CN113282058A - Multi-station hybrid flexible processing system for posture adjustment of vision detection robot - Google Patents
Multi-station hybrid flexible processing system for posture adjustment of vision detection robot Download PDFInfo
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- CN113282058A CN113282058A CN202110343494.3A CN202110343494A CN113282058A CN 113282058 A CN113282058 A CN 113282058A CN 202110343494 A CN202110343494 A CN 202110343494A CN 113282058 A CN113282058 A CN 113282058A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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Abstract
The invention discloses a multi-station hybrid flexible processing system for posture adjustment of a vision detection robot, which comprises an industrial robot control system, a 3D vision detection system, a laser imprinting reading and storing system, a safety protection system, a feeding and discharging servo control system, a tool fixture quick-change system, a station identification and detection system, a pressure storage and blowing cleaning system, a station remote I/O system, a first industrial switch, a first programmable controller, a human-computer interface, an electromagnetic valve and a sensor, wherein the control end of the feeding and discharging servo control system is connected to the input end and the output end of the first programmable controller, the output end of the station identification and detection system is connected to the input end and the output end of an analog quantity processing unit of the programmable controller, and the control end of the pressure storage and blowing cleaning system is connected to the input end and the output end of the first programmable controller. The invention realizes automatic intelligent operation, greatly reduces labor cost, reduces reject ratio and improves production efficiency.
Description
Technical Field
The invention relates to the technical field of multi-station hybrid processing applied to a vision detection laser engraving robot, in particular to a multi-station hybrid flexible processing system for posture adjustment of a vision detection robot.
Background
The application of an industrial robot, 3D visual inspection processing, laser imprinting reading and storing and dynamic information interaction are main core technologies of a visual inspection robot for automatically adjusting a multi-station hybrid flexible processing system. At present, only single product realizes the equipment of automated processing and can not realize automatic data processing of shooing, clamping jaw fast switch over, robot gesture automatic adjustment snatchs, processing size automated inspection, laser seal read storage etc. many varieties mix the flexible processing's process at the market, can only rely on manual slide caliper rule or ruler to measure after processing is accomplished. Before the invention is made, the functions are not simultaneously provided in the same automatic system, the processing process of a single product processing device is completed by a manual or semi-automatic operation machine tool, and the man-machine interaction can not be realized; the independent workpiece detection is realized by measuring and checking through a manual caliper or a ruler gauge, and the measurement mode is backward and the precision is not high. The structure has the defects of complex operation, low precision and low applicability, and the two types of equipment severely restrict the production efficiency.
Disclosure of Invention
The invention aims to provide a multi-station hybrid flexible processing system for posture adjustment of a vision detection robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-station mixed flexible processing system for posture adjustment of a vision detection robot comprises an industrial robot control system, a 3D vision detection system, a laser engraving reading storage system, a safety protection system, a feeding and discharging servo control system, a tool fixture quick-change system, a station identification detection system, a pressure storage blowing cleaning system, a station remote I/O system, a first industrial switch, a first programmable controller, a human-machine interface, an electromagnetic valve and a sensor, wherein the industrial robot controller, the 3D vision controller, the laser engraving controller, a bar code reader, the safety protection system, the first programmable controller, the human-machine interface and the machine tool remote I/O system are connected with the first industrial switch through a communication interface, a seventh shaft servo driver is connected with the robot controller through the communication interface and is used for driving a ground rail shaft to be positioned, install six robots on the ground rail axle, 3D vision controller passes through the special cable and is connected with 3D industry camera, laser seal engraving controller passes through the special cable and is connected with the seal engraving head, go up the input and the output that unloading servo control system's control end is connected to first programmable controller, station discernment detecting system's output is connected to programmable controller analog quantity processing unit input, the control end of storing up pressure blowing cleaning system is connected to first programmable controller input and output, the signal interaction is done with robot controller to frock clamp quick change system, solenoid valve, sensor and first programmable controller connection control.
Preferably, the human-computer interface is a touch display type, and the communication interface is an RJ45 ethernet port.
Preferably, the industrial robot control system is a six-axis industrial robot control system and a seventh-axis rail control system, and the seventh-axis rail servo driver is installed in an electric control cabinet of the industrial robot and is integrated into the industrial robot control system through a communication port to perform overall control.
Preferably, the 3D vision detection system is a high-precision three-dimensional image detection processing system, the 3D industrial camera is installed above the feeding platform, and the 3D vision controller is installed in the control cabinet.
Preferably, the laser engraving reading and storing system is a bar code reader of a laser engraving machine, the laser engraving printing head is installed above the blanking platform, the laser engraving controller is installed in the control cabinet, and the laser engraving reading and storing system and the laser engraving printing head are installed side by side.
Preferably, the safety protection system is a safety laser controller and a laser scanning head, the safety laser controller is connected with the laser scanning head through a special cable, the safety laser controller is connected with a first industrial switch through a communication interface, the laser scanning head is installed in a region to be protected, and the safety laser controller is installed in a control cabinet.
