CN113547512B - Intelligent detection manipulator for machining clamp body - Google Patents
Intelligent detection manipulator for machining clamp body Download PDFInfo
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- CN113547512B CN113547512B CN202110890733.7A CN202110890733A CN113547512B CN 113547512 B CN113547512 B CN 113547512B CN 202110890733 A CN202110890733 A CN 202110890733A CN 113547512 B CN113547512 B CN 113547512B
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- 238000003754 machining Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000003825 pressing Methods 0.000 claims description 18
- 238000013461 design Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000002950 deficient Effects 0.000 claims description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 11
- 238000012216 screening Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent detection manipulator for machining a clamp body, which belongs to the field of intelligent equipment and comprises an acquisition unit and an analysis unit, wherein the analysis unit is used for analyzing a picture shot by the acquisition unit, setting a clamp three-dimensional coordinate system and a clamp body three-dimensional coordinate system, analyzing effective information of a clamp and effective information of the clamp, and judging whether the shot clamp body is a qualified piece, and the standard of the qualified piece comprises the following steps: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system coincide, the coordinate positions of the A1 positioning point and the positioned point coincide with each other, the coinciding area of the A2 positioning point and the positioned point exceeds 1/3-3/4 of the area of the positioned point, the projection of the A3 clamp body on the positioning point is a single plane, the clamping feasibility judgment can be carried out before the clamp body enters the clamp, the problem that the clamp body is not matched with the clamp is effectively avoided, and the unqualified clamp body is effectively screened.
Description
Technical Field
The invention belongs to the field of intelligent equipment, and particularly relates to an intelligent detection manipulator for machining a clamp body.
Background
The existing automobile calipers adopt truss line machining in batches.
Typically the truss wire gripping tongs are operated by a robot. The operation flow of the manipulator is as follows:
s1, uniformly placing the clamp bodies to be processed on the tray, and moving the manipulator to the clamp bodies to be grabbed;
s2, grabbing a clamp body to be processed, and moving the clamp body to an adjusting clamp position;
s3, pushing the clamp body onto the positioning block through the adjusting block on the adjusting clamping position to enable the clamp body to be located at a set position, and enabling the manipulator to probe and grab the clamp body at the set position to enable the grabbing positions of the clamp body to be always the same;
s4, after the adjusted clamp body is grabbed, the clamp body is sent to the clamp, the clamp body is loosened, and the clamp body is clamped by the clamp;
s5, judging whether the clamp body is placed stably or not by a detection path in the clamp;
and S6, starting machining if the clamp body is stably placed, stopping the machine to alarm if the clamp body is not stably placed, and waiting for an operator to take out the clamp body.
The manipulator operation method is too complicated, the clamp body is required to be conveyed into the clamp by the manipulator, whether the clamp body is stably placed or not can be judged after the clamp body is clamped by the clamp, the efficiency is too low, once the clamp body cannot be stably placed, the machine needs to be stopped for waiting, the working time is wasted, and the yield is influenced.
Whether the clamp body can be stably placed with the following two factors: 1. whether the clamp body is matched with the clamp or not; 2. whether the size of the clamp body is qualified or not; 3. and (4) judging whether the size of the clamp is qualified or not.
The existing manipulator can not accurately judge which factor causes the clamp body to be placed stably and can not be placed stably
Thinning causes the factor that the clamp body can not be placed stably. Meanwhile, the interference between the pliers and the cutter during machining cannot be estimated, and the cutter and the pliers are scrapped.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent detection manipulator for machining a clamp body, which can judge the clamping feasibility before the clamp body enters a clamp, effectively avoid the problem that the clamp body is not matched with the clamp, effectively screen unqualified clamp bodies, and automatically learn the standard of the qualified clamp body after the clamp body is not matched in the clamp.
The invention discloses an intelligent detection manipulator for machining a clamp body. The clamping unit is used for grabbing the clamp body to be processed. The moving unit is used for driving the clamping unit and the acquiring unit to move on a vertical surface. The clamp further comprises an acquisition unit for taking pictures of the six-view surface of the clamp body 7 clamp and pictures of the six-view surface of the clamp body.
