CN112140568B - Automatic thick rubber plate application device and method - Google Patents
Automatic thick rubber plate application device and method Download PDFInfo
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- CN112140568B CN112140568B CN202010941434.7A CN202010941434A CN112140568B CN 112140568 B CN112140568 B CN 112140568B CN 202010941434 A CN202010941434 A CN 202010941434A CN 112140568 B CN112140568 B CN 112140568B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/48—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding
- B29C65/52—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor using adhesives, i.e. using supplementary joining material; solvent bonding characterised by the way of applying the adhesive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7841—Holding or clamping means for handling purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
- B29C65/7858—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus characterised by the feeding movement of the parts to be joined
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Abstract
The invention provides an automatic thick rubber plate application device and method. The invention discloses a thick rubber plate application device and a thick rubber plate application method. The motion of each component is cooperatively controlled, and the measuring system and the assembling system are interconnected and work in an iterative way, have certain flexibility and can adapt to the mounting of materials with different specifications in a specified range. The full-automatic feeding and discharging carrying device has the advantages that full-automatic feeding and discharging carrying of thick rubber plates and tools is achieved, autonomous measurement and adjustment are achieved, the operation intensity of workers is greatly reduced, and operation efficiency is improved. The problems that the existing thick rubber plate mounting operation is low in automation degree, large in labor intensity of workers, severe in operation environment, unsmooth in mounting rhythm and the like are solved. The method is suitable for being applied as an automatic thick rubber plate application method.
Description
Technical Field
The invention relates to a rubber plate in the field of chemical engineering, in particular to an automatic thick rubber plate application device and method.
Background
The prior art mode is used for laying the thick rubber plate, the technical means of the whole process is old and laggard, most of work is finished manually, and the existing main problems are that each procedure adopts a manual operation mode, accumulated errors exist in marking, cutting, positioning and pressing, and the linear change of the mounting surface is added, so that the application precision of the thick rubber plate is limited and the integral aesthetic effect is influenced; the heavy material is difficult to lift, lift and compress, the labor intensity of workers is high, the operation environment is severe, and the application quality is even affected; in addition, the method has low automation and digitization application degree, unsmooth construction, complex process and low construction efficiency, and can not meet the engineering requirements of large-area integral application and batch production construction period.
Disclosure of Invention
In order to automatically apply the thick rubber plate, the invention provides an automatic thick rubber plate application device and method. According to the method, through an automatic application device based on visual guidance, two stages of work of loading, mounting, locking and unloading and dismounting of a thick rubber plate and a pressing tool and a surface to be applied are realized. The motion of each component is cooperatively controlled, and the measuring system and the assembling system work in an iterative way, have certain flexibility and meet the requirements of the mounting of materials with different specifications. The operation intensity of workers is greatly reduced, and the construction efficiency is improved. The automatic thick rubber plate applying device solves the technical problem of automatic thick rubber plate applying.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic thick rubber plate application method comprises the following steps:
step 1, scribing according to the layout requirement of a thick rubber plate, and welding a positioning stud; the stud is vertical to the surface to be applied, and the verticality deviation is not more than 0.02 mm;
step 2, penetrating a support screw rod into sleeves at two sides of the positioning plate, and screwing and locking the support screw rod with the stud;
step 3, respectively placing a tool placing platform and a thick rubber plate placing platform at two sides of the mechanical arm mounting platform, vertically placing the thick rubber plate on the thick rubber plate placing platform, and inclining the thick rubber plate at a certain angle, wherein the tool placing platform is convenient for clamping the tool and freely operating the mechanical arm joint; the pressing tool is tiled on the tool placing platform;
step 4, coating an adhesive on the bonding surface of the thick rubber plate and the surface to be applied in a scraping way;
step 6, scanning and compacting the tool by a visual recognition system of the tool executed at the tail end of the mechanical arm to obtain the placing position and the posture of a fixture block of the tool and obtain coordinates;
