CN113786967A - Flexible support system and working method thereof - Google Patents
Flexible support system and working method thereof Download PDFInfo
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- CN113786967A CN113786967A CN202111033575.XA CN202111033575A CN113786967A CN 113786967 A CN113786967 A CN 113786967A CN 202111033575 A CN202111033575 A CN 202111033575A CN 113786967 A CN113786967 A CN 113786967A
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- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000000153 supplemental effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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Abstract
The invention relates to a flexible supporting system and a working method thereof, wherein the flexible supporting system comprises a base, a hydraulic supporting device, a visual recognition device and a controller, the hydraulic supporting device comprises a plurality of hydraulic lifting columns, the hydraulic lifting columns are uniformly distributed at the base in an array shape, a viewing mechanism of the visual recognition device is arranged above the base and used for shooting an image of a workpiece placed on the base, the output end of the visual recognition device is connected with the controller, the control output end of the controller is connected with the hydraulic supporting device, and the controller controls the hydraulic lifting columns below the workpiece in the hydraulic supporting device to rise and fall according to the recognition result of the visual recognition device. The application improves the universality of the supporting system, effectively improves the production efficiency, provides better human-computer interaction experience, automatically adjusts the hydraulic lifting range and height by combining the visual recognition technology, reduces the limitation of the base table-board on workpieces, reduces the production cost and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing and processing, in particular to a flexible supporting system for supporting materials and a working method thereof.
Background
In the process of manufacturing the workpiece, the workpiece is often required to be supported, but some parts with extremely high performance parameter requirements, such as the workpiece coated with the composite material, are supported in the process of manufacturing the aircraft, the workpieces formed by the composite material have different structures, and the corresponding sizes, shapes, thicknesses and the like of the workpieces can be different, and the workpieces are required to be effectively supported and positioned in the coating process, so that if a supporting jig is designed for each set of die, the production cost is undoubtedly greatly increased. Meanwhile, in the process of positioning the workpiece, if the worktable needs to be replaced every time, the problem of efficiency reduction caused by lengthening of the line replacement time of the product is undoubtedly caused.
Disclosure of Invention
The invention aims to provide a flexible supporting system which can automatically adjust the bottom supporting height and the lifting position according to a workpiece, improve the universality of the supporting system, effectively improve the production efficiency and provide better human-computer interaction experience.
The method combines the visual identification technology to automatically adjust the hydraulic lifting range and height, reduces the limitation of the base table surface on the workpiece, reduces the production cost and improves the production efficiency.
The invention provides a flexible supporting system which comprises a base, a hydraulic supporting device, a visual recognition device and a controller, wherein the hydraulic supporting device comprises a plurality of hydraulic lifting columns, the hydraulic lifting columns are uniformly distributed at the base in an array shape, a viewing mechanism of the visual recognition device is arranged above the base and used for shooting an image of a workpiece placed on the base, the output end of the visual recognition device is connected with the controller, the control output end of the controller is connected with the hydraulic supporting device, and the controller controls the hydraulic lifting columns below the workpiece in the hydraulic supporting device to rise and fall according to the recognition result of the visual recognition device.
For the above technical solution, the applicant has further optimization measures.
Optionally, the hydraulic support device includes an oil tank, a hydraulic pump, and a hydraulic lock corresponding to each hydraulic lifting column, and the control output end of the controller is electrically connected to the hydraulic lock, and is configured to control start and stop of each hydraulic lock according to the recognition result of the visual recognition device.
Optionally, the visual recognition device includes a view finding mechanism, an image acquisition card and a visual analysis mechanism configured at the controller, the view finding mechanism is disposed above the base, an output end of the view finding mechanism is in communication connection with an input end of the image acquisition card, and the visual analysis mechanism performs workpiece position analysis according to image data collected by the image acquisition card and outputs a control instruction to the hydraulic lifting column corresponding to the coordinate.
Further, the visual recognition device also comprises an LED light source for auxiliary illumination, and the LED light source is aligned with the surface of the base.
Furthermore, a position switch is arranged at the base and used for feeding back the position of the workpiece at the base.
Optionally, the controller is a computer or a programmable logic control unit/motion control card.
Particularly, the application also provides a working method of the flexible supporting system, and the flexible supporting system is as follows:
the workpiece is placed on the base and then the action of the visual recognition device is triggered, the visual recognition device shoots images of the base and the workpiece through the viewing mechanism, the visual recognition device processes, analyzes and recognizes the collected images, the obtained image analysis data is sent to the controller, and the controller sends a control instruction to the hydraulic lifting columns located below the workpiece according to the image analysis data to control the corresponding hydraulic lifting columns to lift and support the workpiece.