And the analysis unit is used for analyzing the picture shot by the acquisition unit, setting a clamp three-dimensional coordinate system and a clamp body three-dimensional coordinate system, analyzing the effective information of the clamp and the effective information of the clamp, comparing the effective information of the clamp and the effective information of the clamp, and judging whether the shot clamp is a qualified piece.
The effective information of the jig includes: in the three-dimensional coordinate system of the clamp, the coordinate position of the positioning point of the clamp, the area of the positioning point, the coordinate position of the compression point in the clamp and the area of the compression point.
The effective information of the clamp body comprises: in the three-dimensional coordinate system of the clamp body, the coordinate position of the positioned point of the clamp body, the area of the positioned point, the coordinate position of the pressed point on the clamp body and the area of the pressed point are determined.
Criteria for a qualified piece include: after the coordinates of the clamp three-dimensional coordinate system and the coordinates of the clamp body three-dimensional coordinate system are superposed, the A1 coordinates, the coordinate position of the positioning point and the coordinate position of the positioned point are matched. A2, the area of the positioning point coincident with the positioned point exceeds 1/3-3/4 of the area of the positioning point. A3, the projection of the clamp body on the positioning point is a single plane.
As a further improvement of the present invention, the effective information of the jig further includes: the motion path of the pressing piece in the clamp during pressing. The effective information of the clamp body further comprises: three-dimensional coordinates of the forceps body. The criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, A4 and a pressing piece in the clamp do not interfere with the projection of the clamp on the three-dimensional coordinate when pressing.
As a further improvement of the present invention, the analyzing means stores the tool size for the vise body machining and the path for the tool machining. The effective information of the clamp body further comprises: three-dimensional coordinates of the forceps body. The criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the coordinates of the clamp three-dimensional coordinate system are superposed, A5 and the cutter do not interfere with the projection of the clamp on the three-dimensional coordinates when the cutter is machined.
As a further improvement of the invention, the analysis unit stores qualified shape standards of the clamp body, and the shape standards comprise: b1, no crack on the surface, B2, no foreign object bulge on the surface, B3, no rust on the surface, B4, the design overall dimension of the clamp body, B5 and characters on the surface of the clamp body. The criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, the information of the A6 and the photographed clamp 7 is consistent with the qualified appearance standard.
As a further improvement of the present invention, the analyzing unit stores the elements of the qualified jig, and the contents of the elements include: c1, the number of positioning pieces for positioning, C2, the coordinate positions of the positioning points of the positioning pieces in the three-dimensional coordinates of the clamp, and C3, the areas of the positioning points of the positioning pieces. The criteria for a qualified piece further includes: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, the A7 and the photographed information of each element of the clamp are consistent with the information of the element of the qualified clamp.
As a further improvement of the invention, the evaluation unit stores the design tolerances of the clamp and the design tolerances of the clamp body. The criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are overlapped, the deviation of the coordinate position of the A8 positioning point and the standard coordinate position is within a tolerance range, the deviation of the area size of the A9 positioning point and the standard area size is within the tolerance range, the deviation of the coordinate position of the A10 positioned point and the standard coordinate position is within the tolerance range, and the deviation of the area size of the A11 positioned point and the standard area size is within the tolerance range.
As a further improvement of the invention, the pictures taken by the acquisition unit comprise six-view pictures when the clamp body is placed on the clamp. The analysis unit analyzes the picture shot by the acquisition unit and judges whether the shot clamp body is stably placed on the clamp or not. The smoothing criteria include: the horizontal plane of the clamp body is parallel to the horizontal plane of the clamp.
As a further improvement of the invention, the analysis unit is electrically connected with the clamping unit and the moving unit. When the analysis unit judges that the shot clamp body is not stably placed on the clamp, the analysis unit controls the clamping unit and the moving unit to clamp the shot clamp body and separate from the clamp, and the next clamp body to be machined is continuously judged.
