CN107116550A - A kind of punching press metal plate factory thin flat plate material is said good-bye the control method of code fetch unit - Google Patents
A kind of punching press metal plate factory thin flat plate material is said good-bye the control method of code fetch unit Download PDFInfo
- Publication number
- CN107116550A CN107116550A CN201710192970.XA CN201710192970A CN107116550A CN 107116550 A CN107116550 A CN 107116550A CN 201710192970 A CN201710192970 A CN 201710192970A CN 107116550 A CN107116550 A CN 107116550A
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- China
- Prior art keywords
- crawl
- workpiece
- manipulator
- flat plate
- piling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Said good-bye the invention discloses a kind of punching press metal plate factory thin flat plate material the control method of code fetch unit, used punching press metal plate factory thin flat plate material code fetch unit of saying good-bye piles up mechanical arm, stacking pallet including crawl, piles up platform and electric control gear.Thin flat plate class sheet metal component order of this control method in by sheet material stand for piling up when being captured successively due to industrial control computer control crawl pile up manipulator it is vertical on move to the postindustrial control computer control of setpoint distance of the thickness for being less than workpiece apart from size between the upper surface of ring port of the baseplane for the workpiece being crawled to sheet material stand for piling up and capture and pile up manipulator and move horizontally setpoint distance to realize the crawl of saying good-bye of thin flat plate class sheet metal component, sequence is piled up or order crawl efficiency is higher, automaticity is higher, intelligent operation can be realized, manually-operated potential safety hazard is avoided while improving production efficiency, the automatic crawl of thin flat plate class sheet metal component of contour structures rule is particularly suitable for use in piling up.
Description
Technical field
It is specifically a kind of suitable for the thin of punching press metal plate factory the present invention relates to a kind of control method of sheet material code fetch unit
Flat-sheet material is said good-bye the control method of code fetch unit, belongs to punching press metal plate technical equipment field.
Background technology
Metal plate be it is a kind of be directed to the synthesis cold machining process of sheet metal (usual thickness is in below 6mm), including cut, rush/
(such as body of a motor car) is cut/is combined, rolls over, welding, riveting, splicing, being molded, its significant feature is exactly Same Part thickness one
Cause, the product processed by metal plate industry is called sheet metal component, the signified sheet metal component of different industries is typically different, is used for assembling
When address, generally, most important three steps of sheet metal component factory are to cut, rush/cut, roll over.
In general basic equipment includes plate shearing machine, numerical control press/laser, plasma, water jet cutting for sheet metal component processing
Machine/compounding machine, bender and various auxiliary equipments such as uncoiler, levelling machine, flash trimmer, mash welder etc., at present processing are set
The standby operation that realized semi-automation mostly, but the input of raw material and the output element of finished product, circulation are put in storage link etc. still
It is a large amount of to be operated using artificial.
The side put is enumerated for usual use of such as LED lamp cover thin flat plate class sheet metal component semi-finished product of contour structures rule
Formula is piled up in order to transport and check quantity, and usually requires to carry out smearing the specially treateds such as profit grease progress antirust, such as
The making of LED lamp cover is to use the once roll-in pulling shaping, roll-in work on roll-in lathe by circular thin flat plate lampshade semi-finished product
Coating lubricating oil fat is needed before sequence and is damaged, ensured after shaping with reducing roll-in of the disk roller to circular thin flat plate lampshade surface of semi-finished
Presentation quality, and the use of grease easily makes to enumerate to produce between the thin flat plate class sheet metal component semi-finished product put and is adhered, is difficult point
It is typically artificial progress separation code fetch from taking-up.
There is following defect in the mode of production of this traditional artificial code fetch operation：
1. although stamping procedure equipment has realized automation mechanized operation, the side of artificial code fetch thin flat plate class sheet metal component semi-finished product
Formula causes that overall device automaticity is low, utilization rate of equipment and installations is low, production capacity is low, and artificial operation storage or transhipment formality are more numerous
Trivial, efficiency is low；
2. because the speed that the speed of code fetch in production line will keep up with streamline conveyer belt just can guarantee that production is normal
Carry out, therefore labor intensity of operating staff is big, and there is potential safety hazard in artificial crawl Boping sheet metal component semi-finished product, easily cause safety
Accident；
3. the influence of the human factor to manufacturing schedule such as sense of responsibility, mood of operating personnel is larger in artificial code fetch operation,
It is unstable that efficiency is piled up in sequence.
The content of the invention
The code fetch in view of the above-mentioned problems of the prior art, a kind of punching press metal plate factory thin flat plate material of present invention offer is said good-bye
The control method of unit, automaticity is higher, can realize intelligent operation, and artificial operation is avoided while improving production efficiency
Potential safety hazard, be particularly suitable for use in contour structures rule thin flat plate class sheet metal component automatic code fetch.
