CN114378785A - Full-automatic panel processing system based on intelligent mechanical arm - Google Patents
Full-automatic panel processing system based on intelligent mechanical arm Download PDFInfo
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- CN114378785A CN114378785A CN202111609500.1A CN202111609500A CN114378785A CN 114378785 A CN114378785 A CN 114378785A CN 202111609500 A CN202111609500 A CN 202111609500A CN 114378785 A CN114378785 A CN 114378785A
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- 238000012545 processing Methods 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000013523 data management Methods 0.000 claims abstract description 8
- 238000012216 screening Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 17
- 239000002994 raw material Substances 0.000 claims description 14
- 230000006378 damage Effects 0.000 claims description 7
- 238000003754 machining Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 5
- 208000027418 Wounds and injury Diseases 0.000 claims description 3
- 208000014674 injury Diseases 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a full-automatic plate processing system based on an intelligent mechanical arm, which comprises a fixed platform and a data management module, wherein the data management module comprises a data detection module and a data processing module, the data detection module is used for detecting the real-time state in the processing process and transmitting the detected data information into the data processing module, the data processing module is used for analyzing and processing the received data information and processing the plate according to the processing result, the front end of the fixed platform is provided with a ground rail, the top of the ground rail is connected with a mechanical arm in a sliding way, the tail end of the mechanical arm is fixedly provided with a sucker, an air vacuum sucker is arranged in the sucker, an operator can adjust the suction force of the air vacuum sucker by adjusting the air pressure of the air vacuum sucker, and the invention, the method has the characteristics of improving the stability and reducing the potential safety hazard.
Description
Technical Field
The invention relates to the technical field of plate processing, in particular to a full-automatic plate processing system based on an intelligent mechanical arm.
Background
The existing metal plate has flat appearance, large width-thickness ratio and large surface area per unit volume, can be freely cut, bent, stamped and welded to form various product components, is flexible and convenient to use, and can be bent and welded to form structural members such as various structural steels, steel pipes, large I-shaped steels, channel steels and the like with complex sections.
The existing full-automatic plate processing system based on the intelligent mechanical arm is used, the applied suction force is difficult to adjust during plate transportation, and the stability of the fixed plate can be reduced when small suction force is applied to the plate, so that the plate at the bottom can fall with a certain probability, and certain potential safety hazards are generated.
Meanwhile, in the use process of the existing full-automatic plate processing system based on the intelligent mechanical arm, a certain damage can be caused to the plate and the sucker by applying a large acting force to the plate, the quality of the produced plate is reduced, and the service life of the sucker is shortened.
Therefore, it is necessary to design a full-automatic plate processing system based on an intelligent mechanical arm, which improves the stability and reduces the potential safety hazard.
Disclosure of Invention
The invention aims to provide a full-automatic plate processing system based on an intelligent mechanical arm, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a full-automatic processing system of panel based on intelligent robotic arm, includes fixed platform and data management module, its characterized in that: the data management module comprises a data detection module and a data processing module, the data detection module is used for detecting the real-time state in the machining process and transmitting the detected data information into the data processing module, and the data processing module is used for analyzing and processing the received data information and machining the plate through the processing result.
According to the technical scheme, fixed platform's front end is provided with the ground rail, the top sliding connection of ground rail has the arm, the terminal fixed mounting of arm has the sucking disc, the inside of sucking disc is provided with air vacuum chuck, and operating personnel can adjust air vacuum chuck's suction through adjustment air vacuum chuck's atmospheric pressure size, fixes panel, the front end of ground rail is provided with panel machining center, fixed platform's right side is provided with raw and other materials and places the platform, panel machining center's right side outside is provided with the controller, arm and sucking disc are connected with the controller electricity respectively, fixed platform's left side is provided with the finished product and places the platform.
