CN105039666A - Double-row pressure-quenching carburizing furnace manipulator vision correction system - Google Patents
Double-row pressure-quenching carburizing furnace manipulator vision correction system Download PDFInfo
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- CN105039666A CN105039666A CN201410340668.0A CN201410340668A CN105039666A CN 105039666 A CN105039666 A CN 105039666A CN 201410340668 A CN201410340668 A CN 201410340668A CN 105039666 A CN105039666 A CN 105039666A
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Abstract
The invention discloses a double-row pressure-quenching carburizing furnace manipulator vision correction system and aims to solve the problem that a manipulator cannot grab a part accurately in the prior art. The manipulator vision correction system is mainly characterized by being composed of an imaging positioning system and a manipulator servo system. The imaging positioning system is composed of a photographing system, a Siemens switch and a mounting support. The photographing system includes an infrared lens, two infrared light sources, an industrial camera, a camera cooling system and a protective box, wherein the industrial camera and the camera cooling system are installed in the protective box. The protective box is installed over the center position of the material-grabbing manipulator and is higher than the highest position of the manipulator. The two infrared light sources are respectively arranged at two sides of a part discharge outlet. The Siemens switch is connected to the manipulator servo system and is connected to the industrial camera through Ethernet. The vision correction system allows the manipulator to accurately position the position of a high-temperature part, can automatically correct and move the part, is reliable in operation, and is mainly used in a press machine quenching process of thermal treatment on heavy driven gears.
Description
Technical field
The invention belongs to mechanical manipulator vision correcting system technical field, relate to high temperature carburizing heat treatment equipment application in automobile manufacturing field, be particularly applicable to mechanical manipulator and accurately locate hot parts position, the application of automatic calibration and transfer parts.
Background technology
In domestic production heavy type, in rear axle driven gear thermal treatment, die quenching operation mainly contains following three kinds of modes: 1) die quenching on artificial holding parts; 2) manual operation, adopts die quenching on Simple manipulator holding parts; 3) adopt die quenching on full-automatic mechanical hand holding parts, but still need manual intervention.My company adopts first kind of way substantially, labor strength reaches 5 grades, my company of the second way introduced in the double stove process of the U.S. in 1986 has attached a Simple manipulator, because mechanical manipulator travelling speed is slow, and reasons such as the easy landing of holding parts and not coming into operation.My company of the third mode adopts on the thermal treatment carburizing line of new investment in 2012.Manufacture the quench Lu Ye company of cementing furnace full-automatic mechanical hand of thermal treatment pressure and mainly contain AiXieLin heat treatment System company, Yi Pusen Lu Ye company, wherein like that association's woods company technique is comparatively ripe, but still there are some problems, there is multiple producer such as Zhuzhou gear company limited, the heavy vapour in Jinan in domestic application producer.Mainly robot work region can not be closed, and mechanical manipulator can not the position of corrected gear discharging, causes press process on holding parts can not ensure 100% accurately, needs manual intervention.
Summary of the invention
Object of the present invention provides one that mechanical manipulator can be made accurately to locate hot parts position for above-mentioned weak point exactly, automatic calibration and transfer parts, reliable operation, the cementing furnace mechanical manipulator vision correcting system and the double pressure that greatly can alleviate labor strength is quenched.
Technical solution of the present invention is: a kind of double pressure is quenched cementing furnace mechanical manipulator vision correcting system, it is characterized in that: be made up of imaging station-keeping system and manipulator servo systems; Wherein, imaging station-keeping system is made up of photographic system, siemens switches and mounting bracket, and described photographic system is made up of industrial camera, infrared lens, infrared source, camera cooling system and camera protective housing; Industrial camera, camera cooling system are loaded in camera protective housing; Camera protective housing by mounting bracket be arranged on pressure quench insulation chamber discharging outdoors, directly over reclaimer robot central position, and higher than the vertex position of mechanical manipulator; Infrared source is two, is separately positioned on the both sides of part discharge port; Siemens switches is connected with manipulator servo systems, and is connected with industrial camera by ethernet network.
Camera cooling system described in technical solution of the present invention is loaded on the top of camera protective housing; Industrial camera is fixed in the middle part of camera protective housing by camera mounting base, and lens direction is downward; Infrared lens is formed by camera lens installing infrared eyeglass additional; The transparent glass coordinated with infrared lens is provided with bottom camera protective housing.