To achieve these goals, this punching press metal plate factory thin flat plate material is said good-bye used in the control method of code fetch unit
Punching press metal plate factory thin flat plate material code fetch unit of saying good-bye piles up mechanical arm, stacking pallet including crawl, piles up platform and automatically controlled dress
Put；
Described crawl piles up mechanical arm and piles up manipulator including mechanical arm and crawl；Mechanical arm at least includes X-coordinate and driven
Motivation structure or Y-coordinate drive mechanism and Z coordinate drive mechanism；The minor details that manipulator is arranged on mechanical arm, including tool are piled up in crawl
There is the grasping mechanism of planar structure；
Described stacking pallet includes support body and sheet material stand for piling up；Support body is frame structure, including is uniformly arranged in bottom
Supporting leg；Sheet material stand for piling up be vertically arranged, with the barrel shape structure for piling up cavity, the bottom of barrel shape structure is fixedly mounted
On support body, the top of barrel shape structure provided with ring port that is horizontally disposed, being fastened in barrel shape structure, barrel shape structure it is interior
Surface upwardly extends, the inner surface configuration of barrel shape structure and the profile of thin flat plate class sheet metal component concordant with the upper surface of ring port
Identical and barrel shape structure inner surface size and the appearance and size gap of thin flat plate class sheet metal component coordinate；
It is described to pile up that platform is fixedly installed and its upper surface is provided with workpiece locating mechanism and position sensor, pile up
Stacking pallet detent mechanism is additionally provided with platform；
Described electric control gear is piled up loop, pushed away including industrial control computer, location of workpiece backfeed loop, positioning crawl
Shifting is said good-bye loop and counting circuit, and industrial control computer is respectively with piling up the position sensor on platform, mechanical arm, crawl code
Put manipulator electrical connection；
Control method specifically includes following steps：
A. preparation is piled up in crawl：Artificial be moved to stacking pallet is piled up near platform and piles up support by pile up platform
The lower section that frame detent mechanism is positioned at setting position or is moved to stacking pallet using logistics automatical pilot transportation vehicle will pile up support
Frame torr rise and hold in the palm carry stacking pallet be moved to pile up platform nearby and by pile up platform stacking pallet detent mechanism position
In setting position；Or manually stacking pallet is moved near panel beating equipment and positioned by stacking pallet detent mechanism
Stacking pallet is held up and held in the palm and is carried in setting position or the lower section for using logistics automatical pilot transportation vehicle to be moved to stacking pallet
Stacking pallet is moved to panel beating equipment nearby and is positioned at setting position by stacking pallet detent mechanism；
B. capture and pile up：The thin flat plate class sheet metal component that will be piled up on platform order is needed to pile up successively in sheet material stand for piling up
When interior, location of workpiece backfeed loop is first begin to work, and thin flat plate class sheet metal component is sequentially delivered to pile up platform by conveyer belt
It is upper and carried out by the workpiece locating mechanism for piling up platform after the positioning of position, pile up position sensor feedback workpiece on platform
Information in place is to industrial control computer；Loop starts are piled up in positioning crawl, and industrial control computer is to send instruction
Manipulator is piled up in control machinery arm and crawl to be made crawl pile up manipulator to be moved to just to piling up according to the movement of setting program coordinate
The surface setting position of the geometric center of first workpiece on platform, then crawl piles up manipulator and is displaced downwardly to crawl vertically
The planar structure of the mechanism setpoint distance concordant with the upper plane of workpiece is captured to workpiece, and counting circuit works progress simultaneously
Workpiece is counted；Then industrial control computer sends instruction control machinery arm and crawl piles up manipulator according to setting program coordinate
It is mobile to make crawl pile up manipulator to capture the surface setting position that workpiece is moved to sheet material stand for piling up, then capture arranging machine
Tool hand is moved down vertically according to setting program to be stretched into setpoint distance inside sheet material stand for piling up, and industrial control computer sends instruction again
Grasping mechanism is set to unclamp workpiece, workpiece is to fall into inside sheet material stand for piling up, and mechanical arm and crawl pile up manipulator and return to initial bit
The crawl for completing first workpiece is put with piling up, by that analogy, until counting circuit, which feeds back, has piled up quantity to setting numerical value
When complete sheet material stand for piling up dischargeable capacity and pile up, stacking pallet is transported through；
Need to pile up the thin flat plate class sheet metal component semi-finished product order in sheet material stand for piling up in panel beating equipment successively
When, loop starts are piled up in positioning crawl, and industrial control computer sends instruction control machinery arm and manipulator is piled up in crawl
According to setting program coordinate move make crawl pile up manipulator be moved to just to sheet material stand for piling up inner surface geometric center just on
The planar structure that manipulator is displaced downwardly to grasping mechanism according to the vertical coordinate movement of setting program is piled up in square setting position, then crawl
The setpoint distance concordant with the upper plane of first workpiece of the superiors in sheet material stand for piling up is captured to workpiece, is counted
Loop works and carries out workpiece counting simultaneously；Then industrial control computer sends instruction control machinery arm and manipulator is piled up in crawl
Moved according to setting program coordinate make crawl pile up manipulator it is vertical on move to baseplane to the sheet material of the workpiece being crawled and pile up
The distance between upper surface of ring port of frame size is less than the setpoint distance of the thickness of workpiece, then Industry Control meter
Calculation machine sends instruction control machinery arm and crawl piles up manipulator and crawl is piled up manipulator water according to the movement of setting program coordinate
The dynamic setpoint distance of translation, which is realized, says good-bye, then industrial control computer send instruction control machinery arm and crawl pile up manipulator by
Being moved according to setting program coordinate makes crawl pile up manipulator to capture setting position that workpiece is moved in panel beating equipment simultaneously
Unclamp workpiece, mechanical arm and capture to pile up manipulator and return to initial position and complete the crawl of first workpiece, say good-bye and pile up,
By that analogy, until counting circuit feeds back and captured quantity and grabbed to all workpiece in sheet material stand for piling up are completed when setting numerical value
Take, say good-bye and pile up, unloaded stacking pallet is transported through.
A kind of embodiment of the grasping mechanism of manipulator, used punching press metal plate factory are piled up as present invention crawl
Boping sheet material is said good-bye, and to pile up the grasping mechanism of manipulator be negative pressure grasping mechanism, the planar junction of grasping mechanism for the crawl of code fetch unit
Structure is provided with negative pressure hole, and negative pressure hole is connected by pipeline and vacuum cavitations control valve group with negative pressure source, described electric control gear
Industrial control computer is electrically connected with vacuum cavitations control valve group；Crawl piles up manipulator and workpiece is grabbed in described step b
Taking or piling up is that industrial control computer realizes that negative-pressure adsorption is captured or piled up by opening and closing vacuum cavitations control valve group.
The another embodiment of the grasping mechanism of manipulator, used punching press sheet metal worker are piled up as present invention crawl
Factory's Boping sheet material is said good-bye, and to pile up the grasping mechanism of manipulator be electromagnetism grasping mechanism, the plane of grasping mechanism for the crawl of code fetch unit
Structure is provided with magnet coil, and the industrial control computer of described electric control gear is electrically connected with magnet coil；Described step b
Middle crawl piles up manipulator to the crawl of workpiece or piles up that to be industrial control computer by opening and closing magnet coil realize that electromagnetism is inhaled
Attached crawl is piled up.
