CN105598966A - Automatic adjustment system based on adjustable holders and method thereof - Google Patents
Automatic adjustment system based on adjustable holders and method thereof Download PDFInfo
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- CN105598966A CN105598966A CN201610017383.2A CN201610017383A CN105598966A CN 105598966 A CN105598966 A CN 105598966A CN 201610017383 A CN201610017383 A CN 201610017383A CN 105598966 A CN105598966 A CN 105598966A
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- tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an automatic adjustment system based on adjustable holders. The automatic adjustment system comprises a storage module, a holder adjustment instruction receiving module, a querying and matching module and a driving control module. Parameter information of each machined part in each type of machined parts and adjustable holder information in one-to-one correspondence with all the types of machined parts are stored in the storage module, wherein each piece of adjustable holder information includes holder information corresponding to the corresponding type of machined parts and holder adjustment information in one-to-one correspondence to all the machined parts in the corresponding type of machined parts; the holder adjustment instruction receiving module is used for receiving an adjustment instruction input by a user and used for adjusting a holder corresponding to one machined part; the querying and matching module is used for querying and matching the adjustable holder information matched with the adjustment instruction according to the holder adjustment instruction; the driving control module is used for driving the holder to act according to posture parameters in the adjustable holder information after the adjustable holder information matched with the adjustment instruction is found and matched by the querying and matching module so that actual posture parameters of the adjusted holder can be consistent with the posture parameters in the found and matched adjustable holder information.
Description
Technical field
The present invention relates to a kind of automatic regulating system and method thereof based on adjustable armful of tool.
Background technology
Embracing tool assembly is the accessory in manipulator, in dismountable side appearance group that is fixed on manipulator away from one end of mechanical arm, for taking out the mould workpiece of machine-shaping of the process equipments such as injection machine. embrace tool assembly and generally comprise by section bar, be arranged on armful tool (such as sucker, fixture etc.) on section bar, this department has designed a kind of adjustable armful of tool, embraces dismountable being installed on section bar of tool also can on section bar, any fragment position move by each sucker etc. when injection machine continues the similar workpiece of processing after the processing that completes current workpiece again, staff is without again changing with this workpiece and embrace accordingly tool assembly, only need to regulate the spacing of embracing between tool and the size of embracing tool, make to embrace prodigiosin and capture enough smoothly the workpiece that is about to processing. this department has also designed a kind of adjustable armful of tool, the tool of embracing of embracing tool by input regulates parameter (as embraced the displacement of tool, the parameters such as the distance between adjacent two armfuls of tools) make driver module (for example motor) drive the length direction of tool on section bar of embracing on section bar to move arbitrarily according to moving parameter, this mode has replaced manually and having moved, for staff has alleviated burden, but in this mode, staff so need to remember armful tool size corresponding to each workpiece in the similar workpiece of each class firmly, each embraces the position of tool, distance between adjacent armful of tool etc. is indulged multi-parameter. if there is mistake will cause capturing not firm, workpiece drops etc. from embracing a tool, and the probability that workpiece is broken is larger, and the quantity of similar workpiece is more, staff can not remember all sizes completely, for staff brings more inconvenience to the adjusting of embracing tool.
Summary of the invention
For above-mentioned the deficiencies in the prior art, technical problem to be solved by this invention is: a kind of automatic regulating system based on adjustable armful of tool and method thereof that can automatically regulate embracing tool according to the regulating command of user's input is provided.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is: a kind of automatic regulating system based on adjustable armful of tool is provided, described adjustable armful of tool comprises the section bar being installed in manipulator side appearance group and armful tool that can move arbitrarily in the die cavity of section bar according to the driving of drive control module, and described automatic regulating system comprises:
Memory module, store each workpiece in each class workpiece parameter information, with each class workpiece adjustable armful of tool information one to one, wherein, the parameter information of each workpiece comprises the image information of this workpiece, described adjustable armful of tool information comprise corresponding with such workpiece embrace tool information, with such workpiece in each workpiece embrace one to one tool and regulate information, described armful of tool regulates information at least to comprise the pose parameter of embracing workpiece corresponding to tool gripping;
Embrace tool regulating command receiver module, for receiving the regulating command of embracing tool corresponding to workpiece of adjusting of user's input;
Search matching module, for searching and mate the adjustable armful of tool information matching with this regulating command in memory module according to embracing tool regulating command;
Drive control module, for searching and match after the adjustable armful of tool information matching with regulating command when searching matching module, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, with the attained pose parameter of embracing tool after making to regulate with to search pose parameter in the adjustable armful of tool information matching consistent.
