CN106444674B - Punching five-axis vertical manipulator multi-machine interconnection control method and punching production line - Google Patents
Punching five-axis vertical manipulator multi-machine interconnection control method and punching production line Download PDFInfo
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- CN106444674B CN106444674B CN201610908063.6A CN201610908063A CN106444674B CN 106444674 B CN106444674 B CN 106444674B CN 201610908063 A CN201610908063 A CN 201610908063A CN 106444674 B CN106444674 B CN 106444674B
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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 multi-machine interconnection control method of a five-axis vertical mechanical arm for stamping and a stamping production line, wherein centralized management and decentralized control are realized through a CAN control bus and a visual detection system, a main controller respectively controls the operation of the five-axis vertical mechanical arm and a stamping machine tool on the same production line through the CAN control bus, and a first motion capture camera and a second motion capture camera respectively monitor whether the motion of the first five-axis vertical mechanical arm and the motion of the second five-axis vertical mechanical arm are in place or not and whether the first stamping machine tool and the second stamping machine tool are in a safe state or not during stamping; the camera of the third product quality detection device detects the size and appearance of the punched product, the three-dimensional laser scanner detects the punching structure of the punched product, whether the punched product is qualified or not is detected, and automatic production is achieved. The invention also discloses a stamping production line which is provided with the vertical manipulator.
Description
Technical Field
The invention relates to the technical field of mechanical automation control, in particular to a stamping five-axis vertical manipulator multi-machine interconnection control method and a stamping production line for implementing the control method.
Background
With the development of modern industry, people invent mechanical arms in order to improve production efficiency, stabilize and improve product quality, improve labor conditions of workers and accelerate the realization of industrial production mechanization and automation, and the mechanical arms are widely applied to the production process in a large scale, especially in the occasions of high temperature, high pressure, dust, noise, radioactivity and pollution. The mechanical arm is a new technology appearing in the field of modern automatic control and becomes an important component in modern industrial production systems. The mechanical arm is one kind of industrial robot, and consists of operating machine, controller, servo driving system and detecting sensor.
However, with the problem of difficult recruitment, the factory needs to change from population labor intensive to technology intensive, and the automatic and mechanized production replaces the traditional manual operation. In particular, in a stamping workshop, since stamping equipment in the stamping workshop has certain dangerousness during operation, operators can be easily damaged by carelessness, and casualties can be caused in severe cases.
Disclosure of Invention
The invention provides a multi-machine interconnection control method of five-axis stamping vertical manipulators, aiming at the defects of the prior art, the control system is used for carrying out centralized management and decentralized control on a plurality of five-axis stamping vertical manipulators and a vision detection system, respectively controlling the operation of different stamping machine tools and five-axis stamping vertical manipulators on the same production line, detecting whether the produced stamping products are qualified or not, realizing the full-automatic production of a stamping workshop and an unmanned workshop, having high efficiency and high speed, improving the production efficiency and the product qualification rate, reducing the labor intensity and improving the safety of operators.
The invention also provides a press line for implementing the control method.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a multi-machine interconnection control method for five-axis stamping vertical manipulators is characterized by comprising the following steps:
(1) Arranging a first five-axis vertical manipulator, a first stamping machine tool, a second five-axis vertical manipulator, a second stamping machine tool and a third five-axis vertical manipulator on a stamping production line at intervals; the five-axis vertical manipulator is provided with a central jig, a hand arm part, a horizontal rotating shaft part, an arm overturning part, a swing arm part and a base part;
(2) The punching production line is also provided with a control system, the control system comprises a main controller and a plurality of sub-controllers, and the sub-controllers are respectively arranged in the five-axis vertical manipulator and the punching machine tool and control the actions of the five-axis vertical manipulator and the punching machine tool;
the control system connects the main controller with the five-axis vertical manipulator and the slave controller of the punching machine respectively through a CAN control bus to form a CAN bus network;
(3) The punching production line is also provided with a visual detection system, the visual detection system comprises a first motion capture camera, a second motion capture camera and a third product quality detection device, the first motion capture camera is arranged in front of the first five-axis vertical manipulator and the first punching machine tool, the second motion capture camera is arranged in front of the second five-axis vertical manipulator and the second punching machine tool, and the third product quality detection device is arranged in front of the third five-axis vertical manipulator;
the visual detection system is connected with the main controller through a CAN control bus;
