program that central control processor is built-in, injecting products is changed, comparison, measure, Color discrimination, the product picture information processing action of grain size analysis, and contrast with built-in qualified injecting products information, whether the product that judgement is produced is qualified, this judged result is transported to mechanical arm servo-control system by central control processor, by mechanical arm servo-control system control mechanical arm 1, the product of producing is placed on production line conveying belt 3 or in trash receptacle 21.
Described product specification detects and sorter 15 comprises the video camera that is arranged on production line conveying belt 3 ends, the product picture information conveyance that video camera is obtained is in central control processor, carry out product picture information processing by binaryzation computing, then utilize interior point and the frontier point of the target image in Blob algorithm testing product pictorial information, draw the girth of object, area, and then calculate 6 not bending moment and circularities, these 7 data are identified as characteristic quantity, result to identification positions, determine specification and the centre coordinate of product, then above-mentioned information exchange is crossed to CAN control bus and pass to mechanical arm servo-control system, remove to control mechanical arm 1 by mechanical arm servo-control system again and accurately capture the product on conveying belt, and the product of different size is placed into assigned address.
Described video camera is intelligent video camera head, it comprises shooting, image acquisition, image processing, CPU, IO interface, obtain the picture signal of test product by intelligent video camera head, obtain product picture information, then change and become digital signal and send in central control processor by A/D, according to pixel distribution, the information of brightness and color, carry out various computings and carry out the feature of extracting objects image, and then the criterion output judged result default according to the built-in sorter of central control processor, target product is judged to qualified or location, finally removing to control mechanical arm 1 by mechanical arm servo-control system captures article and is placed into assigned address.
Referring to Fig. 4, the mechanical arm 1 that the present embodiment provides, servo Vertical traverse mechanical arm 1 is installed on injection machine 2, the described portion 11 of walking crosswise is for the king-size portion 11 of walking crosswise, its length 4 meters or more than, mechanical arm 1 takes out the product in injection machine 2 and the mouth of a river in mould, by walking crosswise portion 11 along injection machine 2 overhead, carries and is placed on the production line conveying belt 3 of injection machine 2 tail ends; Horizontal, longitudinal arm position capable of regulating of described pulling portion 12, described positive arm 13, by tool is set, after injection machine 2 die sinkings, comes downwards in mould and takes out product, and auxiliary portion 14 comes downwards to intake in mould, and the mouth of a river is placed into assigned address; Described pulling portion 12 arranges pulling arm, line rail 122 and slide block 124, on described positive arm 13, the online rail 122 of auxiliary portion 14, slides; Described pulling portion 12 also arranges pulling cylinder and affects seat, positive arm 13 pulling cylinder mounting plates, auxiliary portion 14 pulling cylinder mount pads, pulling cylinder mounting plate cushion block and pulling block, drive two arms to move by air cylinder driven mode, described pulling portion 12 also arranges oil buffer and carrys out bounce cylinder action, and pulling arm connects the portion of walking crosswise 11 by corner brace.
Referring to Fig. 5, walk crosswise portion 11, pedestal 111 is set, make it to be connected with injection machine 2, guarantee to support whole mechanical arm 1 and move, and operate steadily.Arch 112 is set, be connected on pedestal 111, in arch 112 planes, two line rails 113 are fixed at two ends, on subsidiary four slide blocks of two line rails 113, arrange one and walk crosswise slide plate 114, walk crosswise slide plate 114 by motor fixed plate 115 is installed, on motor fixed plate, fix reductor simultaneously, load onto servo motor 116, rotarily drive belt pulley by servo motor 116 and backhaul and turn on belt line rail 113.Be extended type because walking crosswise portion's 1111 arches, whole slide plate 114 range abilities of walking crosswise are long, and the cycle is long, so higher to requiring on line rail 113 and slide block anti-wear performance, therefore an automatic oil feed pump is set, makes it in the time that recycle to extinction moves, automatically give line rail 113 lubricated.Whole automatic cycling operating, all by the control of mechanical arm servo-control system.
Belt holder and crashproof push rod are set, while preventing that machine is out of hand, protection hardware security, and walk crosswise end cap in arch two tip designs, play crashproof human nature safeguard protection.