According to the technical scheme, the raw material placing table is used for collecting plates needing to be machined, a plurality of groups of light output devices are arranged on the outer side of the raw material placing table, light receiving plates are arranged on the other side of the raw material placing table, the light output devices are used for outputting certain light to the top of the raw material placing table, the light receiving plates are used for receiving the light output by the light output plates, infrared detectors are fixedly mounted at the tail ends of the suckers, and the infrared detectors are used for detecting the area and the number of the plates to be machined.
According to the technical scheme, the data detection module comprises a height detection unit, a quantity detection unit and an area detection unit, the height detection module is located inside the light receiving plate and used for detecting the height of the plate, the height of the plate can be detected through the light shielded by the plate, the quantity detection unit is located inside the infrared detector and used for detecting the quantity of the plate, and the area detection unit is located inside the infrared detector and used for detecting the area of the plate.
According to the technical scheme, the computing module is electrically connected with a control module, the screening module is used for screening the received data information to enable the data information to correspond to each other and transmitting screening results to the computing module, the computing module is used for computing the received data information and transmitting computing results to the control module, and the control module is used for processing the plate through the received data information.
According to the technical scheme, the operation steps of the processing system are as follows:
step A, an operator drives the bottom of a mechanical arm to move along a sliding rail through a controller, drives the top of the mechanical arm to drive a sucker to move, moves to the top of a raw material placing table, absorbs a plate by adopting standard suction force, moves the plate into a plate machining center for machining, absorbs the machined plate and places the plate on the top of a finished product placing table;
b, the data detection module detects the area and the height of the plates and the number of the plates in the moving process of the mechanical arm and transmits the detection result to the screening module;
step C, the screening module screens the received data information to enable the data information to correspond to each other, and screening results are transmitted to the computing module;
d, the calculation module calculates the received data information and transmits the calculation result to the control module;
e, the control module adjusts the suction force of the sucker according to the received data information;
and F, circulating the steps A to F, and processing the plate.
According to the technical scheme, in the step C, the standard suction force of the sucker is recorded as F by the screening moduleSign boardThe number of plates is denoted by n, and the total thickness of several plates is denoted by LGeneral assemblyThe standard thickness of the plate is described as LSign boardThe areas of the plurality of plates are respectively denoted as S1、S2、……、SnAnd the maximum value thereof is denoted as SmaxThe standard area of the plate is denoted as SSign boardWhen the quantity of panel is more, gap between two blocks of panels is also more, need improve certain suction and fix polylith panel, the less risk that can make the panel of bottom have the landing of the suction that adopts, produce certain potential safety hazard, when the thickness of panel is thicker, required suction is also bigger, can cause certain damage to panel and sucking disc when applying too high effort to panel simultaneously, reduce the life of sucking disc, reduce the quality of panel simultaneously.
According to the above technical solution, in the step D, a calculation formula of the suction force required to be adjusted by the suction cup is:
wherein, FBecomeFor the suction of the required adjustment of sucking disc, standard suction through the sucking disc, the quantity of panel, the suction of the required adjustment of sucking disc can be calculated to the thickness of panel and the area of panel, adjust through the suction to the sucking disc, can be more in the quantity of panel, the gross thickness of panel is thicker, when the maximum area of panel is bigger, improve the suction of sucking disc, and then guarantee sucking disc (2) to the stability when panel is fixed, reduce the risk of the panel landing of bottom, make it more safe, can avoid exerting too high suction to panel simultaneously and cause certain injury to panel and sucking disc, improve the quality of panel produced, prolong the life of sucking disc simultaneously.
Compared with the prior art, the invention has the following beneficial effects: in the using process of the invention, the suction force required to be adjusted by the sucker can be calculated by the standard suction force of the sucker, the number of the plates, the thickness of the plates and the area of the plates, and the suction force of the sucker can be adjusted, so that when the number of the plates is larger, the total thickness of the plates is thicker, the temperature of the plates is higher and the maximum area of the plates is larger, the suction force of the sucker is improved, the stability of the sucker in fixing the plates is further ensured, the risk of the plates at the bottom is reduced, the safety is improved, meanwhile, certain damage to the plates and the sucker caused by the application of the overhigh suction force to the plates can be avoided, the quality of the produced plates is improved, and the service life of the sucker is prolonged.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the module connection structure of the present invention;
in the figure: 1. a fixed platform; 2. a suction cup; 3. a controller; 4. a raw material placing table; 5. a panel processing center; 6. a finished product placing table; 7. a ground rail; 8. a robotic arm.