(4) The method comprises the following steps that a first five-axis vertical type mechanical arm absorbs a sheet metal part from a position where raw materials are placed, the sheet metal part is placed in a stamping die of a first stamping machine tool, in the action process of the first five-axis vertical type mechanical arm, a first action capturing camera captures two signals, wherein the first signal is action information of the first five-axis vertical type mechanical arm, and the second signal is a real-time image of the stamping die in the first stamping machine tool after the sheet metal part is placed;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (5); when the original action track is inconsistent with the comparison action track, an alarm is given out and the actions of the first five-axis vertical manipulator and the first punching machine tool are stopped until an operator eliminates the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (5); when the image data of the original mold state is inconsistent with the image data which is pre-arranged in the main controller, an alarm is given out and the actions of the first five-axis vertical manipulator and the first punching machine tool are stopped until an operator eliminates the abnormity;
(5) When the first signal and the second signal are not abnormal in the step (4), the first stamping machine tool stamps the sheet metal part;
after stamping is completed, a stamping die is opened by a first stamping machine tool, a sheet metal part is sucked from the first stamping machine tool by a second five-axis vertical manipulator and is placed in a second stamping machine tool, and in the action process of the second five-axis vertical manipulator, two signals are captured by a second action capturing camera, wherein the first signal is the action information of the second five-axis vertical manipulator, and the second signal is a real-time image of the stamping die in the second stamping machine tool;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (6); when the original action track is inconsistent with the comparison action track, an alarm is given out and the actions of the second five-axis vertical manipulator and the second punching machine tool are stopped until an operator eliminates the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (6); when the image data of the original mold state is inconsistent with the image data which is pre-built in the main controller, an alarm is given out and the actions of the second five-axis vertical manipulator and the second punching machine tool are stopped until an operator eliminates the abnormity;
(6) When the first signal and the second signal are not abnormal in the step (5), the second stamping machine tool stamps the sheet metal part;
after the punching is completed, the second punching machine tool opens the punching die, the third five-axis vertical manipulator absorbs the product from the second punching machine tool and then detects the product through the third product quality detection device, the qualified product is detected and placed in the finished product area, and the failed product is detected and placed in the recovery area.
As a further improvement, in the step (6), the third product quality detection device acquires product picture information of the stamped product, and transmits the product picture information to the main controller, the product picture information is calculated by a program built in the main controller, the surface and the contour of the stamped product are scanned and compared with built-in qualified stamped product information, whether the stamped product is qualified or not is judged, and the main controller controls the third five-axis vertical manipulator to place the stamped product in a finished product area or a recovery area according to a judgment result;
the surface and contour scanning of the stamped product comprises surface feature scanning and product contour scanning of the product, wherein the surface feature scanning of the product is carried out by photographing the surface of the product through a camera of the third product quality detection device to obtain the surface scratch depth and roughness of the product and obtain the stamping size precision of the product;
and (4) scanning the product outline, and acquiring spatial point location information of the punched product by using a three-dimensional laser scanner of the third product quality detection device to establish a three-dimensional image model of the object.
The camera comprises a camera, an image acquisition unit, an image processing unit, a CPU and an input/output interface, the camera acquires an image signal of a detected product to obtain product picture information, the product picture information is converted into a digital signal through A/D conversion and transmitted to the main controller, the operation is performed according to the information of pixel distribution, brightness and color to extract the characteristics of a target image, and then a judgment result is output according to a judgment criterion preset by the main controller.
As a further improvement, the product picture information acquired by the camera of the third product quality detection device is transmitted to the main controller, the product picture information is processed through binarization operation, then the Blob algorithm is used for detecting the inner points and boundary points of the target image in the product picture information to obtain the perimeter and area of the object, then 6 invariant moments and circularity are calculated, and the 7 data are used as characteristic quantities for identification, so as to detect the stamping size precision of the stamped product.
As a further improvement, position, speed and current three closed-loop control devices are arranged in the first five-axis vertical manipulator, the second five-axis vertical manipulator and the third five-axis vertical manipulator in the steps (3), (4), (5) and (6) to accurately copy the position servo control device with the input requirement on the output speed and distance, the current loop ensures that the current of the position servo control device is in the optimal waveform in the dynamic state, and the speed loop and the position servo control device accurately copy the speed and the position required by the input signal at any time;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
A stamping production line for implementing the five-axis stamping vertical manipulator multi-machine interconnection control method is provided with a vertical manipulator, wherein the vertical manipulator is provided with a central jig, a manipulator part, a horizontal rotating shaft part, an arm overturning part, a swing arm part and a base part; the swing arm part is arranged on the base part, the arm part is fixedly connected to the swing arm part, the arm overturning part is fixedly connected to the transverse moving sliding block of the arm part, the horizontal rotating shaft part is connected to the front end of the arm overturning part, and the central jig is fixedly arranged at the front end of the horizontal rotating shaft part.