Referring to Fig. 6, pulling portion 12, arranges pulling arm 121, the arm of pulling simultaneously 121 is provided with fixing inner structure, be easy to arm sliding position on pulling arm, line rail 122, slide block 124 are set, guarantee that positive arm 13, auxiliary portion 14 accurately slide on online rail 122 tracks.Cylinder 123 is set, the supporting pulling cylinder that arranges affects seat, positive arm pulling cylinder mounting plate, auxiliary pulling cylinder mount pad, pulling cylinder mounting plate cushion block, pulling block, make it to drive two arms to move by air cylinder driven, oil buffer is set simultaneously and carrys out bounce cylinder action.Pulling arm connects the portion of walking crosswise 11 by corner brace, and all tracheaes, cable are unified to carry and protection by drag chain.Pulling arm two ends arrange pulling end cap, make it attractive in appearance, and reach the safeguard protection of hommization.
Referring to Fig. 7, described mechanical arm 1, also comprise sorter 15, this sorter 15 comprises the positioning element 151 and the interception parts 152 that are arranged on a conveying belt end, described positioning element 151 comprises positioning cylinder 153 and backstay 154, and the piston rod activity direction of this positioning cylinder 153 is vertical with conveying belt; Described interception parts 152 comprise interception frame 155, and be vertically arranged on interception symmetrical two interception cylinders 156 on frame 155, laterally be connected to two interception cylinders piston rod on ejector beam 157, described interception parts 152 also comprise that material postpones conveying assembly 158, it specifically comprises product delay cylinder 159, be arranged on the push pedal on product delay cylinder piston rod, and being arranged on the charging ram stub bar in push pedal front, described product delay cylinder is fixed on conveying belt side by cylinder fixation kit.Injecting products is through tape transport, when product is on conveying belt during near interception parts 152, if 151 li of positioning elements have product, in interception parts 152, tackle cylinder 156 by descending, ejector beam 157 will block product, not allow 151 li of product introduction positioning elements, in order to avoid cause interference.By the time after default mechanical arm is taken the product of 151 li of positioning elements away, it is up that interception is tackled cylinder 156 in parts 152, allows product introduction positioning element 151.In the time that two products arrangements nestle up near interception parts 152, when first product process interception parts 152, product delay cylinder 159 is released, a product below that nestles up first product is withstood, it can not be walked immediately following first product, time delay a period of time, in the time that first product has been walked out interception parts 152, interception cylinder 156 is descending, and product delay cylinder 159 is regained, and interception parts 152 are tackled second product.When after product introduction positioning element 151, the positioning cylinder 153 of positioning element 151 is released, by product orientation in default position location, then regain, injecting products navigates to the place of appointment under the acting in conjunction of backstay 154 and positioning cylinder 153, treats that product specification detects and the video camera identification of sorter 15.The mechanical arm that is positioned at sorter 15 places is the mechanical arm arranging separately, the function of this mechanical arm just the injecting products that is positioned at positioning element 151 is taken out and follow procedure arranges the anti-assigned address of putting, and the structure of this mechanical arm is with to be arranged on servo Vertical traverse mechanical arm on injection machine different.
The present embodiment is by centralized management, the scattered control system of servocontrol and vision-based detection, control respectively the running that is positioned at the mechanical arm 1 on different injection machines 2 on same production line conveying belt 3, and the injecting products of detection production is whether qualified, the injecting products of different size model is put respectively, realized automated production.
Mechanical arm servo-control system, control mechanical arm 1 and take out product from injection machine 2, simultaneously, whether product quality pick-up unit testing product is qualified, and transmitted a signal in mechanical arm servo-control system by central control processor, control mechanical arm 1 and product is placed on conveying belt or is placed in trash receptacle 21; Servo-control system on multiple mechanical arms 1 connects same central control processor, realizes efficient, synchronous, centralized management, and the ruuning situation of the servo-control system on multiple mechanical arms 1 is controlled in real time, realizes intelligent allotment and produces.
Product specification detects and sorter 15, the intelligent video camera head arranging, the pictorial information of injecting products is transported in central control processor, and judge the specification of product by it, then by the sorter 15 of mechanical arm 1, the product of the different size on same production line conveying belt 3 is placed into the place of appointment.
Vision detection system has that resolution is high, frame per second advantages of higher, is the main flow of machine vision development.
The present invention is not limited to above-mentioned embodiment, adopts or approximation method or device identical with the above embodiment of the present invention, and other servocontrol mechanical arms that obtain and control method and the mechanical arm of vision-based detection production line, all within protection scope of the present invention.
