CN107486693A - Press system and its control method - Google Patents
Press system and its control method Download PDFInfo
- Publication number
- CN107486693A CN107486693A CN201710522076.4A CN201710522076A CN107486693A CN 107486693 A CN107486693 A CN 107486693A CN 201710522076 A CN201710522076 A CN 201710522076A CN 107486693 A CN107486693 A CN 107486693A
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- Prior art keywords
- stacking
- materials
- parts
- charging tray
- charging
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/008—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes the parts being continuously transported through the machine during assembling or disassembling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
Abstract
The present embodiments relate to pressing technical field, a kind of press system and its control method are disclosed.Press system includes detection means, servo press, grasping mechanism and charging and discharging mechanism；Charging and discharging mechanism is used to carry out the charging tray of stacking de-stacking, and for empty charging tray to be carried out into stacking；Whether the second materials and parts that detection means is used to detect in transmission belt are transferred to bonding station；Grasping mechanism be used for will be transmitted to bonding station the second materials and parts capture to servo press, be additionally operable to from de-stacking come out charging tray in capture the first materials and parts to servo press；Servo press is used to be pressed the first materials and parts and the second materials and parts；Grasping mechanism is additionally operable to capture the first materials and parts after pressing and the second materials and parts to production line transmission belt.The embodiment of the present invention also provides a kind of control method of press system.The embodiment of the present invention provides press system and its control method so that the bonding station in production line realizes auto-stitching, further improves the production efficiency of product and reduces cost of labor.
Description
Technical field
The present embodiments relate to pressing technical field, more particularly to a kind of press system and its control method.
Background technology
With the development of automatic technology, the automaticity of electronic product production also more and more higher.For example, needed at present
In the production line of the very big mobile terminal of the amount of asking (such as mobile phone, tablet personal computer etc.), multiple stations for being arranged in order, when it is mobile eventually
When end is sent to a station by conveyer belt, a production stage (such as component assembly) is completed；Then proceed to be transferred into down
One station.In production line, electronic product can be automatically transferred to next station by a station, improve production effect
Rate and cost of labor is saved.
Inventor has found that at least there are the following problems in the prior art：Current production line is also not carried out fully automated
Change, i.e., the processing in each station to electronic product not all realizes automation；As being used in production line by two kinds of materials and parts
The bonding station pressed together, it is also necessary to which operating personnel are manually operated.Specifically, when the first materials and parts are transferred into pressing work
During position, operating personnel remove first materials and parts from transmission belt and placed it on hot press, and the second material is taken out from charging tray
Part is simultaneously placed it on hot press, is then started hot press and is pressed；After the completion of pressing, then by the first material after pressing
Part and the second materials and parts are returned in transmission belt, to transmit to next station.At present, manual operation is relied on bonding station,
It has impact on the further raising of production efficiency and the further reduction of cost of labor.
The content of the invention
The purpose of embodiment of the present invention is to provide a kind of press system and its control method so that the pressure in production line
Closing station realizes auto-stitching, so as to further improve the production efficiency of product and further reduce cost of labor.
In order to solve the above technical problems, embodiments of the present invention provide a kind of press system, production line is arranged on
At bonding station and for materials and parts to be pressed, the press system includes：Detection means, servo press, grasping mechanism with
And charging and discharging mechanism；The charging and discharging mechanism is used to carry out the charging tray of stacking de-stacking, and in the charging tray for being come out in de-stacking
The first materials and parts be removed after, by empty charging tray carry out stacking；The detection means is used to detect second in production line transmission belt
Whether materials and parts are transferred to the bonding station；The grasping mechanism is used for second material that will be transmitted to the bonding station
Part captures in the charging tray for the servo press, being additionally operable to come out from the de-stacking and captures first materials and parts to the servo pressure
Machine；The servo press is used to be pressed first materials and parts and second materials and parts；The grasping mechanism be additionally operable to by
First materials and parts after pressing are captured to the production line transmission belt with second materials and parts, are delivered to next station.
Embodiments of the present invention additionally provide a kind of control method of press system, and the press system is arranged on production
At the bonding station of line and including detection means, servo press, grasping mechanism and charging and discharging mechanism；The control method bag
Include：The charging and discharging mechanism carries out de-stacking to the charging tray of stacking, and at least one first materials and parts are placed with each charging tray；The detection
Whether the second materials and parts in device detection production line transmission belt are transferred to the bonding station；When second materials and parts are transmitted
During to the bonding station, the grasping mechanism captures second materials and parts to the servo press；The grasping mechanism from
First materials and parts are captured to the servo press in the charging tray that de-stacking comes out；The servo press is by first materials and parts and institute
The second materials and parts are stated to be pressed；The grasping mechanism captures first materials and parts after pressing to described with second materials and parts
Production line transmission belt, it is delivered to next station.
In terms of existing technologies, charging and discharging mechanism can realize that automatic tear open of charging tray is stamped and heap to embodiment of the present invention
Pile, in order to which grasping mechanism captures the first materials and parts to servo press from charging tray automatically；The detection means is used to detect second
Whether materials and parts are transferred to the bonding station, and notify grasping mechanism to capture the second materials and parts to servo press；Grasping mechanism is also
The first materials and parts after pressing and the second materials and parts can be captured to production line transmission belt, to be delivered to next station.Therefore, this reality
The press system and its controlling party of mode are applied, realizes the full-automatic pressing on bonding station to materials and parts in production line, so as to
Further to improve the production efficiency of product and further reduce cost of labor.
In addition, the detection means includes camera and microprocessor；The camera is used to shoot the bonding station
The image of interior predeterminable area；Whether the figure of second materials and parts is included in the described image that the microprocessor is used to judge to shoot
Picture；When the microprocessor includes the image of second materials and parts in the described image for judging shooting, described second is judged
Materials and parts have been transferred to the bonding station.Present embodiments provide for a kind of implementation of detection means.