Camera protective housing distance workpiece height 3.5 meters described in technical solution of the present invention, distance floor level 5 meters.
Camera cooling system described in technical solution of the present invention adopts semiconductor cooling device.
The object of the invention mainly workpiece finds out workpiece (annular cone tooth) center after coming out of the stove, and itself and original theory centre coordinate are compared obtain deviation, then secondary treatment is carried out to deviation, increase data fault-tolerant ability, in the scope allowing position to correct, allow reclaimer robot and sliding machine hand correct operating position respectively.Imaging station-keeping system of the present invention is mainly taken a picture to hot parts, goes out Central of the parts coordinate by part inner circle skeletal lines multi-section circular arc the Fitting Calculation.The present invention adopts infrared lens, only to go forward side by side line position analysis to the image objects of the high temperature in cameras line, to the object not imaging of low temperature.Manipulator servo systems is as the DP slave station of siemens switches, network configuration on amendment industrial camera software and code programming realize action request, by siemens switches to the instruction of industrial camera sending action, after camera imaging successfully handles position deviation parameter well, these parametric forms are by the siemens switches that reads back with the form of ASCII character, these data are after siemens switches inter-process becomes position deviation parameter, re-send to manipulator servo systems by siemens switches and carry out position compensation, ensure mechanical manipulator accurately holding parts enter press and automatically quench.
The present invention compared with prior art, has the following advantages:
1, mechanical manipulator quenches moist closet clamping after dish or charging tray to discharging potential theory central position from pressure, by the coordinate of vision system Measurement accuracy Central of the parts, calculating output modifier is compared with the center of unloading position, reclaimer robot runs (part X-axis error is not revised within ± 10mm) according to modified value (X-axis) distance, and modified value (Y-axis) is compensated by upper press mechanical manipulator;
2, program can identify that whether part discharging station is normal, as there is abnormal alarm automatically;
3, mechanical manipulator can ensure to capture die quenching operation 100% success on part, without the need to manual intervention;
4, about 2 seconds of system operation time, can ensure that the piece time of die quenching operation on manipulator clamping part is no more than the requirement of 20 seconds;
5, production assurance ability improves, and stability is better;
6, labor strength is alleviated.
The present invention is mainly used in heavy type, die quenching operation in rear axle driven gear thermal treatment.
Accompanying drawing explanation
Fig. 1 is the scheme of installation of imaging station-keeping system of the present invention.
Fig. 2 is the scheme of installation of mid-infrared light source of the present invention.
Fig. 3 is the structural representation of photographic system of the present invention.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows.The double pressure of the present invention cementing furnace mechanical manipulator vision correcting system of quenching is made up of imaging station-keeping system and manipulator servo systems, and wherein, imaging station-keeping system is made up of photographic system, siemens switches PLC and mounting bracket 1.Photographic system is made up of industrial camera 10, infrared lens 11, infrared source 5, camera cooling system 9 and camera protective housing 2.Camera cooling system 9 is loaded on the top of camera protective housing 2, and camera cooling system 9 adopts model to be the semiconductor cooling device of TEC1-19905T125, and good cooling results, makes the temperature inside the box lower than 50 degree.Industrial camera 10 is fixed in the middle part of camera protective housing 2 by camera mounting base 13, lens direction is downward, adopt U.S. nation to receive PresencePLUSP4Series industrial camera, only the image objects of the high temperature in cameras line is gone forward side by side line position analysis, to the object not imaging of low temperature.Infrared lens 11 is formed by camera lens installing infrared eyeglass additional.Be provided with the transparent glass 12 coordinated with infrared lens bottom camera protective housing 2, make box sealing dust-proof, need printing opacity to ensure photographic resolution simultaneously, ensure printing opacity.In order to ensure that camera is taken a picture accurately, field fabrication mounting bracket 1, directly camera protective housing 2 is arranged on pressure quench insulation chamber discharging outdoors, directly over reclaimer robot 8 central position, and higher than the vertex position of mechanical manipulator, distance workpiece height about 3.5 meters, distance floor level about 5 meters.Infrared source 5 is two, is rigidly fixed in pressure respectively and quenches on the support of moist closet 6 part discharge port both sides, as with reference to coordinate, industrial camera 10 and infrared source 5 when equipment runs without the change of relative position.Siemens switches PLC is connected with manipulator servo systems, and is connected with industrial camera 10 by ethernet network.Imaging station-keeping system is mainly taken a picture to hot parts, goes out Central of the parts coordinate by part inner circle skeletal lines multi-section circular arc the Fitting Calculation.