As a further improvement of the invention, when the analysis unit judges that the photographed clamp body is not stably placed on the clamp, the analysis unit records the effective information of the clamp and the effective information of the clamp body at the moment, lists the effective information as an error standard, and controls the clamping unit, the acquisition unit and the moving unit to continue working for the clamp body to be machined. When the effective information of the clamp and the effective information of the clamp in the picture of the clamp and the clamp shot by the obtaining unit are equal to or lower than the information in the error standard, the shot clamp is directly judged to be a defective product.
As a further improvement of the invention, when the analysis unit judges that the photographed clamp body is not stably placed on the clamp, the analysis unit records the effective information of the clamp and the effective information of the clamp body at the moment, updates the error standard, and replaces the effective information of the clamp and the effective information of the clamp body in the original error standard with the latest effective information of the clamp and the latest effective information of the clamp body.
Compared with the prior art, the invention has the beneficial effects that:
1. the analysis unit can analyze the effective information of the clamp body and the effective information of the clamp through the pictures of the six views of the clamp body and the clamp, which are shot by the acquisition unit, judge the qualified states of the clamp body and the clamp respectively, finally comprehensively simulate the state of the clamp body when the clamp body is clamped on the clamp, further judge whether the clamp body can be stably placed on the clamp, and screen out the unqualified clamp body which cannot be clamped on the clamp before the clamp body enters the clamp for clamping in advance.
2. The analysis unit can simulate the path of the clamp when the pressing piece of the clamp is pressed after the clamp is placed on the clamp, judge whether the path interferes with the clamp, discharge the risk that the clamp is interfered when clamped on the clamp in advance, and effectively improve the screening efficiency of unqualified clamps.
3. The analysis unit can simulate the path of the cutter when the cutter processes the clamp body after the clamp body is clamped on the clamp, and judges whether the diameter or the length of the cutter interferes with the clamp body, so that the service life of the cutter is effectively protected, the rejection rate of the clamp body is effectively reduced, and the screening efficiency of unqualified clamp bodies is improved.
4. According to the invention, whether the shot clamp body has the standard shape is judged according to the standard shape standard of the clamp body, if the standard shape does not exist, the shot clamp body is directly judged to be an unqualified clamp body, and the screening efficiency of the unqualified clamp body is effectively improved.
5. The invention judges whether the photographed clamp is a qualified clamp or not according to the elements of the qualified clamp, if the element content of the photographed clamp is inconsistent with the element content of the qualified clamp, the photographed clamp is directly judged to be an unqualified clamp, and the clamp body does not need to be judged, and the simulation of the clamp body and the clamp is not needed, so that the judgment time is saved.
6. The invention has dimensional tolerance, can be used for correcting the deviation between the actual dimension and the ideal dimension, effectively avoids misjudgment on qualified clamps and qualified clamp bodies, and effectively reduces the rejection rate of the clamp bodies.
7. The invention obtains the unit and shoots the picture that the body of a clamp is put on the clamp, judge whether the body of a clamp is put stably, if the body of a clamp is put unstably, record the information of the body of a clamp, the information of the clamp, judge whether the body of a clamp of the size is not adapted to the set of clamp, the body of a clamp is unqualified, keep the information of the body of a clamp, the clamp as the error standard, effectively avoid the body of a clamp of the same size to continue to put, and lengthened the processing time.
8. The method judges the error standard of the clamp body which is newly placed on the clamp and is unstable, deletes the original error standard, updates the content of the original error standard into the size information of the zinc clamp and the clamp body, effectively iterates the data of the error standard and further improves the screening efficiency of the clamp body.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the pliers of the present invention being clamped;
FIG. 3 is a schematic diagram of the position of the located point of the clamp body according to the present invention;
FIG. 4 is a schematic view of the clamped point position of the clamp body of the present invention;
FIG. 5 is a schematic perspective cross-sectional view of a blank of the pliers body of the present invention;
FIG. 6 is a schematic flow chart of the operation of the present invention.
