CN107321867A - Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed - Google Patents
Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed Download PDFInfo
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- CN107321867A CN107321867A CN201710423116.XA CN201710423116A CN107321867A CN 107321867 A CN107321867 A CN 107321867A CN 201710423116 A CN201710423116 A CN 201710423116A CN 107321867 A CN107321867 A CN 107321867A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/021—Control or correction devices in association with moving strips
- B21D43/023—Centering devices, e.g. edge guiding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/08—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The present invention relates to the full-automatic intelligent punch press feeder and its method for correcting error that a kind of camera tilt is installed, including feeding roller, drift, sheet material Motion Control Platform, video camera, drive mechanism and motion control computer；Feeding roller and sheet material Motion Control Platform are connected with drive mechanism；Video camera is installed in the top of sheet material with drift, video camera is fixed with drift coordinate, and drift is connected with drive mechanism, and the shooting direction of video camera is tilted with respect to Z axis, and video camera is used to shoot the characteristic information for including sheet material in the sheet material below drift, the image that video camera is shot；Motion control computer is connected with video camera, and motion control computer is used to the characteristic information of sheet material is handled and analyzed；Motion control computer is connected with drive mechanism, and motion control computer is adjusted to sheet material Motion Control Platform, so that the position of workpiece to be punched and drift centering are so as to complete punch process.
Description
Technical field
The invention belongs to full-automatic material-feeding field, the full-automatic intelligent punching that more particularly to a kind of camera tilt is installed
Bed feeder and its method for correcting error.
Background technology
Currently, the various part number of applications by the completion of punch press punch process are huge, and these parts are greatly
It is not only dangerous larger by work such as feeding, discharge and punching press of the manual operations to complete sheet material, and efficiency, quality,
The indexs such as stock utilization are also difficult to ensure that, in addition, for the slightly larger raw material of weight or size（Sheet metal）, only by single
Manpower is difficult to material serving punch press, completes feeding work without suitable feed mechanism again, greatly limit this kind of material
Processing and utilization.
In order to solve this problem, artificial participation is reduced as far as possible, and in the market is proposed automatic feeder for punch successively.It is old
Punch press can retain, it is only necessary to autoloader is added, while in host computer（The control computer of feeder）Read in software
The CAD diagram shape files of workpiece are taken, the discharge of workpiece are carried out in advance, it is possible to common punch press is transformed, self-feeding is realized,
Reach the purpose of " machine substitute human labor ".
At present, in terms of punch press automatic feeder research and development, mainly there are following several types on domestic market：
（1）The feeder of purely mechanic linkage.The feeding of material is controlled by the movement travel of punch press（Or stepping）, the form send
Material machine is simple in construction, with low cost, but the requirement to raw material is strict, it is necessary to be same type of whole plate material, therefore only
It is suitable for the processing of a few regular shape raw material（Such as strip circle strip）.
（2）Semi-automatic auxiliary equipment, the programming of a position is fixed by the actual raw material size obtained, relies on
Simple digital control system carries out a point position stepping, and this equally limits the flexible processing to raw material, is only applicable to specification of the same race, big
The disposable processing of batch raw material.
（3）Using the autoloader of machine vision technique.Using computer, in the sheet material of given shape（It is mostly rectangular
Shape or strip material）Upper progress multiple rule part（It is such as circular, square）And a few irregular shape part is carried out
Permutation and combination and automated programming, so as to realize the automation of whole punching production.
However, the problems such as being limited to machining accuracy, driving sheet material completes the rubber roll of feed motion it is difficult to ensure that in axis side
Upward diameter dimension be it is completely the same, therefore, in the axial direction the frictional force of rubber roll be also be difficult to ensure that it is completely the same
's；Secondly, also it is not quite similar using the abrasion condition of process mid-rubber roll, so as to cause the frictional force of rubber roll difficult in the axial direction
It is completely the same to ensure；In addition, when there is the attachments such as greasy dirt on sheet material, can also cause each not phase of the frictional force of sheet material everywhere
Together.Therefore, above-mentioned many reasons can cause sheet material that " wandering off " phenomenon occurs during feeding.Existing Full-automatic feeder,
There is the problem of material " wandering off " greatly occurs, so that percent defective increase, stock utilization reduction, sometimes even
Damage diel.