Industrial camera 10 carries Ethernet interface, and SIEMENS PLC configuration ethernet module, carries out hardware chaining by siemens switches.Manipulator servo systems is as the DP slave station of SIEMENS PLC.Network configuration on amendment camera software and code programming realize action request, by PLC to the instruction of camera sending action, after camera imaging successfully handles position deviation parameter well, these parametric forms are by the PLC that reads back with the form of ASCII character, these data are after PLC inter-process becomes position deviation parameter, re-send to servosystem by PLC and carry out position compensation, ensure mechanical manipulator holding parts accurately, deliver to Quenching press 4 by traversing guide rail 7 and automatically quench.
Quickly, the process time of whole photograph, data processing, data transmission is very short for this system running speed, and speed is fast, is approximately about 2 seconds.
Whole process can be divided into:
PLC → photograph sends order of taking a picture;
PLC → camera sends data processing command;
Camera → PLC camera returns calculation result, data is returned to PLC;
PLC is to the data analysis received, judgement;
Judge that reclaimer robot (from feeding in stove to stove), sliding machine hand 3 are the need of carrying out action adjustment, perform immediately as adjusted with the result analyzed, otherwise skip action adjustment work step.
The skew (x, y) of each workpiece can be recorded in corresponding charging tray data.
Claims (4)
1. double pressure is quenched a cementing furnace mechanical manipulator vision correcting system, it is characterized in that: be made up of imaging station-keeping system and manipulator servo systems; Wherein, imaging station-keeping system is made up of photographic system, siemens switches and mounting bracket, and described photographic system is made up of industrial camera, infrared lens, infrared source, camera cooling system and camera protective housing; Industrial camera, camera cooling system are loaded in camera protective housing; Camera protective housing by mounting bracket be arranged on pressure quench insulation chamber discharging outdoors, directly over reclaimer robot central position, and higher than the vertex position of mechanical manipulator; Infrared source is two, is separately positioned on the both sides of part discharge port; Siemens switches is connected with manipulator servo systems, and is connected with industrial camera by ethernet network.
2. the double pressure of one according to claim 1 is quenched cementing furnace mechanical manipulator vision correcting system, it is characterized in that: described camera cooling system is loaded on the top of camera protective housing; Industrial camera is fixed in the middle part of camera protective housing by camera mounting base, and lens direction is downward; Infrared lens is formed by camera lens installing infrared eyeglass additional; The transparent glass coordinated with infrared lens is provided with bottom camera protective housing.
3. the double pressure of one according to claim 1 and 2 is quenched cementing furnace mechanical manipulator vision correcting system, it is characterized in that: described camera protective housing distance workpiece height 3.5 meters, distance floor level 5 meters.
4. the double pressure of one according to claim 1 and 2 is quenched cementing furnace mechanical manipulator vision correcting system, it is characterized in that: described camera cooling system adopts semiconductor cooling device.
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| CN201410340668.0A CN105039666B (en) | 2014-07-17 | 2014-07-17 | It is double to press carburizer manipulator vision correcting system of quenching |
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| CN201410340668.0A CN105039666B (en) | 2014-07-17 | 2014-07-17 | It is double to press carburizer manipulator vision correcting system of quenching |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115772A (en) * | 2018-07-13 | 2019-01-01 | 中国农业大学 | Temperature and humidity process control air drier machine vision on-line detecting system and method |
| CN113587813A (en) * | 2021-07-30 | 2021-11-02 | 铜陵有色金神耐磨材料有限责任公司 | High temperature forging visual detection device |
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| WO1993001080A1 (en) * | 1991-07-12 | 1993-01-21 | Sensor Adaptive Machines Incorporated | Method and apparatus for assembly of car bodies and other 3-dimensional objects |
| CN202729328U (en) * | 2012-06-07 | 2013-02-13 | 康奋威科技（杭州）有限公司 | Device for precise positioning gripping and transferring of battery plates |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109115772A (en) * | 2018-07-13 | 2019-01-01 | 中国农业大学 | Temperature and humidity process control air drier machine vision on-line detecting system and method |
| CN113587813A (en) * | 2021-07-30 | 2021-11-02 | 铜陵有色金神耐磨材料有限责任公司 | High temperature forging visual detection device |
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| CN105039666B (en) | 2018-01-12 |
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