As the preferred scheme of the present invention, used punching press metal plate factory thin flat plate material piling up for code fetch unit of saying good-bye is flat
Workpiece locating mechanism on platform includes origin reference location riser and passage clamping position riser；Origin reference location riser is fixedly mounted on code
It is laid flat on platform, the interior side elevation of origin reference location riser is the benchmark with the profile reference plane cooperation of thin flat plate class sheet metal component workpiece
Face；Passage clamping position riser sets up to be arranged on and piled up on platform, and the interior side elevation correspondence benchmark of passage clamping position riser is determined
The interior side elevation of position riser is set, and the outer side elevation of passage clamping position riser is connected with extension and contraction control part, and described is automatically controlled
The industrial control computer of device is electrically connected with extension and contraction control part；Positioned in described step b by piling up the workpiece of platform
The mode that mechanism carries out position positioning is industrial control computer by controlling the flexible passage clamping position of extension and contraction control part
The thin flat plate class sheet metal component workpiece that riser is forced between origin reference location riser and passage clamping position riser makes thin flat plate class
The profile reference plane of sheet metal component workpiece is fitted with the interior side elevation of origin reference location riser realizes the accurate reference plane positioning of workpiece.
Scheme as a further improvement on the present invention, used punching press metal plate factory thin flat plate material is said good-bye code fetch unit
Crawl, which is piled up, is additionally provided with claw and claw horizontal extension controlling organization on the grasping mechanism of manipulator, claw is flat around grasping mechanism
It is small to the distance between the planar structure of grasping mechanism size that the geometric center of face structure is set to multiple and claw bottom face
In the thickness of workpiece, the position of correspondence claw provided with setting vertically on the inner surface of the described barrel shape structure of sheet material stand for piling up 22
Neck putting, coordinating with claw width dimensions, the flexible stroke of claw horizontal extension controlling organization and the depth dimensions of neck
Coordinate, the industrial control computer of described electric control gear is electrically connected with claw horizontal extension controlling organization；In described step b
Crawl piles up manipulator to the crawl of workpiece or to pile up be that industrial control computer absorption is captured or while pile up by control
Bi Shixian is opened and closed to the small range of the extension and contraction control claw of claw horizontal extension controlling organization while clamping or unclamping workpiece.
Scheme as a further improvement on the present invention, used punching press metal plate factory thin flat plate material is said good-bye code fetch unit
Sheet material stand for piling up is set to multiple；Described mechanical arm includes X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate driving machine
Structure.
Scheme as a further improvement on the present invention, used punching press metal plate factory thin flat plate material is said good-bye code fetch unit
Crawl is piled up C coordinate drive mechanisms is additionally provided between manipulator and the minor details of mechanical arm, the Industry Control of described electric control gear
Computer is electrically connected with C coordinate drive mechanisms.
Scheme as a further improvement on the present invention, used punching press metal plate factory thin flat plate material is said good-bye code fetch unit
Crawl piles up machinery and is additionally provided with pattern-recognition sensor on hand, and described electric control gear also judges loop, work including pattern-recognition
Industry control computer is electrically connected with pattern-recognition sensor；In described step b crawl pile up manipulator to the crawl of workpiece or
Pattern-recognition judges that loop is first begin to work, the top end face letter of pattern-recognition sensor collection thin flat plate class sheet metal component when piling up
Cease and by being compared the position deviation amount that draws, center control with the standard top end face model built in central control computer
The line position that computer first piles up manipulator according to departure to crawl is captured or piled up again after rectifying a deviation.
Scheme as a further improvement on the present invention, used punching press metal plate factory thin flat plate material is said good-bye code fetch unit
Crawl piles up machinery and is additionally provided with displacement transducer on hand, the industrial control computer and displacement transducer electricity of described electric control gear
Connection；In described step b crawl pile up manipulator to the crawl of workpiece or when piling up industrial control computer according to setting journey
Sequence and the crawl of the feedback control of displacement transducer pile up manipulator and coordinate movement step are carried out to the top end face of thin flat plate class sheet metal component
Enter to approach the numerical value for gathering mode sensor and numerical radius is carried out according to setting program, then obtained according to the curvilinear function of generation
To the more accurate amount of deflection.
As the preferred scheme of the present invention, used punching press metal plate factory thin flat plate material is said good-bye the mechanical arm of code fetch unit
It is gantry type mechanical arm.
Compared with prior art, this punching press metal plate factory thin flat plate material say good-bye code fetch unit control method due to using micro-
The mechanical arm of computer control and crawl pile up manipulator and pile up the thin flat plate class sheet metal component piled up on platform order in plate successively
Piled up successively in panel beating equipment in material stand for piling up or by the thin flat plate class sheet metal component order in sheet material stand for piling up, completely
Operated using computer auto-control, automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are to production
The influence of progress, at the same can from operating personnel's operative skill qualification limitation, it is entirely avoided what artificial operation was present
Drawback；Thin flat plate class sheet metal component order in by sheet material stand for piling up when being captured due to industrial control computer control successively
Crawl pile up manipulator it is vertical on move to ring port of the baseplane for the workpiece being crawled to sheet material stand for piling up upper surface it
Between the setpoint distance postindustrial control computer control crawl of the thickness for being less than workpiece apart from size pile up manipulator water
The dynamic setpoint distance of translation, therefore both made to be adhered second workpiece on the baseplane of first workpiece, crawl is piled up manipulator and put down
Second workpiece is to be stopped to fall into again in sheet material stand for piling up by the inner surface of the ring port of sheet material stand for piling up during shifting, real
The crawl of saying good-bye of existing thin flat plate class sheet metal component, sequence is piled up or order crawl efficiency is higher, is particularly suitable for use in contour structures rule
Thin flat plate class sheet metal component automatic crawl with piling up.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of the present invention；
Fig. 2 is three dimensional structure diagram when manipulator grabbing workpiece is piled up in present invention crawl；
Fig. 3 is the overlooking the structure diagram that the present invention piles up platform.