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. 1-2, the present invention provides the following technical solutions: the utility model provides a full-automatic processing system of panel based on intelligent robotic arm, includes fixed platform 1 and data management module, its characterized in that: the data management module comprises a data detection module and a data processing module, the data detection module is used for detecting the real-time state in the processing process and transmitting the detected data information into the data processing module, and the data processing module is used for analyzing and processing the received data information and processing the plate through the processing result;
the front end of the fixed platform 1 is provided with a ground rail 7, the top of the ground rail 7 is connected with a mechanical arm 8 in a sliding manner, the tail end of the mechanical arm 8 is fixedly provided with a sucker 2, an air vacuum sucker is arranged inside the sucker 2, an operator can adjust the suction force of the air vacuum sucker by adjusting the air pressure of the air vacuum sucker to fix the plate, the front end of the ground rail 7 is provided with a plate processing center 5, the right side of the fixed platform 1 is provided with a raw material placing table 4, the right outside of the plate processing center 5 is provided with a controller 3, the mechanical arm 8 and the sucker 2 are respectively electrically connected with the controller 3, and the left side of the fixed platform 1 is provided with a finished product placing table 6;
the raw material placing table 4 is used for collecting plates to be processed, a plurality of groups of light output devices are arranged on the outer side of the raw material placing table 4, a light receiving plate is arranged on the other side of the raw material placing table 4, the light output devices are used for outputting certain light to the top of the raw material placing table 4, the light receiving plate is used for receiving the light output by the light output plate, an infrared detector is fixedly mounted at the tail end of the sucker 2, and the infrared detector is used for detecting the area and the number of the plates to be processed;
the data detection module comprises a height detection unit, a quantity detection unit and an area detection unit, the height detection module is positioned inside the light receiving plate and used for detecting the height of the plate, the height of the plate can be detected through the light shielded by the plate, the quantity detection unit is positioned inside the infrared sensor and used for detecting the quantity of the plate, and the area detection unit is positioned inside the infrared detector and used for detecting the area of the plate;
the calculation module is electrically connected with the control module, the screening module is used for screening the received data information to enable the data information to correspond to each other and transmitting screening results to the calculation module, the calculation module is used for calculating the received data information and transmitting the calculation results to the control module, and the control module is used for processing the plate through the received data information;
the operation steps of the processing system are as follows:
step A, an operator drives the bottom of a mechanical arm 8 to move along a sliding rail through a controller 3, drives the top of the mechanical arm 8 to drive a sucker 2 to move, moves to the top of a raw material placing table 4, absorbs a plate by adopting standard suction, moves the plate into a plate machining center 5 for machining, absorbs the machined plate and places the plate on the top of a finished product placing table 6;
step B, the data detection module detects the area and the height of the plates and the number of the plates in the moving process of the mechanical arm 8 and transmits the detection results to the screening module;
step C, the screening module screens the received data information to enable the data information to correspond to each other, and screening results are transmitted to the computing module;
d, the calculation module calculates the received data information and transmits the calculation result to the control module;
e, the control module adjusts the suction force of the sucker 2 according to the received data information;
step F, circulating the step A to the step F, and processing the plate;
in step C, the screening module records the standard suction force of the suction cup 2 as FSign boardThe number of plates is denoted by n, and the total thickness of several plates is denoted by LGeneral assemblyThe standard thickness of the plate is described as LSign boardThe areas of the plurality of plates are respectively denoted as S1、S2、……、SnAnd the maximum value thereof is denoted as SmaxThe standard area of the plate is denoted as SSign boardWhen the number of the plates is larger, gaps between the two plates are larger, a certain suction force needs to be improved to fix the plates, when the adopted suction force is smaller, the bottom plate can slide down, and a certain potential safety hazard is generated;