As a further improvement, the vertical manipulator is further provided with a position servo control device, the position servo control device is controlled by three closed loops of position, speed and current, the position servo control device realizes that the output speed and the distance accurately copy the position servo control device required by the input, the current loop ensures that the current of the position servo control device is the optimal waveform in the dynamic state, and the speed loop and the position environment-friendly position servo control device accurately copy the speed and the position required by the input signal at any time;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
As a further improvement, the position servo control device is arranged on a vertical manipulator, a servo motor is arranged in the vertical manipulator, the position servo control device comprises a motor-dedicated control single chip microcomputer, a current sensor, an intelligent power IPM module, a PMSM (permanent magnet synchronous motor) and an incremental magnetic encoder which are electrically connected with each other, and a three-phase motor driving module, an A/D (analog/digital) conversion module and an event calculator module are arranged in the motor-dedicated control single chip microcomputer.
As a further improvement, the central jig comprises a finger strip, a central jig plate, a sucker and a hardware fitting screw head, the central jig plate is installed at the bottom of the finger strip, a T-shaped tee joint is installed at the bottom of the central jig plate, a core insert is installed at the top of the sucker, and a hardware fitting is installed at the top of the hardware fitting screw head.
As a further improvement, the horizontal rotation axial region includes motor mounting panel two, motor mounting panel one, motor fixed plate, band pulley two, bearing pad and pulley axle, motor mounting panel two is installed to one side of motor mounting panel one, and motor mounting panel two installs the bottom at the motor, the top of motor is provided with the backing plate, and the top of backing plate installs the motor fixed plate, the motor fixed plate is installed in one side of motor adjusting block, and one side of motor adjusting block is provided with the horizontal axis adjusting block, the response piece is installed to one side of horizontal axis adjusting block, the motor fixed plate is installed in the bottom of band pulley one, and one side of band pulley one is provided with band pulley two, band pulley three is installed to the bottom of band pulley two, the line apron is installed to one side of motor mounting panel two, and installs the pulley axle in one side of line apron, the pulley axle is installed at the top of bearing pad, the bearing is installed at the top of belt axle, band pulley four is installed to the bottom of bearing pad, and the bottom of band pulley four is provided with the tool mounting panel.
The invention has the beneficial effects that: the invention carries out centralized management and decentralized control through a CAN control bus and a visual detection system, a main controller respectively controls the operation of a five-axis vertical manipulator and a punching machine tool on the same production line through the CAN control bus, and a first action capturing camera and a second action capturing camera respectively monitor whether the actions of the first five-axis vertical manipulator and the second five-axis vertical manipulator are in place and whether the first punching machine tool and the second punching machine tool are in a safe state during punching, so that other impurities except sheet metal parts are prevented from being contained in a punching die during punching; the camera of the third product quality detection device detects the size and appearance of the punched product, the three-dimensional laser scanner detects the punching structure of the punched product, whether the punched product is qualified or not is detected, and automatic production is achieved.
The slave controllers on the vertical manipulators are connected with the same main processor through the CAN control bus, so that high-efficiency, synchronous and centralized management is realized, the operation conditions of the vertical manipulators are mastered in real time, and intelligent allocation production is realized.
The swing arm portion of vertical type manipulator realizes the swing action of manipulator on the plane, and the arm upset portion realizes the upset action on the horizontal plane of horizontal rotation axial region and arm portion, and central tool is used for absorbing the punching press product of different shape specifications.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of a stamping line of the present embodiment;
fig. 2 is a schematic view of the overall structure of the five-axis stamping vertical manipulator according to the embodiment;
FIG. 3 is a block diagram showing the overall control of the position servo control apparatus according to the present embodiment;
FIG. 4 is an exploded view of the center fixture of the present embodiment;
FIG. 5 is a schematic view of a horizontal rotation shaft of the present embodiment;
FIG. 6 is an enlarged view of the portion A in FIG. 5;
fig. 7 is an enlarged structural diagram of a portion B in fig. 5.
