CN114643382B - Automatic blade batch loading and unloading method based on robot system - Google Patents
Automatic blade batch loading and unloading method based on robot system Download PDFInfo
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- CN114643382B CN114643382B CN202111609204.1A CN202111609204A CN114643382B CN 114643382 B CN114643382 B CN 114643382B CN 202111609204 A CN202111609204 A CN 202111609204A CN 114643382 B CN114643382 B CN 114643382B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000007599 discharging Methods 0.000 claims abstract description 43
- 230000000007 visual effect Effects 0.000 claims abstract description 39
- 230000009471 action Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 27
- 210000000078 claw Anatomy 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 15
- 238000011065 in-situ storage Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 10
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
The invention relates to a method for automatically loading and unloading blades in batches based on a robot system, which comprises a robot execution module; the robot executing module is surrounded by a blade batch feeding and discharging frame, a blade visual positioning module, a blade tool library, a blade tool, a three-coordinate measuring machine and a control system; the control system is connected with the robot execution module, the blade visual positioning module and the three-coordinate measuring machine through cables for information communication, monitors the running states of the three modules and schedules the action execution of the three modules according to preset control logic. The invention has strong universality and high automation degree, and can adapt to the scene of simultaneous production of multiple types of blades in production without additional manual intervention.
Description
Technical Field
The invention relates to the technical field of blade processing and measurement, in particular to the field of batch automatic circulation in the blade processing and measurement process, and specifically relates to a method for batch automatic feeding and discharging of blades based on a robot system.
Background
The blade is a core part of an aeroengine, and because of the complex curved surface and thin wall characteristics, in order to ensure the processing quality of the blade, a high-precision five-axis linkage machine tool is generally adopted for milling processing, and a three-coordinate measuring machine is used for measuring and rechecking. According to the position of the blade in the engine, the blade is generally divided into multiple stages, and each stage of blade is tens of blades, and the number of the blades is large, so that frequent feeding and discharging operations are involved in the whole circulation process of blade batch manufacturing, the preparation and adjustment are mainly finished manually at present, the preparation and adjustment time is long, and the capacity of a machine tool and three coordinates is difficult to fully develop. Therefore, the method for realizing batch automatic feeding and discharging of the blades can obviously improve the production efficiency of the blades, is beneficial to the control of the production takt time and has important significance for the manufacturing process of the blades.
By searching the existing literature, the following techniques are found:
1. the invention discloses a design method of a digital full-automatic production line of a compressor blade, which mainly aims at the overall layout design of an automatic production line and does not aim at the specific realization of batch feeding and discharging of the blade;
2. the invention of the Chinese patent application of application number 202110086108.7 discloses a manipulator feeding and discharging system for automatic measurement of blades, wherein a clamp assembly for clamping the blades is taken and placed by a gripper, the clamping of the blades in the clamp is completed by manually tightening a screw, then the system transfers the clamp assembly with the blades to a measuring position, and the feeding and discharging of the blades of the system are not completely automated;
3. the invention discloses a system for automatically measuring and detecting the dimensional accuracy of a blade, wherein the invention is used for transferring the blade through a clamping piece, the process of loading the blade into the clamping piece is realized manually, and the feeding and discharging of the blade of the system are not completely automated;
in addition, the technology is not suitable for batch automatic feeding and discharging of more than 2 types of blades, and after the types of the blades are changed, the clamps of the blades need to be replaced by the outside of the system, so that complete automation cannot be realized.
Disclosure of Invention
One of the purposes of the invention is to overcome the defects in the prior art and provide a blade batch automatic feeding and discharging robot system; the six-degree-of-freedom articulated industrial robot is adopted as an execution main body, the robot claw is used for directly grabbing the blade, the step of manually loading the blade into the tool is omitted, the automatic loading of the blade into the tool is completed by adopting the customized tool and the visual positioning system, the full-automatic loading and unloading of the blade is realized, the batch automatic loading and unloading of the blades with multiple types can be simultaneously supported, the manual operation time and cost are reduced, and the robot is particularly suitable for processing and measuring tasks of the blades with multiple batches.