For the problem that wanders off of above-mentioned autoloader, the measure taken at present is：（1）Strict choose is carried out to rubber roll
Choosing, ensures it in axis as far as possible（Length）The diameter of direction upper glue roller is consistent everywhere, still, to be accomplished in actual production
This point is extremely difficult and labor intensive；（2）Adjust the thrust of rubber roll two ends holddown spring（That is, change rubber roll and plate
The thrust of material）, so as to change the frictional force that rubber roll is applied on sheet material, compensated with this caused by rubber roll machining accuracy
Sheet material wanders off problem（The feed speed of the big local sheet material of frictional force is high）.But, the problem of above-mentioned measure is present is：（1）By
It is more in rubber roll quantity（6-8 roots）, therefore when the pressing force of the spring to each rubber roll two ends is adjusted, its each rod is compressed
The uniformity of power regulation is difficult to ensure that the difficulty of regulation is very big, requires very high to the technical merit for adjusting personnel；（2）It can not do
To " putting things right once and for all ", because the abrasion of rubber roll in use everywhere is differed, in addition, there is the attachment such as greasy dirt on sheet material
During thing, the coefficient of friction of sheet material everywhere（It is directly proportional to frictional force）It is different, therefore, for these situations, by tune
The thrust of section rubber roll two ends spring can not prevent sheet material from wandering off.
The content of the invention
It is an object of the invention to overcome above shortcomings in the prior art, and a kind of reasonable in design is provided,
Automatically, the full-automatic intelligent punch press feeder that intelligentized camera tilt is installed, can realize the whole of punching course
Automation, and sheet material in punch press feeder can be solved many technical problems such as wander off.Present invention also offers the camera tilt
The method for correcting error of the full-automatic intelligent punch press feeder of installation.
The present invention the used technical scheme that solves the above problems is：The full-automatic intelligent that a kind of camera tilt is installed
Punch press feeder, including feeding roller and drift, it is characterised in that：Also include sheet material Motion Control Platform, video camera, drive mechanism
And motion control computer；
Wherein, the sheet material Motion Control Platform is horizontally mounted, and feeding roller is horizontally arranged on sheet material Motion Control Platform, sheet material
Moved between sheet material Motion Control Platform and feeding roller, feeding roller and sheet material Motion Control Platform are connected with drive mechanism,
Feeding roller is used to drive sheet material to move along direction of feed, and sheet material Motion Control Platform is used for the position for adjusting sheet material；
Horizontal plane is labeled as X/Y plane, the direction of feed of sheet material X-axis is labeled as, by direction vertical with X-axis in X/Y plane
It is Z axis by the bearing mark vertical with X/Y plane labeled as Y-axis；
The video camera is installed in the top of sheet material with drift, and position coordinates of the video camera with drift in X/Y plane is solid
Fixed, drift is connected with drive mechanism, and drift is moved along Z-direction, and drift is used to complete the punching press to workpiece, the bat of video camera
Take the photograph direction to tilt with respect to Z axis, video camera is used to shoot the spy for including sheet material in the sheet material below drift, the image that video camera is shot
Reference ceases；
The motion control computer is connected with video camera, and motion control computer is used to handle the characteristic information of sheet material
And analysis, obtain the position coordinates of sheet material in the xy plane below drift；Motion control computer is connected with drive mechanism, fortune
Dynamic control computer is adjusted according to the position coordinates of sheet material in the xy plane by drive mechanism to sheet material Motion Control Platform
It is whole, so that the position of workpiece to be punched and drift centering are so as to complete punch process.Drift moves up and down along Z-direction,
Coordinate of the video camera on the coordinate and Y-axis in X-axis constitutes position coordinates of the video camera in X/Y plane, and drift is in X-axis
Coordinate on coordinate and Y-axis constitutes position coordinates of the drift in X/Y plane.