In the figure: 11. the robot comprises a first five-axis vertical manipulator, a 12-first stamping machine, a 13-second five-axis vertical manipulator, a 14-second stamping machine, a 15-third five-axis vertical manipulator, a 21-center jig, a 22-arm part, a 23-horizontal rotating shaft part, a 24-arm turnover part, a 25-swing arm part, a 26-base part, a 211-finger strip, a 212-T-shaped tee joint, a 213-center jig plate, a 214-suction cup, a 215-insertion core, a 216-hardware head, a 217-hardware tool, a 31-arm beam, a 32-motor mounting plate two, a 33-motor mounting plate one, a 34-motor, a 35-backing plate, a 36-motor fixing plate, a 37-motor adjusting block, a 38-horizontal shaft adjusting block, a 39-horizontal shaft connecting plate, a 40-sensing sheet, a 41-belt wheel one, a 42-covering, a 43-belt wheel two, a 44-double-shaft speed reducer, a 45-belt wheel three, a 46-belt wheel four, a 47-bearing, a 48-bearing pad, a 49-belt wheel shaft, a 50-jig mounting plate, a 51-cover plate.
Detailed Description
In an embodiment, referring to fig. 1, the method for controlling interconnection of multiple machines of a five-axis stamping vertical manipulator provided in the embodiment includes the following steps:
(1) A first five-axis vertical manipulator 11, a first stamping machine tool 12, a second five-axis vertical manipulator 13, a second stamping machine tool 14 and a third five-axis vertical manipulator 15 are arranged on a stamping production line at intervals; the five-axis vertical manipulator is provided with a central jig 21, an arm part 22, a horizontal rotating shaft part 23, an arm overturning part 24, a swing arm part 25 and a base part 26;
(2) The punching production line is also provided with a control system, the control system comprises a master controller and a plurality of slave controllers, and the slave controllers are respectively arranged in the five-axis vertical manipulator and the punching machine tool and control the actions of the five-axis vertical manipulator and the punching machine tool;
the control system is characterized in that a master controller is respectively connected with a five-axis vertical manipulator and a slave controller of a punching machine tool through a CAN control bus to form a CAN bus network;
(3) The punching production line is also provided with a visual detection system, the visual detection system comprises a first motion capture camera, a second motion capture camera and a third product quality detection device, the first motion capture camera is arranged in front of the first five-axis vertical manipulator 11 and the first punching machine tool, the second motion capture camera is arranged in front of the second five-axis vertical manipulator 13 and the second punching machine tool, and the third product quality detection device is arranged in front of the third five-axis vertical manipulator 15;
the visual detection system is connected with the main controller through a CAN control bus;
(4) The method comprises the following steps that a first five-axis vertical manipulator 11 absorbs a sheet metal part from a position where raw materials are placed, the sheet metal part is placed in a stamping die of a first stamping machine tool, in the action process of the first five-axis vertical manipulator 11, a first action capturing camera captures two signals, wherein the first signal is action information of the first five-axis vertical manipulator 11, and the second signal is a real-time image of the stamping die in the first stamping machine tool after the sheet metal part is placed;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (5); when the original action track is inconsistent with the comparison action track, an alarm is given out and the actions of the first five-axis vertical manipulator 11 and the first punching machine tool are stopped until the operator eliminates the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (5); when the image data of the original mold state is inconsistent with the image data pre-built in the main controller, an alarm is given and the actions of the first five-axis vertical manipulator 11 and the first punching machine tool are stopped until an operator eliminates the abnormality; the stamping die mainly prevents the stamping die from containing other impurities except sheet metal parts;
(5) When the first signal and the second signal are not abnormal in the step (4), the first stamping machine tool stamps the sheet metal part;
after the punching is finished, the first punching machine tool opens a punching die, the second five-axis vertical mechanical arm 13 sucks a sheet metal part from the first punching machine tool and places the sheet metal part into the second punching machine tool, and in the action process of the second five-axis vertical mechanical arm 13, the second action capturing camera captures two signals, wherein the signal I is the action information of the second five-axis vertical mechanical arm 13, and the signal II is a real-time image of the punching die in the second punching machine tool;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (6); when the original action track is inconsistent with the comparison action track, an alarm is given out and the actions of the second five-axis vertical manipulator 13 and the second punching machine tool are stopped until the operator eliminates the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (6); when the image data of the original mold state is inconsistent with the image data pre-built in the main controller, an alarm is given and the actions of the second five-axis vertical manipulator 13 and the second punching machine tool are stopped until the operator eliminates the abnormity;
(6) When the first signal and the second signal are not abnormal in the step (5), the second stamping machine tool stamps the sheet metal part;
after the punching is completed, the second punching machine tool opens the punching die, the third five-axis vertical manipulator 15 absorbs the product from the second punching machine tool and then detects the product through the third product quality detection device, the qualified product is detected and placed in the finished product area, and the failed product is detected and placed in the recovery area.