The reference numbers in the figures illustrate:
the device comprises a clamping unit 1, a rotating motor 101, a clamping motor 102, a left clamping block 103, a right clamping block 104, an acquisition unit 2, an imaging base 201, a camera 202, a moving unit 3, an analysis unit 4, a first XY-plane positioned point 501, a first XY-plane positioned point 502, a first XY-plane positioned point 503, a first YZ-plane positioned point 511, a second YZ-plane positioned point 512, a first XZ-plane positioned point 521, a first XY-plane pressed point 601, a first XY-plane pressed point 602, a first XY-plane pressed point 603, a first XY-plane four pressed point 604, a first YZ-plane pressed point 611, a first XZ-plane pressed point three 621, a clamp body 7, a U port 701, a cylinder hole 702, a hook 703 and a blank 8.
Detailed Description
The first embodiment is as follows: referring to the intelligent detection robot for processing the pliers body shown in fig. 1-6, when the pliers body 7 is placed on the fixture, it is necessary to position and press three planes XY, YZ and XZ.
The positioned points of the single-cylinder common clamp body are all arranged at the same position, namely three positioned points of the XY plane are respectively arranged on two sides of the back of the guide arm and the back side of the hook 703, and are sequentially an XY plane first positioned point 501, an XY plane second positioned point 502 and an XY plane third positioned point 503; two located points of the YZ plane are respectively arranged at two sides of the bottom end of the clamp body, and are a first located point 511 of the YZ plane and a second located point 512 of the YZ plane in sequence; one XZ surface positioning point is arranged on the left side surface of the clamp body and is an XZ surface positioned point three 521.
The pressed points corresponding to the positioned points are also arranged at the same position, namely four pressed points of the XY surface are respectively arranged on two sides of the top end of the guide arm and two sides of the side edge of the hook 703, and sequentially comprise a first pressed point 601 of the XY surface, a first pressed point 602 of the XY surface, a first pressed point 603 of the XY surface and a first pressed point 604 of the XY surface; one of the pressed points of the YZ plane is arranged on the back side of the cylinder hole 702 and is a pressed point two 611 of the YZ plane; one pressed point of the XZ surface is arranged on the right side surface of the clamp body and is a pressed point three 621 of the XZ surface.
When the clamp body 7 is processed on the truss line, a truss manipulator is generally adopted for clamping and transporting. The top end of the truss line is provided with an X-axis guide rail, the X-axis guide rail is in rolling connection with the moving unit 3, the moving unit 3 comprises an X-axis motor and a Y-axis guide rail, the X-axis motor and the Y-axis guide rail are fixedly connected, the output end of the X-axis motor is provided with a gear, the gear is in gear connection with the X-axis guide rail, and when the X-axis motor works, the gear rotates to drive the Y-axis guide rail to translate. The moving unit 3 further comprises a Y-axis motor, the bottom end of the Y-axis motor is fixedly connected with the acquisition unit 2, a gear is arranged at the output end of the Y-axis motor and is connected with a Y-axis guide rail gear, and the gear rotates to drive the acquisition unit 2 to translate during operation of the Y-axis motor.
The acquisition unit 2 includes a camera mount 201 and a camera 202. The imaging base 201 is fixedly arranged at the lower end of the Y-axis guide rail, and the camera 202 is fixedly arranged on the peripheral side of the imaging base 201. The camera 202 is electrically connected to the analysis unit 4. The camera 202 is used for taking pictures of the clamp body and the clamp. The photo content of the clamp body comprises six views when the clamp is to be clamped, six views when the clamp is clamped and six views placed on the clamp. The photo content of the jig includes six views at idle and six views at job.
The chucking unit 1 includes a rotation motor 101 and a chucking motor 102. The rotating motor 101 is fixedly arranged at the lower end of the camera base 201, the output end of the rotating motor 101 is fixedly connected with the clamping motor 102, the output end of the rotating motor 101 can rotate around the X axis, the output end of the clamping motor 102 is provided with a left clamping block 103 and a right clamping block 104, and the left clamping block 103 and the right clamping block 104 are close to or far away from each other when the clamping motor 102 works.