In figure：1st, mechanical arm is piled up in crawl, 11, mechanical arm, 12, crawl pile up manipulator, 2, stacking pallet, 21, support body,
22nd, sheet material stand for piling up, 3, pile up platform.
Embodiment
With reference to accompanying drawing, the present invention will be further described by taking the thin flat plate class sheet metal component semi-finished product of LED lamp cover as an example below
(below by X-coordinate direction of horizontal left and right directions, horizontal fore-and-aft direction be Y-coordinate direction, vertical above-below direction for Z coordinate side
To, be that the direction of rotary shaft rotation is C coordinate directions along vertical above-below direction).
The core of automated production is ordered into production, i.e. sequence is most vital work in automated production.
The punching press metal plate used in the control method of code fetch unit as shown in figure 1, this punching press metal plate factory thin flat plate material is said good-bye
Machine shop Boping sheet material code fetch unit of saying good-bye piles up mechanical arm 1, stacking pallet 2 including crawl, piles up platform 3 and electric control gear.
Described crawl piles up mechanical arm 1 and piles up manipulator 12 including mechanical arm 11 and crawl；Mechanical arm 11 at least includes X
Coordinate drive mechanism or Y-coordinate drive mechanism and Z coordinate drive mechanism；The end that manipulator 12 is arranged on mechanical arm 11 is piled up in crawl
Section, including the grasping mechanism with planar structure, grasping mechanism can carry out laminating crawl to thin flat plate class sheet metal component.
Described stacking pallet 2 includes support body 21 and sheet material stand for piling up 22；Support body 21 is frame structure, including is uniformly arranged
Supporting leg in bottom；Sheet material stand for piling up 22 be vertically arranged, with the barrel shape structure for piling up cavity, the bottom of barrel shape structure
It is fixedly mounted on support body 21, the top of barrel shape structure is provided with ring port that is horizontally disposed, being fastened in barrel shape structure, bucket
The inner surface of type structure upwardly extend it is concordant with the upper surface of ring port, the inner surface configuration of barrel shape structure and LED lamp cover
The profile of circular thin flat plate class sheet metal component semi-finished product is identical and circular Boping of inner surface size of barrel shape structure and LED lamp cover
The appearance and size gap of plate class sheet metal component semi-finished product coordinates, and the circular thin flat plate class sheet metal component semi-finished product of LED lamp cover can be enumerated
Piled up in stratiform in the sheet material stand for piling up 22 of barrel shape structure.
It is described to pile up that platform 3 is fixedly installed and its upper surface is provided with workpiece locating mechanism and position sensor, pile up
Stacking pallet detent mechanism is additionally provided with platform 3.
Described electric control gear is piled up loop, pushed away including industrial control computer, location of workpiece backfeed loop, positioning crawl
Shifting is said good-bye loop and counting circuit, and industrial control computer is respectively with piling up the position sensor on platform 3, mechanical arm 11, grabbing
Code fetch is put manipulator 12 and electrically connected, and industrial control computer can be piled up the crawl of manipulator 12 with control machinery arm 11 and crawl and be piled up
The circular thin flat plate class sheet metal component semi-finished product and order of LED lamp cover on platform 3 are piled up in sheet material stand for piling up 22 and counted successively
Number or the circular thin flat plate class sheet metal component semi-finished product and order of the LED lamp cover in crawl sheet material stand for piling up 22 are piled up in metal plate successively
In metalworking equipment and count.
This punching press metal plate factory thin flat plate material is said good-bye the operation principle of code fetch unit：Stacking pallet 2 is manually moved to code
It is laid flat platform 3 nearby and is positioned at setting position by piling up the stacking pallet detent mechanism of platform 3, or uses logistics homing guidance
Transport vehicle, which is moved to the lower section of stacking pallet 2 stacking pallet 2 is held up and held in the palm, to be carried stacking pallet 2 and is moved to that to pile up platform 3 attached
Closely and setting position is positioned at by the stacking pallet detent mechanism for piling up platform 3, then the Industry Control of electric control gear is calculated
Machine control machinery arm 11 and crawl pile up the movement of the coordinate of manipulator 12 and carry out the crawl of thin flat plate class sheet metal component semi-finished product with piling up.
Need to pile up the circular thin flat plate class sheet metal component semi-finished product order for the LED lamp cover piled up on platform 3 in plate successively
When in material stand for piling up 22, location of workpiece backfeed loop is first begin to work, the circular thin flat plate class sheet metal component semi-finished product of LED lamp cover
It is sequentially delivered to pile up on platform 3 and is carried out by the workpiece locating mechanism for piling up platform 3 after the positioning of position, code by conveyer belt
The manned information of position sensor feedback workpiece on platform 3 is laid flat to industrial control computer；Positioning crawl is piled up loop and opened
Beginning work, industrial control computer is to send to instruct control machinery arm 11 and crawl to pile up manipulator 12 according to setting program coordinate
It is mobile to make crawl pile up manipulator 12 and be moved to the surface of the geometric center just to piling up first workpiece on platform 3 to set
Position, then the vertical planar structure for being displaced downwardly to grasping mechanism of the coordinate of manipulator 12 movement is piled up in crawl and the upper plane of workpiece is put down
Neat setpoint distance is captured to workpiece, and counting circuit works and carries out workpiece counting simultaneously；Then industrial control computer is sent out
Go out to instruct control machinery arm 11 and crawl to pile up manipulator 12 makes crawl pile up manipulator 12 to grab according to the movement of setting program coordinate
Workpiece is taken to be moved to the surface setting position of sheet material stand for piling up 22, then crawl is piled up manipulator 12 and sat according to setting program
Mobile vertical move down of mark is stretched into setpoint distance inside sheet material stand for piling up 22, and industrial control computer sends instruction again makes gripper
Structure unclamps workpiece, and workpiece is to fall into inside sheet material stand for piling up 22, and mechanical arm 11 and crawl pile up manipulator 12 and return to initial position
The crawl of first workpiece is completed with piling up, by that analogy, until counting circuit feedback has piled up quantity to when setting numerical value
Piling up for the dischargeable capacity of sheet material stand for piling up 22 is completed, stacking pallet 2 is transported through.