In the step (6), the third product quality detection device acquires product picture information of the stamped product, transmits the product picture information to the main controller, performs surface and contour scanning on the stamped product by program calculation built in the main controller, compares the product with built-in qualified stamped product information, and judges whether the stamped product is qualified, and the main controller controls the third five-axis vertical manipulator 15 to place the stamped product in a finished product area or a recovery area according to a judgment result;
the surface and contour scanning of the stamped product comprises surface feature scanning and product contour scanning of the product, wherein the surface feature scanning of the product is carried out by photographing the surface of the product through a camera of the third product quality detection device to obtain the surface scratch depth and roughness of the product and obtain the stamping size precision of the product;
and (4) scanning the product outline, acquiring spatial point location information of the punched product by using a three-dimensional laser scanner of the third product quality detection device, and establishing a three-dimensional image model of the object.
The camera comprises a camera, an image acquisition unit, an image processing unit, a CPU and an input/output interface, image signals of a detected product are obtained through the camera to obtain product picture information, the product picture information is converted into digital signals through A/D conversion and is transmitted to the main controller, the characteristics of a target image are extracted through operation according to the information of pixel distribution, brightness and color, and then a judgment result is output according to a judgment criterion preset by the main controller.
And the product picture information acquired by the camera of the third product quality detection device is transmitted to the main controller, the product picture information is processed through binarization operation, then the inner point and the boundary point of a target image in the product picture information are detected by utilizing a Blob algorithm to obtain the perimeter and the area of an object, then 6 invariant moments and circularity are calculated, and the 7 data are used as characteristic quantities to be identified, so that the stamping size precision of a stamping product is detected.
Position, speed and current three closed-loop control is respectively arranged in the first five-axis vertical manipulator 11, the second five-axis vertical manipulator 13 and the third five-axis vertical manipulator 15 in the steps (3), (4), (5) and (6), so that a position servo control device for accurately copying the input requirement on the output speed and distance is realized, a current loop ensures that the current of the position servo control device is in the optimal waveform in the dynamic state, and the speed loop and the position servo control device accurately copy the speed and the position required by the input signal at any time;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
Referring to fig. 2, the stamping line provided in this embodiment further includes a vertical manipulator, a central fixture is disposed on the vertical manipulator, and the vertical manipulator includes a central fixture 21, a hand arm 22, a horizontal rotation shaft 23, an arm turning portion 24, a swing arm 25, and a base portion 26; the swing arm part 25 is arranged on the base part 26, the arm part 22 is fixedly connected to the swing arm part 25, the arm overturning part 24 is fixedly connected to the transverse moving slider of the arm part 22, the horizontal rotating shaft part 23 is connected to the front end of the arm overturning part 24, and the center jig 21 is fixedly arranged at the front end of the horizontal rotating shaft part 23.
Referring to fig. 3, the vertical manipulator is further provided with a position servo control device, the position servo control device is controlled by three closed loops of position, speed and current, so that the position servo control device with the output speed and distance accurately copying the input requirement is realized, the current loop ensures that the current of the position servo control device is in the optimal waveform in a dynamic state, and the speed loop and the position servo control device accurately copy the speed and the position required by the input signal at any time;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
The position servo control device is arranged in the vertical manipulator, a servo motor is arranged in the vertical manipulator, the position servo control device comprises a special motor control single chip microcomputer, a current sensor, an intelligent power IPM module, a PMSM (permanent magnet synchronous motor) and an incremental magnetic encoder which are electrically connected with each other, and a three-phase motor driving module, an A/D (analog to digital) conversion module and an event calculator module are arranged in the special motor control single chip microcomputer.
Referring to fig. 4, the central jig 21 includes a finger strip, a finger strip 211, a central jig plate 213, a suction cup 214 and a fitting screw 216, the central jig plate 213 is installed at the bottom of the finger strip 211, the T-shaped tee 212 is installed at the bottom of the central jig plate 213, the ferrule 215 is installed at the top of the suction cup 214, and the fitting 217 is installed at the top of the fitting screw 216. Finger strip 211 is fixed on central tool board 213, and finger strip 211 installs the four corners at central tool board 213, parallel arrangement mounting hole on the finger strip 211, and the inside of mounting hole is provided with the spout, the hole site in the middle of the central tool board 213 is installed on the arm, and be provided with the helicla flute on the hole site, gold utensil screw head 216 is fixed on gold utensil 217, and the side of gold utensil 217 is provided with the tooth hole, and the degree of depth in tooth hole is 2 centimetres, be provided with the multiple hole on the T type tee bend 212, and align about the multiple hole is and arrange the installation. Be provided with the finger strip on central tool, and install the mounting hole on the finger strip, can effectually install, and operate also very convenience, the functionality of equipment has been increased, through be provided with many strip mouths on central tool board, and many strip mouths are provided with a plurality ofly, the equidistance is arranged, make convenience more when other parts are installed, make the functionality of equipment stronger, through be provided with the hole groove on the gold utensil screw is overhead, and the position equidistance in hole groove sets up, stability when having increased the device installation to a certain extent, satisfy people's needs.