The fixture is fixedly arranged on a four-axis machining center, can translate in X, Y and Z-axis directions, and can rotate around an X-axis direction. The quantity and the area of the positioning points of the qualified clamp are the same as those of the positioned points of the clamp body 7. The quantity and the area of the qualified pressing points of the clamp are the same as the quantity and the area of the pressing points which are multiplied by the clamp body 7.
The analysis unit 4 includes a controller, which can set a clamp three-dimensional coordinate system and a clamp three-dimensional coordinate system according to the photos of the clamp and the clamp, and the clamp three-dimensional coordinate system should be in a state when the hole center of the cylinder hole 702 of the clamp 7 is aligned on the machining center of the clamp after the zero points of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are combined.
Meanwhile, the analysis unit 4 stores the size of the tool machined by the clamp body 7 and the path of the tool during machining,
the qualification criteria for tool size and path for tool machining include: whether the tool length of the machining cylinder bore 702 interferes with the U port 701 and the hook 703; whether the tool diameter of the machining hook 703 interferes with the back of the caliper body 7.
Meanwhile, the analysis unit 4 stores qualified appearance standards of the forceps body 7, and the appearance standards comprise:
b1, no surface crack;
b2, no foreign matter is raised on the surface;
b3, surface rust resistance;
b4, designing the overall dimension of the clamp body 7;
b5, characters on the surface of the clamp body 7.
Meanwhile, the analysis unit 4 stores the elements of the qualified jig, and the contents of the elements include:
c1, the number of positioning pieces for positioning;
c2, the coordinate position of the positioning point of the positioning piece in the three-dimensional coordinate of the clamp;
c3, area of the location point of the location piece.
Meanwhile, the analysis unit 4 stores design tolerances of the jig and design tolerances of the caliper body 7.
The analysis unit 4 analyzes the effective information of the clamp and the effective information of the clamp 7 based on the picture of the clamp 7 and the clamp. The effective information of the jig includes: in the three-dimensional coordinate system of the clamp, the coordinate position of a positioning point of the clamp, the area of the positioning point, the coordinate position of a pressing point in the clamp, the area of the pressing point and the motion path of a pressing piece in the clamp during pressing are determined.
The effective information of the clamp body 7 includes: in the three-dimensional coordinate system of the caliper body, the coordinate position of the positioned point of the caliper body 7, the area of the positioned point, the coordinate position of the pressed point on the caliper body 7, the three-dimensional coordinate of the pressed point and the three-dimensional coordinate of the caliper body 7.
The analysis unit 4 compares the effective information of the jig with the effective information of the clamp 7, and determines whether the clamp 7 is a qualified piece. Criteria for a qualified piece include:
after the three-dimensional coordinate system of the clamp and the three-dimensional coordinate system of the clamp body are superposed,
a1, matching the coordinate position of the positioning point with the coordinate position of the positioned point;
a2, the overlapping area of the positioning points and the positioned points exceeds 1/3-3/4 of the area of the positioning points;
a3, the projection of the clamp body 7 on the positioning point is a single plane;
a4, a pressing piece in the clamp does not interfere the projection of the clamp body 7 on a three-dimensional coordinate when pressing;
a5, when the cutter is machined, the cutter does not interfere the projection of the clamp body 7 on the three-dimensional coordinate;
a6, all the information of the photographed clamp body 7 is consistent with the qualified appearance standard;
a7, matching the element information of the photographed clamp with the element information of the qualified clamp;
a8, the deviation of the coordinate position of the positioning point and the standard coordinate position is within the tolerance range;
a9, the deviation of the area size of the positioning point and the standard area size is in a tolerance range;
a10, the deviation of the coordinate position of the positioned point and the standard coordinate position is within the tolerance range;
a11, the deviation of the area size of the positioned point and the standard area size is within the tolerance range.
The analysis unit 4 judges whether the photographed caliper body 7 is stably placed on the clamp or not according to the pictures of the caliper body 7 and the clamp, and the stable definition means that the horizontal plane of the caliper body 7 is parallel to the horizontal plane of the clamp, namely the caliper body 7 is not shaken after being placed under external force with downward component force in each direction. When the analysis unit 4 judges that the photographed clamp body 7 is not stably placed on the clamp, the analysis unit 4 controls the clamping unit 1 and the moving unit 3 to clamp the photographed clamp body 7 and separate the same from the clamp, and continues to judge the clamp body 7 to be machined next.