In addition, the microprocessor be additionally operable to identify the image of the second materials and parts described in the described image of shooting with it is described
Grasping mechanism the predeterminable area orthographic projection position relative position, and according to the relative position to the grasping mechanism
Position is corrected, and makes position and the grasping mechanism of image of second materials and parts in the predeterminable area orthographic projection position
Overlap.Transmission belt during the movement of the second materials and parts is driven (including when being sent to bonding station), the second materials and parts may be micro-
Small movement, this can cause the current location of the second materials and parts and default crawl position originally inconsistent；It is micro- in present embodiment
The picture position of the second materials and parts carries out school to the position of the grasping mechanism in the image that processor can be shot according to camera
Just, so as to, even if position skew occur in the second materials and parts, can also accurately capture, to ensure every time smoothly completing for pressing task.
In addition, the charging and discharging mechanism includes de-stacking lifting platform, stacking lifting platform and connection platform；The de-stacking lifting platform
Tear open stamping for charging aperture of the charging tray of the stacking from the de-stacking lifting platform to be risen into de-stacking position；The connection platform
Charging tray for de-stacking to be come out is sent to the stacking position of the stacking lifting platform；The stacking lifting platform is used to tear open described
After first materials and parts in the charging tray that pile comes out are removed, the empty charging tray in the stacking position is subjected to stacking, and will
Empty charging tray after stacking drops to the discharging opening of the stacking lifting platform.The one kind for present embodiments providing charging and discharging mechanism is specific
Implementation.
In addition, the charging and discharging mechanism also includes charging belt line and blanking belt line；The charging belt line is used for will
The charging tray of the stacking is sent to the charging aperture of the de-stacking lifting platform from upper shots；The blanking belt line is used for the code
The discharging opening of empty charging tray from the stacking lifting platform after pile is sent to blanking point.The charging and discharging mechanism present embodiments provided,
Whole pile charging tray need to only be placed on the upper shots of charging belt line, after the blanking point of blanking belt line takes out stacking by operating personnel
Empty charging tray, without whole pile charging tray to be manually placed into the charging aperture of de-stacking lifting platform or by whole pile charging tray from de-stacking lifting platform
Material taking mouth manually takes out, and reduces the carrying difficulty of whole pile charging tray, it might even be possible to realize automated handling with manipulator.Also,
The transport length of charging belt line and blanking belt line can be designed as needed so that multiple bonding stations (there may be more
Have multiple bonding stations in the parallel production line of bar or same production line) charging belt line upper shots and blanking belt
The blanking point of line converges in a region, then, only one operating personnel or a manipulator can take into account multiple pressings
The charging tray of station is carried.
In addition, the de-stacking lifting platform includes：For the first placement plate, the first lifting knot of the charging tray for placing the stacking
Structure, the first separation member and the first separation driving structure；First lifting structure is used to drive described first to place plate in institute
State charging aperture and it is described tear open to stamp make elevating movement between position, to drive uppermost charging tray in the charging tray of the stacking to reach institute
State to tear open and stamp position；The first separation driving structure is used to drive first separation member to stamp the charging tray of position positioned at described tear open
Tear open and stamp out；The stacking lifting platform includes：Plate, the second lifting knot are placed for placing second of the empty charging tray after the stacking
Structure, the second separation member and the second separation driving structure；Second lifting structure is used to drive described second to place plate in institute
State and make elevating movement between discharging opening and the stacking position, with drive the empty charging tray after the stacking from the stacking position to
Up to the discharging opening；The second separation driving structure is described for driving second separation member to be taken over from the connection platform
De-stacking come out charging tray, and the de-stacking come out charging tray in first materials and parts be removed after, the stacking will be in
The empty charging tray of position is positioned over described second and places plate, to carry out stacking.Present embodiments provide a kind of tool of de-stacking lifting platform
Body implementation.
In addition, first separation member includes N number of separating plate, the first separation driving knot with second separation member
Structure separates driving structure with described second to be included and N number of separating plate is corresponding respectively N number of separates driver element；Wherein, N
For the integer more than zero；Each separation driver element includes the first cylinder, the second cylinder and connecting plate, first gas
Cylinder is connected to the separating plate, and direction treats the charging tray or to be palletized of de-stacking out in the horizontal direction for driving the separating plate
The motion of empty charging tray or moved away from empty charging tray to be palletized；Second cylinder is connected to described first by the connecting plate
Cylinder, and for drive the separating plate drive described in treat charging tray that de-stacking comes out or empty charging tray to be palletized make ascending motion or
Descending motion.Present embodiments provide a kind of specific implementation of the first separation member and the second separation member.
In addition, the connection platform includes：For carrying the bearing part for tearing the charging tray for stamping out open and the bearing part driving
Structure；The bearing part driving structure be used for drive the bearing part it is described tear open to stamp moved between position and the stacking position
It is dynamic, the charging tray stamping out torn open is stamped position and be sent to the stacking position by described tear open.Present embodiments provide and plug into
A kind of specific implementation of platform.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not formed to embodiment, the element for having same reference numbers label in accompanying drawing are expressed as similar element, removed
Non- have a special statement, and composition does not limit the figure in accompanying drawing.
Fig. 1 is the structural representation of press system according to a first embodiment of the present invention；
Fig. 2 is the structural representation at a visual angle of middle charging and discharging mechanism according to a first embodiment of the present invention；
Fig. 3 is the structural representation at another visual angle of middle charging and discharging mechanism according to a first embodiment of the present invention；
Fig. 4 is the structural representation at a visual angle of middle de-stacking lifting platform according to a first embodiment of the present invention；
Fig. 5 is the structural representation of middle connection platform according to a first embodiment of the present invention；
Fig. 6 is structural representation when press system according to a first embodiment of the present invention includes guardrail；
Fig. 7 is the flow chart of the control method of press system according to a third embodiment of the present invention；
The flow chart of the control method of the press systems of Fig. 8 according to a fourth embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order that reader more fully understands the application and proposes many ins and outs.But even if without these ins and outs
With many variations based on following embodiment and modification, the application technical scheme claimed can also be realized.