Referring to fig. 5 to 7, the horizontal rotation shaft 23 includes a motor mounting plate two 32, a motor mounting plate one 33, a motor 34, a motor fixing plate 36, a pulley two 43, a bearing pad 48 and a pulley shaft 49, the motor mounting plate two 32 is mounted on one side of the motor mounting plate one 33, the motor mounting plate two 32 is mounted at the bottom of the motor 34, a backing plate 35 is disposed at the top of the motor 34, the motor fixing plate 36 is mounted at the top of the backing plate 35, the motor fixing plate 36 is mounted at one side of the motor adjusting block 37, a horizontal axis adjusting block 38 is disposed at one side of the motor adjusting block 37, an induction sheet 40 is mounted at one side of the horizontal axis adjusting block 38, the motor fixing plate 36 is mounted at the bottom of the pulley one 41, the pulley two 41 is disposed at one side of the pulley one 41, the pulley three 45 is mounted at the bottom of the pulley two 43, a wire passing cover plate 51 is mounted at one side of the motor mounting plate two 32, a pulley shaft 49 is mounted at one side of the wire cover plate 51, a pulley shaft 49 is mounted at the top of the bearing pad 48, a bearing 47 is mounted at the bottom of the bearing pad 48, and a pulley four 46 is disposed at the bottom of the pulley 50. Through there being the horizontal axis connecting plate, and the horizontal axis connecting plate is fixed on the horizontal axis connecting plate, can make the motor backing plate slide on motor mounting panel one through the screw, thereby play the effect of adjusting horizontal axis belt elasticity, through being provided with the cover, make equipment more safety in the operation, the security performance has been increased, make the functionality of equipment stronger, through being provided with the arm roof beam, and arm roof beam inner structure is hollow type, motor mounting panel two is connected with the arm roof beam, two motor mounting panel one are adorned respectively in two both sides of motor mounting panel, the backing plate repacking is on it, the motor is arranged in on the motor fixed plate, the motor fixed plate is installed in the backing plate inslot, be fixed with the motor adjusting block on the cushion, can make the motor fixed plate slide in the backing plate through the screw, thereby play the effect of adjusting motor belt elasticity.
The present invention is not limited to the above embodiments, and other methods and devices for controlling the multi-machine interconnection of the five-axis vertical punching robot and the vertical robot, which are similar or similar to the above embodiments of the present invention, are within the scope of the present invention.
Claims (10)
1. A multi-machine interconnection control method for five-axis stamping vertical manipulators is characterized by comprising the following steps:
(1) A first five-axis vertical manipulator, a first stamping machine tool, a second five-axis vertical manipulator, a second stamping machine tool and a third five-axis vertical manipulator are arranged on a stamping production line at intervals; the five-axis vertical manipulator is provided with a central jig, a hand arm part, a horizontal rotating shaft part, an arm overturning part, a swing arm part and a base part;
(2) The punching production line is also provided with a control system, the control system comprises a master controller and a plurality of slave controllers, and the slave controllers are respectively arranged in the five-axis vertical manipulator and the punching machine tool and control the actions of the five-axis vertical manipulator and the punching machine tool;
the control system connects the main controller with the five-axis vertical manipulator and the slave controller of the punching machine respectively through a CAN control bus to form a CAN bus network;
(3) The stamping production line is also provided with a visual detection system, the visual detection system comprises a first motion capture camera, a second motion capture camera and a third product quality detection device, the first motion capture camera is arranged in front of the first five-axis vertical manipulator and the first stamping machine tool, the second motion capture camera is arranged in front of the second five-axis vertical manipulator and the second stamping machine tool, and the third product quality detection device is arranged in front of the third five-axis vertical manipulator;
the visual detection system is connected with the main controller through a CAN control bus;
(4) The method comprises the following steps that a first five-axis vertical type mechanical arm absorbs a sheet metal part from a position where raw materials are placed, the sheet metal part is placed in a stamping die of a first stamping machine tool, in the action process of the first five-axis vertical type mechanical arm, a first action capturing camera captures two signals, wherein the first signal is action information of the first five-axis vertical type mechanical arm, and the second signal is a real-time image of the stamping die in the first stamping machine tool after the sheet metal part is placed;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (5); when the original action track is inconsistent with the comparison action track, an alarm is given out, the actions of the first five-axis vertical manipulator and the first punching machine tool are stopped, and the operator is waited to remove the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (5); when the image data of the original mold state is inconsistent with the image data which is pre-arranged in the main controller, an alarm is given out and the actions of the first five-axis vertical manipulator and the first punching machine tool are stopped until an operator eliminates the abnormity;