Need successively to pile up the circular thin flat plate class sheet metal component semi-finished product order of the LED lamp cover in sheet material stand for piling up 22
When in panel beating equipment, loop starts are piled up in positioning crawl, and industrial control computer sends instruction control machinery arm 11
Pile up manipulator 12 with crawl makes crawl pile up manipulator 12 to be moved to just to sheet material stand for piling up according to the movement of setting program coordinate
The surface setting position of 22 inner surface geometric centers, then crawl piles up manipulator 12 and moves vertical according to setting program coordinate
The upper plane that the planar structure of grasping mechanism is displaced downwardly to first workpiece of the superiors in sheet material stand for piling up 22 is concordant
Setpoint distance is captured to workpiece, and counting circuit works and carries out workpiece counting simultaneously；Then industrial control computer sends finger
Make control machinery arm 11 and crawl pile up manipulator 12 according to the movement of setting program coordinate make crawl pile up manipulator 12 it is vertical on
Move to setpoint distance, the baseplane of the workpiece being now crawled between the upper surface of the ring port of sheet material stand for piling up 22 away from
From the thickness that size is less than workpiece, then industrial control computer sends instruction control machinery arm 11 and machinery is piled up in crawl
Hand 12 makes crawl pile up manipulator 12 to move horizontally setpoint distance, now both made first workpiece according to the movement of setting program coordinate
Baseplane on be adhered second workpiece, crawl piles up in the translation motion of manipulator 12 second workpiece i.e. by sheet material stand for piling up
The inner surface of 22 ring port, which stops to fall into again, realizes operation of saying good-bye in sheet material stand for piling up 22, then industrial control computer
Send instruction control machinery arm 11 and crawl piles up manipulator 12 and crawl is piled up manipulator 12 according to the movement of setting program coordinate
Capture setting position that workpiece is moved in panel beating equipment and unclamp workpiece, manipulator 12 is piled up in mechanical arm 11 and crawl
Return to initial position to complete the crawl of first workpiece, say good-bye and pile up, by that analogy, until counting circuit feedback has been captured
Quantity piles up support to completing the crawl of all workpiece in sheet material stand for piling up 22 when setting numerical value, saying good-bye and pile up to unloaded
Frame 2 is transported through.
A kind of embodiment of the grasping mechanism of manipulator 12 is piled up as present invention crawl, machinery is piled up in described crawl
The grasping mechanism of hand 12 is negative pressure grasping mechanism, and the planar structure of grasping mechanism is provided with negative pressure hole, negative pressure hole by pipeline and
Vacuum cavitations control valve group is connected with negative pressure source, industrial control computer and the vacuum cavitations control valve group of described electric control gear
Electrical connection；Industrial control computer can realize the keying of negative-pressure adsorption environment by opening and closing vacuum cavitations control valve group.
For irony thin flat plate class sheet metal component, another reality of the grasping mechanism of manipulator 12 is piled up as present invention crawl
Mode is applied, the grasping mechanism that manipulator 12 is piled up in described crawl is set in electromagnetism grasping mechanism, the planar structure of grasping mechanism
There is magnet coil, the industrial control computer of described electric control gear is electrically connected with magnet coil；Industrial control computer can be with
The keying of electromagnetic adsorption environment is realized by opening and closing magnet coil.
The described workpiece locating mechanism piled up on platform 3 can be by the way of guiding movement positioning, it would however also be possible to employ
By way of reference plane clamping position, because the latter's positioning is more accurate, therefore preferably the latter, i.e. it is used as the present invention's preferred
Scheme, as shown in figure 3, the described workpiece locating mechanism piled up on platform 3 includes origin reference location riser and passage clamping position
Riser；Origin reference location riser, which is fixedly mounted on, to be piled up on platform 3, and the interior side elevation of origin reference location riser is and thin flat plate class metal plate
The reference plane that the profile reference plane of part workpiece coordinates；Passage clamping position riser sets up to be arranged on and piled up on platform 3, passage clamping
The interior side elevation for positioning the interior side elevation correspondence origin reference location riser of riser is set, elapse the outer side elevation of clamping position riser with
Extension and contraction control part is connected, and the industrial control computer of described electric control gear is electrically connected with extension and contraction control part；Industry Control
Computer can be by controlling the flexible of extension and contraction control part to realize that passage clamping position riser is forced into origin reference location
Thin flat plate class sheet metal component workpiece between riser and passage clamping position riser makes the profile benchmark of thin flat plate class sheet metal component workpiece
Face is fitted with the interior side elevation of origin reference location riser realizes the accurate reference plane positioning of workpiece.
Grabbing workpiece is more securely adsorbed in order to realize that manipulator 12 is piled up in crawl, as a further improvement on the present invention side
Case, as shown in Fig. 2 described crawl is piled up and claw and claw horizontal extension control machine are additionally provided with the grasping mechanism of manipulator 12
Structure, claw is set to multiple and claw bottom face putting down to grasping mechanism around the geometric center of grasping mechanism planar structure
The distance between face structure size is less than right on the thickness of workpiece, the inner surface of the described barrel shape structure of sheet material stand for piling up 22
The position of claw is answered to be provided with neck being vertically arranged, coordinating with claw width dimensions, claw horizontal extension controlling organization is stretched
The depth dimensions of indention journey and neck coordinates, the industrial control computer and claw horizontal extension control machine of described electric control gear
Structure is electrically connected；Industrial control computer can be by controlling claw horizontal extension controlling organization during workpiece is piled up in crawl
Bi Shixian clamping workpieces are opened and closed to the flexible small range for realizing control claw, meanwhile, first control claw to close and finish after clamping workpiece
Carrying out negative-pressure adsorption again can be rectified a deviation to the absorption position of workpiece, ensure to adsorb workpiece in accurate location, and then be realized more
Firmly adsorb grabbing workpiece.
Efficiency is piled up in order to further improve crawl, as a further improvement on the present invention scheme, described sheet material is piled up
Frame 22 is set to multiple；Described mechanical arm 11 includes X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate drive mechanism；
Crawl pile up during industrial control computer can complete a sheet material stand for piling up 22 crawl pile up after control machinery arm
11, which are moved to the progress crawl of another sheet material stand for piling up 22, piles up, and then realizes that improving crawl piles up efficiency.