The first embodiment of the present invention is related to a kind of press system.The core of present embodiment is that press system is set
Put at the bonding station of production line and for materials and parts to be pressed, press system includes：Detection means, servo press, grab
Take mechanism and charging and discharging mechanism.Charging and discharging mechanism is used to carry out the charging tray of stacking in de-stacking, and the material for coming out in de-stacking
After the first materials and parts in disk are removed, empty charging tray is subjected to stacking.Detection means is used to detect second in production line transmission belt
Whether materials and parts are transferred to bonding station.The second materials and parts that grasping mechanism is used to will be transmitted to bonding station are captured to servo pressure
Machine, be additionally operable to from de-stacking come out charging tray in capture the first materials and parts to servo press.Servo press is used for the first materials and parts and the
Two materials and parts are pressed.Grasping mechanism is additionally operable to capture the first materials and parts after pressing and the second materials and parts to production line transmission belt,
It is delivered to next station.
In terms of existing technologies, in the present embodiment, charging and discharging mechanism can realize that automatic tear open of charging tray is stamped and stacking,
In order to which grasping mechanism captures the first materials and parts to servo press from charging tray automatically；The detection means is used to detect the second materials and parts
The bonding station whether is transferred to, and notifies grasping mechanism to capture the second materials and parts to servo press；Grasping mechanism can also
The first materials and parts after pressing and the second materials and parts are captured to production line transmission belt, to be delivered to next station.Therefore, this embodiment party
The press system and its controlling party of formula, the full-automatic pressing on bonding station to materials and parts in production line is realized, so as to enter
One step improves the production efficiency of product and further reduces cost of labor.
Details, which is specifically described, to be realized to the press system of present embodiment below, herein below is only for convenience of managing
What solution provided realizes details, not implements the necessary of this programme.
As shown in figure 1, the press system 1 in present embodiment is arranged at the bonding station of production line and is located at transmission belt
2 side.Press system 1 includes charging and discharging mechanism 10, detection means 11, grasping mechanism 12 and servo press 13.Wherein, scheme
The part that transmission belt is located at bonding station is only illustrated in 1, in practice, the transmission belt 2 can run through the entire production line
And successively by each station on production line.
Fig. 2 to Fig. 4 is please also refer to, charging and discharging mechanism 10 includes de-stacking lifting platform 101, stacking lifting platform 102 and connect
Refute platform 103.De-stacking lifting platform 101 has charging aperture 101A and de-stacking position 101B, and stacking lifting platform 102 has stacking position
102A and discharging opening 102B.De-stacking lifting platform 101 is used for the charging aperture 101A by the charging tray 3 of stacking from de-stacking lifting platform 101
Rise to de-stacking position 101B.Connection platform 103 is used for the stacking position that the charging tray 3 that de-stacking comes out is sent to stacking lifting platform 102
102A；After the first materials and parts that stacking lifting platform 102 is used in the charging tray 3 that de-stacking comes out are removed, stacking position will be in
102A empty charging tray 3 carries out stacking, and the empty charging tray 3 after stacking is dropped to the discharging opening 102B of stacking lifting platform 102.
What de-stacking lifting platform 101 included being used to place the charging tray 3 of stacking first places plate 1011, the first lifting structure, the
One separation member and the first separation driving structure.First lifting structure include lifting support 1012-1, elevating screw 1012-2 with
And motor (not shown)；Elevating screw 1012-2 is fixed on lifting support 1012-1, and motor is connected to elevating screw 1012-2；
First placement plate 1011 is connected to elevating screw 1012-2.Motor drives elevating screw 1012-2 starts, elevating screw 1012-2
The first placement plate 1011 is driven to be moved between charging aperture 101A and de-stacking position 101B.
Preferably, the first lifting structure also includes charging tray limiting plate (not shown), including spacing plate body and fix bar, it is spacing
Plate body is fixed on lifting support 1012-1 by fix bar, and the position where spacing plate body is higher than de-stacking position；Charging tray limits
Position plate is used for the maximum height for limiting the charging tray 3 of stacking.The present embodiment is not intended to be limited in any to the quantity of charging tray limiting plate.
Preferably, the first lifting structure also includes being arranged on tearing the charging tray detector (not shown) for stamping position 101B open；Charging tray
Detector stamps position 101B for detecting the charging tray 3 of stacking and whether reaching to tear open；Substantially, be detect stacking charging tray 3 in it is most upper
Whether the charging tray 3 in face, which reaches to tear open, is stamped position 101B；When the arrival of charging tray 3, which is torn open, stamps position 101B, motor stops to elevating screw
1012-2 driving, that is, make it that uppermost charging tray 3 rests on to tear open and stamps position 101B in charging tray 3.Right not limited to this, when not expecting
When disk detector detects, motor driving elevating screw 1012-2 can be set in program and drives first to place the position that plate reaches；
For example, tear open and stamp for the first time at fully stacked (representing the maximum number of stacking of charging tray 3 together), control first place that plate reaches the
One height, now uppermost charging tray 3, which is located to tear open, stamps position 101B；Tear open for the second time when stamping, control first place that plate reaches the
Two height, now uppermost charging tray 3, which is located to tear open, stamps position 101B；Third time is torn open when stamping, control first place that plate reaches the
Three height, now uppermost charging tray 3, which is located to tear open, stamps position 101B ... ..., by that analogy；Wherein, the first height, second high
Degree, third height ... increase successively, and adjacent height difference is equal to the thickness of charging tray 3.
First separation member includes N number of separating plate 1014, and the first separation driving structure includes N number of separation driver element, N number of point
Corresponding respectively from driver element and N number of separating plate 1014, i.e., each separation driver element drives a separating plate 1014, wherein N
For the integer more than zero；In the present embodiment, N value is 2, i.e. the first separation member includes 2 separating plates 1014, and the first separation is driven
Dynamic structure includes 2 separation driver elements.2 separation driver elements are separately positioned on lifting support 1012-1 and are located at charging tray
3 opposite sides.Each separation driver element includes the first cylinder 1013-1 and the second cylinder 1013-2.First cylinder 1013-1
Separating plate 1014 is connected to, and for driving separating plate 1014 to stamp position close to charging tray 3 will be located to tear open in the horizontal direction
101B charging tray 3 is separated, or, it is put into connection platform away from charging tray 3 so that the charging tray 3 for stamping out will be torn open in the horizontal direction
(it is detailed later) on 103.Wherein, separating plate 1014 can be supported on the marginal portion of the lower surface of charging tray 3, and charging tray 3 is supported
Get up；Right not limited to this, in other embodiment, separating plate 1014 can also be clamped in the side wall of charging tray 3.