(5) When the first signal and the second signal are not abnormal in the step (4), the first stamping machine tool stamps the sheet metal part;
after the punching is finished, the first punching machine tool opens a punching die, the second five-axis vertical type mechanical arm sucks a sheet metal part from the first punching machine tool and places the sheet metal part into the second punching machine tool, and in the process of the action of the second five-axis vertical type mechanical arm, the second action capturing camera captures two signals, wherein the signal I is the action information of the second five-axis vertical type mechanical arm, and the signal II is a real-time image of the punching die in the second punching machine tool;
the two signals are transmitted to the main controller through the CAN control bus,
the main controller converts the action information of the signal I into an original action track, and compares the original action track with a comparison action track which is pre-built in the main controller: when the original action track is consistent with the comparison action track, executing the next step (6); when the original action track is inconsistent with the comparison action track, an alarm is given out and the actions of the second five-axis vertical manipulator and the second punching machine tool are stopped until an operator eliminates the abnormity;
and the main controller simultaneously converts the real-time image of the stamping die of the signal II into image data of an original die state, and compares the image data of the original die state with image data which is pre-built in the main controller: when the image data of the original mold state is consistent with the image data which is pre-built in the main controller, executing the next step (6); when the image data of the original mold state is inconsistent with the image data which is pre-built in the main controller, an alarm is given out and the actions of the second five-axis vertical manipulator and the second punching machine tool are stopped until an operator eliminates the abnormity;
(6) When the first signal and the second signal are not abnormal in the step (5), the second stamping machine tool stamps the sheet metal part;
after the punching is completed, the second punching machine tool opens the punching die, the third five-axis vertical manipulator absorbs the product from the second punching machine tool and then detects the product through the third product quality detection device, the qualified product is detected and placed in the finished product area, and the failed product is detected and placed in the recovery area.
2. The multi-machine interconnection control method of the five-axis vertical stamping manipulator as claimed in claim 1, wherein in step (6), the third product quality detection device obtains product picture information of a stamped product, and transmits the product picture information to the main controller, and the main controller performs surface and contour scanning on the stamped product through program calculation built in the main controller, compares the product picture information with built-in qualified stamped product information, and judges whether the stamped product is qualified, and the main controller controls the third five-axis vertical stamping manipulator to place the stamped product in a finished product area or a recovery area according to a judgment result;
the surface and contour scanning of the stamped product comprises surface feature scanning and product contour scanning of the product, wherein the surface feature scanning of the product is carried out by photographing the surface of the product through a camera of the third product quality detection device to obtain the surface scratch depth and roughness of the product and obtain the stamping size precision of the product;
and (4) scanning the product outline, and acquiring spatial point location information of the punched product by using a three-dimensional laser scanner of the third product quality detection device to establish a three-dimensional image model of the object.
3. The multi-machine interconnection control method of the five-axis stamping vertical type manipulator as claimed in claim 2, wherein the camera comprises a camera, an image acquisition unit, an image processing unit, a CPU, and an input/output interface, an image signal of a product to be tested is obtained through the camera to obtain product picture information, the product picture information is converted into a digital signal through a/D conversion, the digital signal is transmitted to the main controller, the operation is performed to extract the characteristics of a target image according to the information of pixel distribution, brightness, and color, and then a judgment result is output according to a preset judgment criterion of the main controller.
4. The method for controlling interconnection of multiple machines of five-axis vertical stamping manipulators as claimed in claim 1, wherein the product picture information acquired by the camera of the third product quality detection device is transmitted to the main controller, the product picture information is processed through binarization operation, then the inner points and boundary points of the target image in the product picture information are detected by utilizing Blob algorithm to obtain the perimeter and area of the object, 6 invariant moments and circularity are further calculated, and the 7 data are used as feature quantities for identification, so as to detect the stamping size precision of the stamped product.