Characteristic information of the present invention includes the edge position information of sheet material.By the edge position information of sheet material, so that
The actual actual position coordinate for confirming sheet material in X/Y plane, and then be conveniently compared with ideal position coordinate, so that in real time
Monitor the position offset of sheet material.
The edge position information of sheet material of the present invention includes the width information and length information of sheet material.Sheet material is generally length
It is square, accurately its position coordinates in X/Y plane can be positioned by width information and length information.
Video camera of the present invention is arranged on the side of drift, and video camera, close to the surface of sheet material, video camera is used to clap
The sheet material taken the photograph immediately below drift.Because the inclined mode of video camera is installed, therefore rushed when avoiding video camera right angle setting
The problem of limitation of bed appearance and size can not be installed close to drift, in this case, even sheet material produces deflection, due to shooting
The shooting area of machine and the position of drift are very close to therefore the influence that sheet material deflection is caused is very small, if being shot under limiting case
Region is consistent with forcer position, then centering of the deflection of sheet material to workpiece ideal position and drift is had no effect.But, in reality
In, if shooting area is consistent with forcer position, control computer is limited to its arithmetic speed can not be when very short
It is interior to complete optimization jacking（The arrangement position that workpiece is carried out on sheet material is optimized）, therefore be actually what is be difficult to.Cause
This, from the point of view of correction, shooting area is better closer to forcer position；But examined from the angle of computer optimization jacking
It is too near that worry, shooting area and forcer position cannot be leaned on, otherwise, and computer does not have time enough to complete image procossing and excellent
Change jacking operation, it is impossible to optimization jacking is realized, so as to have impact on the utilization rate of material.For the foregoing reasons, the shooting of video camera
Direction should be towards drift, and the specific ginseng that the factor such as specific mounting distance, angle can be by those skilled in the art according to equipment
Number and actual production demand, carry out limited number of time experiment and obtain like clockwork, need not move through further creative work, so not
Make and further repeating in the present invention.
Motion control computer of the present invention is additionally operable to the image shot according to video camera, completes the optimization set to workpiece
Material.The shape of workpiece is previously set, and the optimization jacking of workpiece is that the location of workpiece of optimization is put, it is only necessary to ensured than existing
The utilization rate for having sheet material under use state increases, you can it is optimization jacking to think the jacking scheme.
Drive mechanism of the present invention includes X-axis drive mechanism and Y-axis drive mechanism, X-axis drive mechanism and Y-axis driving machine
Structure is connected with sheet material Motion Control Platform, and X-axis drive mechanism is used to drive sheet material Motion Control Platform in the fortune of X-direction
Dynamic, Y-axis drive mechanism is used to drive sheet material Motion Control Platform in the motion of Y direction.
X-axis drive mechanism of the present invention includes X-axis driver and X-axis stepper motor, X-axis driver and X-axis stepping electricity
Machine is connected；Y-axis drive mechanism includes Y-axis driver and Y-axis servomotor, and Y-axis driver is connected with Y-axis servomotor.
A kind of method for correcting error for the full-automatic intelligent punch press feeder that camera tilt is installed, it is characterised in that：Including
Following steps：
1）Shooting image acquisition module is set up, motion control computer obtains video camera by shooting image acquisition module and photographed
Image, the image that wherein video camera is photographed is designated as shooting image；
2）Motion control computer is analyzed shooting image, obtains position coordinates of the sheet material along X-axis and Y-axis below drift；
3）Set up offset compensation module, step 2）After end, motion control computer is driven by offset compensation module drive
Dynamic mechanism kinematic, makes sheet material Motion Control Platform be moved in X/Y plane, carries out position adjustments to sheet material so that workpiece to be processed
With forcer position centering.
Step 2 of the present invention）In also comprise the following steps：
Offset determination module is set up, ideal position of the sheet material on X/Y plane that motion control computer obtains below drift is sat
Mark and actual position coordinate, are compared to ideal position coordinate and actual position coordinate by offset determination module, obtained
Sheet material is along X-axis and the offset of Y direction；Ideal position coordinate is that sheet material is on X/Y plane when sheet material does not shift
Position coordinates.