The analysis unit 4 records the effective information of the clamp and the effective information of the clamp body 7 at the moment, compares the coordinate distance between the positioned point of the clamp body 7 and the positioned point of the clamp, analyzes the overlapping area of the positioned point and the positioned point, lists the overlapping area as an error standard, and controls the clamping unit 1, the acquisition unit 2 and the moving unit 3 to continue the operation of the clamp body 7 to be processed. When the effective information of the clamp 7 and the clamp in the clamp picture and the effective information of the clamp 7, which are shot by the obtaining unit 2, are equal to or lower than the information in the error standard, the overlapping area of the positioned point and the positioned point is equal to or lower than the information in the error standard, the shot clamp 7 is directly judged to be a defective product. If the error standard is input before, the error standard is updated, and the effective information of the clamp body 7 in the original error standard are replaced by the recorded effective information of the clamp and the recorded effective information of the clamp body 7.
The working method comprises the following steps:
t1, moving the acquisition unit 2 to the upper end of the clamp by the moving unit 3, taking a picture of the clamp in an idle state, and judging whether the clamp is a qualified clamp; if the clamp has the problems of positioning point missing, pressing point missing and the like, the clamp is judged to be an unqualified clamp, whether the clamp body 7 is qualified or not is not required to be judged, and an operator is directly informed to repair the clamp;
t2, if the clamp is a qualified clamp, the analysis unit 4 sets the three-dimensional coordinate of the clamp to acquire effective information of the clamp, the moving unit 3 moves the acquisition unit 2 to the upper side of the clamp body 7 to be machined, the clamp body 7 to be machined is provided with a blank 8, the acquisition unit 2 shoots a picture of the clamp body 7 to be clamped and judges whether the clamp body 7 is a qualified clamp body 7 for preliminary examination; if the problems that the characters on the surface of the clamp body 7 are incorrect, rusty stains appear on the surface and the like occur, the clamp body 7 is judged to be an unqualified clamp body 7, the moving unit 3 moves the acquiring unit 2 to the upper side of the next clamp body 7, and the clamp body 7 acquired at this time is recorded to be unqualified;
t3, if the pincer body 7 is a qualified pincer body 7 for initial examination, the analysis unit 4 sets the three-dimensional coordinate of the pincer body, acquires the effective information of the pincer body 7, simulates the condition when the three-dimensional coordinate of the pincer body is combined with the zero point of the three-dimensional coordinate of the clamp, compares the effective information of the clamp with the effective information of the pincer body 7, judges whether the shot pincer body 7 is a qualified second-examination part, judges that the pincer body 7 is a unqualified pincer body 7 if the coordinate position of a positioning point does not correspond to the coordinate position of the positioning point and the like, moves the acquisition unit 2 to the upper side of the next pincer body 7 by the movement unit 3, and records that the obtained pincer body 7 is unqualified;
t4, if the clamp body 7 is a qualified second-pass clamp body 7, the clamp body 7 is clamped on a clamp by the clamping unit 1, the picture of the clamp body 7 clamped on the clamp is shot by the obtaining unit 2, whether the clamp body 7 is qualified in the third-pass process is judged, when the clamp body 7 is unstable, and the like, the clamp body 7 is judged to be a unqualified clamp body 7, the clamp body 7 is clamped to the upper side of an unqualified product box by the clamping unit 1, the clamp body 7 is loosened and put into the unqualified product box, and meanwhile, the effective information of the clamp body 7 and the clamp at this time is recorded as an error standard by the analyzing unit 4;
and T5, if the clamp body 7 is a qualified three-inspection clamp body 7, the moving unit 3 moves the acquiring unit 2 to the upper side of the next clamp body 7 for judgment, records that the clamp body 7 is a qualified piece, and clamps the qualified clamp body 7 after the machining to the storage box after the machining is finished.