Optionally, an image acquisition card in the visual recognition device performs analog-to-digital conversion on the acquired image, converts the acquired analog image signal into a digitized image signal, and sends the acquired digitized image signal to a visual analysis mechanism at the rear end, where the visual analysis mechanism performs the processing, analysis, and recognition on the digitized image signal to acquire the image analysis data.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the flexible supporting system, the workpiece is identified through the visual identification device, so that the rising and falling states of different hydraulic lifting columns in the hydraulic supporting device are adjusted according to the identification result, the flexible supporting system is suitable for the workpiece to be flexibly supported, the defect that the workpiece support needs to be frequently replaced in the manufacturing process of the existing equipment is overcome, adverse effects caused by product line changing are effectively avoided, and the normal production of a production line is further ensured. In addition, the flexible supporting system achieves multiple purposes, can use various workpieces, and effectively saves design and manufacturing resources.
Furthermore, the working method of the flexible supporting system is not complex, the existing mature visual identification technology is flexibly applied, but the original hydraulic supporting device is combined to support different workpieces, and is flexible, so that secondary damage to the surfaces of the workpieces in the machining process is avoided.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic structural view of a flexible support system according to one embodiment of the present invention.
Wherein the reference numerals are as follows:
1. a base; 2. a view finding mechanism; 3. a hydraulic lifting column; 4. and (5) a workpiece.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1:
this embodiment has described a flexible braced system, as shown in fig. 1 including base 1, hydraulic support device, visual identification device and controller, hydraulic support device includes a plurality of hydraulic pressure lift post 3, a plurality of hydraulic pressure lift post 3 is array form and evenly arranges base 1 department, visual identification device's viewfinder mechanism 2 set up in the top of base 1, viewfinder mechanism 2 is used for shooing 4 images of the work piece of placing on base 1, visual identification device's output with the controller links to each other, the control output of controller with hydraulic support device links to each other, the controller basis visual identification device's recognition result control hydraulic pressure lift post 3 that is located work piece 4 below in the hydraulic support device rises and falls.
Specifically speaking, the hydraulic support device comprises an oil tank, a hydraulic pump and a hydraulic lock arranged corresponding to each hydraulic lifting column 3, and the control output end of the controller is electrically connected with the hydraulic lock and used for controlling the start and stop of each hydraulic lock according to the identification result of the visual identification device.
The visual recognition device comprises a viewing mechanism 2, an image acquisition card and a visual analysis mechanism configured at a controller, wherein the viewing mechanism 2 is arranged above the base 1, the output end of the viewing mechanism 2 is in communication connection with the input end of the image acquisition card, and the visual analysis mechanism carries out position analysis on a workpiece 4 according to image data collected by the image acquisition card and outputs a control instruction to a hydraulic lifting column 3 with a corresponding coordinate.
The viewfinder mechanism 2 can adopt an industrial camera and an industrial lens, can be composed of one or more sets of imaging systems, can adopt an image card switching mode to acquire image data, and can also acquire data of multiple camera channels simultaneously through synchronous control, so that richer identification data (such as the shape, the thickness, the height and the like of the workpiece 4) can be acquired. In order to improve the photographing effect of the viewing mechanism 2, the visual recognition device further comprises an LED light source for auxiliary illumination, the LED light source is aligned to the surface of the base 1, and the imaging quality can be effectively optimized through the light supplement.
In addition, a position switch is arranged at the base 1 and used for feeding back the position of the workpiece 4 at the base 1. The in-place switch can be a manual switch, so that a worker can start the system to work by manually triggering the switch after carrying the workpiece 4 in place. Of course, a positioning switch, an infrared sensor, a laser sensor, etc., which can realize automatic recognition, may be used.
Optionally, the controller is a computer or a programmable logic control unit/motion control card. The image acquisition card can be installed in a computer in a form of a plug-in card, and the image acquisition card mainly works to transmit the image output by the viewfinder mechanism 2 to a computer host. It converts the analog or digital signal from the camera into a formatted image data stream, while it can control some parameters of the camera, such as trigger signal, exposure/integration time, shutter speed, etc. Image capture cards typically have different hardware architectures for different types of cameras, as well as different bus formats, such as PCI, PCI64, Compact PCI, PC104, ISA, and the like. The computer is used as the core of the visual recognition device, the processing of image data and most of control logic are completed, and for detection type application, a CPU with higher frequency is usually required, so that the processing time can be reduced. Meanwhile, in order to reduce the interference of electromagnetism, vibration, dust, temperature and the like in an industrial field, an industrial-grade computer can be selected.