In order to further realize flexible crawl, the change for piling up angle of non-circular workpiece is easy to implement, the present invention is used as
Further improvement project, described crawl is additionally provided with C coordinate driving machines between piling up the minor details of manipulator 12 and mechanical arm 11
Structure, the industrial control computer of described electric control gear is electrically connected with C coordinate drive mechanisms；Manipulator 12 is piled up in crawl can be
Pile up by the progress rotation translation of C coordinates drive mechanism before workpiece, and then realize the change for piling up angle of non-circular workpiece.
Industrial control computer can be sensed by pattern-recognition first before absorption crawl thin flat plate class sheet metal component semi-finished product
Device and displacement transducer carry out pattern-recognition and crawl positioning to workpiece according to setting program, and then realization is accurately positioned absorption simultaneously
Crawl, so as to realize that the positioning of accurate location is piled up.
In order to further realize that crawl piles up the accurate crawl of manipulator 12 with piling up, as a further improvement on the present invention
Scheme, described crawl is piled up and pattern-recognition sensor is additionally provided with manipulator 12, and described electric control gear, which also includes pattern, to be known
Loop is not judged, and industrial control computer is electrically connected with pattern-recognition sensor；When crawl pile up manipulator 12 captured or
Pattern-recognition judges that loop is first begin to work, the top end face letter of pattern-recognition sensor collection thin flat plate class sheet metal component when piling up
Cease and by being compared the position deviation amount that draws, center control with the standard top end face model built in central control computer
The line position that computer first piles up manipulator 12 according to departure to crawl is captured or piled up again after rectifying a deviation, and then is realized
More accurately capture or pile up.
In order to realize more accurately pattern-recognition, scheme, described crawl arranging machine as a further improvement on the present invention
Displacement transducer is additionally provided with tool hand 12, the industrial control computer of described electric control gear is electrically connected with displacement transducer；Work
Industry control computer can realize that crawl piles up manipulator 12 to thin flat plate class according to the feedback of setting program and displacement transducer
The top end face of sheet metal component carries out stepping and approached, and then the numerical value of implementation pattern sensor collection carries out coordinate movement numerical radius,
So as to obtain the more accurate amount of deflection according to curvilinear function, realize more accurately pattern-recognition.
Described mechanical arm 11 can use multi-joint centralized Control mechanical arm, it would however also be possible to employ frame-type split control machine
Tool arm, or using the mechanical arm of the other forms such as Delta mechanical arms, due to the multi-joint mechanical arm of the first scheme and the 3rd
The control of the Delta mechanical arms of kind of scheme is centralized Control, its accurately coordinate control it is more complicated, need to be calculated by Industry Control
The substantial amounts of calculating of machine, software control procedure are complicated, and manufacturing cost is higher, computer control burden weight, easy to break down；Second
Scheme is controlled using split, i.e., several coordinate systems are controlled respectively, and control is relatively easy, direct, is less prone to failure, therefore preferably
Second scheme, i.e. as the preferred scheme of the present invention, described mechanical arm 11 is gantry type mechanical arm.
This punching press metal plate factory thin flat plate material code fetch unit of saying good-bye is Digital Control unit, is number bus factory metal plate
A part for part production system, can be seamlessly connected with the number bus of number bus factory and realize concentration digital management, no
It is confined to above-mentioned specific control mode.
This punching press metal plate factory thin flat plate material say good-bye code fetch unit control method due to using micro computer control machinery
Arm 11 and crawl pile up manipulator 12 and pile up the thin flat plate class sheet metal component piled up on platform 3 order in sheet material stand for piling up 22 successively
It is interior or by sheet material stand for piling up 22 thin flat plate class sheet metal component order pile up successively in panel beating equipment, completely using electricity
Brain auto-control is operated, and automation mechanized operation can be avoided because the human factors such as operating personnel's sense of responsibility, mood are to manufacturing schedule
Influence, at the same can from operating personnel's operative skill qualification limitation, it is entirely avoided the drawbacks of artificial operation is present；
Because industrial control computer controls to capture when thin flat plate class sheet metal component order in sheet material stand for piling up 22 is captured successively
Pile up manipulator 12 it is vertical on move to ring port of the baseplane for the workpiece being crawled to sheet material stand for piling up 22 upper surface it
Between the setpoint distance postindustrial control computer control crawl of the thickness for being less than workpiece apart from size pile up manipulator 12
Setpoint distance is moved horizontally, therefore had both made to be adhered second workpiece on the baseplane of first workpiece, manipulator is piled up in crawl
Second workpiece is to be stopped that falling into sheet material again piles up by the inner surface of the ring port of sheet material stand for piling up 22 in 12 translation motions
In frame 22, the crawl of saying good-bye of thin flat plate class sheet metal component is realized, sequence is piled up or order crawl efficiency is higher, is particularly suitable for use in profile
The automatic crawl of the thin flat plate class sheet metal component of tactical rule is with piling up.