Further, also comprise:
Display module, for show the parameter information of all workpieces in all classification of memory module, each class, with the parameter information adjustable armful of tool information one to one of each workpiece;
Wherein, described display module is touch display screen;
Described armful of tool regulating command receiver module, armful tool regulating command producing by the parameter information of the workpiece in touch display screen contact for receiving user.
Further, described memory module and search matching module form rear end equipment, described armful of tool regulating command receiver module and drive control module form the headend equipment being connected with rear end equipment communication, and described headend equipment is located on manipulator or corresponding workpiece process equipment.
Further, described rear end equipment also comprises:
The first input module, for inputting the parameter information of each workpiece, also for the parameter information adjustable armful of tool information one to one with each workpiece for user's input for user;
Classifying module, for the parameter information of each workpiece of user's input is sorted out, is classified as a class by the parameter information that belongs to of a sort workpiece;
Described memory module, storage through classification after each class workpiece in each workpiece parameter information, with each class workpiece adjustable armful of tool information one to one.
Wherein, described classifying module comprises:
Sort out submodule, after the parameter information for the workpiece inputted first user, according to the newly-built class of workpiece shape in the image information in this parameter information;
Image processing module, the image information of the workpiece of storing for image information to the workpiece that ought last time input and memory module is carried out image recognition contrast one by one, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class;
Described classification submodule, also, for obtaining the image information of a workpiece of storing to memory module when the image information of the workpiece of last time inputting when image processing module processing when similar, the image information of this workpiece of storing in the image information of the workpiece that ought last time input and memory module is classified as same class; Also not identical for obtain the image information of the workpiece that the image information of the workpiece that ought last time input stores with memory module when image processing module processing, newly-built class.
Further, described headend equipment also comprises the second input module, for processing new workpiece and memory module when injection-moulding device while not storing the image information of this new workpiece and corresponding adjustable armful of tool information, for the parameter information of the new workpiece of user's input in real time and adjustable armful of tool information of correspondence with it; Adjustable armful of tool communication of the image information of the workpiece that described headend equipment is inputted user in real time and with it correspondence is to rear end equipment;
The image processing module of described rear end equipment carries out image recognition contrast one by one to the image information of the workpiece of storing in the image information in the parameter information of the workpiece receiving and memory module, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class;
If same class, the parameter information of the workpiece receiving and adjustable armful of corresponding tool information are classified as same class by classifying module; If after the image information identification contrast of workpiece all in memory module, can not be referred to class wherein time, newly-built class.
Further, described adjustable armful of tool information also comprise embrace tool with the parameter information of each workpiece in such one to one for dynamically showing the adjusting action of armful tool and the dynamic image data of size.
For solving the problems of the technologies described above, another technical scheme that the present invention takes is: the Automatic adjustment method that a kind of automatic regulating system based on adjustable armful of tool is provided, in described automatic regulating system, be pre-stored with the parameter information of each workpiece in each class workpiece, with each class workpiece adjustable armful of tool information one to one, wherein, the parameter information of each workpiece comprises the image information of this workpiece, described adjustable armful of tool information comprises the embrace tool information corresponding with such workpiece, embrace one to one tool with the parameter information of each workpiece in such workpiece and regulate information, described armful of tool regulates information at least to comprise the pose parameter of embracing workpiece corresponding to tool gripping, described Automatic adjustment method comprises the following steps:
The regulating command of embracing tool corresponding to workpiece of adjusting of S101, reception user input;
S102, search according to regulating command the adjustable armful of tool information that coupling matches with this regulating command;
S103, when finding after the adjustable armful of tool information matching, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, consistent with the pose parameter in adjustable armful of tool information with the attained pose parameter of embracing tool after making to regulate.
Wherein, in S101 step, utilize headend equipment to receive the regulating command of embracing tool corresponding to workpiece of adjusting of user's input;
In S102 step, utilize rear end equipment to search and mate the adjustable armful of tool information matching with this regulating command;
In S103 step, finding after the adjustable armful of tool information matching, utilize headend equipment to embrace tool action according to the pose driving parameter in this adjustable armful of tool information, to make the attained pose parameter of embracing tool after adjusting consistent with the pose parameter in adjustable armful of tool information.
Automatic regulating system based on adjustable armful of tool of the present invention, by this automatic regulating system being set at manipulator or injection machine, on all-in-one, be provided with touch display screen, button group etc., in all-in-one, store the image information of the workpiece of all classes, each class corresponding embrace tool and with each class workpiece in each workpiece adjustable armful of tool information one to one, in the time changing workpiece, one key issues the adjusting information of embracing tool that regulates this workpiece corresponding, internal system is searched the coupling adjustable armful tool information corresponding with this adjusting information automatically, then automatically controlling drive control module according to this information regulates according to the pose parameter in adjustable armful of tool information, to make the attained pose parameter of armful tool consistent with the pose parameter in adjustable armful of tool information, finally make to embrace prodigiosin and enough successfully capture corresponding workpiece. pass through this programme, staff is without the adjusting parameter of remembeing each machining position, do not need staff's manual operation, one key operation type brings great convenience for staff, for staff has alleviated burden, also avoided cannot capturing because of the inaccurate armful tool causing of adjusting size the problem of workpiece, increased the working (machining) efficiency of injection machine simultaneously. if injection machine is the similar workpiece of processing continuously, after current machining, to be processed next similar first being processed, the regulating command that this programme can issue according to staff is adjusted to by embracing tool the size, the position that match with this workpiece automatically, further realize the automation of manipulator, the automation of process equipment, be conducive to improve the production efficiency of equipment, avoid capturing not firm problem and occurring because staff misremembers the tool of embracing occurring, and then avoided therefore situation and the generation of the problems such as time-out of process equipment.
Automatic regulating system based on adjustable armful of tool of the present invention, connect by the communication between a rear end equipment and some headend equipments, realize armful tool regulatory function of the some process equipments at least one job shop, no matter which platform process equipment all can meet is embraced the function that tool regulates, compared with the form of aforesaid all-in-one, the present embodiment more can be saved cost of manufacture, only need on each process equipment, headend equipment be installed.
The Automatic adjustment method of the automatic regulating system based on adjustable armful of tool of the present invention, staff only need to issue a regulating command of embracing tool that workpiece is corresponding in automatic regulating system, internal system can be searched and be transferred workpiece that instruction matches and corresponding adjustable armful of tool information with it, tool action is embraced in the notice drive control module control finding, the pose parameter that the attained pose parameter of embracing tool after regulating is arrived with matched and searched is consistent, and then makes the prodigiosin of embracing after adjusting enough successfully grab corresponding workpiece. This process time is extremely short, and inter-process speed is very fast, the personnel's that do not dally over one's work time, for staff has alleviated burden, and can regulate embracing tool accurately, and make the prodigiosin of embracing after regulating enough capture corresponding workpiece.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the block diagram that the present invention is based on automatic regulating system first embodiment of adjustable armful of tool.
Fig. 2 is the block diagram that the present invention is based on automatic regulating system second embodiment of adjustable armful of tool.
Fig. 3 is the flow chart that the present invention is based on Automatic adjustment method one embodiment of the automatic regulating system of adjustable armful of tool.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, Fig. 1 is the block diagram that the present invention is based on automatic regulating system first embodiment of adjustable armful of tool. in the present embodiment, described adjustable armful of tool comprises and is installed in manipulator side appearance group away from the section bar of one end of manipulator and can embraces tool and for embracing tool and lock the locking module of optional position on a section bar according to the driving of a drive control module is mobile arbitrarily on the length direction of section bar. described drive control module can adopt any one mechanism or equipment or device that can drive object to move as requested on the market. for example, described drive control module can comprise control module, drive motors and armful tool position feedback module, described control module receives embracing after tool moving parameter of user's input, send drive control signal, so that embracing tool according to this signal driver, moves on the length direction of section bar drive motors, described position feedback module is embraced the position of tool on section bar for Real-time Feedback, move to behind the position being consistent with armful tool moving parameter of user's input or mate when embracing tool, feed back to control module, control module control drive motors quits work, send again and control signal to locking module, making to lock module will embrace tool and be locked on section bar. position feedback module can be for example absolute encoder, and locking module can be for example the parts that electromagnet etc. can be locked by the signal of telecommunication on the market. intelligible upper, above-mentioned adjustable armful of tool also only limits to aforesaid way, and above-mentioned word, only with adjustable armful of tool of exemplary elaboration, thinks that follow-up automatic regulating system provides basis.
The described automatic regulating system based on adjustable armful of tool comprises memory module, embraces tool regulating command receiver module, searches matching module and drive control module. In the present embodiment, described memory module, embrace tool command reception module, search matching module and driver module is all arranged on workpiece process equipment place (for example manipulator or injection machine), for example can be by memory module, the form of embracing tool command reception module, searching matching module and be designed to all-in-one. Wherein:
Described memory module store each workpiece in each class workpiece parameter information, with each class workpiece adjustable armful of tool information one to one, wherein, the parameter information of each workpiece comprises the image information of this workpiece, described adjustable armful of tool information comprise corresponding with such workpiece embrace tool information, with such workpiece in each workpiece embrace one to one tool and regulate information, described armful of tool regulates information at least to comprise the pose parameter of embracing workpiece corresponding to tool gripping.
The parameter information of described workpiece can include but not limited to the image information (design drawing of for example workpiece) of workpiece. As preferably, the parameter information of described workpiece can also include but not limited to raw material that dimension information (all having mark on general design drawing), the model of workpiece, the workpiece of workpiece is used and all information relevant to workpiece etc.
Described armful of tool information can include but not limited to embrace tool image information, embrace dimension information of tool etc. (for example embracing tool A, embrace tool B in following table 1 ..., embrace tool n hurdle, shown in this hurdle, there iing the image information of embracing tool, in image information, showing its dimension information). In the image information of described armful of tool, show for install embrace tool section bar, be arranged on section bar embrace tool (sucker, fixture etc.), be engraved on scale on section bar etc., the dimension information of described armful of tool can be length, the shape etc. of section bar, the spacing between armful tool on section bar etc.
Described armful of tool information, the dimension information of embracing tool can be to input in memory module in modes such as word, parameter, images, can be also that in prior art, any presentation mode inputs in memory module.
Described adjustable armful of tool information equally also can comprise embrace tool with the image information of each workpiece in such one to one for dynamically showing the adjusting action of armful tool and the dynamic image data of size.
The image information of described workpiece can include but not limited to have in the design drawing, design drawing of each workpiece shape, profile, size of each workpiece etc., can also comprise model of this workpiece etc. User can by the mode of data wire, removable dish etc. by the image information of above-mentioned each class workpiece, with each class workpiece one to one adjustable armful of tool information be stored in memory module. The relevant information of pre-stored workpiece in memory module (information in following table 1) can be the relevant information sum total of all workpieces of processing before this, in the time that there is new workpiece in factory, the personnel that are responsible for input just input to the parameter information of new workpiece, adjustable armful of corresponding with it tool information in all-in-one immediately in real time, so that in the time processing new workpiece, staff can view the adjustable armful of tool information to workpiece that should be new.
In the present embodiment, with the basis that is shaped as of workpiece shown in image information, the workpiece that belongs to same or similar shape is classified as same class and stores. Identical with similar standard, can refer to the workpiece that profile is identical, size is different, and for example appearance is cylindrical, but not identical workpiece of external diameter and axial length etc. Judge that this similar shape can manually judge by staff's experience, for example staff is before storing each workpiece, according to information such as the shape and size of workpiece in the image information of workpiece, first by workpiece classification, can adopt the storage of classifying of tree-like document storage mode. Can also process the image information of each workpiece of inputting by image recognition processing technology, whether workpiece should be classified as to same class to draw. For example by image processing techniques, profile, shape etc. in the image information of each workpiece are contrasted to identification, set a threshold value, when after the parameter comparison such as profile, the shape identification in the image information of two workpieces, their similarity is in threshold value, can be considered that they are same class, outside threshold value, can be considered not identical or dissimilar, not at same class, apparent, above-mentioned image processing techniques has belonged to one contrast treatment technology very common in existing, therefore just no longer too much repeats herein. Each workpiece in each class workpiece can see table with the corresponding classification storage relation of embracing tool:
Table 1
In table 1, n represents quantity, for being greater than 1 positive integer, the adjusting information that table 1 shows the image information of the classification number of the workpiece of memory module storage, some workpieces that each class workpiece comprises, embraces one to one tool with the image information of each workpiece. For example category-A product, a corresponding armful tool A is that yi word pattern is embraced tool, category-B product, a corresponding armful tool is cross armful of tool etc.
Embrace tool regulating command receiver module, for receiving the regulating command of embracing tool corresponding to workpiece of adjusting of user's input. Described regulating command receiver module can be that the physical button by being located on all-in-one receives, and staff can issue the regulating command of embracing tool that regulates a certain workpiece corresponding by pressing this physical button. The described command reception module of transferring can also be to receive user by the touch display screen of all-in-one to put the regulating command of embracing tool corresponding to a certain workpiece of adjusting that solution screen produces.
Search matching module, for searching and mate the adjustable armful of tool information matching with this regulating command in memory module according to embracing tool regulating command. For example staff sends a regulating command of embracing tool that regulates category-A work 2 correspondences by all-in-one, embracing tool regulating command receiver module receives after this instruction, in memory module, search the adjustable information that whether has the workpiece 2 matching with this instruction, if do not find, send a feedback information, be convenient to staff and process accordingly (parameter information, the increase adjustable armful of tool information correspondingly etc. that for example can increase this workpiece).
Drive control module, for searching and match after the adjustable armful of tool information matching with regulating command when searching matching module, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, to make armful tool actual parameter after adjusting consistent with adjustable armful of tool information in memory module. in this programme, if when searching matching module find the adjustable information matching with regulating command in memory module, this is searched matching module and notifies drive control module to find the adjusting information of embracing tool matching with regulating command, and the pose parameter in the adjustable information finding is sent to drive control module, drive control module is receiving after information, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, the attained pose parameter that finally makes to embrace tool is with to search pose parameter in the adjustable armful of tool information that matching module finds consistent.
Specifically, in conjunction with example, we embrace tool as example taking category-A in-line, are provided with two suckers on the section bar of in-line, selectable, on this in-line section bar, scale can be set. suppose that injection machine has processed workpiece 1 in category-A, need to process at present the workpiece 2 in category-A, before getting first workpiece 1, user sends an adjusting to the regulating command of embracing tool that should workpiece 2 by this all-in-one, system is received after this regulating command by regulating command receiver module, search the adjusting information (for example carrying the parameter information of workpiece 2 in this regulating command) that whether has workpiece 2 and correspondence in coupling memory module according to this regulating command, if find, notify drive control module, in this announcement information, carry the adjusting information of embracing tool that regulates workpiece 2 correspondences, in adjusting information, there is the pose parameter that corresponding armful prodigiosin enough grabs workpiece 2. so, control module in drive control module receives after this pose parameter, first detect the pose parameter (position and attitude can lock module latch by the last time time obtain) of embracing tool on current in-line section bar, the pose number carrying in the attained pose of embracing tool now and control signal is contrasted and calculated, embrace the actual parameter (distance of the pose for example, from current pose to control signal of tool action to obtain driver module demand motive, position etc.), thereby make the attained pose parameter of embracing tool after regulating consistent with the pose parameter in control signal, and then make adjustable armful of prodigiosin enough grab workpiece 2. understandable, these are only and illustrate, be not used in and be limited to protection scope of the present invention.
In the present embodiment, the described automatic regulating system based on adjustable armful of tool also comprises display module, described display module can be touch display screen, for show the parameter information of all workpieces in all classification of memory module, each class, with the parameter information adjustable armful of tool information one to one of each workpiece. The described armful of armful tool regulating command that tool regulating command receiver module also produces by the image information of a workpiece on the touch-screen of contact for receiving user. Specifically in conjunction with example: in the time scrolling each workpiece of each class and adjustable armful of tool information of correspondence on touch display screen, after the image information of one of them workpiece of staff contact, issue an armful tool regulating command that regulates this workpiece. Simultaneously, display screen also can amplify the tool of embracing that this workpiece of independent demonstration is corresponding and regulate information, be more convenient for staff observe, embrace after tool when regulating, can again click sub-screen or other soft-key button or physical button, exit this page, continue to scroll workpiece and the adjustable armful of corresponding tool information of all classes.
Embodiment of the present invention, by this automatic regulating system being set at manipulator or injection machine, on all-in-one, be provided with touch display screen, button group etc., in all-in-one, store the image information of the workpiece of all classes, each class corresponding embrace tool and with each class workpiece in each workpiece adjustable armful of tool information one to one, in the time changing workpiece, one key issues the adjusting information of embracing tool that regulates this workpiece corresponding, internal system is searched the coupling adjustable armful tool information corresponding with this adjusting information automatically, then automatically controlling drive control module according to this information regulates according to the pose parameter in adjustable armful of tool information, to make the attained pose parameter of armful tool consistent with the pose parameter in adjustable armful of tool information, finally make to embrace prodigiosin and enough successfully capture corresponding workpiece. pass through this programme, staff is without the adjusting parameter of remembeing each machining position, do not need staff's manual operation, one key operation type brings great convenience for staff, for staff has alleviated burden, also avoided cannot capturing because of the inaccurate armful tool causing of adjusting size the problem of workpiece, increased the working (machining) efficiency of injection machine simultaneously. if injection machine is the similar workpiece of processing continuously, after current machining, to be processed next similar first being processed, the regulating command that this programme can issue according to staff is adjusted to by embracing tool the size, the position that match with this workpiece automatically, further realize the automation of manipulator, the automation of process equipment, be conducive to improve the production efficiency of equipment, avoid capturing not firm problem and occurring because staff misremembers the tool of embracing occurring, and then avoided therefore situation and the generation of the problems such as time-out of process equipment.
Refer to Fig. 2, Fig. 2 is the block diagram that the present invention is based on automatic regulating system second embodiment of adjustable armful of tool. The difference of the present embodiment and the first embodiment is, at least one headend equipment that this automatic regulating system based on adjustable armful of tool comprises rear end equipment and is connected with rear end equipment communication. The quantity of headend equipment is set according to the quantity of the workpiece process equipment of job shop, each headend equipment is installed on workpiece process equipment, for example, in the time that process equipment is injection machine, can be installed on injection machine or manipulator the principle that installation site can be observed and operate with staff and designing.
Described rear end equipment comprises with the first example structure or the same or analogous memory module of function, searches matching module, described headend equipment comprises and the first example structure or same or analogous command reception module and the display module transferred of function, in the present embodiment, drive control module can be included in headend equipment, also can be regarded as the independently module being connected with rear end equipment.
Described rear end equipment also comprises the first input module and classifying module. Described the first input module is for inputting the parameter information of each workpiece, also for the parameter information adjustable armful of tool information one to one with each workpiece for user's input for user. Described adjustable armful of tool information comprise corresponding with such workpiece embrace tool information, with such workpiece in the image information of each workpiece embrace one to one tool and regulate information, the corresponding relation of the workpiece of adjustable armful of tool information and each class, referring to above-mentioned table 1, just repeats herein no longer one by one. Described classifying module, for the image information of each workpiece of user's input is sorted out, is classified as a class by the image information that belongs to of a sort workpiece; Described memory module, storage through classification after each class workpiece in each workpiece image information, with each class workpiece adjustable armful of tool information one to one.
Described classifying module comprises sorts out submodule and image processing module. Wherein, classification submodule is used for, after the parameter information of the workpiece of inputting first user, according to the newly-built class of workpiece shape in the image information in this parameter information, and depositing in memory module. This input first refers to the image information time of inputting for the first time workpiece, being once first of input the earliest, and it can not restarted and initialize according to rear end equipment.
Described image processing module, the image information of the workpiece of storing for image information to the workpiece that ought last time input and memory module is carried out image recognition contrast one by one, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class.
Described classification submodule, also, for obtaining the image information of a workpiece of storing to memory module when the image information of the workpiece of last time inputting when image processing module processing when similar, the image information of this workpiece of storing in the image information of the workpiece that ought last time input and memory module is classified as same class; Also not identical for obtain the image information of the workpiece that the image information of the workpiece that ought last time input stores with memory module when image processing module processing, newly-built class, and be stored in memory module.
In this programme, before related personnel does not need again the relevant information of workpiece to be stored to memory module, manually sort out, avoid the inaccurate problem of manual sort, only need adjustable armful of tool information of corresponding class to deposit in corresponding class, and make adjustable armful of corresponding tool information for each workpiece, and save related personnel's time, alleviate related personnel's working strength.
Display module in the present embodiment is positioned on headend equipment, and described display module is touch display screen, and described display module is also for showing the image information of all workpieces of all classification, each class; The described armful of regulating command that tool regulating command receiver module also produces by the image information of a workpiece on the touch-screen of contact for receiving user. Specifically in conjunction with example: in the time scrolling each workpiece of each class and adjustable armful of tool information of correspondence on touch display screen, after the image information of one of them workpiece of staff contact, send a regulating command, display screen also can amplify the tool of embracing that this workpiece of independent demonstration is corresponding and regulate information, be more convenient for staff observe, when regulating, this automatic regulating system embraces after tool, can again click sub-screen or other soft-key button or physical button, exit this page, continue to scroll workpiece and the adjustable armful of corresponding tool information of all classes.
As optionally, described headend equipment also comprises the second input module, for processing new workpiece and memory module when injection-moulding device while not storing the image information of this new workpiece and corresponding adjustable armful of tool information, for the parameter information of the new workpiece of user's input in real time and adjustable armful of tool information of correspondence with it; Adjustable armful of tool communication of the image information of the workpiece that described headend equipment is inputted user in real time and with it correspondence is to rear end equipment; The image processing module of described rear end equipment carries out image recognition contrast one by one to the image information of the workpiece of storing in the image information in the parameter information of the workpiece receiving and memory module, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class; If same class, the parameter information of the workpiece receiving and adjustable armful of corresponding tool information are classified as same class by classifying module; If after the image information identification contrast of workpiece all in memory module, can not be referred to class wherein time, newly-built class.
In this programme, in the time that shop personnel do not view the relevant information of the new workpiece that is about to processing on touch display screen, mean that this new workpiece information is not yet stored to memory module, if during now by rear end equipment typing, comparatively lose time and can not confirm whether rear end equipment place has relevant typing personnel. and the injection machine of general job shop is while processing new workpiece, all there is the drawing of workpiece, the information such as parameter, staff passes through headend equipment typing after the image of this workpiece can being taken a picture, again by adjustable armful of tool information corresponding to this workpiece of headend equipment typing, headend equipment transfers to rear end equipment again to store these information after receiving, and then facilitate follow-up demonstration, real-time typing is provided, increase in real time the function of the relevant information of new workpiece, in follow-up work, when other process equipment is processed this workpiece, facilitate relevant staff's real time inspection to regulate information, for subsequent adjustment work is provided convenience.
In the present embodiment, described adjustable armful of tool information equally also can comprise embrace tool with the image information of each workpiece in such one to one for dynamically showing the adjusting action of armful tool and the dynamic image data of size.
Embodiment of the present invention, connect by the communication between a rear end equipment and some headend equipments, realize armful tool regulatory function of the some process equipments at least one job shop, no matter which platform process equipment all can meet is embraced the function that tool regulates, compared with the form of aforesaid all-in-one, the present embodiment more can be saved cost of manufacture, only need on each process equipment, headend equipment be installed.
Refer to Fig. 3, Fig. 3 is the flow chart that the present invention is based on Automatic adjustment method one embodiment of the automatic regulating system of adjustable armful of tool. the Automatic adjustment method of the automatic regulating system based on adjustable armful of tool of this programme is embraced tool by the automatic regulating system of above-mentioned the first embodiment or the second embodiment and is regulated, in above-mentioned automatic regulating system, be pre-stored with the parameter information of each workpiece in each class workpiece, with each class workpiece adjustable armful of tool information one to one, wherein, described adjustable armful of tool information comprises the embrace tool information corresponding with such workpiece, embrace one to one tool with the image information of each workpiece in such workpiece and regulate information, described armful of tool regulates information at least to comprise the pose parameter of workpiece corresponding to this armful of tool gripping. particularly, described Automatic adjustment method comprises the following steps:
The regulating command of embracing tool corresponding to workpiece of adjusting of S101, reception user input;
S102, search according to regulating command the adjustable armful of tool information that coupling matches with this regulating command;
S103, when finding after the adjustable armful of tool information matching, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, consistent with the pose parameter in adjustable armful of tool information with the attained pose parameter of embracing tool after making to regulate.
Described intelligent prompt system comprise that rear end equipment is connected with described rear end equipment communication before equipment, described headend equipment is installed on corresponding manipulator or injection machine.
In S101 step, utilize headend equipment to receive the regulating command of embracing tool corresponding to workpiece of adjusting of user's input;
In S102 step, utilize rear end equipment to search and mate the adjustable armful of tool information matching with this regulating command;
In S103 step, finding after the adjustable armful of tool information matching, utilize headend equipment to embrace tool action according to the pose driving parameter in this adjustable armful of tool information, to make the attained pose parameter of embracing tool after adjusting consistent with the pose parameter in adjustable armful of tool information.
As optionally, described adjustable armful of tool information also comprise embrace tool with the image information of each workpiece in such one to one for dynamically showing the adjusting action of armful tool and the dynamic image data of size.
Embodiment of the present invention, staff only need to issue a regulating command of embracing tool that workpiece is corresponding in automatic regulating system, internal system can be searched and be transferred workpiece that instruction matches and corresponding adjustable armful of tool information with it, tool action is embraced in the notice drive control module control finding, the pose parameter that the attained pose parameter of embracing tool after regulating is arrived with matched and searched is consistent, and then makes the prodigiosin of embracing after adjusting enough successfully grab corresponding workpiece. This process time is extremely short, and inter-process speed is very fast, the personnel's that do not dally over one's work time, for staff has alleviated burden, and can regulate embracing tool accurately, and make the prodigiosin of embracing after regulating enough capture corresponding workpiece.
These are only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent result or conversion of equivalent flow process that utilizes description of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. the automatic regulating system based on adjustable armful of tool, described adjustable armful of tool comprises the section bar being installed in manipulator side appearance group and armful tool that can move arbitrarily in the die cavity of section bar according to the driving of drive control module, and described automatic regulating system comprises:
Memory module, store each workpiece in each class workpiece parameter information, with each class workpiece adjustable armful of tool information one to one, wherein, the parameter information of each workpiece comprises the image information of this workpiece, described adjustable armful of tool information comprise corresponding with such workpiece embrace tool information, with such workpiece in each workpiece embrace one to one tool and regulate information, described armful of tool regulates information at least to comprise the pose parameter of embracing workpiece corresponding to tool gripping;
Embrace tool regulating command receiver module, for receiving the regulating command of embracing tool corresponding to workpiece of adjusting of user's input;
Search matching module, for searching and mate the adjustable armful of tool information matching with this regulating command in memory module according to embracing tool regulating command;
Drive control module, for searching and match after the adjustable armful of tool information matching with regulating command when searching matching module, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, with the attained pose parameter of embracing tool after making to regulate with to search pose parameter in the adjustable armful of tool information matching consistent.
2. the automatic regulating system based on adjustable armful of tool as claimed in claim 1, is characterized in that, also comprises:
Display module, for show the parameter information of all workpieces in all classification of memory module, each class, with the parameter information adjustable armful of tool information one to one of each workpiece.
3. the automatic regulating system based on adjustable armful of tool as claimed in claim 2, is characterized in that: described display module is touch display screen;
Described armful of tool regulating command receiver module, armful tool regulating command producing by the parameter information of the workpiece in touch display screen contact for receiving user.
4. the automatic regulating system based on adjustable armful of tool as described in any one claim in claims 1 to 3, it is characterized in that: described memory module and search matching module form rear end equipment, described armful of tool regulating command receiver module and drive control module form the headend equipment being connected with rear end equipment communication, and described headend equipment is located on manipulator or corresponding workpiece process equipment.
5. the automatic regulating system based on adjustable armful of tool as claimed in claim 4, is characterized in that: described rear end equipment also comprises:
The first input module, for inputting the parameter information of each workpiece, also for the parameter information adjustable armful of tool information one to one with each workpiece for user's input for user;
Classifying module, for the parameter information of each workpiece of user's input is sorted out, is classified as a class by the parameter information that belongs to of a sort workpiece;
Described memory module, storage through classification after each class workpiece in each workpiece parameter information, with each class workpiece adjustable armful of tool information one to one.
6. the automatic regulating system based on adjustable armful of tool as claimed in claim 5, is characterized in that, described classifying module comprises:
Sort out submodule, after the parameter information for the workpiece inputted first user, according to the newly-built class of workpiece shape in the image information in this parameter information;
Image processing module, the image information of the workpiece of storing for image information to the workpiece that ought last time input and memory module is carried out image recognition contrast one by one, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class;
Described classification submodule, also, for obtaining the image information of a workpiece of storing to memory module when the image information of the workpiece of last time inputting when image processing module processing when similar, the image information of this workpiece of storing in the image information of the workpiece that ought last time input and memory module is classified as same class; Also not identical for obtain the image information of the workpiece that the image information of the workpiece that ought last time input stores with memory module when image processing module processing, newly-built class.
7. the automatic regulating system based on adjustable armful of tool as claimed in claim 6, it is characterized in that: described headend equipment also comprises the second input module, for processing new workpiece and memory module when injection-moulding device while not storing the image information of this new workpiece and corresponding adjustable armful of tool information, for the parameter information of the new workpiece of user's input in real time and adjustable armful of tool information of correspondence with it; Adjustable armful of tool communication of the image information of the workpiece that described headend equipment is inputted user in real time and with it correspondence is to rear end equipment;
The image processing module of described rear end equipment carries out image recognition contrast one by one to the image information of the workpiece of storing in the image information in the parameter information of the workpiece receiving and memory module, whether to process the image information that obtains the image information of the workpiece that ought last time input and the workpiece of memory module storage as same class;
If same class, the parameter information of the workpiece receiving and adjustable armful of corresponding tool information are classified as same class by classifying module; If after the image information identification contrast of workpiece all in memory module, can not be referred to class wherein time, newly-built class.
8. the automatic regulating system based on adjustable armful of tool as claimed in claim 1, is characterized in that: described adjustable armful of tool information also comprise embrace tool with the parameter information of each workpiece in such one to one for dynamically showing the adjusting action of armful tool and the dynamic image data of size.
9. the Automatic adjustment method of the automatic regulating system based on adjustable armful of tool, it is characterized in that, in described automatic regulating system, be pre-stored with the parameter information of each workpiece in each class workpiece, with each class workpiece adjustable armful of tool information one to one, wherein, the parameter information of each workpiece comprises the image information of this workpiece, described adjustable armful of tool information comprises the embrace tool information corresponding with such workpiece, embrace one to one tool with the parameter information of each workpiece in such workpiece and regulate information, described armful of tool regulates information at least to comprise the pose parameter of embracing workpiece corresponding to tool gripping, described Automatic adjustment method comprises the following steps:
The regulating command of embracing tool corresponding to workpiece of adjusting of S101, reception user input;
S102, search according to regulating command the adjustable armful of tool information that coupling matches with this regulating command;
S103, when finding after the adjustable armful of tool information matching, embrace tool action according to the pose driving parameter in this adjustable armful of tool information, consistent with the pose parameter in adjustable armful of tool information with the attained pose parameter of embracing tool after making to regulate.
10. the Automatic adjustment method of the automatic regulating system based on adjustable armful of tool as claimed in claim 9, is characterized in that:
In S101 step, utilize headend equipment to receive the regulating command of embracing tool corresponding to workpiece of adjusting of user's input;
In S102 step, utilize rear end equipment to search and mate the adjustable armful of tool information matching with this regulating command;
In S103 step, finding after the adjustable armful of tool information matching, utilize headend equipment to embrace tool action according to the pose driving parameter in this adjustable armful of tool information, to make the attained pose parameter of embracing tool after adjusting consistent with the pose parameter in adjustable armful of tool information.
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| CN112476431A (en) * | 2020-11-02 | 2021-03-12 | 合肥欣奕华智能机器有限公司 | Substrate transfer robot control method, device, system, apparatus, and medium |
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