Drive mechanism drives sheet material Motion Control Platform to be moved respectively in X-axis and Y-axis, so as to eliminate sheet material along X-axis side
To offset and the offset along Y direction.
The present invention sets up offset determination module and comprised the following steps：
Ideal position coordinate acquiring unit is set up, ideal position coordinate acquiring unit is used for the ideal position coordinate for obtaining sheet material；
Actual position coordinate determining unit is set up, actual position coordinate determining unit is used to determine in shooting image below drift
The actual position coordinate of sheet material；Wherein actual position coordinate can select the side for the sheet material that included by the characteristic information of sheet material
Edge information.
Shift amount determining unit is set up, shift amount determining unit is used to carry out ideal position coordinate and actual position coordinate
Compare, obtain sheet material along X-axis and the offset of Y-axis.
Compared with prior art, the present invention has following technique effect：The present invention installs shooting by being tilted near drift
Machine, so that it may taken pictures to the sheet material below drift, according to the characteristic information of sheet material in the image of shooting（Characteristic information bag
The information such as the marginal position of rubbing board material）Position determine the offset of sheet material, pass through drive mechanism（Drive mechanism can be selected and watched
Take motor）The sheet material Motion Control Platform of feeder is adjusted, compensation to sheet material offset is completed so that sheet material it is inclined
Shifting measures correction, so as to avoid by the other problemses for wandering off brought of sheet material and harm.
Brief description of the drawings
Fig. 1 is sheet material deflection the first schematic diagram of harmful effect of the embodiment of the present invention.
Fig. 2 is sheet material deflection the second schematic diagram of harmful effect of the embodiment of the present invention.
Fig. 3 is existing Full-automatic punching machine feeder main structure diagram.
Fig. 4 is existing Full-automatic punching machine feeder overlooking the structure diagram.
Fig. 5 is the front view structure signal for the full-automatic intelligent punch press feeder that camera tilt of the embodiment of the present invention is installed
Figure.
Fig. 6 is the plan structure signal for the full-automatic intelligent punch press feeder that camera tilt of the embodiment of the present invention is installed
Figure.
Fig. 7 is the fundamental diagram of sheet material Motion Control Platform of the embodiment of the present invention.
Fig. 8 is the method for correcting error flow for the full-automatic intelligent punch press feeder that camera tilt of the embodiment of the present invention is installed
Figure.
Fig. 9 is the deviation-rectifying system signal for the full-automatic intelligent punch press feeder that camera tilt of the embodiment of the present invention is installed
Figure.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described in further detail by embodiment, following examples are to this hair
Bright explanation and the invention is not limited in following examples.
Embodiment.
Referring to Fig. 1 to Fig. 9.
Present embodiments provide the full-automatic intelligent punch press feeder that a kind of camera tilt is installed, the fully-automatic intelligent
Changing punch press feeder can prevent sheet material from deviateing ideal position.The full-automatic intelligent punch press feeder that the camera tilt is installed
Including sheet material Motion Control Platform 1, feeding roller, drift 8, video camera 9, drive mechanism 5 and motion control computer 4.
Preferably, feeding roller is rubber roll 7 in the present embodiment.
Wherein, sheet material Motion Control Platform 1, feeding roller, drift 8 and motion control computer 4 with the phase of drive mechanism 5
Even.
Sheet material Motion Control Platform 1 is located on horizontal plane, and the horizontal of rubber roll 7 is installed on sheet material Motion Control Platform 1.Plate
Material 3 is moved between sheet material Motion Control Platform 1 and rubber roll 7 along direction of feed.
Wherein, rubber roll 7 is used to drive sheet material 3 to move along direction of feed, the fortune of the direction of feed of sheet material 3 perpendicular to drift 8
Dynamic direction, drift 8 is located at the top of sheet material Motion Control Platform 1.
By horizontal plane be labeled as X/Y plane, wherein, by the direction of feed of sheet material 3 be labeled as X-axis, by X/Y plane with X-axis
Vertical bearing mark is Y-axis, is Z axis by the bearing mark vertical with X/Y plane.