8, scanning the placement position of the thick rubber plate by the mechanical arm tail end execution tool visual recognition system, acquiring a placement 3D image of the thick rubber plate, and acquiring coordinates through image analysis;
step 9, clamping the thick rubber plate by a combination of the mechanical arm tail end execution tool and the pressing tool according to the coordinate information of the thick rubber plate; firstly, the tail end of the mechanical arm executes a tool to enable the baffle to be close to one long edge of the thick rubber plate; then, the pressing tool clamps the clamping plate and the other long edge of the thick rubber plate through the clamping cylinder;
step 10, according to coordinate information of the installation position of the thick rubber plate, when the elastic axial clamping pin is bounced into a positioning clamping groove of the positioning plate, the pressing tool is loosened through the locking motor, the clamping cylinder is loosened at the same time, the tail end of the mechanical arm executes the tool to leave through the control of the mechanical arm, and the thick rubber plate and the pressing tool are fixed in the installation area;
step 11, when the mechanical arm leaves the operating surface, carrying a transfer mechanism to an installation area by personnel, locking an adjusting screw of a pressing tool, adjusting the position of a pressing plate and a pressing force value, and waiting for the adhesive to be cured;
12, curing the adhesive for more than 24 hours, disassembling the pressing tool, firstly manually loosening or tightening an adjusting screw on a pressing plate, and then executing the tool by the tail end of the mechanical arm to re-scan coordinate information of a fixture block of the tool to obtain coordinates;
Specifically, in step 5, performing line-structured light scanning operation on the fixed supports, obtaining coordinate values of the positions of the fixed supports relative to the mechanical arm base through image detection, and swinging the mechanical arm tail end execution tool until the tail end execution tool is parallel to the mounting surface after the mechanical arm tail end execution tool moves to a target position; placing a thick rubber plate between the fixed supports to finish mounting;
specifically, in step 6, linear structured light scanning operation is performed on the pressing tool, coordinate values of positions of fixture blocks of each tool relative to the mechanical arm base are obtained through image detection, and after the tail end of the mechanical arm executes the tool movement to a target position, the tail end of the mechanical arm executes the tool swing until the tail end of the mechanical arm is parallel to a pickup surface of the pressing tool. Grabbing a clamping fixture block of the clamping fixture by using an electric fixture, and picking up a pressing fixture;
specifically, in step 8, performing line structured light scanning operation on the thick rubber plate, obtaining coordinate values of the positions of the clamping points of the thick rubber plate relative to the mechanical arm base through image detection, swinging the mechanical arm tail end execution tool until the tail end execution tool is parallel to the surface of the thick rubber plate after the mechanical arm tail end execution tool moves to a target position, and clamping and picking up the thick rubber plate by using a baffle and a clamping plate;
specifically, the pressing tool, as shown in fig. 6, 7, 8, and 9, includes four groups of pressing units, a supporting beam, a baffle, a tool side plate, a tool fixture block, and an elastic axial clamp pin, where the pressing units include a pressing plate, an adjusting screw, a cross beam, and a lock nut.
Specifically, the tool for executing the tail end of the mechanical arm, as shown in fig. 2, 3, 4 and 5, comprises a tool rapid converter, a micro cylinder, an actuator steel structure, a fixture, a wedge-shaped bolt, a 3D sensor, a clamping cylinder, a clamping plate and a locking motor;
specifically, the fixing bracket, as shown in fig. 10 and 11, includes a supporting screw, a positioning plate, a positioning slot, and a visual measurement identification feature marking notch.
Specifically, the micro cylinder is a tooling fixture releaser.
An automatic thick rubber plate application device is used for the mounting method and comprises a mechanical arm mounting table, a seventh-axis horizontal moving mechanism, a mechanical arm, a tool placing platform and a thick rubber plate placing platform, wherein the mechanical arm mounting table is arranged on the seventh-axis horizontal moving mechanism; the mechanical arm mounting table is arranged at a proper place according to the operation requirement and the actual working condition and is fixed with the ground or the surface to be applied; the seventh shaft horizontal moving mechanism is welded on the mounting table; the mechanical arm has 6 degrees of freedom, M-900i B/360, the maximum action radius 2600mm and the movement precision of 0.1mm, is arranged on a seventh-axis horizontal moving mechanism, finishes transverse horizontal movement by assisting the mechanical arm through a driving motor and a guide rail, and increases the operation area because the movement direction is parallel to the surface to be applied; the tool placing platform and the thick rubber plate placing platform are usually arranged on one side of the seventh shaft horizontal moving mechanism and are placed in a proper place according to operation requirements to be fixed with the ground or the surface to be applied.