Preferably, the feeding and discharging servo control system controls a servo driving motor to perform accurate positioning for a first programmable controller, a driving output end of the servo driving controller is connected to the servo motor, and a signal input end of the servo driving controller is connected to an output end of the programmable controller.
Preferably, the station identification and detection system comprises an analog quantity processing unit and a flight time laser sensor, the flight time laser sensor is installed on one side of the ground rail, and the analog quantity processing unit is installed in the control cabinet.
Preferably, the pressure storage blowing cleaning system is a pressure storage tank and a blowing cleaning device, and the pressure storage tank stores air pressure to ensure that the air pressure is sufficiently high during blowing cleaning.
Preferably, the workstation remote I/O system is composed of a second programmable controller, a second industrial switch, and a remote I/O device, and the remote I/O device performs dynamic information interaction with the second programmable controller.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the technologies of industrial robot application, 3D visual detection, laser marking and reading codes, safe area protection, remote I/O control, dynamic information interaction and the like to carry out secondary development on the basis of the prior art. Dynamic information interaction among the intelligent units is carried out through the industrial switch; the three-dimensional data of the product is recorded, analyzed and processed by a 3D visual detection system; the high positioning precision of the industrial robot is realized, and the accurate positioning of the photographing and grabbing positions is realized; the two-dimensional code is engraved through a laser engraving and reading system, and a code reading gun is used for reading and storing; scanning the protection area in real time through a safety protection system, and instantaneously photographing an object entering the protection area for recording; the system can realize automatic intelligent operation, greatly reduce labor cost, reduce reject ratio and improve production efficiency.
Drawings
FIG. 1 is a block diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a multi-station hybrid flexible processing system for posture adjustment of a vision detection robot mainly comprises an industrial robot control system, a 3D vision detection system, a laser imprinting reading system, a safety protection system, a feeding and discharging servo control system, a station identification and detection system, a pressure storage and blowing cleaning system, a station remote I/O system, an industrial switch, a programmable controller, a human-computer interface, an electromagnetic valve, a sensor and the like. The industrial robot controller, the vision controller, the laser engraving controller, the code reader, the safety laser controller, the programmable controller, the human-computer interface and the remote I/O system are connected with the industrial switch through communication interfaces; the robot ground rail axis servo driver is connected with the robot controller through a communication interface; the vision controller is connected with the 3D industrial camera through a special cable; the laser engraving controller is connected with the engraving head through a special cable; the safety laser controller is connected with the laser scanning head through a special cable; the control end of the feeding and discharging servo driver is connected to the input end and the output end of the programmable controller; the station identification detection output end is connected to the input end of the programmable controller analog quantity processing unit; the pressure storage blowing cleaning control end is connected to the input end and the output end of the programmable controller.
The man-machine interface is a display touch type, such as a touch screen mobile phone, an integrated touch screen liquid crystal display and the like, and the communication interface is an RJ45 Ethernet port.
The automatic posture adjustment of the industrial robot is realized by taking a picture by a 3D industrial camera, analyzing and processing the picture by a visual controller, carrying out data sharing and transmission by dynamic information interaction, calling a corresponding program of the robot by a programmable controller, and rapidly switching a clamping jaw of an execution end of the robot and adjusting the posture to grasp.
In practical use, relevant process parameters of the system, such as robot running speed, robot posture position, robot demonstrator display brightness, contrast, 3D vision program switching, feeding and discharging conveying speed, station selection and use, station position, manual operation function setting and the like, are set through a human-computer interface and are transmitted to the programmable controller through an RJ45 Ethernet communication interface. The programmable controller calculates the operation result through synthesis and sends the operation result to each system control unit through an RJ45 Ethernet communication port. Various operation modes are stored in a human-computer interface and can be directly called when needed; the operation parameters of each system, such as the operation speed of the robot, the operation speed of each axis of the robot, the angle, the coordinate position, the current, the 3D vision judgment result, the ground track position identification judgment, the laser marking reading storage, the rotation speed of a servo motor, the current, the voltage, the torque and other parameters, can be monitored through the human-computer interface.