The visual analysis mechanism for analyzing the image may be an external hardware body mounted at the controller, or may be software configured as the controller. The vision analysis mechanism is used for processing the input image data and then obtaining a result through certain operation, and the output result can be PASS/FAIL signals, coordinate positions, character strings and the like. Common machine vision software appears in the form of C/C + + image library, ActiveX control, graphical programming environment, etc., and may be either dedicated for function (such as LCD inspection only, BGA inspection, template alignment, etc.) or general purpose (including positioning, measurement, barcode/character recognition, blob inspection, etc.). The specific software can be selected according to the requirements of users.
Once the computer has completed the image analysis, it is then necessary to communicate with an external unit to complete the control of the production process, i.e. to implement the hydraulic lifting device. Simple control can directly utilize the self-contained I/O of a partial image acquisition card, and relatively complex logic/motion control must rely on an additional programmable logic control unit/motion control card to realize necessary actions.
Example 2:
the embodiment provides a working method of a flexible supporting system, wherein the flexible supporting system is as described in embodiment 1, and the specific working process is as follows:
the workpiece 4 is placed on the base 1 and then triggers the action of the visual recognition device, the visual recognition device shoots images of the base 1 and the workpiece 4 through the viewing mechanism 2, the visual recognition device processes, analyzes and recognizes the collected images, the obtained image analysis data is sent to the controller, and the controller sends a control instruction to the hydraulic lifting column 3 below the workpiece 4 according to the image analysis data to control the corresponding hydraulic lifting column 3 to lift and support the workpiece 4.
An image acquisition card in the visual recognition device performs analog-to-digital conversion on the acquired image, the acquired analog image signal is converted into a digital image signal, the acquired digital image signal is sent to a visual analysis mechanism at the rear end, and the digital image signal is processed, analyzed and recognized by the visual analysis mechanism to acquire image analysis data.
To sum up, the flexible supporting system of this application, it discerns work piece 4 through the vision recognition device to adjust the state that rises and falls of each different hydraulic lifting post 3 among the hydraulic support device according to the discernment result, thereby be adapted to work piece 4 and carry out flexible support, solved and frequently changed the drawback that work piece 4 supported in the current manufacturing process of equipping, effectively avoid the product to trade the harmful effects that the line brought, and then guarantee that the production of producing the line is normal. In addition, the flexible supporting system realizes multiple purposes, can use various workpieces 4, and effectively saves design and manufacturing resources.
In addition, the working method of the flexible supporting system is not complicated, the existing mature visual identification technology is flexibly applied, but the original hydraulic supporting devices are combined to support different workpieces 4 and are flexibly supported, so that secondary damage to the surfaces of the workpieces 4 in the machining process is avoided.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides a flexible supporting system, its characterized in that, includes base, hydraulic pressure strutting arrangement, visual identification device and controller, hydraulic pressure strutting arrangement includes a plurality of hydraulic pressure lift post, a plurality of hydraulic pressure lift post is array form and evenly arranges base department, visual identification device's view finding mechanism set up in the top of base, view finding mechanism is used for shooting the work piece image of placing on the base, visual identification device's output with the controller links to each other, the control output of controller with hydraulic pressure strutting arrangement links to each other, the controller basis visual identification device's identification result control hydraulic pressure lift post that is located the work piece below rises and falls among the hydraulic pressure strutting arrangement.
2. The flexible supporting system according to claim 1, wherein the hydraulic supporting device comprises an oil tank, a hydraulic pump and a hydraulic lock corresponding to each hydraulic lifting column, and the control output end of the controller is electrically connected with the hydraulic lock and used for controlling the start and stop of each hydraulic lock according to the identification result of the visual identification device.
3. The flexible support system according to claim 1, wherein the visual recognition device comprises a viewfinder mechanism, an image capture card, and a visual analysis mechanism disposed at the controller, the viewfinder mechanism is disposed above the base, an output end of the viewfinder mechanism is connected to an input end of the image capture card in communication, and the visual analysis mechanism performs workpiece position analysis according to image data collected by the image capture card and outputs a control command to the hydraulic lifting column corresponding to the coordinate.
4. The flexible support system of claim 3, wherein the visual identification device further comprises an LED light source for supplemental lighting, the LED light source directed at the base surface.