The positive effects are as follows: according to the automatic thick rubber plate application device and method, the thick rubber plate and pressing tool and the feeding installation, locking and discharging disassembly of the surface to be applied are achieved on the basis of the automatic application device guided by vision. The motion of each component is cooperatively controlled, and the measuring system and the assembling system work in an iterative way, have certain flexibility and meet the requirements of the mounting of materials with different specifications. The operation intensity of workers is greatly reduced, and the construction efficiency is improved. The method is suitable for being applied as an automatic thick rubber plate application method.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of a robot arm end effector assembly;
FIG. 3 is a front view of a robot arm end effector assembly;
FIG. 4 is a side view of a robot arm end effector assembly;
FIG. 5 is a top view of a robot arm end effector assembly;
FIG. 6 is a perspective view of the hold down fixture;
FIG. 7 is a front view of the hold down fixture;
FIG. 8 is a top view of the hold down tool;
FIG. 9 is a side view of a hold down fixture;
FIG. 10 is a perspective view of the mounting bracket;
FIG. 11 is a front view of the stationary bracket;
FIG. 12 is an analysis diagram of the robot arm recognizing the position of the fixing bracket;
FIG. 13 is a schematic view of the robot arm identifying the position of the fixed support;
FIG. 14 is a top view of the robot arm identifying the position of the compaction tooling;
FIG. 15 is a top view of the robot arm identifying the location of the thick rubber sheet;
FIG. 16 is a side view of the robot arm identifying the location of the thick rubber sheet;
fig. 17 is an automated application process flow.
In the figure, 1, a mechanical arm mounting table, 2, a seventh shaft horizontal moving mechanism, 3, a guide rail, 4, a mechanical arm base, 5, a mechanical arm, 6, a mechanical arm tail end execution tool, 7, a thick rubber plate, 8, a fixing support, 9, a pressing tool, 10, a tool placing platform, 11, a thick rubber plate placing platform, 12, a tool rapid converter, 13, a micro cylinder, 14, a clamp, 15, a wedge-shaped bolt, 16, an actuator steel structure, 17, a clamping plate, 18, a clamping cylinder, 19, a locking motor, 20.3D sensors, 21, a supporting beam, 22, an adjusting screw, 23, a pressing plate, 24, a cross beam, 25, a locking nut, 26, a baffle, 27, a tool side plate, 28, an elastic axial clamping pin, 29, a tool clamping block, 30, a supporting screw, 31, a visual measurement identification characteristic marking notch, 32, a positioning plate and 33, a positioning clamping groove are arranged.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
According to the figure, the thick rubber plate 7 adopts an automatic application method, and an automatic application device based on visual guidance realizes two stages of loading, mounting, locking and unloading and dismounting of the thick rubber plate 7 and a pressing tool 9 and a surface to be applied; the motion of each component is cooperatively controlled, and the measuring system and the assembling system work in an iterative way, have certain flexibility and meet the requirements of the mounting of materials with different specifications and different thicknesses; the construction operation of visual identification, analysis, positioning, automatic picking, lifting, transferring, mounting, locking and dismounting of the thick rubber plate 7 application is realized, and the requirements of large-area rapid application and batch production construction are met; the method specifically comprises the following steps:
first, the technological process
According to the design, the thick rubber sheet application is accomplished according to the automated application process flow shown in fig. 17.
The specific dismantling implementation method is detailed by taking the application of a rubber plate with large thickness (80 mm) as an example in combination with the technical scheme and the process flow.
Second, automatic application device installation
Firstly, on a mechanical arm mounting table 1, according to the construction requirement of applying a thick rubber plate 7 with large thickness on a vertical mounting surface, a gantry support is built, and the bottom end of the support is welded on a scaffold steel plate and is ensured to be firm; the distance between the bracket and the surface to be applied meets the operation requirement of the maximum operation radius of the mechanical arm 5; a track is arranged at the top end of the gantry support to ensure that the mechanical arm 5 moves in parallel with the mounting plane; then, a mechanical arm 5 and a mechanical arm tail end execution tool 6 are arranged on a base of the track; one end of the bracket is respectively provided with a thick rubber plate placing platform 11 and a tool placing platform 10.
In one embodiment, the surface of the tool placing platform adopts a dense roller as a dimension surface, and the tool moves smoothly on the upper surface, so that the mechanical arm 5 can freely position and grab the pressing tool 9.