The technical scheme for realizing the aim of the invention is that the method for automatically loading and unloading the blades in batches based on the robot system is provided with a robot execution module; the robot executing module is surrounded by a blade batch feeding and discharging frame, a blade visual positioning module, a blade tool library, a blade tool, a three-coordinate measuring machine and a control system; the control system is connected with the robot execution module, the blade visual positioning module and the three-coordinate measuring machine through cables for information communication, monitors the running states of the three modules, and dispatches the action execution of the three modules according to preset control logic, wherein the robot execution module directly grabs the blade profile, and corrects the blade pose through the blade visual positioning module, so that the blade can be accurately placed in the blade tool in the three-coordinate measuring machine or the blade processing machine tool.
The robot execution module comprises a six-degree-of-freedom industrial robot, a robot mounting bottom plate, a robot motion driver, a robot ground rail, a feeding visual identification module and a robot tail end claw hand, wherein the six-degree-of-freedom industrial robot is movably arranged on the robot ground rail through the robot mounting bottom plate; the robot motion driver drives the robot mounting bottom plate to move; the feeding visual identification module is fixed on a sixth shaft flange of the six-degree-of-freedom industrial robot; the tail end claw of the robot is connected with the feeding visual identification module and used for grabbing blades or blade tools.
According to the technical scheme, the robot feeding and discharging frame comprises a batch feeding and discharging base, a frame main body and an electronic information module for recording batch information of blades; the frame main body is arranged on the batch feeding and discharging base in a sliding manner; the electronic information module is arranged on the shelf main body.
According to the technical scheme, the blade tool is a blade clamping jaw for taking and placing blades or a blade positioning and clamping tenon tool for a three-coordinate measuring machine/machine tool or all tenon tools in a circulation chain are automatically replaced after the type of the blade is changed.
The blade visual positioning module comprises a mounting base, a laser line scanner and a scanner driving module; the laser line scanner is arranged on the scanner driving module in a sliding way; the scanner driving module is installed on the installation base.
According to the technical scheme, the blade tool warehouse comprises a tool warehouse base, and a tenon tool support, a blade feeding and discharging claw support and a tenon tool replacement tool support which are arranged on the tool warehouse base.
According to the technical scheme, the blade batch feeding and discharging frame and the blade visual positioning module are arranged on the same side of the robot execution module; the three-coordinate measuring machine is arranged on the other side of the robot execution module; and blade batch feeding and discharging frames are arranged on one side or two sides of the blade visual positioning module.
The technical scheme specifically comprises the following steps:
and 1, entering the blade to be processed/measured into a feeding station, wherein the blade is integrally put into a placing hole of a robot feeding and discharging frame main body according to batches, and manually pushing the frame main body to slide into a feeding position along the batch feeding and discharging base.
Step 2, reading rack main body information, namely firstly reading label information of an RFID information component by a feeding visual identification module at the tail end of the robot, obtaining blade model information, transmitting the information into an electrical control system, and triggering subsequent steps according to preset logic; the blade model is unchanged, namely, the step 4 is changed, and the step 3 is changed;
step 3, the six-degree-of-freedom industrial robot replaces the tail end of the blade tooling warehouse with a tenon tooling replacement tooling, takes down the blade tenon tooling in the three-dimensional measuring machine and places the blade tenon tooling in the corresponding blade model on a tenon tooling bracket of the blade tooling warehouse, and places the blade tenon tooling in the three-dimensional measuring machine to complete automatic replacement of the blade tenon tooling, and then the six-degree-of-freedom industrial robot replaces the tail end of the blade tooling warehouse with a blade feeding claw and a blanking claw in the corresponding model;
step 4, blade in-situ detection, wherein a blade end feeding visual identification module photographs the blade according to the sequence of the blade on the frame main body, and before grabbing, the blade is identified whether to be in-situ or not, and information of tenons is obtained through image processing;
step 5, the robot grabs the blade and positions the blade, namely, the upper and lower feed claw hands at the tail end of the six-degree-of-freedom industrial robot directly clamp the profile of the blade, the tenon is placed right above the laser line scanner 302, the scanner driving module drives the laser line scanner to scan the tenon, the actual pose of the blade tenon tool relative to the robot is identified through visual processing, the tail end of the six-degree-of-freedom industrial robot is automatically adjusted and the blade is accurately placed in the blade tenon tool according to the identified actual pose of the blade tenon, the blade tenon tool is automatically positioned and clamped after the in-place signal triggers the blade, and meanwhile, the robot executing module repeats steps 4-5 for standby;