Claims (10)
1. the control method of a servocontrol mechanical arm and vision-based detection production line, it comprises many mechanical arms that are arranged on a production line conveying belt, this mechanical arm is provided with the portion of walking crosswise, pulling portion, positive arm and auxiliary portion, pass through driven by servomotor, positive arm and auxiliary portion are arranged in pulling portion, pulling portion is arranged in the portion of walking crosswise, it is characterized in that, the centralized management of servocontrol and vision-based detection is set, scattered control system, this control system connects respectively many mechanical arm servo-control systems and vision detection system by CAN control bus, it comprises the following steps:
(1) described control system comprises central control processor;
(2) described control system also comprises mechanical arm servo-control system, and the servo-control system on many mechanical arms is connected with central control processor by CAN control bus and forms a control network;
(3) described control system also comprises Machine Vision Inspecting System, this Machine Vision Inspecting System comprises that product quality pick-up unit and product specification detect and sorter, and product quality pick-up unit and product specification detect and sorter is connected with central control processor by CAN control bus and form a control network;
(4) mechanical arm servo-control system and Machine Vision Inspecting System are jointly by CAN control bus and the servocontrol of central control processor composition and centralized management, the scattered control system of vision-based detection, by this centralized management, scattered control system, controlling respectively many mechanical arms takes out different injection machine injecting products, testing product when taking-up, be placed on production line conveying belt, finally product classification is put, realized detecting fast, accurately, efficiently and classifying and put of different product.
2. the control method of servocontrol mechanical arm according to claim 1 and vision-based detection production line, it is characterized in that, the described mechanical arm servo-control system of step (2) is by position, the output speed that speed and electric current three closed-loop controls realize and distance accurately copy the servo controller for position of input requirements, electric current loop guarantees that the electric current of mechanical arm servo-control system is optimum waveform dynamically time, speed ring and position ring guarantee speed and the position that input request signal is accurately copied in output speed at any time of mechanical arm servo-control system and position, electric current loop is made up of current sample feedback circuit and current loop controller, complete output torque control, speed ring is by position probing feedback circuit, speed is calculated and speed ring regulator composition, realize stepless time adjustment, position ring is made up of outside specification signal and position ring regulator, guarantee positioning precision, assigned address pulse signal is as the input of position ring, the output of position ring regulator is as the input signal of speed ring, the output of speed ring regulator is as the input signal of electric current loop, the switching signal of electric current loop output three-phase PWM controller, three links are mutually coordinated to realize position command and are followed, the regulator of three links is controlled same PID cascade compensation by simulation and is realized.
3. the control method of servocontrol mechanical arm according to claim 2 and vision-based detection production line, it is characterized in that, described mechanical arm servo-control system connects mechanical arm, mechanical arm is built-in with servomotor, described servo controller for position comprises the special control single chip computer of the motor of mutual electrical connection, current sensor, intelligent power IPM module, permagnetic synchronous motor PMSM and increment type magnetic encoder, and the special control single chip computer of this motor is built-in with three-phase motor driver module, A/D modular converter, eputmeter module.
4. the control method of servocontrol mechanical arm according to claim 1 and vision-based detection production line, it is characterized in that, the described product quality pick-up unit of step (3) is arranged on every mechanical arm, and the product information of collecting injecting products, product information is transferred in central control processor, judge that whether product is qualified, specification product are placed on the conveying belt of production line, substandard product is placed into garbage collection bucket.
5. the control method of servocontrol mechanical arm according to claim 1 and vision-based detection production line, it is characterized in that, the described product specification detection of step (3) and sorter are arranged on the end of production line conveying belt, detection is transferred the product specification of coming, and statistics is to central control processor, product specification detects and sorter is placed into assigned address by sorter by different product.
6. the control method of servocontrol mechanical arm according to claim 4 and vision-based detection production line, it is characterized in that, described product quality pick-up unit comprises the video camera being arranged on mechanical arm, video camera obtains the product picture information of injecting products, and product picture information conveyance is arrived to central control processor, calculated by the program that central control processor is built-in, injecting products is changed, comparison, measure, Color discrimination, the product picture information processing action of grain size analysis, and contrast with built-in qualified injecting products information, whether the product that judgement is produced is qualified, this judged result is transported to mechanical arm servo-control system by central control processor, by mechanical arm servo-control system control mechanical arm, the product of producing is placed on production line conveying belt or in trash receptacle.