Claims (10)
- The control method of code fetch unit 1. a kind of punching press metal plate factory thin flat plate material is said good-bye, used punching press metal plate factory Boping Sheet material code fetch unit of saying good-bye piles up mechanical arm (1), stacking pallet (2) including crawl, piles up platform (3) and electric control gear；Described crawl piles up mechanical arm (1) and piles up manipulator (12) including mechanical arm (11) and crawl；Mechanical arm (11) is at least Including X-coordinate drive mechanism or Y-coordinate drive mechanism and Z coordinate drive mechanism；Crawl piles up manipulator (12) and is arranged on machinery The minor details of arm (11), including the grasping mechanism with planar structure；Described stacking pallet (2) includes support body (21) and sheet material stand for piling up (22)；Support body (21) is frame structure, including uniform It is arranged on the supporting leg of bottom；Sheet material stand for piling up (22) be vertically arranged, with the barrel shape structure for piling up cavity, barrel shape structure Bottom be fixedly mounted on support body (21), the top of barrel shape structure is provided with ring that is horizontally disposed, being fastened in barrel shape structure Shape port, the inner surface of barrel shape structure upwardly extend it is concordant with the upper surface of ring port, the inner surface configuration of barrel shape structure with The profile of thin flat plate class sheet metal component is identical and inner surface size of barrel shape structure and the appearance and size gap of thin flat plate class sheet metal component Coordinate；It is described to pile up that platform (3) is fixedly installed and its upper surface is provided with workpiece locating mechanism and position sensor, pile up flat Platform is additionally provided with stacking pallet detent mechanism on (3)；Described electric control gear piles up loop, passage point including industrial control computer, location of workpiece backfeed loop, positioning crawl Zhang Huilu and counting circuit, industrial control computer is respectively with piling up the position sensor on platform (3), mechanical arm (11), grabbing Code fetch puts manipulator (12) electrical connection；Characterized in that, control method specifically includes following steps：A. preparation is piled up in crawl：Artificial be moved to stacking pallet (2) piles up platform (3) nearby and by piling up platform (3) Stacking pallet detent mechanism is positioned at setting position or is moved to using logistics automatical pilot transportation vehicle under stacking pallet (2) Stacking pallet (2) is held up and hold in the palm to carry stacking pallet (2) and be moved to by side piles up platform (3) nearby and by piling up platform (3) Stacking pallet detent mechanism be positioned at setting position；Or manually stacking pallet (2) is moved near panel beating equipment And setting position is positioned at by stacking pallet detent mechanism or stacking pallet is moved to using logistics automatical pilot transportation vehicle (2) lower section by stacking pallet (2) hold up and hold in the palm carry stacking pallet (2) be moved to panel beating equipment nearby and by piling up Bracket detent mechanism is positioned at setting position；B. capture and pile up：The thin flat plate class sheet metal component that will be piled up on platform (3) order is needed to pile up successively in sheet material stand for piling up (22) when interior, location of workpiece backfeed loop is first begin to work, and thin flat plate class sheet metal component is sequentially delivered to pile up by conveyer belt Carried out on platform (3) and by the workpiece locating mechanism for piling up platform (3) after the positioning of position, the position piled up on platform (3) is passed Sensor feeds back the manned information of workpiece to industrial control computer；Loop starts, Industry Control meter are piled up in positioning crawl Calculation machine is to send instruction control machinery arm (11) and crawl piles up manipulator (12) and makes crawl yard according to the movement of setting program coordinate Manipulator (12) is put to be moved to just to the surface setting position for the geometric center for piling up first workpiece on platform (3), so The vertical planar structure for being displaced downwardly to grasping mechanism of manipulator (12) setpoint distance concordant with the upper plane of workpiece is piled up in crawl afterwards Workpiece is captured, counting circuit works and carries out workpiece counting simultaneously；Then industrial control computer sends instruction control machine Manipulator (12) is piled up in tool arm (11) and crawl to be made crawl pile up manipulator (12) to capture work according to the movement of setting program coordinate Part is moved to the surface setting position of sheet material stand for piling up (22), and then crawl piles up manipulator (12) according to setting program coordinate Mobile vertical move down stretches into sheet material stand for piling up (22) inside to setpoint distance, and industrial control computer sends instruction again makes gripper Structure unclamps workpiece, and workpiece is to fall into sheet material stand for piling up (22) inside, and mechanical arm (11) and crawl are piled up manipulator (12) and returned to just Beginning, position completed the crawl of first workpiece with piling up, by that analogy, until counting circuit, which feeds back, has piled up quantity to setting number Piling up for sheet material stand for piling up (22) dischargeable capacity is completed during value, stacking pallet (2) is transported through；Need to pile up the thin flat plate class sheet metal component semi-finished product order in sheet material stand for piling up (22) in panel beating equipment successively When, loop starts are piled up in positioning crawl, and industrial control computer sends instruction control machinery arm (11) and crawl arranging machine Tool hand (12) makes crawl pile up manipulator (12) to be moved to just to sheet material stand for piling up (22) interior table according to the movement of setting program coordinate The surface setting position of face geometric center, then crawl piles up manipulator (12) and is displaced downwardly to gripper vertically according to setting program The planar structure of the structure setpoint distance pair concordant with the upper plane of first workpiece of the superiors in sheet material stand for piling up (22) Workpiece is captured, and counting circuit works and carries out workpiece counting simultaneously；Then industrial control computer sends instruction control machinery Arm (11) and crawl pile up manipulator (12) according to setting program movement make crawl pile up manipulator (12) it is vertical on move to and grabbed The baseplane of the workpiece taken is less than the thickness of workpiece to the distance between the upper surface of ring port of sheet material stand for piling up (22) size The setpoint distance of size is spent, then industrial control computer sends instruction control machinery arm (11) and manipulator (12) is piled up in crawl According to setting program movement make crawl pile up manipulator (12) move horizontally setpoint distance realize say good-bye, then Industry Control calculate Machine sends instruction control machinery arm (11) and crawl piles up manipulator (12) and makes crawl arranging machine according to the movement of setting program coordinate Tool hand (12) captures the setting position that workpiece is moved in panel beating equipment and unclamps workpiece, mechanical arm (11) and crawl code Put manipulator (12) to return to the crawl of initial position first workpiece of completion, say good-bye and pile up, by that analogy, until counting circuit Feedback completes the crawl of all workpiece in sheet material stand for piling up (22), says good-bye and pile up, to sky when having captured quantity to setting numerical value The stacking pallet (2) of load is transported through.
- The control method of code fetch unit 2. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, its feature exists Being said good-bye in, used punching press metal plate factory thin flat plate material, to pile up the grasping mechanism of manipulator (12) be negative for the crawl of code fetch unit Press grasping mechanism, the planar structure of grasping mechanism is provided with negative pressure hole, negative pressure hole by pipeline and vacuum cavitations control valve group with Negative pressure source is connected, and the industrial control computer of described electric control gear is electrically connected with vacuum cavitations control valve group；Described step b Middle crawl piles up manipulator (12) to the crawl of workpiece or to pile up be industrial control computer by opening and closing vacuum cavitations control valve Group is realized negative-pressure adsorption crawl or piled up.