step 6, blade measurement/processing: the three-coordinate measuring machine/blade processing machine tool completes subsequent blade measurement/processing according to a preset measurement/processing program;
step 7, blade blanking, namely after blade measurement/processing is completed, the equipment sends a state signal to a control system, the tail end of the six-degree-of-freedom industrial robot clamps the blade through a molded surface by a blade feeding and discharging claw, a blade tenon tool is automatically loosened, the six-degree-of-freedom industrial robot clamps the blade, and meanwhile, the blade to be processed is replaced, returns to the blanking level of the tool and is placed at a corresponding position in a shelf main body of the blanking level;
step 8, repeatedly executing the steps 4 to 7 until all the blades of the stage are processed, and discharging the blades in batches; and (3) repeatedly executing the steps 1-8 after replacing the frame main body to realize batch loading and unloading of the blades with different specifications.
After the technical scheme is adopted, the invention has the following positive effects:
(1) The invention has strong universality and high automation degree, and can adapt to the scene of simultaneous production of multiple types of blades in production without additional manual intervention.
(2) According to the invention, the robot can directly grasp the blades, the blade loading tool and the blade circulation process are automatically completed through the system, and no other manual operation is performed after the blades reach the loading level in batches, so that the efficiency is improved and the falling to the ground is facilitated.
(3) According to the invention, the tool design can be adjusted according to the blade of the changed blade specification, the main module of the tool is designed into a universal module, the adjustment design workload is small, and the tool can be quickly adapted to the adjustment of the service.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic diagram of the overall system architecture of the present invention;
FIG. 2 is a schematic diagram of a specific structure of a robot execution module according to the present invention;
FIG. 3 is a schematic view of a blade loading and unloading frame according to the present invention;
FIG. 4 is a schematic view of a specific structure of a blade visual positioning module according to the present invention;
FIG. 5 is a schematic view of a specific construction of a blade tooling library according to the present invention;
FIG. 6 is a schematic view of a blade tooling of the present invention in a tooling library.
Detailed Description
Example 1
Referring to fig. 1, the present invention has a blade batch automatic loading and unloading robot system with a robot execution module 100; around the robot execution module 100, a blade batch loading and unloading frame 200, a blade visual positioning module 300, a blade tool library 400, a blade tool 500, a three-coordinate measuring machine 600 and a control system 700 are arranged; the blade batch loading and unloading frame 200 and the blade visual positioning module 300 are arranged on the same side of the robot execution module 100; the three-coordinate measuring machine 600 is disposed at the other side of the robot execution module 100; blade batch loading and unloading shelves 200 are arranged on one side or two sides of the blade visual positioning module 300; the control system 700 is connected to the robot executing module 100, the blade vision positioning module 300 and the three-coordinate measuring machine 600 through cables for information communication, monitors the operation states of the three modules, and schedules the execution of the actions of the three modules according to preset control logic.
Referring to fig. 2, a robot execution module 100, configured to implement transportation of blades and blade tools, includes a six-degree-of-freedom industrial robot 101, a robot mounting base plate 103, a robot motion driver 102, a robot ground rail 104, a feeding visual recognition module 110, and a robot end claw 120, where the six-degree-of-freedom industrial robot 101 is movably disposed on the robot ground rail 104 through the robot mounting base plate 103; the robot motion driver 102 drives the robot mounting base plate 103 to move; the feeding visual identification module 110 is fixed on a sixth shaft flange of the six-degree-of-freedom industrial robot 101; the robot end claw 120 is connected with the feeding visual identification module 110 and is used for grabbing the blade 210 or the blade tooling 404. The module moves in two modes, wherein the first mode is the integral movement of the six-degree-of-freedom industrial robot 101, the robot ground rail 104 is fixed on the ground through bolts, and the six-degree-of-freedom industrial robot 101 can move along the length direction of the robot ground rail 104 through the robot motion driver 102; the second is the end movement of the robot, the robot blade claw 120 can be automatically replaced according to the different tasks performed by the robot, and the robot blade claw 120 and the robot blade claw are connected through a standard quick-change disc.