7. the control method of servocontrol mechanical arm according to claim 5 and vision-based detection production line, it is characterized in that, described product specification detects and sorter comprises the video camera that is arranged on production line conveying belt end, the product picture information conveyance that video camera is obtained is in central control processor, carry out product picture information processing by binaryzation computing, then utilize interior point and the frontier point of the target image in Blob algorithm testing product pictorial information, draw the girth of object, area, and then calculate 6 not bending moment and circularities, these 7 data are identified as characteristic quantity, result to identification positions, determine specification and the centre coordinate of product, then above-mentioned information exchange is crossed to CAN control bus and pass to mechanical arm servo-control system, remove to control mechanical arm by mechanical arm servo-control system again and accurately capture the product on conveying belt, and the product of different size is placed into assigned address.
8. according to the control method of the servocontrol mechanical arm described in claim 6 or 7 and vision-based detection production line, it is characterized in that, described video camera is intelligent video camera head, it comprises shooting, image acquisition, image processing, CPU, IO interface, obtain the picture signal of test product by intelligent video camera head, obtain product picture information, then change and become digital signal and send in central control processor by A/D, according to pixel distribution, the information of brightness and color, carry out computing and carry out the feature of extracting objects image, and then the criterion output judged result default according to central control processor, target product is judged to qualified or location, finally remove to control mechanical arm crawl article by mechanical arm servo-control system and be placed into assigned address.
9. one kind implements the claims the mechanical arm of the control method of one of 1 to 8 described servocontrol mechanical arm and vision-based detection production line, it is characterized in that, the described portion of walking crosswise is the king-size portion of walking crosswise, its length 4 meters or more than, mechanical arm takes out the product in injection machine and the mouth of a river in mould, by walking crosswise portion along injection machine overhead, carry and be placed on the production line conveying belt of injection machine tail end; Horizontal, longitudinal arm position capable of regulating of described pulling portion, described positive arm, by tool is set, after injection moulding machine mould open, comes downwards in mould and takes out product, and auxiliary subordinate walks to intake in mould, and the mouth of a river is placed into assigned address; Described pulling portion arranges pulling arm, line rail and slide block, on described positive arm, the online rail of auxiliary portion, slides; Described pulling portion also arranges pulling cylinder and affects seat, positive arm pulling cylinder mounting plate, auxiliary portion pulling cylinder mount pad, pulling cylinder mounting plate cushion block and pulling block, drive two arms to move by air cylinder driven mode, described pulling portion also arranges oil buffer and carrys out bounce cylinder action, and pulling arm connects by corner brace the portion of walking crosswise.
10. mechanical arm according to claim 9, it is characterized in that, it also comprises sorter, this sorter comprises the positioning element and the interception parts that are arranged on a conveying belt end, described positioning element comprises positioning cylinder and backstay, and the piston rod activity direction of this positioning cylinder is vertical with conveying belt; Described interception parts comprise interception frame, and be vertically arranged on interception symmetrical two interception cylinders on frame, laterally be connected to two interception cylinders piston rod on ejector beam, described interception parts also comprise that material postpones conveying assembly, it specifically comprises product delay cylinder, be arranged on the push pedal on product delay cylinder piston rod, and be arranged on the charging ram stub bar in push pedal front, described product delay cylinder is fixed on conveying belt side by cylinder fixation kit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410141317.7A CN103901861B (en) | 2014-04-09 | 2014-04-09 | The control method of SERVO CONTROL machinery hands and vision-based detection production line and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410141317.7A CN103901861B (en) | 2014-04-09 | 2014-04-09 | The control method of SERVO CONTROL machinery hands and vision-based detection production line and mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103901861A true CN103901861A (en) | 2014-07-02 |