in the step D, the calculation formula of the suction force required to be adjusted by the sucker 2 is as follows:
wherein, FBecomeFor the suction of the required adjustment of sucking disc 2, standard suction through sucking disc 2, the quantity of panel, the suction of the required adjustment of sucking disc 2 can be calculated to the thickness of panel and the area of panel, adjust through the suction to sucking disc 2, can be more in the quantity of panel, the gross thickness of panel is thicker and the maximum area of panel is when big more, improve the suction of sucking disc 2, and then guarantee the stability of sucking disc 2 when fixed to the panel, reduce the risk of the panel landing of bottom, make it more safe, can avoid exerting too high suction to the panel simultaneously and cause certain injury to panel and sucking disc 2, improve the quality of the panel of producing, prolong the life of sucking disc 2 simultaneously.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a full-automatic processing system of panel based on intelligent robotic arm, includes fixed platform (1) and data management module, its characterized in that: the data management module comprises a data detection module and a data processing module, the data detection module is used for detecting the real-time state in the machining process and transmitting the detected data information into the data processing module, and the data processing module is used for analyzing and processing the received data information and machining the plate through the processing result.
2. The full-automatic plate processing system based on the intelligent mechanical arm as claimed in claim 1, wherein: a ground rail (7) is arranged at the front end of the fixed platform (1), the top of the ground rail (7) is connected with a mechanical arm (8) in a sliding way, the tail end of the mechanical arm (8) is fixedly provided with a sucker (2), an air vacuum sucker is arranged inside the sucker (2), an operator can adjust the suction force of the air vacuum sucker by adjusting the air pressure of the air vacuum sucker, the plate is fixed, the front end of the ground rail (7) is provided with a plate processing center (5), a raw material placing table (4) is arranged on the right side of the fixed platform (1), a controller (3) is arranged outside the right side of the plate processing center (5), the mechanical arm (8) and the sucker (2) are respectively and electrically connected with the controller (3), and a finished product placing table (6) is arranged on the left side of the fixed platform (1).
3. The full-automatic plate processing system based on the intelligent mechanical arm as claimed in claim 2, wherein: the raw and other materials are placed platform (4) and are used for collecting the panel of required processing, the outside that platform (4) were placed to raw and other materials is provided with a plurality of groups light follower, the opposite side that platform (4) were placed to raw and other materials is provided with the light receiver plate, the light follower is used for placing the certain light of top output of platform (4) to raw and other materials, the light receiver plate is used for receiving the light that light output plate exported, the terminal fixed mounting of sucking disc (2) has infrared detector, infrared detector is used for treating the area and the quantity of processing panel and detects.
4. The full-automatic plate processing system based on the intelligent mechanical arm is characterized in that: the data detection module is including high detecting element, quantity detecting element and area detecting element, high detecting element is located the inside of light receiver panel for highly detecting panel, can detect the height of panel through the light that is sheltered from by panel, quantity detecting element is located infrared detector's inside, is used for detecting the quantity of panel, area detecting element is located infrared detector's inside, is used for detecting the area of panel.
5. The full-automatic plate processing system based on the intelligent mechanical arm is characterized in that: the calculation module is electrically connected with the control module, the screening module is used for screening the received data information to enable the data information to correspond to each other and transmitting screening results to the calculation module, the calculation module is used for calculating the received data information and transmitting calculation results to the control module, and the control module is used for processing the plate through the received data information.