Referring to fig. 3, a robot loading and unloading rack 200 for batch loading of blades includes a batch loading and unloading base 201, a rack body 202, and an electronic information module 203 for recording blade batch information; the frame main body 202 is arranged on the batch feeding and discharging base 201 in a sliding manner; the electronic information module 203 is mounted on the shelf main body 202. The blades 210 are placed in holes formed in advance in the rack, the electronic information module 203 is fixed on one side of the rack body, the whole rack body 202 can slide in and out along the whole batch feeding and discharging base 201, the blades 210 are correspondingly placed in slots on the rack body 202, no requirement is placed on the specific pose of the blades 210, and the blades 210 are integrally loaded according to batches as shown by arrows in the figure.
The blade tooling 500 is a blade clamping jaw 510 for picking and placing blades or a blade positioning clamping tenon tooling 520 for a three-coordinate measuring machine/machine tool or a tenon tooling replacement tooling 530 for automatically replacing all tenon tooling in a circulation chain after the blade model is changed. Wherein the blade clamping jaw 510 is designed with two clamping jaws, which can realize rapid blade taking and placing; the tenon tool 520 is connected with a three-coordinate measuring machine/machine tool through a zero point positioning structure, and the switching among the three tools is realized through a quick-change disc;
the blade vision positioning module 300 is used for recognizing the pose state of a blade tenon relative to a robot after the robot directly grabs the blade, and comprises a mounting base 301, a laser line scanner 303 and a scanner driving module302; the laser line scanner 303 is slidably disposed on the scanner driving module 302; the scanner driving module 302 is mounted on the mounting base 301. The robot grabs the blade 210, and the tenon faces the laser line scanner 303 and keeps still, the laser line scanner 303 is driven to move through the scanner driving module 302, the scanning of the actual grabbing gesture of the blade tenon is completed, the actual gesture-of the blade tenon coordinate system relative to the tail end of the robot can be calculated by a control system preset algorithm through matching the scanning data and the 3D model data of the blade tenon, and the actual gesture data is sent to the control system to replace the original preset gesture T 0 Positioning and coordinate correction of the blade tenon are realized.
The blade tooling warehouse 400 is used for placing blade tooling, and the digital monitoring can be performed by adding a sensor at the placement position, and comprises a tooling warehouse base 401, and a tenon tooling bracket 402, a blade feeding and discharging claw bracket 403 and a tenon tooling replacement tooling bracket 404 which are arranged on the tooling warehouse base 401. These three brackets are used to house blade dovetail tooling 520, robotic end blade claw 510, and dovetail tooling change tooling 530, respectively. In particular, the blade tooling library 400 may be adapted and expanded according to the type of blade 210 lot specification.
Example 2
A loading and unloading method using a blade batch automatic loading and unloading robot system comprises the following steps:
step 1. The blade to be processed/measured enters the loading station, the blade 210 is integrally put into the placing hole of the robot loading and unloading frame body 202 according to the batch, and the frame body 202 is manually pushed to slide into the loading position along the batch loading and unloading base 201.