The product category and the grabbing posture of the feeding and conveying end are photographed by a 3D industrial camera, data are analyzed and processed by a vision controller and are transmitted to a robot controller and a programmable controller to call corresponding robot programs, the clamping jaws are rapidly switched, the grabbing posture of the robot is automatically adjusted, the consistency of grabbing the product is finally ensured, and the mixed grabbing of various products can be realized; the safety protection of the working area is realized by controlling a safety laser scanner to scan the protection area in real time by a programmable controller, the free switching of 32 protection areas can be realized at most, and the instant photographing of objects entering the protection areas can be recorded, so that the time of the reason for stopping the analysis equipment can be greatly reduced, and the management of safety data is facilitated; the traceability of the product is realized by engraving two-dimensional codes by laser and reading and storing the two-dimensional codes by using a bar code reader, so that the uniqueness of the product is ensured, and the product inventory inquiry and the quality control after delivery are facilitated; the station identification detection is that the analog quantity processing unit controls the flight time laser sensor to detect and confirm the travel distance of the ground rail of the robot and the station where the laser sensor is located, so as to realize closed-loop control; the remote I/0 system of each station is communicated with remote I/O equipment by a programmable controller to realize address mapping and carry out remote real-time control; the system relates to the fields of industrial robot application, 3D visual inspection development, laser imprinting reading, safe region protection, remote I/O control, dynamic information interaction, programmable controller ladder diagram programming, analog quantity processing, servo positioning, man-machine interaction, automatic feeding and discharging and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A multi-station hybrid flexible processing system for posture adjustment of a vision detection robot is characterized by comprising an industrial robot control system, a 3D vision detection system, a laser imprinting reading and storing system, a safety protection system, a feeding and discharging servo control system, a tool fixture quick-change system, a station identification and detection system, a pressure storage and blowing cleaning system, a station remote I/O system, a first industrial switch, a first programmable controller, a human-computer interface, an electromagnetic valve and a sensor, wherein the industrial robot controller, the 3D vision controller, the laser imprinting controller, a bar code reader, the safety protection system, the first programmable controller, the human-computer interface and the machine tool remote I/O system are connected with the first industrial switch through a communication interface, a seventh shaft servo driver is connected with the robot controller through the communication interface, and the robot ground rail shaft servo driver is used for driving a ground rail shaft to position, install six robots on the ground rail axle, 3D vision controller passes through the special cable and is connected with 3D industry camera, laser seal engraving controller passes through the special cable and is connected with the seal engraving head, go up the input and the output that unloading servo control system's control end is connected to first programmable controller, station discernment detecting system's output is connected to programmable controller analog quantity processing unit input, the control end of storing up pressure blowing cleaning system is connected to first programmable controller input and output, the signal interaction is done with robot controller to frock clamp quick change system, solenoid valve, sensor and first programmable controller connection control.
2. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the man-machine interface is of a display touch type, and the communication interface is an RJ45 Ethernet port.
3. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the industrial robot control system is a six-axis industrial robot control system and a seventh ground rail axis control system, and a seventh ground rail axis servo driver is installed in an industrial robot electric control cabinet and is integrated with the industrial robot control system through a communication port for overall control.
4. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the 3D vision detection system is a high-precision three-dimensional image detection processing system, the 3D industrial camera is installed above the feeding platform, and the 3D vision controller is installed in the control cabinet.
5. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the laser engraving reading and storing system is a bar code reader of a laser engraving machine, the laser engraving printing head is arranged above the blanking platform, the laser engraving controller is arranged in the control cabinet, and the laser engraving reading and storing system and the laser engraving printing head are arranged side by side.
6. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the safety protection system is a safety laser controller and a laser scanning head, the safety laser controller is connected with the laser scanning head through a special cable, the safety laser controller is connected with a first industrial switch through a communication interface, the laser scanning head is installed in a protection area to be protected, and the safety laser controller is installed in a control cabinet.
7. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the feeding and discharging servo control system controls a servo driving motor to perform accurate positioning for a first programmable controller, the driving output end of the servo driving controller is connected to the servo motor, and the signal input end of the servo driving controller is connected to the output end of the programmable controller.
8. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the station identification and detection system comprises an analog quantity processing unit and a flight time laser sensor, the flight time laser sensor is installed on one side of a ground rail, and the analog quantity processing unit is installed in a control cabinet.
9. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the pressure storage blowing cleaning system is a pressure storage tank and a blowing cleaning device, and the pressure storage tank stores air pressure to ensure that the air pressure is enough during blowing cleaning.
10. The vision inspection robot pose adjustment multi-station hybrid flexible processing system according to claim 1, wherein: the station remote I/O system is composed of a second programmable controller, a second industrial switch and remote I/O equipment, and the remote I/O equipment and the second programmable controller carry out dynamic information interaction.
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| CN202110343494.3A CN113282058A (en) | 2021-03-30 | 2021-03-30 | Multi-station hybrid flexible processing system for posture adjustment of vision detection robot |
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| CN202110343494.3A CN113282058A (en) | 2021-03-30 | 2021-03-30 | Multi-station hybrid flexible processing system for posture adjustment of vision detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114393305A (en) * | 2022-02-24 | 2022-04-26 | 武汉逸飞激光股份有限公司 | Distributed cooperative welding control system and welding method |
| CN114415605A (en) * | 2021-12-16 | 2022-04-29 | 无锡中车时代智能装备有限公司 | Control system and equipment for rotor copper bar intelligent processing production line |
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2021
- 2021-03-30 CN CN202110343494.3A patent/CN113282058A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415605A (en) * | 2021-12-16 | 2022-04-29 | 无锡中车时代智能装备有限公司 | Control system and equipment for rotor copper bar intelligent processing production line |
| CN114393305A (en) * | 2022-02-24 | 2022-04-26 | 武汉逸飞激光股份有限公司 | Distributed cooperative welding control system and welding method |
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