T6, if the error criteria is recorded, the new valid information of the unqualified caliper 7 and the valid information of the jig are updated to the original error criteria.
The second concrete embodiment: when the clamp is judged to be a qualified clamp, but the clamp body 7 is judged to be unqualified for more than 5 times, the machine is stopped, an operator is called to check whether batch errors occur in the clamp body 7, the judging steps are effectively reduced, and the energy consumption is reduced.
Claims (10)
1. An intelligent detection manipulator for machining a clamp body comprises a clamping unit (1) and a moving unit (3); the clamping unit (1) is used for grabbing a clamp body (7) to be machined; the moving unit (3) is used for driving the clamping unit (1) and the acquiring unit (2) to move on a vertical surface; the method is characterized in that: also comprises
The acquisition unit (2) is used for taking pictures of six-view surfaces of the clamp body (7) clamp and pictures of six-view surfaces of the clamp body (7);
the analysis unit (4) is used for analyzing the picture shot by the acquisition unit (2), setting a clamp three-dimensional coordinate system and a clamp body three-dimensional coordinate system, analyzing the effective information of the clamp and the effective information of the clamp body (7), comparing the effective information of the clamp and the effective information of the clamp body (7), and judging whether the shot clamp body (7) is a qualified piece;
the effective information of the jig includes: in a three-dimensional coordinate system of the clamp, the coordinate position of a positioning point of the clamp, the area of the positioning point, the coordinate position of a compression point in the clamp and the area of the compression point;
the effective information of the clamp body (7) comprises: in the three-dimensional coordinate system of the clamp body, the coordinate position of a positioned point of the clamp body (7), the area of the positioned point, the coordinate position of a pressed point on the clamp body (7) and the area of the pressed point; the positioned points of the single-cylinder common clamp body are all arranged at the same position, namely three positioned points of the XY plane are respectively arranged on two sides of the back of the guide arm and the back side of the hook head (703), and sequentially comprise a first positioned point (501) of the XY plane, a first positioned point (502) of the XY plane and a first positioned point (503) of the XY plane; two positioned points of the YZ plane are respectively arranged at two sides of the bottom end of the clamp body, and are a first positioned point II (511) of the YZ plane and a second positioned point II (512) of the YZ plane in sequence; one XZ surface positioned point is arranged on the left side surface of the clamp body and is an XZ surface positioned point III (521);
the pressed points corresponding to the positioned points are also arranged at the same position, namely four pressed points of the XY surface are respectively arranged on two sides of the top end of the guide arm and two sides of the side edge of the hook head (703), and sequentially comprise a first pressed point (601) of the XY surface, a first pressed point (602) of the XY surface, a first pressed point (603) of the XY surface and a first pressed point (604) of the XY surface; one pressed point of the YZ plane is arranged on the back side of the cylinder hole (702) and is a pressed point two (611) of the YZ plane; one pressed point of the XZ surface is arranged on the right side surface of the clamp body and is a pressed point III (621) of the XZ surface;
criteria for a qualified piece include: after the coordinates of the clamp three-dimensional coordinate system and the coordinates of the clamp body three-dimensional coordinate system are superposed, the A1 coordinates, the coordinate position of the positioning point and the coordinate position of the positioned point are matched; a2, and 1/3-3/4 that the overlapping area of the positioning point and the positioned point exceeds the area of the positioning point; a3, the projection of the clamp body (7) on the positioning point is a single plane.
2. The intelligent detection manipulator for machining the clamp body according to claim 1, wherein the intelligent detection manipulator comprises: the effective information of the clamp further comprises: the motion path of a pressing piece in the clamp during pressing; the effective information of the clamp body (7) further comprises: the three-dimensional coordinates of the clamp body (7); the criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, A4 and a pressing piece in the clamp do not interfere with the projection of the clamp (7) on the three-dimensional coordinate during pressing.