5. The multi-machine interconnection control method for the five-axis vertical manipulator for stamping according to claim 1, wherein position, speed and current three closed-loop controls are arranged in the first five-axis vertical manipulator, the second five-axis vertical manipulator and the third five-axis vertical manipulator in the steps (3), (4), (5) and (6) to realize that the output speed and the distance accurately copy the position servo control device required by the input, the current loop ensures that the current of the position servo control device is in the optimal waveform in the dynamic state, and the output speed and the position of the position servo control device at any time accurately copy the speed and the position required by the input signal;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
6. A stamping production line for implementing the five-axis stamping vertical manipulator multi-machine interconnection control method of claims 1 to 5, wherein the stamping production line is provided with a vertical manipulator, and the vertical manipulator is provided with a center jig, a hand arm part, a horizontal rotating shaft part, an arm overturning part, a swing arm part and a base part; the swing arm part is arranged on the base part, the arm part is fixedly connected to the swing arm part, the arm overturning part is fixedly connected to the transverse moving sliding block of the arm part, the horizontal rotating shaft part is connected to the front end of the arm overturning part, and the central jig is fixedly arranged at the front end of the horizontal rotating shaft part.
7. The stamping production line according to claim 6, wherein the vertical manipulator is further provided with a position servo control device, the position servo control device is controlled by three closed loops of position, speed and current, so that the position servo control device can accurately copy the input requirement of the output speed and distance, the current loop ensures that the current of the position servo control device is in an optimal waveform in a dynamic state, and the output speed and position of the position servo control device at any moment accurately copy the speed and position required by the input signal;
the current loop is composed of a current sampling feedback circuit and a current loop controller to complete output torque control, the speed loop is composed of a position detection feedback circuit, a speed calculation and a speed loop regulator to realize stepless speed regulation, the position loop is composed of an external designated signal and a position loop regulator to ensure positioning precision, a designated position pulse signal is used as the input of the position loop, the output of the position loop regulator is used as the input signal of the speed loop, the output of the speed loop regulator is used as the input signal of the current loop, the current loop outputs a switching signal of a three-phase PWM controller, the three links are mutually coordinated to realize position instruction following, and the regulators of the three links are connected with a PID in series through analog control to realize position instruction following.
8. The press line according to claim 7, wherein the position servo control device is provided in a vertical robot having a built-in servo motor, and the position servo control device includes a motor-dedicated control single chip having a built-in three-phase motor driving module, an a/D conversion module, and an event calculator module, a current sensor, an intelligent power IPM module, a PMSM, and an incremental magnetic encoder electrically connected to each other.
9. The punching production line of claim 6, wherein the central jig comprises a finger strip, a central jig plate, a sucker and a hardware screw head, the central jig plate is mounted at the bottom of the finger strip, the T-shaped tee is mounted at the bottom of the central jig plate, the inserting core is mounted at the top of the sucker, and the hardware is mounted at the top of the hardware screw head.
10. The press line according to claim 6, wherein the horizontal rotation shaft portion includes a motor mounting plate two, a motor mounting plate one, a motor fixing plate, a belt pulley two, a bearing pad and a belt pulley shaft, the motor mounting plate two is installed on one side of the motor mounting plate one, the motor mounting plate two is installed at the bottom of the motor, a base plate is arranged at the top of the motor, the motor fixing plate is installed at the top of the base plate, the motor fixing plate is installed at one side of a motor adjusting block, a horizontal shaft adjusting block is arranged on one side of the motor adjusting block, an induction sheet is installed on one side of the horizontal shaft adjusting block, the motor fixing plate is installed at the bottom of the belt pulley one, a belt pulley two is arranged on one side of the belt pulley two, a belt pulley three is installed at the bottom of the belt pulley two, a line cover plate is installed on one side of the motor mounting plate two, the belt pulley shaft is installed on one side of the line cover plate, the belt pulley shaft is installed at the top of the bearing pad, a bearing is installed at the top of the belt pulley shaft, a belt pulley four is installed at the bottom of the bearing pad, and a jig mounting plate is arranged at the bottom of the belt pulley four.
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| CN107297435A (en) * | 2017-07-31 | 2017-10-27 | 沪华五金电子(吴江)有限公司 | Multiple-die press system |
| 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 |
| CN107891081B (en) * | 2017-11-04 | 2019-02-26 | 宁波德科自动门科技有限公司 | A kind of cap presser facilitating mold changing |
| CN108861469B (en) * | 2018-05-18 | 2020-06-23 | 厦门保沣实业有限公司 | Positioning device of pop can cover, using method and system for manufacturing pop can cover |
| 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 |
| CN110834360B (en) * | 2018-07-26 | 2021-06-18 | 苏州汇富弘自动化科技有限公司 | Stamping device, transfer device, automatic stamping equipment and workpiece transfer method |
| CN115393363B (en) * | 2022-10-31 | 2023-03-17 | 山东金帝精密机械科技股份有限公司 | Production early warning method, equipment and medium for bearing retainer |
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