Separating plate 1014 in the present embodiment is for example including the first plate body 1014-1 and the second plate body 1014-2 (in such as Fig. 4
It is shown), the first plate body 1014-1 is fixed on the second plate body 1014-2 first surface, and the first cylinder 1013-1 is fixed on the second plate
Body 1014-2 second surface；First plate body 1014-1 is parallel with charging tray 3 and for supporting the lower surface of charging tray 3, so as to will expect
Disk 3 supports.
Preferably, the marginal portion of the lower surface of charging tray 3 is formed with groove 31 corresponding with separating plate 1014, separating plate 1014
Insert in the groove 31 of charging tray 3 to support charging tray 3, so as to which charging tray 3 located above be separated.Wherein, groove 31 is set
Put, can be inserted in order to separating plate 1014 from the contact surface of two materials and parts to lift charging tray 3 located above, and can cause
Separating plate 1014 supports more stable (groove has position-limiting action) with charging tray 3.Right the present embodiment is not restricted to this, works as separation
When plate 1014 clamps the side wall of charging tray 3, groove 31 can also design the side wall in charging tray 3.
Second cylinder 1013-2 is connected to the first cylinder 1013-1 by connecting plate 1013-3, for driving separating plate 1014
The charging tray 3 for stamping out is torn open with drive and makees ascending motion or descending motion (being detailed later).Wherein, in the second cylinder 1013-2 drive
The first cylinder 1013-1 being fixed under dynamic on connecting plate 1013-3 and the together start of separating plate 1014.That is, when the second cylinder
When 1013-2 drives, connecting plate 1013-3, the first cylinder 1013-1 and separating plate 1014 are together made to rise as an entirety
Motion or descending motion；And when the first cylinder 1013-1 drives, only separating plate 1014 moves horizontally (close to charging tray or remote
Charging tray).
Stacking lifting platform 102 is identical with the structure of de-stacking lifting platform 101, including for placing of the empty charging tray 3 after stacking
Two place plate, the second lifting structure, the second separation member and the second separation driving structure.Second lifting structure is used to drive second
Place plate to decline, to drive the charging tray 3 of stacking to reach discharging opening 102B from stacking position 102A；Second separation driving structure is used for
The second separation member is driven to take over the charging tray 3 that the de-stacking on connection platform 103 comes out, and the first material in the charging tray 3 that de-stacking comes out
After part is removed, the empty charging tray 3 in stacking position 102A is positioned over the second placement plate, to carry out stacking.
Wherein, stacking lifting platform 102 belongs to identical structure, i.e. each member in stacking lifting platform 102 with de-stacking lifting platform 101
The concrete structure and annexation of part, it is identical with the concrete structure and annexation for tearing each element stamped in lifting platform 101 open；
Therefore the concrete structure and annexation of each element in stacking lifting platform 102 are not repeated in the present embodiment.Stacking lifting platform
102 the difference is that only with de-stacking lifting platform 101, and stacking lifting platform 102 is to the method for shipment of charging tray 3 and tears open and stamps lifting platform
The method of shipment of 101 pairs of charging trays 3 is just reverse (being detailed later) each other.
Connection platform 103 is arranged between de-stacking lifting platform 101 and stacking lifting platform 102, for the charging tray 3 for coming out de-stacking
From de-stacking position, 101B is sent to stacking position 102A.Fig. 5 is please also refer to, specifically, connection platform 103 includes bearing part
1031 with bearing part driving structure.In the present embodiment, bearing part driving structure include slide rail 1032-1, the screw mandrel 1032-2 that plugs into,
Moving part 1032-3, motor 1032-4 and supporting table 1032-5.Slide rail 1032-1 and the screw mandrel 1032-2 that plugs into are each attached to branch
Support on platform 1032-5, bearing part 1031 is slidably disposed on guide rail；The screw mandrel 1032-2 that plugs into is connected by moving part 1032-3
It is connected to bearing part 1031；Motor 1032-4 is fixed on supporting table 1032-5 and is connected to the screw mandrel 1032-2 that plugs into.Motor 1032-
3 drive screw mandrel 1032-2 rotations of plugging into, and the screw mandrel 1032-2 that plugs into drives bearing part 1031 along slide rail by moving part 1032-3
1032-1 slides in horizontal movement；So as to which bearing part driving structure can drive bearing part 1031 in de-stacking position 101B and code
Moved between putting 102A stack position.The concrete structure of bearing part driving structure is not intended to be limited in any in the present embodiment, it is every can
Realize that the driving structure moved between de-stacking position 101B and stacking position 102A of driving bearing part 1031 can be with.
The specific start of charging and discharging mechanism is as follows.
First, de-stacking lifting platform 101 tear open stamping to the charging tray 3 of stacking, specifically includes：
The charging tray 3 for the stacking being placed on the first placement plate 1011 is located at the charging aperture 101A of de-stacking lifting platform 101；First
Lifting structure drives the first placement plate 1011 to make ascending motion, and the charging tray 3 of stacking rises to tear open from charging aperture 101A stamps position
101B, i.e. reach to tear open positioned at the uppermost charging tray 3 of the charging tray 3 of stacking and stamp position 101B；
The first cylinder 1013-1 in first separation driving structure drives separating plate 1014 to be moved towards the direction of charging tray 3,
So that separating plate 1014 supports the bottom edge part of a uppermost charging tray 3；The second gas in first separation driving structure
Cylinder 1013-2 drives the first cylinder 1013-1 together to make ascending motion with separating plate 1014, and a uppermost charging tray 3 is divided
Separate out and come (tear open and stamp out).Now the first lifting structure can also drive the first placement plate 1011 to make descending motion, with more preferable
Ground separates.Wherein, the second cylinder 1013-2 drives the distance that separating plate 1014 rises, and the first lifting structure to drive first to put
The distance of the decline of plate 1011 is put, can optionally be set, as long as the distance for meeting to rise is more than carrying with declining apart from sum
The thickness of part 1031 (can be torn open below the charging tray 3 for stamping out, be detailed later) in order to which bearing part 1031 can be moved to.