5. The flexible support system of any of claims 1 to 4 wherein a home switch is provided at the base for feedback of the home position of the workpiece at the base.
6. The flexible support system of any of claims 1 to 4 wherein the controller is a computer or a programmable logic control unit/motion control card.
7. A working method of a flexible supporting system is characterized in that the flexible supporting system is as claimed in any one of claims 1 to 6, and the specific working process is as follows:
the workpiece is placed on the base and then the action of the visual recognition device is triggered, the visual recognition device shoots images of the base and the workpiece through the viewing mechanism, the visual recognition device processes, analyzes and recognizes the collected images, the obtained image analysis data is sent to the controller, and the controller sends a control instruction to the hydraulic lifting columns located below the workpiece according to the image analysis data to control the corresponding hydraulic lifting columns to lift and support the workpiece.
8. The working method of the flexible supporting system according to claim 7, wherein an image acquisition card in the visual recognition device performs analog-to-digital conversion on the acquired image, converts the obtained analog image signal into a digital image signal, and sends the obtained digital image signal to a visual analysis mechanism at the rear end, and the visual analysis mechanism performs the processing, analysis and recognition on the digital image signal to obtain the image analysis data.
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| CN202111033575.XA CN113786967A (en) | 2021-09-03 | 2021-09-03 | Flexible support system and working method thereof |
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| CN202111033575.XA CN113786967A (en) | 2021-09-03 | 2021-09-03 | Flexible support system and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB639696A (en) * | 1948-02-11 | 1950-07-05 | Herbert John Caudle | Improvements in and relating to clamping and like devices |
| US5722646A (en) * | 1995-08-29 | 1998-03-03 | Cna Manufacturing Systems, Inc. | Flexible tooling apparatus |
| CN101269466A (en) * | 2008-04-11 | 2008-09-24 | 清华大学 | Roboticized intelligent fixture system |
| CN102529928A (en) * | 2011-12-29 | 2012-07-04 | 上海庞丰交通设备科技有限公司 | Aerodynamic braking hydraulic system |
| CN103057141A (en) * | 2012-12-18 | 2013-04-24 | 河海大学常州校区 | Toggle rod hydraulic press |
| CN104220213A (en) * | 2012-02-09 | 2014-12-17 | 平田机工株式会社 | Machining system, workpiece machining method, and control method |
| CN104625792A (en) * | 2015-02-12 | 2015-05-20 | 泰安华鲁锻压机床有限公司 | Flexible supporting mechanism for machining plate workpiece |
| CN107052096A (en) * | 2017-04-28 | 2017-08-18 | 深圳先进技术研究院 | Complex-curved steel plate digital control flexible progressive molding equipment and manufacturing process |
| CN107263365A (en) * | 2017-08-21 | 2017-10-20 | 泰安华鲁锻压机床有限公司 | Support Position and the adjustable multi-point flexibly board supporting device of quantity |
| CN108748155A (en) * | 2018-06-12 | 2018-11-06 | 苏州乐佰图信息技术有限公司 | The automatic aligning method of more scenes |
-
2021
- 2021-09-03 CN CN202111033575.XA patent/CN113786967A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB639696A (en) * | 1948-02-11 | 1950-07-05 | Herbert John Caudle | Improvements in and relating to clamping and like devices |
| US5722646A (en) * | 1995-08-29 | 1998-03-03 | Cna Manufacturing Systems, Inc. | Flexible tooling apparatus |
| CN101269466A (en) * | 2008-04-11 | 2008-09-24 | 清华大学 | Roboticized intelligent fixture system |
| CN102529928A (en) * | 2011-12-29 | 2012-07-04 | 上海庞丰交通设备科技有限公司 | Aerodynamic braking hydraulic system |
| CN104220213A (en) * | 2012-02-09 | 2014-12-17 | 平田机工株式会社 | Machining system, workpiece machining method, and control method |
| CN103057141A (en) * | 2012-12-18 | 2013-04-24 | 河海大学常州校区 | Toggle rod hydraulic press |
| CN104625792A (en) * | 2015-02-12 | 2015-05-20 | 泰安华鲁锻压机床有限公司 | Flexible supporting mechanism for machining plate workpiece |
| CN107052096A (en) * | 2017-04-28 | 2017-08-18 | 深圳先进技术研究院 | Complex-curved steel plate digital control flexible progressive molding equipment and manufacturing process |
| CN107263365A (en) * | 2017-08-21 | 2017-10-20 | 泰安华鲁锻压机床有限公司 | Support Position and the adjustable multi-point flexibly board supporting device of quantity |
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