In one embodiment, the sliding table structure on the thick rubber plate placing platform 11 is designed to perform angular positioning on two sides of the vertical surface of the thick rubber plate 7, the auxiliary mechanical arm 5 performs positioning and grabbing, and the placing platform is provided with two stations, namely a manual gluing station and a mechanical arm 5 grabbing and feeding station.
In one embodiment, the compression tooling 9 is customized, the tooling side plates 27 and the support beams 21 are made of high-strength aluminum, the adjusting pressure plate 23 is integrally vulcanized with the bottom rubber plate by aluminum casting, the cross beam 24, the baffle plate 26, the adjusting screw 22 and the locking nut 25 are all made of high-strength steel, and the elastic axial clamping pin 28 is made of 4.5-grade medium-strength carbon steel, so that the requirements of strength and plasticity are met.
In one embodiment, the tool 6 is customized at the tail end of the mechanical arm, and the outer cover of the tool rapid converter 12, the fixture 14, the wedge-shaped bolt 15 and the clamping plate 17 are all made of high-strength carbon steel, and the surface hardness is not lower than HRC50, so that the strength requirement is met; a locking motor 19 is formed by a motor, a bidirectional screw and a chuck, the bidirectional screw is made of aluminum alloy, the motor drives the clamping and loosening of the pressing tool 9, and the clamping weight is not more than 200 Kg; constitute pneumatic fixture assembly on executor steel structure 16 with two cylinders + grip block 17, promote by M25 200 miniature cylinder 13, realize the vertical centre gripping of thick rubber sheet 7, the biggest clamping-force: 1450N; the tool bayonet release mechanism is formed by eight wedge-shaped bolts 15 and eight cylinders, and is pushed by an M25 + 500 micro cylinder 13 to release an elastic axial bayonet 28 on the pressing tool 9; 3D sensor 20 parameters: the resolution ratio is X0.375mm; resolution Z0.092mm; field range: 390-1260 mm; the gap distance is 350 mm; the measuring range is 800 mm.
In one embodiment, the fixing bracket 8 is used for fixing the pressing tool 9 with a surface to be applied and bearing all reaction force when the pressing plate 23 is attached tightly, and before construction, the supporting screw 30 firstly penetrates through sleeves on two sides of the positioning plate 32 and is screwed and locked with the stud; the center of the visual measurement identification feature mark notch 31 corresponds to the center of the clamping groove and is arranged at the uppermost edge of the positioning plate 32, so that the scanning of a visual sensor is facilitated; because the adjacent thick rubber plates 7 are locked and positioned by the same supporting screw rod 30, the positioning plate 32 is shared; therefore, the locking of the adjacent pressing tools 9 adopts an alternate installation method, namely the elastic axial clamping pins 28 of the tools are crossed in principle, as shown in fig. 11, the clamping pins with the numbers of 1 and 3 are used at the same time, the clamping pins with the numbers of 2 and 4 are used at the same time, the clamping pins with the numbers of 1 and 3 are installed on the side plates 27 of the tools during operation, and when the clamping pins are bounced into the corresponding positioning grooves, the clamping pins with the numbers of 2 and 4 are installed on the adjacent thick rubber plates 7 and are bounced into the corresponding positioning grooves.
In one embodiment, the main control mode is designed to be parallel to a manual mode and an automatic mode; performing a single-step execution operation of the robot arm 5 in the manual mode; the automatic mode mechanical arm 5 automatically finishes the whole thick rubber plate 7 application process, and relates to a link related to human-computer interaction.
Thirdly, scribing and positioning the stud.
Scribing according to the layout requirement of the thick rubber plate 7, and welding a positioning stud; the positioning precision of the stud is less than or equal to 1mm, the stud is vertical to the surface to be applied, and the verticality deviation is not more than 0.02 mm;
and fourthly, mounting a fixed support.
A support screw 30 penetrates through the sleeves on the two sides of the positioning plate 32 and is screwed and locked with the stud; it is also necessary to ensure that the support screw 30 is perpendicular to the surface to be applied when screwing.
And fifthly, carrying out blade coating on the adhesive.
An adhesive was applied by knife coating to the thick rubber sheet bonding face of the thick rubber sheet placing table 11 and the surface of the shell plate of the area to be applied.