- The control method of code fetch unit 3. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, its feature exists Being said good-bye in, used punching press metal plate factory thin flat plate material, to pile up the grasping mechanism of manipulator (12) be electricity for the crawl of code fetch unit Magnetic grasping mechanism, the planar structure of grasping mechanism is provided with magnet coil, the industrial control computer of described electric control gear with Magnet coil is electrically connected；Crawl piles up manipulator (12) to the crawl of workpiece in described step b or to pile up be Industry Control meter Calculation machine realizes that electromagnetic adsorption is captured or piled up by opening and closing magnet coil.
- The control method of code fetch unit 4. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, its feature exists Include in the say good-bye workpiece locating mechanism piled up on platform (3) of code fetch unit of, used punching press metal plate factory thin flat plate material Origin reference location riser and passage clamping position riser；Origin reference location riser, which is fixedly mounted on, to be piled up on platform (3), and origin reference location is stood The interior side elevation of plate is the reference plane with the profile reference plane cooperation of thin flat plate class sheet metal component workpiece；Elapse clamping position Vertical board support If installed in piling up on platform (3), the interior side elevation of the interior side elevation correspondence origin reference location riser of passage clamping position riser is set Put, the outer side elevation of passage clamping position riser is connected with extension and contraction control part, the Industry Control of described electric control gear is calculated Machine is electrically connected with extension and contraction control part；In described step b position positioning is carried out by piling up the workpiece locating mechanism of platform (3) Mode be industrial control computer by controlling the flexible passage clamping position riser of extension and contraction control part to be forced into benchmark Thin flat plate class sheet metal component workpiece between positioning riser and passage clamping position riser makes the profile of thin flat plate class sheet metal component workpiece Reference plane is fitted with the interior side elevation of origin reference location riser realizes the accurate reference plane positioning of workpiece.
- The control of code fetch unit 5. the punching press metal plate factory thin flat plate material according to Claims 1-4 any claim is said good-bye Method processed, it is characterised in that manipulator is piled up in the say good-bye crawl of code fetch unit of used punching press metal plate factory thin flat plate material (12) claw and claw horizontal extension controlling organization are additionally provided with grasping mechanism, claw is several around grasping mechanism planar structure What centrally disposed thickness for being less than workpiece for multiple and claw bottom faces to the distance between the planar structure of grasping mechanism size Spend correspondence claw on size, the inner surface of described sheet material stand for piling up (22) barrel shape structure position be provided with it is being vertically arranged, with The neck that claw width dimensions coordinate, the flexible stroke of claw horizontal extension controlling organization and the depth dimensions of neck coordinate, institute The industrial control computer for the electric control gear stated is electrically connected with claw horizontal extension controlling organization；Code is captured in described step b Manipulator (12) is put to the crawl of workpiece or to pile up be that industrial control computer absorption is captured or while pile up by control card Bi Shixian is opened and closed to the small range of the extension and contraction control claw of pawl horizontal extension controlling organization while clamping or unclamping workpiece.
- The control of code fetch unit 6. the punching press metal plate factory thin flat plate material according to Claims 1-4 any claim is said good-bye Method processed, it is characterised in that the say good-bye sheet material stand for piling up (22) of code fetch unit of used punching press metal plate factory thin flat plate material is set It is set to multiple；Mechanical arm (11) includes X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate drive mechanism.
- The control method of code fetch unit 7. punching press metal plate factory thin flat plate material according to claim 6 is said good-bye, its feature exists Manipulator (12) and mechanical arm (11) are piled up in the say good-bye crawl of code fetch unit of, used punching press metal plate factory thin flat plate material C coordinate drive mechanisms are additionally provided between minor details, the industrial control computer of described electric control gear is electrically connected with C coordinate drive mechanisms Connect.
- The control method of code fetch unit 8. punching press metal plate factory thin flat plate material according to claim 7 is said good-bye, its feature exists Pile up pattern knowledge is additionally provided with manipulator (12) in the say good-bye crawl of code fetch unit of, used punching press metal plate factory thin flat plate material Individual sensor, described electric control gear also judges loop, industrial control computer and pattern-recognition sensor including pattern-recognition Electrical connection；In described step b crawl pile up manipulator (12) to the crawl of workpiece or when piling up pattern-recognition judge loop head First start working, pattern-recognition sensor gathers the top end face information of thin flat plate class sheet metal component and by being calculated with center control Standard top end face model built in machine is compared the position deviation amount that draws, central control computer is first according to departure to crawl Pile up manipulator (12) line position rectified a deviation after captured or piled up again.
- The control method of code fetch unit 9. punching press metal plate factory thin flat plate material according to claim 8 is said good-bye, its feature exists Pile up displacement biography is additionally provided with manipulator (12) in the say good-bye crawl of code fetch unit of, used punching press metal plate factory thin flat plate material Sensor, the industrial control computer of described electric control gear is electrically connected with displacement transducer；Arranging machine is captured in described step b Tool hand (12) to the crawl of workpiece or when piling up industrial control computer according to the feedback control of setting program and displacement transducer Crawl, which is piled up top end face progress coordinate movement stepping of the manipulator (12) to thin flat plate class sheet metal component and approached, adopts mode sensor The numerical value of collection carries out numerical radius according to setting program, then obtains the more accurate amount of deflection according to the curvilinear function of generation.
- The control method of code fetch unit 10. the punching press metal plate factory thin flat plate material according to claim 1 or 2 or 3 is said good-bye, its It is characterised by, the say good-bye mechanical arm (11) of code fetch unit of used punching press metal plate factory thin flat plate material is gantry type mechanical arm.
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| CN201710192970.XA CN107116550B (en) | 2017-03-28 | 2017-03-28 | Control method of sheet-to-sheet code-fetching unit of stamping sheet metal factory |
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| CN114029947A (en) * | 2021-10-27 | 2022-02-11 | 因格(苏州)智能技术有限公司 | Method and device for determining robot picking sequence |
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