| CN103901861B CN103901861B (en) | 2016-06-29 |
Family
ID=50993251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410141317.7A Active CN103901861B (en) | 2014-04-09 | 2014-04-09 | The control method of SERVO CONTROL machinery hands and vision-based detection production line and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103901861B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106053473A (en) * | 2016-05-16 | 2016-10-26 | 深圳市思普泰克科技有限公司 | Device and method utilizing mechanical arm to carry out visual positioning detection |
| CN106144524A (en) * | 2016-08-24 | 2016-11-23 | 东莞市三瑞自动化科技有限公司 | With CCD vision positioning method and device in a kind of high-speed motion |
| CN106198072A (en) * | 2016-06-30 | 2016-12-07 | 东莞信易电热机械有限公司 | A kind of method of testing of the five axis robot control systems for injection machine |
| CN106226325A (en) * | 2016-07-22 | 2016-12-14 | 广东工业大学 | A kind of seat surface defect detecting system based on machine vision and method thereof |
| CN106444674A (en) * | 2016-10-18 | 2017-02-22 | 广东伯朗特智能装备股份有限公司 | Punching five-axis vertical type mechanical arm multi-machine interconnected control method and punching production line |
| CN107024241A (en) * | 2016-02-01 | 2017-08-08 | 上海庆良电子有限公司 | A kind of mistake proofing detecting system for automotive connector |
| CN107783513A (en) * | 2016-08-30 | 2018-03-09 | 镇江维纳特气门有限公司 | A kind of valve production line method for safety monitoring |
| WO2018103130A1 (en) * | 2016-12-09 | 2018-06-14 | 江南大学 | Online quality inspection method for molded products |
| CN108594766A (en) * | 2017-12-31 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of horizontal boring and milling intelligent machine tool control system and method |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN109227537A (en) * | 2018-09-03 | 2019-01-18 | 天津永兴泰科技股份有限公司 | A kind of components method for sorting based on machine vision |
| CN109891338A (en) * | 2016-10-31 | 2019-06-14 | 三菱电机株式会社 | Filming instrument collaborative device, filming instrument coroutine, collaboration support system and control system |
| CN109895067A (en) * | 2017-12-07 | 2019-06-18 | 天津西青区瑞博生物科技有限公司 | A kind of lift color sorting manipulator |
| CN111044939A (en) * | 2019-12-27 | 2020-04-21 | 成都天奥测控技术有限公司 | Intelligent test system and test method for avionics HMI interface |
| CN112810091A (en) * | 2020-12-31 | 2021-05-18 | 徐州云泰精密技术有限公司 | Quick electrical property test equipment of automobile-used regulator rectifier that contains inserts |
| CN113961020A (en) * | 2021-12-22 | 2022-01-21 | 普宙科技(深圳)有限公司 | Unmanned aerial vehicle three-dimensional space motion control method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030023334A1 (en) * | 2000-04-04 | 2003-01-30 | Fujitsu Limited | Production management network system, production management method and recording medium having recorded production management program |
| JP2006309747A (en) * | 2005-03-31 | 2006-11-09 | Semiconductor Energy Lab Co Ltd | Production system and production method |
| CN101446817A (en) * | 2008-12-29 | 2009-06-03 | 重庆大学 | Control system based on PLC for picking, placing, loading and transporting in powder metallurgy production line |
| CN102527643A (en) * | 2010-12-31 | 2012-07-04 | 东莞理工学院 | Sorting manipulator structure and product sorting system |
| CN102610415A (en) * | 2012-02-29 | 2012-07-25 | 江门市高翔自动化设备有限公司 | Full-automatic assembly production line for wiring switch |
-
2014
- 2014-04-09 CN CN201410141317.7A patent/CN103901861B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030023334A1 (en) * | 2000-04-04 | 2003-01-30 | Fujitsu Limited | Production management network system, production management method and recording medium having recorded production management program |
| JP2006309747A (en) * | 2005-03-31 | 2006-11-09 | Semiconductor Energy Lab Co Ltd | Production system and production method |
| CN101446817A (en) * | 2008-12-29 | 2009-06-03 | 重庆大学 | Control system based on PLC for picking, placing, loading and transporting in powder metallurgy production line |
| CN102527643A (en) * | 2010-12-31 | 2012-07-04 | 东莞理工学院 | Sorting manipulator structure and product sorting system |
| CN102610415A (en) * | 2012-02-29 | 2012-07-25 | 江门市高翔自动化设备有限公司 | Full-automatic assembly production line for wiring switch |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024241A (en) * | 2016-02-01 | 2017-08-08 | 上海庆良电子有限公司 | A kind of mistake proofing detecting system for automotive connector |
| CN106053473A (en) * | 2016-05-16 | 2016-10-26 | 深圳市思普泰克科技有限公司 | Device and method utilizing mechanical arm to carry out visual positioning detection |
| CN106198072A (en) * | 2016-06-30 | 2016-12-07 | 东莞信易电热机械有限公司 | A kind of method of testing of the five axis robot control systems for injection machine |