6. The full-automatic plate processing system based on the intelligent mechanical arm is characterized in that: the operation steps of the processing system are as follows:
step A, an operator drives the bottom of a mechanical arm (8) to move along a sliding rail through a controller (3), simultaneously drives the top of the mechanical arm (8) to drive a sucker (2) to move to the top of a raw material placing table (4), sucks a plate by adopting standard suction force, places the plate in a plate machining center (5) for machining, sucks the machined plate at the same time, and places the machined plate on the top of a finished product placing table (6);
b, the data detection module detects the area and the height of the plates and the number of the plates in the moving process of the mechanical arm (8), and transmits the detection result to the screening module;
step C, the screening module screens the received data information to enable the data information to correspond to each other, and screening results are transmitted to the computing module;
d, the calculation module calculates the received data information and transmits the calculation result to the control module;
e, the control module adjusts the suction force of the sucker (2) according to the received data information;
and F, circulating the steps A to F, and processing the plate.
7. The full-automatic plate processing system based on the intelligent mechanical arm is characterized in that: in the step C, the standard suction force of the sucker (2) is recorded as F by the screening moduleSign boardThe number of plates is denoted as n, and a plurality of platesTotal thickness is described as LGeneral assemblyThe standard thickness of the plate is described as LSign boardThe areas of the plurality of plates are respectively denoted as S1、S2、……、SnAnd the maximum value thereof is denoted as SmaxThe standard area of the plate is denoted as SSign boardWhen the quantity of panel is more, gap between two blocks of panels is also more, need improve certain suction and fix polylith panel, the less risk that can make the panel of bottom have the landing of the suction that adopts, produce certain potential safety hazard, when the thickness of panel is thicker, required suction also can cause certain damage to panel and sucking disc (2) when applying too high effort to panel more simultaneously more, reduce the life of sucking disc (2), reduce the quality of panel simultaneously.
8. The full-automatic plate processing system based on the intelligent mechanical arm, according to claim 7, is characterized in that: in the step D, a calculation formula of the suction force required to be adjusted by the sucker (2) is as follows:
wherein, FBecomeFor the suction of the required adjustment of sucking disc (2), through the standard suction of sucking disc (2), the quantity of panel, the suction of the required adjustment of sucking disc (2) can be calculated to the thickness of panel and the area of panel, adjust through the suction to sucking disc (2), can be more in the quantity of panel, the gross thickness of panel is thicker, when the maximum area of panel is big more, improve the suction of sucking disc (2), and then guarantee sucking disc (2) to the stability when panel is fixed, reduce the risk of the panel landing of bottom, make it safer, can avoid exerting too high suction and cause certain injury to panel and sucking disc (2) to panel simultaneously, improve the quality of the panel of producing, prolong the life of sucking disc (2) simultaneously.
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| CN115332143A (en) * | 2022-10-12 | 2022-11-11 | 泓浒(苏州)半导体科技有限公司 | Data processing method and system suitable for mechanical arm for wafer transmission |
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| CN108838987A (en) * | 2018-07-02 | 2018-11-20 | 华北科技学院 | A kind of mobile cantilever crane of the single axis robot being loaded with vacuum chuck |
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| US20210031382A1 (en) * | 2019-07-30 | 2021-02-04 | Denso Wave Incorporated | Suction hand and industrial robot provided with the same |
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| CN112571444A (en) * | 2020-11-30 | 2021-03-30 | 哈工大机器人（合肥）国际创新研究院 | Mechanical arm vacuum adsorption system and control method thereof |
| CN112830242A (en) * | 2020-12-31 | 2021-05-25 | 宁波瑞利时数控科技有限公司 | Feeding sucker device |
| CN113479640A (en) * | 2021-06-16 | 2021-10-08 | 苏州博杰智能科技有限公司 | Sucker clamp control system and control method based on visual detection technology |
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| CN115026909A (en) * | 2022-06-29 | 2022-09-09 | 北京建工集团有限责任公司 | Positioning method and device for plate processing, control equipment and storage medium |
| CN115332143A (en) * | 2022-10-12 | 2022-11-11 | 泓浒(苏州)半导体科技有限公司 | Data processing method and system suitable for mechanical arm for wafer transmission |
| CN115332143B (en) * | 2022-10-12 | 2022-12-20 | 泓浒(苏州)半导体科技有限公司 | Data processing method and system suitable for mechanical arm for wafer transmission |
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