Preferably, drive mechanism 5 includes X-axis drive mechanism, Y-axis drive mechanism and Z axis drive mechanism in the present embodiment.
X-axis drive mechanism and Y-axis drive mechanism are connected with sheet material Motion Control Platform 1, and X-axis drive mechanism is used to drive
Sheet material Motion Control Platform 1 is in the motion of X-direction, and Y-axis drive mechanism is for driving sheet material Motion Control Platform 1 in Y-axis side
To motion.Z axis drive mechanism is connected with drift 8, and Z axis drive mechanism is used to drive drift 8 is lower in the Z-axis direction to move, complete
Into the punching press of workpiece.
Further, X-axis drive mechanism includes X-axis driver 6 and X-axis stepper motor 10, X-axis driver 6 and X-axis stepping
Motor 10 is connected；Y-axis drive mechanism includes Y-axis driver 11 and Y-axis servomotor 12, Y-axis driver 11 and Y-axis servomotor
12 are connected.
Wherein X-direction, sheet material Motion Control Platform 1 is transmitted using belt, and Y direction, sheet material Motion Control Platform 1 is adopted
Driven with ball-screw.
In the case that sheet material Motion Control Platform 1, video camera 9 and motion control computer 4 are not run, fully-automatic intelligent
Change the deflection harmful effect of sheet material 3 of punch press feeder as depicted in figs. 1 and 2.
As shown in figure 1, the drift 8 at wandering off due to sheet material 3, current location A be not completely in sheet material 3 it
On, the consequence caused is that the workpiece machined has breach.
As shown in Fig. 2 wandering off due to sheet material 3, the position of the workpiece 2 of planning is not on sheet material 3.
As can be seen that wandering off for sheet material 3 not only brings the waste of material, moreover, making the conjunction of product from Fig. 1 and Fig. 2
Lattice rate is reduced.
As shown in figure 3, existing Full-automatic punching machine feeder is limited to the appearance and size of punch press, the installation position of its video camera
Put apart from drift farther out, therefore shooting area and drift is in larger distance, therefore, when there is wandering off phenomenon in feeder, control system
System can not be identified and correct to this deflection.
In the present embodiment, in the case where installation site allows, video camera 9 is installed on the top of sheet material 3 while lean on as far as possible
The position of nearly drift 8, and inclined mode installs, while the shooting direction of video camera 9 is close to drift 8 in the present embodiment
Side.Video camera 9 is used to shoot the sheet material 3 of the lower section of drift 8.The position coordinates of video camera 9 and drift 8 in X/Y plane
Fixed, i.e. video camera 9 and drift 8 is fixed relative to the position for the origin of coordinates that X-axis intersects with Y-axis.
The purpose of the structure is video camera 9 is photographed the sheet material 3 close to the lower section of drift 8 as much as possible.Video camera 9 is shot
Image in include the characteristic information of sheet material 3, characteristic information includes the edge position information of sheet material and other can calculated
The characteristic point information of position deviation.Width information of the edge position information of sheet material comprising sheet material and length information etc..Characteristic point
Including when workpiece is circular stamping parts, the home position of circular stamping parts.The position coordinates of sheet material 3 is that available characteristic information enters
Row is substituted.
Video camera 9 is connected with motion control computer 4, sheet material in the image that motion control computer 4 is shot to video camera 9
3 characteristic information is analyzed, and obtains position coordinates of the sheet material 3 of the lower section of drift 8 in X/Y plane.
Motion control computer 4 is transported to sheet material in the X-axis direction by X-axis drive mechanism according to the position coordinates of sheet material 3
Dynamic control platform 1 is adjusted（Sheet material is also moved together therewith）, motion control computer 4 is by Y-axis drive mechanism according to plate
The position coordinates of material 3 is adjusted to sheet material Motion Control Platform 1 in the Y-axis direction（Sheet material is also moved together therewith）, so that
The preferable set discharge position of workpiece 2 and the position that sweeps away of drift 8 coincide, so as to exclude the preferable set discharge position and drift of workpiece 2
Sweep away the inconsistent influence in position（Sheet material wanders off, rubber roll 7 drives uneven caused sheet material in X-direction and Y direction
Position coordinates deviate ideal position）.