3. The intelligent detection manipulator for machining the clamp body according to claim 1, wherein the intelligent detection manipulator comprises: the analysis unit (4) stores the tool size processed by the clamp body (7) and the path processed by the tool; the effective information of the clamp body (7) further comprises: the three-dimensional coordinates of the clamp body (7); the criteria for a qualified piece further includes: after the coordinates of the clamp three-dimensional coordinate system and the coordinates of the clamp three-dimensional coordinate system are superposed, A5 and the cutter do not interfere with the projection of the clamp (7) on the three-dimensional coordinates when the cutter is machined.
4. The intelligent detection manipulator for machining the clamp body according to claim 1, wherein the intelligent detection manipulator comprises: the analysis unit (4) stores qualified appearance standards of the clamp body (7), and the appearance standards comprise: b1, no crack on the surface, B2, no foreign object bulge on the surface, B3, no rust on the surface, B4, the design external dimension of the clamp body (7), B5 and characters on the surface of the clamp body (7); the criteria for a qualified piece further includes: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, the information of the A6 and the photographed clamp (7) is consistent with the qualified appearance standard.
5. The intelligent detection manipulator for machining the clamp body according to claim 1, wherein the intelligent detection manipulator comprises: the analysis unit (4) stores elements of qualified jigs, and the content of the elements comprises: c1, the number of positioning pieces for positioning, C2, the coordinate positions of the positioning points of the positioning pieces in the three-dimensional coordinates of the clamp, C3 and the areas of the positioning points of the positioning pieces; the criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are superposed, the A7 and the photographed information of each element of the clamp are consistent with the information of the element of the qualified clamp.
6. The intelligent detection manipulator for machining a caliper body according to any one of claims 1 to 5, wherein: the analysis unit (4) stores the design tolerance of the clamp and the design tolerance of the clamp body (7); the criteria for a qualified piece also include: after the coordinates of the clamp three-dimensional coordinate system and the clamp three-dimensional coordinate system are overlapped, the deviation of the coordinate position of the A8 positioning point and the standard coordinate position is within a tolerance range, the deviation of the area size of the A9 positioning point and the standard area size is within the tolerance range, the deviation of the coordinate position of the A10 positioned point and the standard coordinate position is within the tolerance range, and the deviation of the area size of the A11 positioned point and the standard area size is within the tolerance range.
7. The intelligent detection manipulator for machining the clamp body according to claim 6, wherein: the pictures shot by the acquisition unit (2) comprise six-view pictures when the clamp body (7) is placed on the clamp; the analysis unit (4) analyzes the picture shot by the acquisition unit (2) and judges whether the shot clamp body (7) is stably placed on the clamp or not; the smoothing criteria include: the horizontal plane of the clamp body (7) is parallel to the horizontal plane of the clamp.
8. The intelligent detection manipulator for machining the clamp body according to claim 7, wherein: the analysis unit (4) is electrically connected with the clamping unit (1) and the moving unit (3); when the analysis unit (4) judges that the shot clamp body (7) is not stably placed on the clamp, the analysis unit (4) controls the clamping unit (1) and the moving unit (3) to clamp the shot clamp body (7) and separate from the clamp, and continues to judge the next clamp body (7) to be machined.
9. The intelligent detection manipulator for machining a caliper body according to claim 8, wherein: when the analysis unit (4) judges that the shot clamp body (7) is not stably placed on the clamp, the analysis unit (4) records the effective information of the clamp and the effective information of the clamp body (7) at the moment, lists the effective information as an error standard, and controls the clamping unit (1), the acquisition unit (2) and the moving unit (3) to continue to work for the clamp body (7) to be processed; when the effective information of the clamp body (7) and the clamp in the clamp picture shot by the acquisition unit (2) and the effective information of the clamp body (7) are equal to or lower than the information in the error standard, the shot clamp body (7) is directly judged to be a defective product.
10. The intelligent detection manipulator for machining a caliper body according to claim 9, wherein: when the analysis unit (4) judges that the photographed clamp body (7) is not stably placed on the clamp, the analysis unit (4) records the effective information of the clamp and the effective information of the clamp body (7) at the moment, updates the error standard, and replaces the effective information of the clamp and the effective information of the clamp body (7) in the original error standard with the latest effective information of the clamp and the latest effective information of the clamp body (7).
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