| CN106226325A (en) * | 2016-07-22 | 2016-12-14 | 广东工业大学 | A kind of seat surface defect detecting system based on machine vision and method thereof |
| CN106144524A (en) * | 2016-08-24 | 2016-11-23 | 东莞市三瑞自动化科技有限公司 | With CCD vision positioning method and device in a kind of high-speed motion |
| CN107783513A (en) * | 2016-08-30 | 2018-03-09 | 镇江维纳特气门有限公司 | A kind of valve production line method for safety monitoring |
| CN106444674A (en) * | 2016-10-18 | 2017-02-22 | 广东伯朗特智能装备股份有限公司 | Punching five-axis vertical type mechanical arm multi-machine interconnected control method and punching production line |
| CN106444674B (en) * | 2016-10-18 | 2023-03-21 | 伯朗特机器人股份有限公司 | Punching five-axis vertical manipulator multi-machine interconnection control method and punching production line |
| CN109891338A (en) * | 2016-10-31 | 2019-06-14 | 三菱电机株式会社 | Filming instrument collaborative device, filming instrument coroutine, collaboration support system and control system |
| WO2018103130A1 (en) * | 2016-12-09 | 2018-06-14 | 江南大学 | Online quality inspection method for molded products |
| CN109895067A (en) * | 2017-12-07 | 2019-06-18 | 天津西青区瑞博生物科技有限公司 | A kind of lift color sorting manipulator |
| CN108594766A (en) * | 2017-12-31 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of horizontal boring and milling intelligent machine tool control system and method |
| CN109227537A (en) * | 2018-09-03 | 2019-01-18 | 天津永兴泰科技股份有限公司 | A kind of components method for sorting based on machine vision |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN111044939A (en) * | 2019-12-27 | 2020-04-21 | 成都天奥测控技术有限公司 | Intelligent test system and test method for avionics HMI interface |
| CN112810091A (en) * | 2020-12-31 | 2021-05-18 | 徐州云泰精密技术有限公司 | Quick electrical property test equipment of automobile-used regulator rectifier that contains inserts |
| CN113961020A (en) * | 2021-12-22 | 2022-01-21 | 普宙科技(深圳)有限公司 | Unmanned aerial vehicle three-dimensional space motion control method and system |
| CN113961020B (en) * | 2021-12-22 | 2022-04-08 | 普宙科技(深圳)有限公司 | Unmanned aerial vehicle three-dimensional space motion control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103901861B (en) | 2016-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103901861A (en) | Control method for servo control mechanical arm and visual inspection production line and mechanical arm | |
| CN2863280Y (en) | Automatic sorting apparatus for degraded products on high-speed automation production line | |
| CN102553833B (en) | A kind of slewing parts multistation Multi-parameter visual measuring system and method | |
| CN201421436Y (en) | Surface spot and size detection device of product | |
| CN109794437B (en) | Intelligent sorting system based on computer vision | |
| CN104991533B (en) | A kind of injection mechanized production system and intelligent production method | |
| CN109772724B (en) | Flexible detection and analysis system for major surface and internal defects of castings | |
| CN204324384U (en) | Based on object localization and the crawl platform of opto-electronic pickup | |
| CN106362957A (en) | Coal-gangue separation system and separation method | |
| CN111389763A (en) | Coal gangue sorting system and method based on image data processing | |
| CN110743818A (en) | Garbage sorting system and garbage sorting method based on vision and deep learning | |
| CN104850117B (en) | Robot automatic production line experiment platform and control method thereof | |
| CN106444674B (en) | Punching five-axis vertical manipulator multi-machine interconnection control method and punching production line | |
| CN204638779U (en) | Full-automatic stamping line products surface quality on-line detecting system | |
| CN110125021A (en) | A kind of silk cocoon automatic sorting device | |
| CN210850324U (en) | A industrial robot for vision letter sorting | |
| CN103934211A (en) | Stereoscopic vision-based three-dimensional product size sorting system | |
| CN209935300U (en) | Intelligent sorting system based on computer vision | |
| CN110624857A (en) | Object type identification method and sorting equipment | |
| CN105478529A (en) | Product surface quality on-line detecting system and method for full-automatic stamping production line | |
| CN204228064U (en) | A kind of connector height measurer | |
| CN107589731A (en) | A kind of intelligence manufacture flexible production line and its production method based on Internet of Things | |
| CN2774657Y (en) | Raisin sorter | |
| CN203765611U (en) | Servo control mechanical arm device on injection molding production line | |
| CN208068427U (en) | Automatic punch machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 523791 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Patentee after: Bronte robotics, Inc Address before: 523791 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Patentee before: GUANGDONG BOLANGTE INTELLIGENT EQUIPMENT Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |