CN106444674A - Punching five-axis vertical type mechanical arm multi-machine interconnected control method and punching production line - Google Patents
Punching five-axis vertical type mechanical arm multi-machine interconnected control method and punching production line Download PDFInfo
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- CN106444674A CN106444674A CN201610908063.6A CN201610908063A CN106444674A CN 106444674 A CN106444674 A CN 106444674A CN 201610908063 A CN201610908063 A CN 201610908063A CN 106444674 A CN106444674 A CN 106444674A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
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- 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]
Abstract
The invention discloses a punching five-axis vertical type mechanical arm multi-machine interconnected control method and a punching production line. Centralized management and decentralized control are realized by a CAN control bus and a visual inspection system; a main controller controls operation of five-axis vertical type mechanical arms and punching machine tools, which are positioned on the same production line, through the CAN control bus; a first action capture camera and a second action capture camera correspondingly monitor whether the action of the first five-axis vertical type mechanical arm and the action of the second five-axis vertical type mechanical arm are in place as well as whether the first punching machine tool and the second punching machine tool are in a safe state during punching; and a camera of a third product quality detection device performs size and appearance detection on the punched product, and a three-dimensional laser scanner performs punching structure detection on the punched product and detects whether the produced punched product is qualified or not so as to realize automatic production. The invention also discloses the punching production line. The punching production line is provided with the vertical type mechanical arms.
Description
Technical field
The present invention relates to the technical field of mechanical automation control, and in particular to a kind of five axle vertical type mechanical hand of punching press is many
Machine intarconnected cotrol method, and the stamping line for implementing the control method.
Background technology
With the development of modern industry, people stabilize and increase product quality for improve production efficiency, improve workman's labor
Dynamic condition, accelerates to realize the consideration of industrial production mechanization and automatization, has invented mechanical arm, and it is widely used in production
During, especially in high temperature, high pressure, dust, noise and the occasion with radioactivity and pollution, mechanical arm is even more and obtains
It is widely applied.Mechanical arm is the new technique for occurring in modern age automation field, and has become modern industry production system
An important component part in system.Mechanical arm is one kind of industrial robot, and it is by operating machine, controller, servo-drive system
System and detection sensing device composition, are a kind of operations of apery, automatically control, repeat programming, can complete in three dimensions various
The automated production equipment of operation.
However, with appearance the problems such as recruitment is difficult, factory need to be from the labour-intensive transition of population to technology-intensive type, will
Automatization, mechanization production replace traditional artificial operation.Especially press workshop, as the pressing equipment of press workshop is in behaviour
As when there is certain danger, operator is accidentally easy for impaired, causes casualties when serious.
Content of the invention
This invention is for current art deficiency, provides a kind of punching press five axle vertical type mechanical hand multimachine intarconnected cotrol sides
Method, carries out centralized management, the decentralised control of five axle vertical type mechanical hand of multiple stage punching press and vision detection system by control system,
Control is located at the running of different press machines and five axle vertical type mechanical hand of punching press on same production line respectively, and detects production
Stamping products whether qualified, realize the full-automatic production of press workshop, unmanned workshop, and efficiency high, speed be fast, improve
Production efficiency and conforming product rate, reduce labor intensity, improve the safety of operator.
The present invention also provides a kind of stamping line for implementing the control method.
The technical scheme adopted for achieving the above object by the present invention is：
A kind of five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press, it is characterised in which comprises the following steps：
(1) on one article of stamping line the one or five axle vertical type mechanical hand of interval setting, the first press machine, the two or five
Axle vertical type mechanical hand, the second press machine, the three or five axle vertical type mechanical hand；The five axles vertical type mechanical hand is provided with center
Tool, arm part, horizontal rotation axle portion, arm turning part, swing arm portion and base portion；
(2) stamping line also sets up a control system, the control system include a master controller and multiple from
Controller, multiple described be separately positioned in five axle vertical type mechanical hands and punch press machine from controller, and control its action；
The control system, by CAN controlling bus, master controller is connected five axle vertical type mechanical hands and stamping machine respectively
Bed from controller, form a CAN network；
(3) stamping line is additionally provided with vision detection system, and the vision detection system includes the first motion capture
Photographic head, the second motion capture photographic head and the 3rd product quality detection means, the first motion capture photographic head is arranged on first
Five axle vertical type mechanical hands and the front of the first punch press machine, the second motion capture photographic head is arranged on the two or five axle vertical type machine
Tool handss and the front of the second punch press machine, before the 3rd product quality detection means is arranged on the three or five axle vertical type mechanical hand
Side；
The vision detection system is connected with master controller by CAN controlling bus；
(4) the 1st axle vertical type mechanical hands draw sheet metal component from the position for placing raw material, and sheet metal component is placed into
In the diel of the first punch press machine, during the one or five axle vertical type manipulator behavior, the first motion capture is imaged
Head catches two signals, and signal one is the action message of the one or five axle vertical type mechanical hand, and signal two is in the first punch press machine
Diel is placed the real time imaging after sheet metal component；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and original activities track is interior with advance
The comparison movement locus that puts in the host controller is contrasted：When original activities track is with to compare movement locus consistent, then hold
Row next step (5)；When original activities track is with to compare movement locus inconsistent, then send alarm and to stop the one or five axle upright
Formula mechanical hand, the action of the first punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is converted into master controller the view data of original mould state simultaneously, and
The view data of original mould state is contrasted with built-in in advance view data in the host controller：When original mould shape
The view data of state is consistent with built-in in advance view data in the host controller, then execute next step (5)；When original mould
The view data of tool state is inconsistent with built-in in advance view data in the host controller, then send alarm and stop the one or five
Axle vertical type mechanical hand, the action of the first punch press machine, member to be operated excludes abnormal；
(5) when in step (4), signal one, signal two are all without exception, the first punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the first punch press machine opens diel, and the two or five axle vertical type mechanical hand is from the first punch press machine
Interior absorption sheet metal component, and sheet metal component is placed in the second punch press machine, in the process of the two or five axle vertical type manipulator behavior
In, the second motion capture photographic head catches two signals, and signal one is the action message of the two or five axle vertical type mechanical hand, signal
Two is diel real time imaging in the second punch press machine；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and original activities track is interior with advance
The comparison movement locus that puts in the host controller is contrasted：When original activities track is with to compare movement locus consistent, then hold
Row next step (6)；When original activities track is with to compare movement locus inconsistent, then send alarm and to stop the two or five axle upright
Formula mechanical hand, the action of the second punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is converted into master controller the view data of original mould state simultaneously, and
The view data of original mould state is contrasted with built-in in advance view data in the host controller：When original mould shape
The view data of state is consistent with built-in in advance view data in the host controller, then execute next step (6)；When original mould
The view data of tool state is inconsistent with built-in in advance view data in the host controller, then send alarm and stop the two or five
Axle vertical type mechanical hand, the action of the second punch press machine, member to be operated excludes abnormal；
(6) when in step (5), signal one, signal two are all without exception, the second punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the second punch press machine opens diel, and the three or five axle vertical type mechanical hand is from the second punch press machine
After middle absorption product through the 3rd product quality detection means detection, detect that qualified product is placed into finished product area, detection is not
Qualifying product is placed into recovery area.
Used as improving further, in step (6), the 3rd product quality detection means obtains the product of stamping products
Product pictorial information, and calculated, product picture information conveyance to master controller to stamping products by the built-in program of master controller
Surface and profile scan is carried out, and is contrasted with built-in qualified stamping products information, judge whether punching press product out is qualified,
Master controller controls the three or five axle vertical type mechanical hand that stamping products are placed into finished product area or recovery area according to judged result；
Wherein, stamping products surface and profile scan include surface character scanning and the product profile scan of product, produce
The surface character of product scans through the photographic head of the 3rd product quality detection means and carries out, to product surface, acquisition product table of taking pictures
Face scratch depth and roughness, and obtain the punching press dimensional accuracy of product；
Product profile scan gathers stamping products space by the three-dimensional laser scanner of the 3rd product quality detection means
Point position information, sets up the 3-dimensional image model of object.
Used as improving further, described photographic head includes that shooting, image acquisition, image procossing, CPU, input and output connect
Mouthful, the picture signal of test product being obtained by photographic head, obtains product picture information, then numeral is become by A/D conversion
Signal is sent in master controller, according to the information of pixel distribution, brightness and color, enters row operation to extract the spy of target image
Levying, then judged result is exported further according to the default criterion of master controller.
As improving further, the product picture information conveyance that the photographic head of the 3rd product quality detection means is obtained
To in master controller, product picture information processing being carried out by binaryzation computing, then product picture is detected using Blob algorithm
The interior point of the target image in information and boundary point, draw girth, the area of object, and then calculate 6 not bending moment and circularities,
This 7 data are identified as characteristic quantity, and then detect the punching press dimensional accuracy of stamping products.
Used as improving further, step (3), (4), (5), the one or five axle vertical type mechanical hand in (6), the two or five axle are straight
It is equipped with vertical mechanical handss and the three or five axle vertical type mechanical hand by position, speed and electric current Three-loop control, realizes output
Speed and distance accurately replicate the servo controller for position of input requirements, and electric current loop ensures the electric current of servo controller for position
It is optimum waveform in dynamic, speed ring and position ring ensure servo controller for position output speed at any time and position
Put the accurate speed for replicating input request signal and position；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, speed ring by
Position detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal by outside
Constitute with position ring actuator, it is ensured that positioning precision, it is intended that position pulse signal is used as the input of position ring, position ring actuator
Output as speed ring input signal, the output of velocity loop regulator exported as the input signal of electric current loop, electric current loop
The switching signal of three-phase PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links passes through
Simulation control is realized with PID cascade compensation.
A kind of stamping line for implementing above-mentioned five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press, the punching press
Production line is provided with vertical type mechanical hand, and the vertical type mechanical hand is provided with center tool, arm part, horizontal rotation axle portion, handss
Arm turning part, swing arm portion and base portion；The swing arm portion is arranged in base portion, and the arm part is fixedly connected on swing arm portion
On, the arm turning part is fixedly connected on the transverse shifting slide block of arm part, and the horizontal rotation axle portion is connected to arm
The front end of turning part, the center tool is fixedly installed on the front end of horizontal rotation axle portion.
Used as improving further, the vertical type mechanical hand is additionally provided with servo controller for position, the position servo control
Device processed is realized output speed and the accurate position for replicating input requirements of distance is watched by position, speed and electric current Three-loop control
Control device is taken, electric current loop ensures that the electric current of servo controller for position is optimum waveform, speed ring and position ring in dynamic
Ensure that speed and the position of input request signal are accurately replicated in servo controller for position output speed at any time and position
Put；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, speed ring by
Position detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal by outside
Constitute with position ring actuator, it is ensured that positioning precision, it is intended that position pulse signal is used as the input of position ring, position ring actuator
Output as speed ring input signal, the output of velocity loop regulator exported as the input signal of electric current loop, electric current loop
The switching signal of three-phase PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links passes through
Simulation control is realized with PID cascade compensation.
Used as improving further, the servo controller for position is arranged on vertical type mechanical hand, in vertical type mechanical hand
Servomotor is equipped with, the servo controller for position includes the special control single chip computer of the motor that is electrically connected to each other, current sense
Device, intelligent power IPM module, permagnetic synchronous motor PMSM and increment type magnetic encoder, in the special control single chip computer of the motor
It is equipped with three-phase motor drive module, A/D modular converter, eputmeter module.
Used as improving further, the center tool includes finger bar, center jig plate, sucker and gold utensil screw terminal, institute
The bottom for stating finger bar is provided with center jig plate, and the bottom of the center jig plate is provided with T-shaped threeway, the top of the sucker
Portion is provided with lock pin, and the top of the gold utensil screw terminal is provided with gold utensil.
Used as improving further, the horizontal rotation axle portion includes motor mount plate two, motor mount plate one, motor, horse
Fixed plate, belt wheel two, bearing gasket and Pulley shaft is reached, the side of the motor mount plate one is provided with motor mount plate two, and
Motor mount plate two is installed in the bottom of motor, and the top of the motor is provided with backing plate, and the top of backing plate is provided with motor
Fixed plate, the motor fixed plate is installed in the side of motor adjustment block, and the side of motor adjustment block is provided with trunnion axis tune
Monoblock, the side of the trunnion axis adjustment block is provided with sensing chip, and the motor fixed plate is installed in the bottom of belt wheel one, and carries
The side of wheel one is provided with belt wheel two, and the bottom of the belt wheel two is provided with belt wheel three, the side peace of the motor mount plate two
Line cover plate was housed, and the side of line cover plate excessively was provided with Pulley shaft, the Pulley shaft was installed in the top of bearing gasket, institute
The top for stating Pulley shaft is provided with bearing, and the bottom of the bearing gasket is provided with belt wheel four, and the bottom of belt wheel four is provided with
Tool installing plate.
Beneficial effects of the present invention：The present invention carries out centralized management, dispersion by CAN controlling bus and vision detection system
Control, master controller controls five axle vertical type mechanical hands and punching press on same production line respectively by CAN controlling bus
The running of lathe, monitors the one or five axle vertical type machine respectively by the first motion capture photographic head and the second motion capture photographic head
Whether tool handss, the action of the two or five axle vertical type mechanical hand put in place, and when the first press machine and the second press machine punching press
Whether in a safe condition, diel when preventing punching press is contained within other debris in addition to sheet metal component；Tertiary industry quality
The photographic head of amount detecting device carries out size and outward appearance detection to the product of punching press, and three-dimensional laser scanner is carried out to stamping products
The detection of punching structure, detect production stamping products whether qualified, realize automated production.
Connect same primary processor from controller by CAN controlling bus on multiple vertical type mechanical hands, realize high
Effect, synchronization, centralized management, control the ruuning situation of multiple vertical type mechanical hands in real time, realize intelligent allotment production.
The swing arm portion of vertical type mechanical hand realizes mechanical hand wobbling action in the plane, and arm turning part realizes level rotation
Rotary movement on shaft and the horizontal plane of arm part, center tool is used for drawing the stamping products of different shape specification.
Below in conjunction with the accompanying drawings with specific embodiment, the present invention is described in more detail.
Description of the drawings
Fig. 1 is the stamping line structural representation of the present embodiment；
Fig. 2 is the five axle vertical type mechanical hand overall structure diagram of punching press of the present embodiment；
Fig. 3 is the overall control block diagram of the servo controller for position of the present embodiment；
Fig. 4 is the decomposition texture schematic diagram of the center tool of the present embodiment；
Fig. 5 is the horizontal rotation axle portion structural representation of the present embodiment；
Fig. 6 is aminoacyl site mplifying structure schematic diagram in Fig. 5；
Fig. 7 is B position mplifying structure schematic diagram in Fig. 5.
In figure：11. the 1st axle vertical type mechanical hands, 12. first press machines, 13. the 2nd 5 axle vertical type mechanical hands,
14. second press machines, 15. the 3rd 5 axle vertical type mechanical hands, 21. center tools, 22. arm parts, 23. feathering axis
Portion, 24. arm turning part, 25. swing arm portions, 26. base portion, 211. finger bars, 212.T type threeway, 213. center jig plates,
214. suckers, 215. lock pins, 216. gold utensil screw terminals, 217. gold utensils, 31. arm beams, 32. motor mount plate two, 33. motors are pacified
Dress plate one, 34. motors, 35. backing plates, 36. motor fixed plates, 37. motor adjustment blocks, 38. trunnion axis adjustment blocks, 39. trunnion axis
Connecting plate, 40. sensing chips, 41. belt wheels one, 42. covers, 43. belt wheels two, 44. reduce starter of the binary shafts machine, 45. belt wheels three, 46. belt wheels
Four, 47. bearings, 48. bearing gaskets, 49. Pulley shafts, 50. tool installing plates, 51. cross line cover plate.
Specific embodiment
Embodiment, referring to the five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press that Fig. 1, the present embodiment are provided, its
Comprise the following steps：
(1) on one article of stamping line the one or five axle vertical type mechanical hand 11 of interval setting, the first press machine 12,
Two or five axle vertical type mechanical hands 13, the second press machine 14, the three or five axle vertical type mechanical hand 15；The five axles vertical type machinery
Handss are provided with center tool 21, arm part 22, horizontal rotation axle portion 23, arm turning part 24, swing arm portion 25 and base portion 26；
(2) stamping line also sets up a control system, the control system include a master controller and multiple from
Controller, multiple described be separately positioned in five axle vertical type mechanical hands and punch press machine from controller, and control its action；
The control system, by CAN controlling bus, master controller is connected five axle vertical type mechanical hands and stamping machine respectively
Bed from controller, form a CAN network；
(3) stamping line is additionally provided with vision detection system, and the vision detection system includes the first motion capture
Photographic head, the second motion capture photographic head and the 3rd product quality detection means, the first motion capture photographic head is arranged on first
Five axle vertical type mechanical hands 11 and the front of the first punch press machine, the second motion capture photographic head is arranged on the two or five axle vertical type
Mechanical hand 13 and the front of the second punch press machine, the 3rd product quality detection means is arranged on the three or five axle vertical type mechanical hand 15
Front；
The vision detection system is connected with master controller by CAN controlling bus；
(4) the 1st axle vertical type mechanical hands 11 draw sheet metal component from the position for placing raw material, and sheet metal component is placed
To in the diel of the first punch press machine, during 11 action of the one or five axle vertical type mechanical hand, the first motion capture
Photographic head catches two signals, and signal one is the action message of the one or five axle vertical type mechanical hand 11, and signal two is the first punch press
In lathe, diel is placed the real time imaging after sheet metal component；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and original activities track is interior with advance
The comparison movement locus that puts in the host controller is contrasted：When original activities track is with to compare movement locus consistent, then hold
Row next step (5)；When original activities track is with to compare movement locus inconsistent, then send alarm and to stop the one or five axle upright
Formula mechanical hand 11, the action of the first punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is converted into master controller the view data of original mould state simultaneously, and
The view data of original mould state is contrasted with built-in in advance view data in the host controller：When original mould shape
The view data of state is consistent with built-in in advance view data in the host controller, then execute next step (5)；When original mould
The view data of tool state is inconsistent with built-in in advance view data in the host controller, then send alarm and stop the one or five
Axle vertical type mechanical hand 11, the action of the first punch press machine, member to be operated excludes abnormal；Diel is mainly prevented to be contained within removing
Other debris outside sheet metal component；
(5) when in step (4), signal one, signal two are all without exception, the first punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the first punch press machine opens diel, and the two or five axle vertical type mechanical hand 13 is from the first punch press machine
Sheet metal component is drawn in bed, and sheet metal component is placed in the second punch press machine, in 13 action of the two or five axle vertical type mechanical hand
During, the second motion capture photographic head catches two signals, and signal one is believed for the action of the two or five axle vertical type mechanical hand 13
Breath, signal two is diel real time imaging in the second punch press machine；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and original activities track is interior with advance
The comparison movement locus that puts in the host controller is contrasted：When original activities track is with to compare movement locus consistent, then hold
Row next step (6)；When original activities track is with to compare movement locus inconsistent, then send alarm and to stop the two or five axle upright
Formula mechanical hand 13, the action of the second punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is converted into master controller the view data of original mould state simultaneously, and
The view data of original mould state is contrasted with built-in in advance view data in the host controller：When original mould shape
The view data of state is consistent with built-in in advance view data in the host controller, then execute next step (6)；When original mould
The view data of tool state is inconsistent with built-in in advance view data in the host controller, then send alarm and stop the two or five
Axle vertical type mechanical hand 13, the action of the second punch press machine, member to be operated excludes abnormal；
(6) when in step (5), signal one, signal two are all without exception, the second punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the second punch press machine opens diel, and the three or five axle vertical type mechanical hand 15 is from the second punch press machine
Detection in bed after absorption product through the 3rd product quality detection means, detects that qualified product is placed into finished product area, detection
Product of failing is placed into recovery area.
In step (6), the 3rd product quality detection means obtains the product picture information of stamping products, and will
Product picture information conveyance is calculated by the built-in program of master controller, carries out surface and profile to stamping products to master controller
Scanning, and contrasting with built-in qualified stamping products information, judges whether punching press product out is qualified, and master controller is according to sentencing
Stamping products are placed into finished product area or recovery area by the three or five axle vertical type mechanical hand 15 of disconnected output control；
Wherein, stamping products surface and profile scan include surface character scanning and the product profile scan of product, produce
The surface character of product scans through the photographic head of the 3rd product quality detection means and carries out, to product surface, acquisition product table of taking pictures
Face scratch depth and roughness, and obtain the punching press dimensional accuracy of product；
Product profile scan gathers stamping products space by the three-dimensional laser scanner of the 3rd product quality detection means
Point position information, sets up the 3-dimensional image model of object.
Described photographic head includes shooting, image acquisition, image procossing, CPU, input/output interface, is obtained by photographic head
The picture signal of test product is obtained, product picture information is obtained, then digital signal is become by A/D conversion and send main control to
In device, according to the information of pixel distribution, brightness and color, enter row operation to extract the feature of target image, then further according to master
The default criterion of controller exports judged result.
The product picture information conveyance that the photographic head of the 3rd product quality detection means is obtained is led to in master controller
Crossing binaryzation computing carries out product picture information processing, then using the target image in Blob algorithm detection product picture information
Interior point and boundary point, draw girth, the area of object, and then calculate 6 not bending moment and circularities, using this 7 data as
Characteristic quantity is identified, and then detects the punching press dimensional accuracy of stamping products.
Above-mentioned steps (3), (4), (5), the one or five axle vertical type mechanical hand 11 in (6), the two or five axle vertical type machinery
It is equipped with by position, speed and electric current Three-loop control in handss 13 and the three or five axle vertical type mechanical hand 15, realizes output speed
The servo controller for position of input requirements is accurately replicated with distance, electric current loop ensures the electric current of servo controller for position dynamic
It is optimum waveform during state, speed ring and position ring ensure servo controller for position output speed at any time and position standard
Speed and the position of input request signal are really replicated；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, speed ring by
Position detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal by outside
Constitute with position ring actuator, it is ensured that positioning precision, it is intended that position pulse signal is used as the input of position ring, position ring actuator
Output as speed ring input signal, the output of velocity loop regulator exported as the input signal of electric current loop, electric current loop
The switching signal of three-phase PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links passes through
Simulation control is realized with PID cascade compensation.
Referring to 2, the stamping line that the present embodiment is also provided, the stamping line is provided with vertical type mechanical hand, described
Vertical type mechanical hand is provided with center tool, and the vertical type mechanical hand is provided with center tool 21, arm part 22, horizontal rotation
Axle portion 23, arm turning part 24, swing arm portion 25 and base portion 26；The swing arm portion 25 is arranged in base portion 26, the handss
Arm 22 is fixedly connected in swing arm portion 25, and the arm turning part 24 is fixedly connected on the transverse shifting slide block of arm part 22
On, the horizontal rotation axle portion 23 is connected to the front end of arm turning part 24, and the center tool 21 is fixedly installed on level rotation
The front end of shaft 23.
Referring to Fig. 3, the vertical type mechanical hand is additionally provided with servo controller for position, the servo controller for position by
Position, speed and electric current Three-loop control, realize the position servo control dress that output speed and distance accurately replicate input requirements
Put, electric current loop ensures that the electric current of servo controller for position is optimum waveform in dynamic, and speed ring and position ring ensure position
Speed and the position of input request signal is accurately replicated in Servocontrol device output speed at any time and position；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, speed ring by
Position detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal by outside
Constitute with position ring actuator, it is ensured that positioning precision, it is intended that position pulse signal is used as the input of position ring, position ring actuator
Output as speed ring input signal, the output of velocity loop regulator exported as the input signal of electric current loop, electric current loop
The switching signal of three-phase PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links passes through
Simulation control is realized with PID cascade compensation.
The servo controller for position is arranged in vertical type mechanical hand, and vertical type mechanical hand is built-in with servomotor,
The servo controller for position includes the special control single chip computer of the motor that is electrically connected to each other, current sensor, intelligent power IPM
Module, permagnetic synchronous motor PMSM and increment type magnetic encoder, the special control single chip computer of the motor is built-in with three-phase motor drive
Dynamic model block, A/D modular converter, eputmeter module.
Referring to Fig. 4, the center tool 21 includes finger bar, includes finger bar 211, center jig plate 213, sucker 214
With gold utensil screw terminal 216, the bottom of finger bar 211 is provided with center jig plate 213, and the bottom of center jig plate 213 is provided with T
Type threeway 212, the top of sucker 214 is provided with lock pin 215, and the top of gold utensil screw terminal 216 is provided with gold utensil 217.Finger bar
211 are fixed on center jig plate 213, and finger bar 211 is installed in the corner of center jig plate 213, parallel on finger bar 211
Arrangement installing hole, and installing hole be internally provided with chute, the hole position in the middle of center jig plate 213 is on arm, and hole
Helicla flute is provided with position, gold utensil screw terminal 216 is fixed on gold utensil 217, and the side of gold utensil 217 is provided with tooth hole, and tooth
The depth in hole is 2 centimetres, is provided with multidigit hole in T-shaped threeway 212, and multidigit hole is installed in left and right alignment.Control at center
It is provided with tool on finger bar, and finger bar and installing hole is installed, effectively can be installed, and operates also extremely
Convenient, increased the feature of equipment, by being provided with multidigit bar mouth on the jig plate of center, and multidigit bar mouth be provided with many
Individual, it is spaced substantially equidistant so that enhanced convenience when miscellaneous part is installed so that the feature of equipment is higher, by gold utensil spiral shell
Hole slot is provided with silk head, and the position of hole slot is equidistantly positioned, stability when device is installed is adds somewhat to,
Meet the needs of people.
Referring to Fig. 5～7, the horizontal rotation axle portion 23 includes motor mount plate 2 32, motor mount plate one 33, motor
34th, motor fixed plate 36, belt wheel 2 43, bearing gasket 48 and Pulley shaft 49, the side of motor mount plate 1 is provided with motor
Installing plate 2 32, and motor mount plate 2 32, installed in the bottom of motor 34, the top of motor 34 is provided with backing plate 35, and backing plate
35 top is provided with motor fixed plate 36, and motor fixed plate 36 is installed in the side of motor adjustment block 37, and motor adjustment block
37 side is provided with trunnion axis adjustment block 38, and the side of trunnion axis adjustment block 38 is provided with sensing chip 40, motor fixed plate 36
Installed in the bottom of belt wheel 1, and the side of belt wheel 1 is provided with belt wheel 2 43, and the bottom of belt wheel 2 43 is provided with belt wheel
3 45, the side of motor mount plate 2 32 was provided with line cover plate 51, and the side of line cover plate 51 excessively is provided with Pulley shaft 49,
Pulley shaft 49 is provided with bearing 47, the bottom peace of bearing gasket 48 installed in the top of bearing gasket 48, the top of Pulley shaft 49
Equipped with belt wheel 4 46, and the bottom of belt wheel 4 46 is provided with tool installing plate 50.By having trunnion axis connecting plate, and trunnion axis
Connecting plate is fixed on horizontal connecting plate, horse backing plate can be made to slide in motor mount plate one by screw, so as to play tune
The effect of horizontal axle belt tension, is provided by cover so that equipment is more safe when operation, increased peace
Full performance so that the feature of equipment is higher, is provided by arm beam, and arm beam internal structure is hollow type, motor
Installing plate two is connected with arm beam, and two pieces of motor mount plate one are loaded on two both sides of motor mount plate respectively, and backing plate is refilled thereon,
Motor is placed on motor fixed plate, and motor fixed plate is installed in backing plate groove, is fixed with motor adjustment block, by spiral shell on cushion block
Silk can make motor fixed plate slide in backing plate, so as to play a part of governor motor belt tension.
The present invention is not limited to above-mentioned embodiment, using or approximation method identical with the above embodiment of the present invention or dress
Put, obtained from other five axle vertical type mechanical hand multimachine intarconnected cotrol methods of punching press and vertical type mechanical hand, all in the present invention
Protection domain within.
Claims (10)
1. a kind of five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press and stamping line, it is characterised in which includes
Following steps：
(1) on one article of stamping line, the one or five axle vertical type mechanical hand of interval setting, the first press machine, the two or five axle are straight
Vertical mechanical handss, the second press machine, the three or five axle vertical type mechanical hand；The five axles vertical type mechanical hand is provided with center and controls
Tool, arm part, horizontal rotation axle portion, arm turning part, swing arm portion and base portion；
(2) stamping line also sets up a control system, and the control system includes a master controller and multiple from control
Device, multiple described be separately positioned in five axle vertical type mechanical hands and punch press machine from controller, and control its action；
The control system, by CAN controlling bus, master controller is connected five axle vertical type mechanical hands and press machine respectively
From controller, a CAN network is formed；
(3) stamping line is additionally provided with vision detection system, and the vision detection system includes that the first motion capture is imaged
Head, the second motion capture photographic head and the 3rd product quality detection means, the first motion capture photographic head is arranged on the one or five axle
Vertical type mechanical hand and the front of the first punch press machine, the second motion capture photographic head is arranged on the two or five axle vertical type mechanical hand
With the front of the second punch press machine, the 3rd product quality detection means is arranged on the front of the three or five axle vertical type mechanical hand；
The vision detection system is connected with master controller by CAN controlling bus；
(4) the 1st axle vertical type mechanical hands draw sheet metal component from the position for placing raw material, and sheet metal component is placed into first
In the diel of punch press machine, during the one or five axle vertical type manipulator behavior, the first motion capture photographic head is caught
Two signals are caught, signal one is the action message of the one or five axle vertical type mechanical hand, signal two is punching press in the first punch press machine
Mould is placed the real time imaging after sheet metal component；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and by original activities track be built in advance
Comparison movement locus in master controller is contrasted：When original activities track is with to compare movement locus consistent, then under executing
One step (5)；When original activities track is with to compare movement locus inconsistent, then sends alarm and stop the one or five axle vertical type machine
Tool handss, the action of the first punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is simultaneously converted into master controller the view data of original mould state, and by original
The view data of beginning mould state is contrasted with built-in in advance view data in the host controller：When original mould state
View data is consistent with built-in in advance view data in the host controller, then execute next step (5)；When original mould shape
The view data of state is inconsistent with built-in in advance view data in the host controller, then send alarm and to stop the one or five axle straight
Vertical mechanical handss, the action of the first punch press machine, member to be operated excludes abnormal；
(5) when in step (4), signal one, signal two are all without exception, the first punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the first punch press machine opens diel, and the two or five axle vertical type mechanical hand is from the first punch press machine interior suction
Sheet metal component is taken, and sheet metal component is placed in the second punch press machine, during the two or five axle vertical type manipulator behavior, the
Two motion capture photographic head catch two signals, and signal one for the action message of the two or five axle vertical type mechanical hand, signal two is
Diel real time imaging in second punch press machine；
During two signals are transmitted to master controller by CAN controlling bus,
The action message of signal one is converted into original activities track by master controller, and by original activities track be built in advance
Comparison movement locus in master controller is contrasted：When original activities track is with to compare movement locus consistent, then under executing
One step (6)；When original activities track is with to compare movement locus inconsistent, then sends alarm and stop the two or five axle vertical type machine
Tool handss, the action of the second punch press machine, member to be operated excludes abnormal；
The diel real time imaging of signal two is simultaneously converted into master controller the view data of original mould state, and by original
The view data of beginning mould state is contrasted with built-in in advance view data in the host controller：When original mould state
View data is consistent with built-in in advance view data in the host controller, then execute next step (6)；When original mould shape
The view data of state is inconsistent with built-in in advance view data in the host controller, then send alarm and to stop the two or five axle straight
Vertical mechanical handss, the action of the second punch press machine, member to be operated excludes abnormal；
(6) when in step (5), signal one, signal two are all without exception, the second punch press machine carries out punching press to sheet metal component；
After the completion of punching press, the second punch press machine opens diel, and the three or five axle vertical type mechanical hand is inhaled from the second punch press machine
The detection through the 3rd product quality detection means after product is taken, detects that qualified product is placed into finished product area, detection is failed
Product is placed into recovery area.
2. five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press according to claim 1, it is characterised in that described
In step (6), the 3rd product quality detection means obtains the product picture information of stamping products, and by product picture information
Be transported to master controller, calculated by the built-in program of master controller, stamping products are carried out with surface and profile scan, and with built-in
The contrast of qualified stamping products information, judge whether punching press product out qualified, master controller controls the according to judged result
Stamping products are placed into finished product area or recovery area by three or five axle vertical type mechanical hands；
Wherein, stamping products surface and profile scan include surface character scanning and the product profile scan of product, product
Surface character scans through the photographic head of the 3rd product quality detection means product surface is carried out taking pictures acquisition product surface and draws
Trace depth and roughness, and obtain the punching press dimensional accuracy of product；
Product profile scan gathers stamping products point position in space by the three-dimensional laser scanner of the 3rd product quality detection means
Information, sets up the 3-dimensional image model of object.
3. five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press according to claim 2, it is characterised in that described
Photographic head include shooting, image acquisition, image procossing, CPU, input/output interface, test product is obtained by photographic head
Picture signal, obtains product picture information, then becomes digital signal by A/D conversion and sends in master controller, according to picture
The information of element distribution, brightness and color, enters row operation to extract the feature of target image, then default further according to master controller
Criterion exports judged result.
4. five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press according to claim 1, it is characterised in that described
The product picture information conveyance that the photographic head of the 3rd product quality detection means is obtained in master controller, by binaryzation computing
Product picture information processing is carried out, then using interior point and the border of the target image in Blob algorithm detection product picture information
Point, draws girth, the area of object, and then calculates 6 not bending moment and circularities, this 7 data are known as characteristic quantity
Not, so detect stamping products punching press dimensional accuracy.
5. five axle vertical type mechanical hand multimachine intarconnected cotrol method of punching press according to claim 1, it is characterised in that step
(3), (4), (5), the one or five axle vertical type mechanical hand in (6), the two or five axle vertical type mechanical hand and the three or five axle vertical type
It is equipped with mechanical hand by position, speed and electric current Three-loop control, realizes output speed and distance accurately replicates input requirements
Servo controller for position, electric current loop ensure servo controller for position electric current in dynamic be optimum waveform, speed ring
Ensure that input request signal is accurately replicated in servo controller for position output speed at any time and position with position ring
Speed and position；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, and speed ring is by position
Detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal and position by outside
Put ring actuator composition, it is ensured that positioning precision, it is intended that position pulse signal as the input of position ring, position ring actuator defeated
Go out the input signal as speed ring, the output of velocity loop regulator exports three-phase as the input signal of electric current loop, electric current loop
The switching signal of PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links is by simulation
Control is realized with PID cascade compensation.
6. a kind of punching press for implementing one of claim 1 to 5 five axle vertical type mechanical hand multimachine intarconnected cotrol method of the punching press
Production line, it is characterised in that the stamping line is provided with vertical type mechanical hand, the vertical type mechanical hand is provided with center and controls
Tool, arm part, horizontal rotation axle portion, arm turning part, swing arm portion and base portion；The swing arm portion is arranged in base portion,
The arm part is fixedly connected in swing arm portion, and the arm turning part is fixedly connected on the transverse shifting slide block of arm part,
The horizontal rotation axle portion is connected to the front end of arm turning part, before the center tool is fixedly installed on horizontal rotation axle portion
End.
7. stamping line according to claim 6, it is characterised in that the vertical type mechanical hand is additionally provided with position servo
Control device, the servo controller for position is realized output speed and distance is accurate by position, speed and electric current Three-loop control
The servo controller for position of input requirements is really replicated, and electric current loop ensures the electric current of servo controller for position in dynamic for most
Good waveform, it is defeated that speed ring and position ring ensure that servo controller for position output speed at any time and position are accurately replicated
Enter speed and the position of semaphore request；
Electric current loop is made up of current sample feedback circuit and current loop controller, completes output torque control, and speed ring is by position
Detection feedback circuit, speed calculation and velocity loop regulator composition, realize stepless time adjustment, and position ring specifies signal and position by outside
Put ring actuator composition, it is ensured that positioning precision, it is intended that position pulse signal as the input of position ring, position ring actuator defeated
Go out the input signal as speed ring, the output of velocity loop regulator exports three-phase as the input signal of electric current loop, electric current loop
The switching signal of PWM controller, the mutually coordinated position command of realizing of three links is followed, and the actuator of three links is by simulation
Control is realized with PID cascade compensation.
8. stamping line according to claim 7, it is characterised in that the servo controller for position is arranged on uprightly
Formula mechanical hand, vertical type mechanical hand is built-in with servomotor, and the servo controller for position includes the motor being electrically connected to each other
Special control single chip computer, current sensor, intelligent power IPM module, permagnetic synchronous motor PMSM and increment type magnetic encoder,
The special control single chip computer of the motor is built-in with three-phase motor drive module, A/D modular converter, eputmeter module.
9. vertical type mechanical hand according to claim 6, it is characterised in that the center tool includes finger bar, center
Jig plate, sucker and gold utensil screw terminal, the bottom of the finger bar is provided with center jig plate, the bottom of the center jig plate
T-shaped threeway is installed, the top of the sucker is provided with lock pin, and the top of the gold utensil screw terminal is provided with gold utensil.
10. stamping line according to claim 6, it is characterised in that the horizontal rotation axle portion includes that motor is installed
Plate two, motor mount plate one, motor, motor fixed plate, belt wheel two, bearing gasket and Pulley shaft, the motor mount plate one
Side is provided with motor mount plate two, and motor mount plate two, installed in the bottom of motor, the top of the motor is provided with pad
Plate, and the top of backing plate is provided with motor fixed plate, the motor fixed plate is installed in the side of motor adjustment block, and motor is adjusted
The side of monoblock is provided with trunnion axis adjustment block, and the side of the trunnion axis adjustment block is provided with sensing chip, and the motor is fixed
Plate is installed in the bottom of belt wheel one, and the side of belt wheel one is provided with belt wheel two, and the bottom of the belt wheel two is provided with belt wheel three,
The side of the motor mount plate two was provided with line cover plate, and the side of line cover plate excessively is provided with Pulley shaft, the belt
Wheel shaft is provided with bearing installed in the top of bearing gasket, the top of the Pulley shaft, and the bottom of the bearing gasket is provided with
Wheel four, and the bottom of belt wheel four is provided with tool installing plate.
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| CN107682662A (en) * | 2017-09-01 | 2018-02-09 | 中车青岛四方机车车辆股份有限公司 | A kind of acquisition system for manufacturing data |
| CN107891081A (en) * | 2017-11-04 | 2018-04-10 | 宁波德科自动门科技有限公司 | A kind of cap presser of conveniently mold changing |
| CN108500171A (en) * | 2018-06-12 | 2018-09-07 | 佛山市百明实业有限公司 | A kind of press machine with mechanical arm |
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