And sixthly, scanning the mounting area.
Scanning and measuring the size of an area to be installed by a visual identification system of the mechanical arm tail end execution tool 6; acquiring a 3D image of the installation position;
in one embodiment, to guide the robot arm 5 to move to a designated position for mounting, a line structure optical scanning operation is performed before the operation, and the positioning coordinates are analyzed as shown in fig. 12 and 13:
a coordinate system is defined in which ogIs the geodetic coordinate system obFor mounting the arm base 4 coordinate system, okExecuting a tooling coordinate system for the end; during calibration, firstly, the end effector is driven to enable the end effector to be in a coordinate system xkThe axis being parallel to the horizontal track, ykThe axis is perpendicular to the horizontal track, and the end-executing tooling coordinate system o is arranged at the momentkAnd the mechanical arm base 4 coordinate system obThe conversion relation between them can be obtained by inverse kinematics, i.e. transforming the matrix into Tb k(ii) a Then, the robot arm 5 is driven to move along the horizontal rail to the mounting start point, i.e., the position of the first fixing bracket 8Defining the position of the first fixed support 8 as the origin of the geodetic coordinate system, and the linear light sensor can expose and capture the outline of the origin to obtain the geodetic coordinate system ogTo the end execution tooling coordinate system okIs transformed by the transformation matrix Tk g(ii) a Therefore, the transformation matrix from the geodetic coordinate system to the base coordinate system of the robot arm 5 can be obtained as:
Tb g= Tk g Tb k
scanning schematic diagram image information obtained by scanning is shown in fig. 14: analyzing point cloud data obtained after the scanning of the line structure sensor, filtering, extracting characteristic points by using an angular point extraction algorithm, and obtaining four positioning bolts [ P ]1,P2,P3,P4]The coordinate values of (a); simultaneously fitting a slope value k of the mounting surface by using the point cloud data; the coordinates of each positioning bolt relative to the base of the mechanical arm 5 can be obtained by using a transformation matrix formula as follows:
B= Tb g P
at the moment, the thick rubber plate can be automatically pasted; according to the coordinate value of each positioning bolt relative to the mechanical arm base 4, the motion condition of the mechanical arm 5 can be obtained by inverse kinematics, and after the mechanical arm tail end execution tool 6 moves to a target position, the mechanical arm tail end execution tool 6 is swung until being parallel to the installation surface according to the slope value of the installation surface; and finally, placing the thick rubber plate 7 between the fixed supports 8 to finish mounting.
And seventhly, scanning the placement position of the pressing tool.
The tail end of the mechanical arm executes a tool 6 to scan and compress the tool 9, the placing position and the posture of a tool fixture block 29 are obtained, and coordinates are obtained;
in one embodiment, to guide the robot arm 5 to move to the designated position to complete the tool grabbing, a line structure optical scanning operation is performed before the operation, and the positioning coordinates are analyzed as shown in fig. 14:
taking the first pressing tool 9 as a geodetic coordinate system, and solving the transformation matrix T from the geodetic coordinate system to the coordinate system of the mechanical arm base 4b g‘(ii) a Then performing line structure optical scanning operation to make the machineThe arm 5 moves along the horizontal guide rail 3, scans until the last pressing tool 9, and obtains the position coordinates of each tool fixture block 29 through image detection; analyzing point cloud data obtained after scanning of the line structured light sensor, and removing unnecessary points after filtering; the feature points are extracted by using the angular point extraction algorithm, and four angular points [ P ] of the fixture block 29 of the tool can be obtained1 ‘,P2 ‘,P3 ‘,P4 ‘]The coordinate values of (a); simultaneously fitting a slope value k of the mounting surface by using the point cloud data; the coordinate of each fixture block 29 relative to the mechanical arm base 4 is obtained by using a variable matrix formula as follows: b is’= Tb g‘P’；
According to the coordinate value of each tool fixture block 29 relative to the mechanical arm base 4, the motion condition of the mechanical arm 5 can be obtained by inverse kinematics, and after the tail end execution tool moves to the target position, the tail end execution tool is swung until the tail end execution tool is parallel to the installation surface according to the slope value of the installation surface; and (3) grabbing a clamping fixture block 29 by using the fixture 14, opening the elastic axial clamping pin 28, and taking out the pressing fixture 9.
Eighthly, clamping and pressing the tool by the tool executed at the tail end of the mechanical arm.
According to the coordinate information of the pressing tool fixture block 29, the fixture 14 in the mechanical arm tail end execution tool 6 grabs the tool fixture block 29 and controls the locking motor 19 on the mechanical arm tail end execution tool 6 to clamp; the wedge-shaped bolt 15 of the micro cylinder 13 is controlled to be inserted into the elastic axial bayonet 28 of the pressing tool 9 and close to the position of the fixed support 8; the micro cylinder 13 is a tooling fixture releaser.
And ninthly, scanning the placement position of the thick rubber plate.
Scanning the thick rubber plate placing position by the mechanical arm tail end executing tool 6, obtaining a thick rubber plate placing 3D image, and obtaining coordinates through image analysis;
in one embodiment, in order to guide the robot arm 5 to move to a designated position to complete the tool grabbing, a line structure optical scanning operation is performed before the operation, and the positioning coordinates are analyzed as shown in fig. 15 and fig. 16:
taking the first thick rubber plate 7 as a geodetic coordinate system to obtain the geodetic coordinateThe transformation matrix tied to the mechanical arm base 4 coordinate system is Tb g”(ii) a Then, line structure light scanning operation is carried out, the mechanical arm 5 moves along the horizontal guide rail 3 until the last thick rubber plate 7 is scanned, and position coordinates of the clamping point are obtained through image detection; analyzing point cloud data obtained after scanning of the linear structured light sensor, and removing unnecessary points after filtering; extracting feature points by using an angular point extraction algorithm to obtain a thick rubber plate 7 stuck point [ P ]1 ”, P2 ”, P3 ”, P4 ”]Coordinate values of (2); simultaneously fitting a slope value k of the mounting surface by using the point cloud data; the coordinates of the clamping points of the thick rubber plates 7 relative to the mechanical arm base 4 can be obtained by using a variable matrix formula as follows: b is”= Tb g” P”；
According to the coordinate value of each clamping point relative to the mechanical arm base 4, the two ends of the thick rubber plate 7 are clamped by the baffle 26 of the pressing tool 9 and the clamping plate 17 on the mechanical arm tail end execution tool 6.
And tenthly, clamping the thick rubber plate by the combined body of the tail end execution tool of the mechanical arm and the pressing tool.
According to the coordinate information of the thick rubber plate 7, the combination of the mechanical arm tail end execution tool 6 and the pressing tool 9 clamps the thick rubber plate 7, firstly, the baffle 26 is close to one long edge of the thick rubber plate 7, and then the other long edge of the thick rubber plate 7 of the clamping plate 17 is clamped tightly by controlling a clamping cylinder 18 on the mechanical arm tail end execution tool 6;
eleven, positioning and applying the thick rubber plate.
According to the coordinate information of the installation position of the thick rubber plate 7, the mechanical arm tail end execution tool 6 clamps the thick rubber plate 7 into the fixed support 8, when the elastic shaft elastically rebounds to the clamping pin 28 into the positioning clamping groove 33 of the positioning plate 32, the mechanical arm tail end execution tool 6 is controlled by the locking motor 19, the pressing tool 9 is loosened, meanwhile, the clamping cylinder 18 is loosened, the mechanical arm tail end execution tool 6 is controlled by the mechanical arm 5 to leave, and the thick rubber plate 7 and the pressing tool 9 are fixed in the installation area.
And twelfth, tightly pressing the tool and locking.
When the mechanical arm 5 leaves the operation surface, a person carries the transfer mechanism to the installation area, locks the adjusting screw 22 on the pressing plate, adjusts the position and the pressing force value of the pressing plate 23, and waits for the adhesive to be cured.
Thirteen, the disassembly of the pressing tool.
According to the coordinate information on the fixture block 29, the electric fixture 14 is in butt joint with the fixture block of the pressing fixture 9, meanwhile, the locking motor 19 clamps the pressing fixture 9 firmly, and at the moment, the clamping cylinder 18 keeps a loose state and is not in contact with the end face of the thick rubber plate 7; the wedge-shaped bolt 15 is inserted into the position, close to the fixed support 8, of the elastic axial clamping pin 28, the micro cylinder 13 is controlled to separate the elastic axial clamping pin 28 from the fixed support 8, the end execution tool 6 of the mechanical arm drives the pressing tool 9 to leave the surface of the thick rubber plate 7, and the whole process of thick rubber plate application is completed.
The working principle of the invention is as follows:
the automatic thick rubber plate application device and method provided by the invention are based on the automatic application device guided by vision, and realize two stages of loading, mounting, locking and unloading and dismounting of the thick rubber plate and the pressing tool and the surface to be applied. The motion of each component is cooperatively controlled, and the measuring system and the assembling system work in an iterative way, have certain flexibility and meet the requirements of the mounting of materials with different specifications. The operation intensity of workers is greatly reduced, and the construction efficiency is improved.
The particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. An automatic thick rubber plate application method is characterized in that: the method comprises the following steps:
step 1, marking lines according to the layout requirement of a thick rubber plate (7), and welding a positioning stud; the positioning stud is vertical to the surface to be applied, and the verticality deviation is not more than 0.02 mm;
step 2, a support screw (30) penetrates through the sleeves on the two sides of the positioning plate (32) and is screwed and locked with the positioning stud;
step 3, respectively placing a tool placing platform (10) and a thick rubber plate placing platform (11) on two sides of the mechanical arm mounting table (1), vertically placing a thick rubber plate (7) on the thick rubber plate placing platform (11) and inclining for a certain angle, wherein the tool placing platform (10) is convenient for clamping a pressing tool (9) and freely operating a joint of the mechanical arm (5); the pressing tool (9) is tiled on the tool placing platform (10);
step 4, coating an adhesive on the bonding surface of the thick rubber plate (7) and the surface to be coated in a scraping way;
step 5, scanning and measuring the size of the area to be installed by a vision recognition system of the mechanical arm tail end execution tool (6); acquiring a 3D image of the installation position, and positioning coordinates by analyzing;
step 6, scanning and compacting the tool (9) by a visual recognition system of the tool (6) executed at the tail end of the mechanical arm, acquiring the placing position and the posture of a tool clamping block (29), and acquiring coordinates;
step 7, according to the coordinate information of the fixture clamping block (29), the electric fixture (14) grabs the fixture clamping block (29) and clamps the locking motor (19); meanwhile, a wedge-shaped bolt (15) of the micro cylinder (13) is controlled to be inserted into a position, close to the fixed support (8), of an elastic axial clamping pin (28) in the pressing tool (9);
8, scanning the thick rubber plate placing position by a mechanical arm tail end execution tool (6) visual recognition system, obtaining a thick rubber plate placing 3D image, and obtaining coordinates through image analysis;
step 9, clamping the thick rubber plate (7) by a combination of the mechanical arm tail end execution tool (6) and the pressing tool (9) according to the coordinate information of the thick rubber plate; firstly, the tail end of the mechanical arm executes a tool (6) to enable a baffle (26) to be close to one long edge of a thick rubber plate (7); then, the pressing tool (9) clamps the clamping plate (17) and the other long edge of the thick rubber plate (7) through the clamping cylinder (18);
step 10, according to coordinate information of the installation position of the thick rubber plate, when an elastic axial clamping pin (28) is bounced into a positioning clamping groove (33) of a positioning plate (32), a pressing tool (9) is loosened through a locking motor (19), a clamping cylinder (18) is loosened at the same time, a mechanical arm tail end execution tool (6) is controlled to leave through a mechanical arm (5), and the thick rubber plate (7) and the pressing tool (9) are fixed in an installation area;
step 11, when the mechanical arm (5) leaves the operating surface, carrying a transfer mechanism by personnel to an installation area, locking an adjusting screw (22) of a pressing tool (9), adjusting the position and the pressing force value of a pressing plate (23), and waiting for the adhesive to be cured;
12, curing the adhesive for more than 24 hours, disassembling the pressing tool (9), firstly manually loosening and tightening an adjusting screw (22) on a pressing plate, and then scanning the coordinate information of a tool clamping block (29) again by the tool (6) executed at the tail end of the mechanical arm to obtain coordinates;
step 13, according to coordinate information on a fixture block (29), butting the electric fixture (14) with the fixture block of the pressing fixture (9), clamping the pressing fixture (9) firmly by a locking motor (19), and keeping a clamping cylinder (18) in a loose state without contacting with the end face of the thick rubber plate (7); the wedge-shaped bolt (15) is inserted into a position where an elastic axial clamping pin (28) of the pressing tool (9) is close to the fixed support (8), the micro cylinder (13) is controlled to separate the elastic axial clamping pin (28) from the fixed support (8), and the end execution tool (6) of the mechanical arm drives the pressing tool (9) to leave the surface of the thick rubber plate (7).
2. The automatic thick rubber plate application method according to claim 1, wherein:
in the step 5, linear structured light scanning operation is performed on the fixed supports (8), coordinate values of the positions of the fixed supports (8) relative to the mechanical arm base (4) are obtained through image detection, and after the mechanical arm tail end execution tool (6) moves to a target position, the mechanical arm tail end execution tool (6) is swung until the mechanical arm tail end execution tool is parallel to the mounting surface; and placing the thick rubber plate (7) between the fixed supports (8) to finish the mounting.
3. The automatic thick rubber plate application method according to claim 1, wherein:
in the step 6, linear structured light scanning operation is carried out on the compaction tool (9), coordinate values of the positions of the tool clamping blocks (29) relative to the mechanical arm base (4) are obtained through image detection, and after the mechanical arm tail end execution tool (6) moves to a target position, the mechanical arm tail end execution tool (6) is swung until the mechanical arm tail end execution tool is parallel to a pickup surface of the compaction tool (9); and (3) grabbing a clamping fixture block (29) by using an electric fixture (14) and picking up the pressing fixture (9).
4. The automatic thick rubber plate application method according to claim 1, wherein:
in the step 8, linear structured light scanning operation is carried out on the thick rubber plate (7), coordinate values of the positions of the clamping points of the thick rubber plate relative to the mechanical arm base (4) are obtained through image detection, after the mechanical arm tail end execution tool (6) moves to a target position, the mechanical arm tail end execution tool (6) is swung until the position is parallel to the surface of the thick rubber plate (7), and the thick rubber plate (7) is clamped and picked up through the baffle (26) and the clamping plate (17).
5. The automatic thick rubber plate application method according to claim 1, wherein the method comprises the following steps:
the pressing tool (9) comprises four groups of pressing units, a supporting beam (21), a baffle (26), a tool side plate (27), a tool clamping block (29) and an elastic axial clamping pin (28), wherein the pressing units comprise a pressing plate (23), an adjusting screw rod (22), a cross beam (24) and a locking nut (25).
6. The automatic thick rubber plate application method according to claim 1, wherein:
the tail end execution tool (6) of the mechanical arm comprises a tool rapid converter (12), a micro cylinder (13), an actuator steel structure (16), a fixture (14), a wedge-shaped bolt (15), a 3D sensor (20), a clamping cylinder (18), a clamping plate (17) and a locking motor (19).
7. The automatic thick rubber plate application method according to claim 1, wherein the method comprises the following steps:
the fixed support (8) comprises a supporting screw rod (30), a positioning plate (32), a positioning clamping groove (33) and a visual measurement identification feature marking notch (31).
8. The automatic thick rubber plate application method according to claim 6, wherein:
the micro cylinder (13) is a tool fixture releaser.
9. The apparatus for carrying out the method of claim 1 for automatically applying a thick rubber sheet, wherein:
an automatic thick rubber plate application device comprises a mechanical arm mounting table (1), a seventh shaft horizontal moving mechanism (2), a mechanical arm (5), a tooling placement platform (10) and a thick rubber plate placement platform (11); the mechanical arm mounting table (1) is arranged at a proper place according to operation requirements and actual working conditions and is fixed with the ground or a surface to be applied; the seventh shaft horizontal moving mechanism (2) is welded on the mounting table; the mechanical arm (5) has 6 degrees of freedom, M-900i B/360, the maximum action radius of 2600mm and the movement precision of 0.1mm, is arranged on a seventh-axis horizontal moving mechanism (2), assists the mechanical arm (5) to finish transverse horizontal movement through a driving motor and a guide rail (3), the movement direction is parallel to the surface to be applied, and the operation area is increased; the tool placing platform (10) and the thick rubber plate placing platform (11) are usually arranged on one side of the seventh shaft horizontal moving mechanism (2), are placed at proper positions according to operation requirements, and are fixed with the ground or a surface to be applied.
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