As optimization, motion control computer 4 is additionally operable to the image of the sheet material 3 shot according to video camera 9 in the present embodiment,
Complete the optimization jacking to given workpiece 2（Arrangement）.
The present embodiment realizes a kind of edge of sheet material 3 and Characteristic Extraction and computing technique：By camera, pass through image
Treatment technology can find out judgement sheet edge（Or it is other for determining sheet material relative to the feature letter whether drift wanders off
Breath）Position coordinates, thus just can obtain the position of sheet material in a coordinate system.
The control program of the present embodiment can in real time, automatically to sheet material 3 motion conditions compensate, without artificial
Intervene.Due to being real-time detection method, therefore not only the problem of wandering off that the machining accuracy of rubber roll 7 is caused can be compensated, and
And the problem of wandering off during use caused by the abrasion of rubber roll 7 can be compensated, in addition, to existing on sheet material 3
Wandering off and can also be compensated in real time caused by the attachments such as greasy dirt, coefficient of friction difference everywhere, therefore, the present embodiment
Ensure that drift is on ideal position all the time relative to sheet material without cumbersome manually adjusting, it is achieved thereby that automatically,
" machine " compensation of real time implementation, has reached the purpose of intelligent automation.
The full-automatic intelligent punch press feeder installed based on above-mentioned camera tilt, the present embodiment additionally provides a kind of complete
The deviation-rectifying system for the full-automatic intelligent punch press feeder that camera tilt is installed, the deviation-rectifying system includes：
Shooting image acquisition module, for obtaining the image that video camera is photographed, the image that video camera is photographed is designated as shooting figure
Picture；
Offset determination module, for analyzing shooting image, obtain the sheet material 3 of the lower section of drift 8 characteristic information it is inclined
Shifting amount, the offset of characteristic information includes the inclined of the offset along the characteristic information of X-direction and the characteristic information along Y direction
Shifting amount；
Offset compensation module, for driving drive mechanism 5 to rotate, makes sheet material Motion Control Platform 1 along X-direction and Y-axis side
To motion, the offset to characteristic information is compensated.
Wherein, offset determination module is specifically included：
Ideal position coordinate acquiring unit, for obtaining the ideal position of the edge of 8 lower section sheet material of drift 3 in the X-axis direction respectively
Ideal position coordinate on coordinate and Y direction, ideal position coordinate is drift 8（That is, mould）Position coordinates；
Actual position coordinate determining unit, for determining the edge of sheet material 3 of the lower section of drift 8 in shooting image in X-direction respectively
On actual position coordinate and Y direction on actual position coordinate；
Shift amount determining unit, for being compared to ideal position coordinate and actual position coordinate, respectively obtains sheet material 3 along X
Offset of the offset and sheet material 3 of direction of principal axis along Y direction.
It is preferred that, the offset of the characteristic information along X-direction of sheet material 3 can for sheet material 3 edge along X-direction
Offset, the offset of the characteristic information along Y direction of sheet material 3 can be offset of the edge of sheet material 3 along Y direction.
The deviation-rectifying system for the full-automatic intelligent punch press feeder installed based on above-mentioned camera tilt, the present embodiment is also carried
A kind of method for correcting error of the full-automatic intelligent punch press feeder of full camera tilt installation, the method for correcting error method application are supplied
In the full-automatic intelligent punch press feeder that the full camera tilt that the present embodiment is provided is installed
The method for correcting error for the full-automatic intelligent punch press feeder that the full camera tilt of the present embodiment is installed comprises the following steps：
1）：Motion control computer 4 obtains the image that video camera is photographed, and the image that video camera is photographed is designated as shooting image；
2）：Shooting image is analyzed, position coordinates of the sheet material 3 of the lower section of drift 8 along X-direction is respectively obtained and along Y-axis
The position coordinates in direction；
3）：The driving X-axis drive mechanism of motion control computer 4 is rotated, and the driving Y-axis drive mechanism of motion control computer 4 is rotated,
X-axis drive mechanism moves in the X-axis direction sheet material Motion Control Platform 1, and Y-axis drive mechanism makes sheet material Motion Control Platform 1 along Y
Direction of principal axis is moved, so as to realize that motion control computer 4 is accurately controlled the position of sheet material.
Wherein, step 2）Specifically include：
Ideal position coordinate of the edge of 8 lower section sheet material of drift 3 in X-direction and Y direction is obtained, ideal position coordinate is punching
First 8（Mould）Position coordinates, that is, sheet material 3 move ideal position coordinate；
Determine actual position coordinate of the edge of sheet material 3 of the lower section of drift 8 in shooting image in X-direction and Y direction；
The actual position coordinate of ideal position coordinate and sheet material 3 to sheet material 3 is compared, and respectively obtains sheet material 3 along X-direction
Offset along Y direction of offset and sheet material 3.
Full-automatic intelligent punch press feeder, the camera tilt for the camera tilt installation that the present embodiment is provided are installed
Full-automatic intelligent punch press feeder that the deviation-rectifying system and camera tilt of full-automatic intelligent punch press feeder are installed entangles
Folk prescription method, by installing inclined video camera 9 near drift 8, realizes and the fringe region of sheet material 3 close to the lower section of drift 8 is entered
Row is taken pictures, according to the position at the edge of sheet material 3 in the image of shooting（Or other feature letters for being used to determine whether sheet material wanders off
Breath）The offset of sheet material 3 is determined, passes through sheet material Motion Control Platform 1 of the drive mechanism 5 to full-automatic intelligent punch press feeder
It is adjusted, is compensated come the offset to sheet material 3, the final relative position for causing drift 8 and sheet material 3 is in ideal all the time
Position on, so as to avoid the brought harm that wanders off by sheet material 3.
Furthermore, it is necessary to explanation, the specific embodiment described in this specification, is named the shape of its parts and components
Title etc. can be different, and the above content described in this specification is only to structure example explanation of the present invention.It is all according to
The equivalence changes or simple change done according to the construction described in inventional idea of the present invention, feature and principle, are included in this hair
In the protection domain of bright patent.Those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement or using similar mode substitute, without departing from the present invention structure or surmount present claims
Scope defined in book, all should belong to protection scope of the present invention.
Claims (10)
1. the full-automatic intelligent punch press feeder that a kind of camera tilt is installed, including feeding roller and drift, it is characterised in that：
Also include sheet material Motion Control Platform, video camera, drive mechanism and motion control computer；
Wherein, the sheet material Motion Control Platform is horizontally mounted, and feeding roller is horizontally arranged on sheet material Motion Control Platform, sheet material
Moved between sheet material Motion Control Platform and feeding roller, feeding roller and sheet material Motion Control Platform are connected with drive mechanism,
Feeding roller is used to drive sheet material to move along direction of feed, and sheet material Motion Control Platform is used for the position for adjusting sheet material；
Horizontal plane is labeled as X/Y plane, the direction of feed of sheet material X-axis is labeled as, by direction vertical with X-axis in X/Y plane
It is Z axis by the bearing mark vertical with X/Y plane labeled as Y-axis；
The video camera is installed in the top of sheet material with drift, and position coordinates of the video camera with drift in X/Y plane is solid
Fixed, drift is connected with drive mechanism, and drift is moved along Z-direction, and drift is used to complete the punching press to workpiece, the bat of video camera
Direction is taken the photograph to tilt with respect to Z axis, and video camera is used to shoot in the sheet material below drift, the image that video camera is shot comprising sheet material
Characteristic information；
The motion control computer is connected with video camera, and motion control computer is used to handle the characteristic information of sheet material
And analysis, obtain the position coordinates of sheet material in the xy plane below drift；Motion control computer is connected with drive mechanism, fortune
Dynamic control computer is adjusted according to the position coordinates of sheet material in the xy plane by drive mechanism to sheet material Motion Control Platform
It is whole, so that the position of workpiece to be punched and drift centering are so as to complete punch process.
2. the full-automatic intelligent punch press feeder that camera tilt according to claim 1 is installed, it is characterised in that：Institute
Stating characteristic information includes the edge position information of sheet material.
3. the full-automatic intelligent punch press feeder that camera tilt according to claim 1 or 2 is installed, its feature exists
In：The edge position information of the sheet material includes the width information and length information of sheet material.
4. the full-automatic intelligent punch press feeder that camera tilt according to claim 1 or 2 is installed, its feature exists
In：The video camera is arranged on the side of drift, and video camera, close to the surface of sheet material, video camera is used to shoot close to drift just
The sheet material of lower section.
5. the full-automatic intelligent punch press feeder that camera tilt according to claim 1 or 2 is installed, its feature exists
In：The motion control computer is additionally operable to the image shot according to video camera, completes the optimization jacking to workpiece.
6. the full-automatic intelligent punch press feeder that camera tilt according to claim 1 or 2 is installed, its feature exists
In：The drive mechanism includes X-axis drive mechanism and Y-axis drive mechanism, and X-axis drive mechanism and Y-axis drive mechanism are and sheet material
Motion Control Platform is connected, and X-axis drive mechanism is used to drive sheet material Motion Control Platform in the motion of X-direction, Y-axis driving machine
Structure is used to drive sheet material Motion Control Platform in the motion of Y direction.
7. the full-automatic intelligent punch press feeder that camera tilt according to claim 6 is installed, it is characterised in that：Institute
Stating X-axis drive mechanism includes X-axis driver and X-axis stepper motor, and X-axis driver is connected with X-axis stepper motor；Y-axis driving machine
Structure includes Y-axis driver and Y-axis servomotor, and Y-axis driver is connected with Y-axis servomotor.
8. the full-automatic intelligent punch press feeding that a kind of camera tilt as described in claim 1-7 any claims is installed
The method for correcting error of machine, it is characterised in that：Comprise the following steps：
1）Shooting image acquisition module is set up, motion control computer obtains video camera by shooting image acquisition module and photographed
Image, the image that wherein video camera is photographed is designated as shooting image；
2）Motion control computer is analyzed shooting image, obtains position coordinates of the sheet material along X-axis and Y-axis below drift；
3）Set up offset compensation module, step 2）After end, motion control computer is driven by offset compensation module drive
Dynamic mechanism kinematic, makes sheet material Motion Control Platform be moved in X/Y plane, carries out position adjustments to sheet material so that workpiece to be processed
With forcer position centering.
9. the method for correcting error for the full-automatic intelligent punch press feeder that camera tilt according to claim 8 is installed, its
It is characterised by：Step 2）In also comprise the following steps：
Offset determination module is set up, ideal position of the sheet material on X/Y plane that motion control computer obtains below drift is sat
Mark and actual position coordinate, are compared to ideal position coordinate and actual position coordinate by offset determination module, obtained
Sheet material is along X-axis and the offset of Y direction；Ideal position coordinate is that sheet material is on X/Y plane when sheet material does not shift
Position coordinates.
10. the method for correcting error for the full-automatic intelligent punch press feeder that camera tilt according to claim 9 is installed, its
It is characterised by：Offset determination module is set up to comprise the following steps：
Ideal position coordinate acquiring unit is set up, ideal position coordinate acquiring unit is used for the ideal position coordinate for obtaining sheet material；
Actual position coordinate determining unit is set up, actual position coordinate determining unit is used to determine in shooting image below drift
The actual position coordinate of sheet material；
Shift amount determining unit is set up, shift amount determining unit is used to compare ideal position coordinate and actual position coordinate
Compared with obtaining sheet material along X-axis and the offset of Y-axis.
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| CN201710423116.XA CN107321867A (en) | 2017-06-07 | 2017-06-07 | Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed |
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| CN201710423116.XA CN107321867A (en) | 2017-06-07 | 2017-06-07 | Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed |
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| CN107321867A true CN107321867A (en) | 2017-11-07 |
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| CN201710423116.XA Pending CN107321867A (en) | 2017-06-07 | 2017-06-07 | Full-automatic intelligent punch press feeder and its method for correcting error that camera tilt is installed |
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