Secondly, the charging tray 3 that de-stacking comes out is stamped position 101B and is sent to stacking position 102A by connection platform 103 by tearing open, specifically
Including：
Bearing part driving structure drive bearing part 1031 towards tear open stamp position 101B motion, to cause bearing part 1031 to move
To the lower section for tearing the charging tray 3 for stamping out open；
The second cylinder 1013-2 in de-stacking lifting platform 101 drives the first cylinder 1013-1 and the separating plate 1,014 1 of charging tray 3
With making descending motion, until will tear the charging tray 3 for stamping out open is placed on bearing part 1031 that (bearing part 1031 is held in charging tray 3
Between region, will not produce interference with separating plate 1014)；Now, the second cylinder 1013-2 drives the first cylinder 1013-1 with separating
Plate 1014 continues to move downward, and now, tears the charging tray 3 for stamping out open and is placed on bearing part 1031 and is returned to tear open and stamp position
101B；
Bearing part driving structure drives bearing part 1031 to be moved towards stacking position 102A, will tear the charging tray 3 stamping out open and passes
Deliver to stacking position 102A.
Again, after the first materials and parts that stacking lifting platform 102 is used in the charging tray 3 that de-stacking comes out are removed, code will be in
The empty charging tray 3 that 102A is put in stack position carries out stacking, and the empty charging tray 3 after stacking is dropped to the discharging opening of stacking lifting platform 102
102B, specifically include：
The first cylinder driving separating plate in second separation driving structure, which is torn the charging tray 3 for stamping out open towards this and moved, (to be located at
Stacking position 102A) so that separating plate is risen up between this tears the charging tray 3 and the bearing part 1031 for stamping out open, and is supported and torn open at this
The bottom edge part for the charging tray 3 for stamping out；
Second cylinder of the second separation driving structure drives the first cylinder together to make ascending motion with separating plate, will tear open and stamp
Charging tray 3 out is held up to stacking position 102A is higher than, and now, this is torn the charging tray 3 for stamping out open and separated with bearing part 1031；
Bearing part driving structure drives bearing part 1031 to be moved to the direction away from stacking position 102A, the second separation driving
Second cylinder of structure drives the first cylinder together to make descending motion with separating plate, and the charging tray 3 for stamping out to cause this to tear open is replied
To stacking position 102A；Now, first materials and parts torn open in the charging tray 3 for stamping out are removed in stacking position 102A, are become
Empty charging tray 3；
Second lifting structure drives the second holding tray to move to the lower section of the sky charging tray 3, and the of the second separation driving structure
The direction that one cylinder driving separating plate is directed away from sky charging tray 3 is moved to discharge the sky charging tray 3, and now, the sky charging tray 3 is placed on
Second places on plate；
Second lifting structure is moved downward the second placement plate by stacking position 102A.Wherein, in palletization, second
Place per the empty charging tray 3 of one, stacking on plate, the second lifting structure drives second to place the height that plate declines a charging tray 3；Work as heap
When the quantity of the empty charging tray 3 of pile reaches predetermined number, the second lifting structure drives the second placement plate to drop to discharging opening 102B, i.e.,
The empty charging tray 3 of whole pile is transported to discharging opening 102B.
Preferably, the charging and discharging mechanism 10 in the present embodiment can also include charging belt line 104 and blanking belt line
105, as shown in Figure 2.
Specifically, one end of charging belt line 104 is located at the charging aperture 101A of de-stacking lifting platform 101, and the other end is formed
Upper shots.In the present embodiment, charging belt line 104 includes a feeding cylinder 1041, loading guide 1042 and first support
1043, feeding cylinder 1041 is each attached on rail brackets 1043 with loading guide 1042.First holding tray 1011 is fixed on
Expect on cylinder 1041, feeding cylinder 1041 can drive the first holding tray 1011 along loading guide 1042 in upper shots and charging
Moved between mouth 101A.When the first holding tray 1011 is driven upper shots, the charging tray 3 of stacking is placed on by operating personnel
Shots, feeding cylinder 1041 can drive the first holding tray 1011 to be moved to charging aperture 101A from upper shots；When the charging tray 3 of stacking
All it is split after stamping, feeding cylinder 1041 drives the first holding tray 1011 to be moved to upper shots from charging aperture 101A, for operation
Personnel's feeding.
Similar, one end of blanking belt line 105 is located at the discharging opening 102B of stacking lifting platform 102, and the other end is formed down
Shots.In the present embodiment, blanking belt line 105 includes a blanking cylinder 1051, blanking guide rail 1052 and second support
1053, blanking cylinder 1051 is each attached to second support 1053 with blanking guide rail 1052.Second holding tray is fixed on blanking cylinder
On 1051, blanking cylinder 1051 can drive the second holding tray along blanking guide rail 1052 between blanking point and discharging opening 102B
Motion.When the second holding tray is located at discharging opening 102B, blanking cylinder drives the second holding tray to be moved to down from discharging opening 102B
Shots, for operating personnel's blanking；After operating personnel's blanking, blanking cylinder 1051 drives the second holding tray to be moved to from blanking point
Discharging opening 102B, to continue stacking.
Due to the presence of charging belt line 104 and blanking belt line 105, whole pile charging tray 3 need to be only placed on by operating personnel
The upper shots of charging belt line 104, from the blanking point of blanking belt line 105 the empty charging tray 3 after stacking is taken out, without by whole pile
Charging tray 3 is manually placed into the charging aperture 101A of de-stacking lifting platform or manually takes out the material taking mouth of whole pile charging tray 3 from de-stacking lifting platform,
Reduce the carrying difficulty of whole pile charging tray 3, it might even be possible to realize automated handling with manipulator.And it is possible to set as needed
Count charging belt line 104 and the transport length of blanking belt line 105 so that multiple bonding stations (there may be a plurality of parallel
Have multiple bonding stations in production line or same production line) charging belt line 104 upper shots and blanking belt line 105
Blanking point converge in a region, then, only one operating personnel or a manipulator can take into account multiple pressing works
The charging tray 3 of position is carried.
Detection means 11 is arranged at bonding station and corresponds to transmission belt 2, and detection means 11 is used to detect transmission belt 2
The second materials and parts whether be transferred to bonding station.When detecting that the second materials and parts are transferred to bonding station, crawl is notified that
Mechanism 12 captures.Specifically, when the second materials and parts in transmission belt 2 are transferred to bonding station, the second materials and parts 2 enter detection
The detection range of device, therefore can be detected by detection means.Now, transmission belt 2 can fix tentatively scheduled duration, or slow down
Transmission speed, in order to which grasping mechanism 12 smoothly captures.Detection means in the present embodiment is position sensor, is so not limited to
This.
Grasping mechanism 12 is between transmission belt 2 and feed mechanism 10, in order to capture the first materials and parts in charging tray 3 with passing
The second materials and parts on defeated band 2.Grasping mechanism 12 includes robot base 121, the robot on robot base 121
Arm 122 and the robot clamp (not shown) installed in robot arm 122.Robot arm 122 can be in three direction of principal axis
Upper movement, and capture from transmission belt 2 second materials and parts, capture from charging tray 3 first materials and parts and the first materials and parts crawl, second
Materials and parts are placed into servo press 13.Robot clamp is, for example, sucker, for adsorbing materials and parts so that mechanical arm 122 is with shifting
It is dynamic.Wherein, the present embodiment is not intended to be limited in any to the free degree of robot arm 122.
Specifically, it is preset with the first crawl position of the first materials and parts and the first placement location, the second of the second materials and parts grabs
Fetch bit is put and the second placement location.In the present embodiment, the first crawl position of the first materials and parts is stacking position, but not as
Limit.When charging tray is pushed into stacking position, the first materials and parts reach the first crawl position, robot arm be moved to this first
Simultaneously grabbed crawl position (in programme-control, corresponding with the first crawl position with the specific coordinate position of robot coordinate system)
Take, robot arm is then moved to the first placement location (in programme-control, with the specific coordinate position of robot coordinate system
It is corresponding with the first placement location) and the first materials and parts are placed in servo press.Similarly, when the second materials and parts are transferred into pressing work
During position, the second materials and parts are located at second crawl position (particular location can be by the mobile control of transmission belt), robot arm
Second crawl position is moved to (in programme-control, with the specific coordinate position of robot coordinate system and the second crawl position pair
Should) and captured, robot arm is then moved to the second placement location (in programme-control, with robot coordinate system's
Specific coordinate position is corresponding with the second placement location) and the second materials and parts are placed in servo press.
When the first materials and parts and the second materials and parts are placed in servo press 13, servo press 13 starts pressing program,
To carry out stitching operation.Servo press 13 is, for example, hot press；Right not limited to this, the type of servo press 13 can be according to reality
Depending on the species for needing the first materials and parts and the second materials and parts pressed.In the present embodiment, the first materials and parts are, for example, the battery of mobile phone, the
Two materials and parts are, for example, the housing of mobile phone, and the battery of mobile phone is pressure bonded in the housing of mobile phone by servo press 13.
Preferably, press system can also include controller 14, controller 14 is connected to charging and discharging mechanism 10, detection means
11st, grasping mechanism 12 and servo press 13, and for control charging and discharging mechanism 10, detection means 11, grasping mechanism 12 and
Coordinate start between servo press 13.Wherein, the physical placement position of controller 14 can depend on the circumstances, merely illustrative in Fig. 1
Property represent.
The specific control process of controller 14 is as follows：Controller 14 controls the de-stacking lifting platform 101 in charging and discharging mechanism 10,
The charging tray 3 of stacking is subjected to de-stacking, and controls connection platform 103 to tear the charging tray 3 stamping out open and is sent to stacking position 102A.When connecing
Receive that detection means 11 reports when detecting that the second materials and parts are transferred to bonding station, controller 14 controls grasping mechanism 12 will
Second materials and parts are captured from transmission belt to servo press 13；Controller 14 controls grasping mechanism 12 from positioned at stacking position 102A's
The first materials and parts are captured in charging tray 3 and are placed it in servo press 13；Wherein, the priority of the first materials and parts and the second materials and parts captures
Order is not intended to be limited in any herein, can need to design according to actual pressing；Controller 14 controls servo press 13 to start pressing
Program, the first materials and parts and the second materials and parts are pressed.After pressing, after controller 14 controls grasping mechanism 12 to press
The first materials and parts and the second materials and parts capture to the transmission belt 2 of production line, the first materials and parts after pressing are conveyed with the second materials and parts
To next station.
Wherein, charging and discharging mechanism 10, detection means 11, grasping mechanism 12 and servo press 13 these parts can divide
There is not the microprocessor built in oneself, the control program for realizing each component function is stored in the microprocessor built in each part；
Controller 14 is connected with the microprocessor built in each part respectively, and coordinates the work of each part；And the function of each part is realized
It is to be completed by the control program of each component function of microprocessor operation of each part.For example, micro- place built in grasping mechanism
After reason device receives the crawl startup order of controller, built-in capture program is run to perform crawl task.
Each part has microprocessor, and controller 14 is only used for coordinating start, realizes Automated condtrol by this way more
Add and facilitate technical staff's programming realization；Also, be easy to detection means, servo press, grasping mechanism and charging and discharging mechanism these
The modularization of part, i.e., each part can independently realize function, so as to convenient replacement or convert to other systems.
Right not limited to this, in other embodiments, the control program of each component function can also be stored in controller 14
In, i.e., the concrete function of the co-ordination of each part and each part is realized and all controlled by controller in pressing system；
Or when press system does not include controller, each part can be judged whether by directly receiving the signal of miscellaneous part
Execution task and which kind of task is performed, cooperated so as to realize.
Preferably, the press system 1 of the present embodiment also includes guardrail 15, Fig. 6 is refer to, guardrail 15 is arranged on charging ＆ discharging machine
Structure 10, detection means 11, the periphery of grasping mechanism 12 and servo press 13, play a protective role.Wherein, it is corresponding on guardrail 15
In de-stacking lifting platform 101 charging aperture 101A and stacking lifting platform 102 discharging opening 102B position formed opening, with feed
Disk 3 passes in and out.
Second embodiment of the present invention is related to a kind of press system.Second embodiment and first embodiment substantially phase
Together, it is in place of the main distinction：In the first embodiment, detection means 11 is position sensor；It is and real in the present invention second
Apply in mode, detection means 11 uses vision detection technology, and specifically, detection means 11 includes camera and microprocessor, please
With reference to figure 1.
Camera is used for the image for shooting predeterminable area in bonding station；It is in the image that microprocessor is used to judge to shoot
The no image for including the second materials and parts；If microprocessor judges the image for including the second materials and parts in the image of shooting, second is judged
Materials and parts have been transferred to bonding station.Specifically, when installing camera, its installation site can be adjusted so that camera
Coverage cover the predeterminable area.Microprocessor is analyzed the image of the predeterminable area of shooting, if identifying
The image of two materials and parts, represent that the second materials and parts come into the predeterminable area.
Preferably, microprocessor may recognize that in the image of shooting the image of the second materials and parts with grasping mechanism default
The relative position of region orthographic projection position, and the position of grasping mechanism is corrected according to relative position, make the second materials and parts
The position of image overlaps with grasping mechanism in predeterminable area orthographic projection position.
Specifically, the second materials and parts have default second crawl position, can be with by the transmission of controlling transmission band
Think, when the second materials and parts enter bonding station, the second materials and parts are located in second crawl position；Grasping mechanism can from this
Two crawl positions (in programme-control, corresponding with the first crawl position with the specific coordinate position of robot coordinate system) crawl second
Materials and parts, i.e. after the robot arm of grasping mechanism is moved to above predeterminable area, it is in the orthographic projection position of predeterminable area
Second crawl position；Then robot arm moves to second crawl position and captured straight down again.However, passing
During the materials and parts of transmission second of defeated band, during transmission either between station and station not at the uniform velocity, or enter pressing
Deceleration or pause during station, it is likely to the movement (effect of inertia) for causing the second materials and parts small；Therefore the second materials and parts reach
During bonding station, default second crawl position may be deviateed；Now, if robot arm was also according to originally setting
Program is moved to the surface of the second crawl position, then can not grab the second materials and parts at all.
In the present embodiment, microprocessor by the image of the second materials and parts in the image of shooting and grasping mechanism in predeterminable area just
Projected position is compared, and calculates its relative position.If both are misaligned to have offset, illustrate that the second materials and parts are sent out
Skew is given birth to, then the position of grasping mechanism is corrected according to the offset so that robot arm is in predeterminable area
Projected position overlapped with the current location of second material, so as to, when robot arm moves downwards, could accurately grab
Get the second materials and parts.
Therefore, detection means utilizes vision detection technology, can be according to the figure of the second materials and parts in the image that camera is shot
Image position is corrected to the position of the grasping mechanism, so as to even if position skew occur in the second materials and parts, can also accurately grab
Take, to ensure every time smoothly completing for pressing task.
Third embodiment of the invention is related to a kind of control method of press system, applied to described in first embodiment
Pressing system.The idiographic flow of the control method of present embodiment is as shown in fig. 7, comprises following steps.
Step 101：Charging and discharging mechanism carries out de-stacking to the charging tray of stacking, and at least one first material is placed with each charging tray
Part；
Step 102：Whether the second materials and parts in detection means detection production line transmission belt are transferred to bonding station；If
It is, into step 103；If it is not, then return to step 102.
Step 103：Grasping mechanism captures the second materials and parts to servo press；
Step 104：The first materials and parts are captured to servo press in the charging tray that grasping mechanism comes out from de-stacking；
Step 105：Servo press is pressed the first materials and parts and the second materials and parts；
Step 106：Grasping mechanism captures the first materials and parts after pressing and the second materials and parts to production line transmission belt, is delivered to
Next station.
Wherein, the present embodiment step 103 is not intended to be limited in any with 104 order, can be set according to actual conditions
It is seen that present embodiment is the embodiment of the method corresponding with first embodiment, present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
Four embodiment of the invention is related to a kind of control method of press system.4th embodiment and the 3rd embodiment party
Formula is roughly the same, is in place of the main distinction：In the third embodiment, detection means is position sensor, and grasping mechanism exists
When detection means detects that the second materials and parts are transferred to bonding station, that is, captured；And in four embodiment of the invention,
Detection means includes camera, can identify second by the analysis of the image including the second materials and parts shot to camera
The current location of materials and parts, and the position of grasping mechanism is calibrated, accurately to capture.
Idiographic flow is as shown in figure 8, comprise the following steps.
Wherein, step 201, step 203 to step 206 are roughly the same to step 106 with step 101, step 103 respectively,
Here is omitted；Difference is that the step 202 in the present embodiment includes following sub-step.
Sub-step 2021, camera shoot the image of predeterminable area in bonding station.
Sub-step 2022, microprocessor judge the image of the second materials and parts whether is included in the image of shooting.If so, enter son
Step 2023；If it is not, return to sub-step 2021.
Sub-step 2023, microprocessor identify in the image of shooting the image of the second materials and parts with grasping mechanism in preset areas
The relative position of domain orthographic projection position, and the position of grasping mechanism is corrected according to relative position, make the figure of the second materials and parts
The position of picture overlaps with grasping mechanism in predeterminable area orthographic projection position.
Because second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
It is engaged implementation.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, implement second
The technique effect that can reach in mode can similarly be realized in the present embodiment, no longer superfluous here in order to reduce repetition
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
The step of various methods divide above, be intended merely to describe it is clear, can be merged into when realizing a step or
Some steps are split, are decomposed into multiple steps, as long as including identical logical relation, all protection domain in this patent
It is interior；To either adding inessential modification in algorithm in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of press system, it is characterised in that be arranged at the bonding station of production line and for materials and parts to be pressed, institute
Stating press system includes：Detection means, servo press, grasping mechanism and charging and discharging mechanism；
The charging and discharging mechanism is used to carry out the charging tray of stacking de-stacking, and the first materials and parts in the charging tray for being come out in de-stacking
After being removed, empty charging tray is subjected to stacking；
Whether the second materials and parts that the detection means is used to detect in production line transmission belt are transferred to the bonding station；
Second materials and parts that the grasping mechanism is used to will be transmitted to the bonding station are captured to the servo press, are also used
First materials and parts are captured to the servo press in the charging tray come out from the de-stacking；
The servo press is used to be pressed first materials and parts and second materials and parts；
The grasping mechanism is additionally operable to capture first materials and parts after pressing and second materials and parts to the production line and passed
Defeated band, it is delivered to next station.
2. press system according to claim 1, it is characterised in that the detection means includes camera and microprocessor
Device；The camera is used for the image for shooting predeterminable area in the bonding station；
Whether the image of second materials and parts is included in the described image that the microprocessor is used to judge to shoot；The microprocessor
When device includes the image of second materials and parts in the described image for judging shooting, judge that second materials and parts have been transferred to
The bonding station.
3. press system according to claim 2, it is characterised in that the microprocessor is additionally operable to identify the institute of shooting
The image of the second materials and parts described in image and relative position of the grasping mechanism in the predeterminable area orthographic projection position are stated, and
The position of the grasping mechanism is corrected according to the relative position, make second materials and parts image position with it is described
Grasping mechanism overlaps in the predeterminable area orthographic projection position.
4. press system according to claim 1, it is characterised in that the charging and discharging mechanism includes de-stacking lifting platform, code
Pile lifting platform and connection platform；
The de-stacking lifting platform is used to the charging aperture of the charging tray of the stacking from the de-stacking lifting platform rising to de-stacking position
Tear open stamping；
The connection platform is used for the stacking position that the charging tray that de-stacking comes out is sent to the stacking lifting platform；
After first materials and parts that the stacking lifting platform is used in the charging tray that the de-stacking comes out are removed, it will be in described
The empty charging tray of stacking position carries out stacking, and the empty charging tray after stacking is dropped to the discharging opening of the stacking lifting platform.
5. press system according to claim 4, it is characterised in that the charging and discharging mechanism also include charging belt line with
Blanking belt line；
The charging belt line is used for the charging aperture that the charging tray of the stacking is sent to the de-stacking lifting platform from upper shots；
The blanking belt line is used to the discharging opening of the empty charging tray after the stacking from the stacking lifting platform being sent to blanking
Point.
6. press system according to claim 4, it is characterised in that the de-stacking lifting platform includes：It is described for placing
The first of the charging tray of stacking places plate, the first lifting structure, the first separation member and the first separation driving structure；
First lifting structure be used to driving the first placement plate the charging aperture and it is described tear open to stamp rise between position
Drop motion, stamp position to drive to tear open described in uppermost charging tray arrival in the charging tray of the stacking；
The first separation driving structure is used to driving first separation member will to stamp the charging tray of position positioned at described tear open and tear open and stamp
Come；
The stacking lifting platform includes：Plate, the second lifting structure, the are placed for placing second of the empty charging tray after the stacking
Two separation members and the second separation driving structure；
Second lifting structure is used to drive the second placement plate to rise between the discharging opening and the stacking position
Drop motion, to drive the empty charging tray after the stacking to reach the discharging opening from the stacking position；
The second separation driving structure comes out for driving second separation member to take over the de-stacking from the connection platform
Charging tray, and the de-stacking come out charging tray in first materials and parts be removed after, by the sky in the stacking position
Charging tray is positioned over described second and places plate, to carry out stacking.
7. press system according to claim 6, it is characterised in that first separation member and second separation member are equal
Including N number of separating plate, the first separation driving structure separates driving structure with described second to be included and N number of separating plate
N number of separation driver element corresponding to respectively；Wherein, N is the integer more than zero；
Each separation driver element includes the first cylinder, the second cylinder and connecting plate, and first cylinder is connected to institute
Separating plate is stated, and for driving the separating plate in the horizontal direction towards the charging tray or empty charging tray to be palletized fortune for treating that de-stacking comes out
Dynamic or remote empty charging tray to be palletized moves；Second cylinder is connected to first cylinder by the connecting plate, and uses
In drive the separating plate drive described in treat that charging tray that de-stacking comes out or empty charging tray to be palletized make ascending motion or descending motion.
8. press system according to claim 7, it is characterised in that the connection platform includes：Stamp for carrying described tear open
The bearing part and bearing part driving structure of charging tray out；
The bearing part driving structure be used for drive the bearing part it is described tear open to stamp moved between position and the stacking position,
To stamp position and be sent to the stacking position charging tray for stamping out of tearing open by described tear open.
9. a kind of control method of press system, it is characterised in that the press system is arranged at the bonding station of production line
And including detection device, servo press, grasping mechanism and charging and discharging mechanism；The control method includes：
The charging and discharging mechanism carries out de-stacking to the charging tray of stacking, and at least one first materials and parts are placed with each charging tray；
Whether the second materials and parts in the detection means detection production line transmission belt are transferred to the bonding station；
When second materials and parts are transferred to the bonding station, the grasping mechanism captures second materials and parts to described
Servo press；
First materials and parts are captured to the servo press in the charging tray that the grasping mechanism comes out from de-stacking；
The servo press is pressed first materials and parts and second materials and parts；
The grasping mechanism captures first materials and parts after pressing and second materials and parts to the production line transmission belt, defeated
Deliver to next station.
10. the method for work of press system according to claim 9, it is characterised in that the detection means includes shooting
Head and microprocessor；The detection means detects whether the second materials and parts are transferred to the bonding station, specifically includes：
The camera shoots the image of predeterminable area in the bonding station；
The microprocessor judges the image of second materials and parts whether is included in the described image of shooting；If the figure of shooting
The image of second materials and parts is included as in, the microprocessor identifies the figure of the second materials and parts described in the described image of shooting
Picture and relative position of the grasping mechanism in the predeterminable area orthographic projection position, and grabbed according to the relative position to described
Take the position of mechanism to be corrected, make second materials and parts image position and the grasping mechanism in the predeterminable area just
Projected position overlaps.
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| CN201710522076.4A CN107486693B (en) | 2017-06-30 | 2017-06-30 | Press system and its control method |
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| CN109605217A (en) * | 2019-01-31 | 2019-04-12 | 广东拓斯达科技股份有限公司 | A kind of charging and discharging mechanism and grinding apparatus |
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| CN112658631A (en) * | 2020-12-11 | 2021-04-16 | 广州得尔塔影像技术有限公司 | Automatic change rigging equipment |
| CN114101885A (en) * | 2021-12-10 | 2022-03-01 | 江苏北人智能制造科技股份有限公司 | Automatic welding device |
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