Step 2, reading the information of the rack main body 202, namely firstly, the feeding visual identification module 110 at the tail end of the robot reads the label information of the RFID information component 204, acquires the type information of the blade 210, transmits the information into the electric control system 700, and triggers the subsequent steps according to preset logic; the model 210 of the blade is unchanged, and the model 210 of the blade is changed to step 3;
step 3, the six-degree-of-freedom industrial robot 101 replaces the tail end of the blade tooling library 400 with a tenon tooling replacing tooling 530, the blade tenon tooling 520 in the three-dimensional measuring machine 600 is taken down and placed on the tenon tooling bracket 402 of the blade tooling library, the blade tenon tooling 520 corresponding to the model of the blade 210 is taken down and placed in the three-dimensional measuring machine 600, the automatic replacement of the blade tenon tooling 520 is completed, and then the six-degree-of-freedom industrial robot 101 replaces the tail end of the blade tooling library 400 with the blade feeding and discharging claw 510 corresponding to the model;
step 4, blade 210 in-situ detection: the visual recognition module 110 for feeding the tail end of the blade 210 photographs the blade 210 according to the sequence of the blade 210 on the frame main body 202, recognizes whether the blade 210 is in place before gripping, and obtains tenon information, such as seal information of batch numbers and the like, through image processing;
step 5, the robot grabs the blade 210 and positions the blade, namely, the six-degree-of-freedom industrial robot 101 directly clamps the profile of the blade 210 by the feeding and discharging claw 510 at the tail end of the six-degree-of-freedom industrial robot 101, the tenon is placed right above the laser line scanner 302, the scanner driving module 302 drives the laser line scanner 302 to scan the tenon, the actual pose of the blade tenon tool 520 relative to the robot is identified through visual processing, the tail end of the six-degree-of-freedom industrial robot 101 is automatically adjusted and the blade 210 is accurately placed in the blade tenon tool 520 according to the identified actual pose of the blade tenon, the blade tenon tool 520 is automatically positioned and clamped after the in-place signal triggers, and the robot executing module 100 repeats steps 4-5 for standby;
step 6, blade measurement/processing, namely completing subsequent blade measurement/processing by the three-coordinate measuring machine 600/a blade processing machine tool according to a preset measurement/processing program;
step 7, blade blanking, namely after blade measurement/processing is completed, equipment sends a status signal to a control system 700, a blade feeding and discharging claw 510 at the tail end of the six-degree-of-freedom industrial robot 101 clamps the blade 210 through a molded surface, a blade tenon tool 520 is automatically loosened, the six-degree-of-freedom industrial robot 101 grabs the blade 210, and meanwhile, the blade 210 to be processed is replaced, returns to the unloading level of the tool and is placed at a corresponding position in a shelf main body 202 of the unloading level;
step 8, repeatedly executing the steps 4 to 7 until all the blades of the stage are processed, and discharging the blades 210 in batches; after the rack main body 202 is replaced, the steps 1-8 are repeatedly executed to realize batch loading and unloading of the blades 210 with different specifications.
The whole system has no requirement on the actual pose of the blade 210 in the slot correspondingly placed on the frame main body 202, the blade 210 is not required to be uniformly and well discharged in advance manually, the frame main body 202 is not required to be fully filled, the system can automatically recognize whether the blade 210 exists at the current position, then a robot execution module directly grabs the molded surface of the blade 210, and the blade pose is corrected through the blade visual positioning module, so that the blade is accurately placed in the blade tool in the three-coordinate measuring machine or the blade processing machine tool.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (7)
1. A method for automatic loading and unloading of blade batch based on robot system includes robot execution module (100); the method is characterized in that: the robot executing module (100) is provided with a blade batch feeding and discharging frame (200), a blade visual positioning module (300), a blade tool library (400), a blade tool (500), a three-coordinate measuring machine (600) and a control system (700) in a surrounding mode; the control system (700) is connected with the robot execution module (100), the blade visual positioning module (300) and the three-coordinate measuring machine (600) through cables for information communication, monitors the running states of the three modules and schedules the action execution of the three modules according to preset control logic; the robot executing module (100) directly grabs the molded surface of the blade (210) and corrects the pose of the blade (210) through the blade visual positioning module (300) to realize that the blade (210) is accurately placed in the blade tool (500) in a three-coordinate measuring machine (600) or a blade processing machine tool,
the method specifically comprises the following steps:
step 1, entering a feeding station for processing/measuring the blade: the method comprises the steps that blades (210) in a blade batch feeding and discharging frame (200) are integrally placed into placing holes of frame bodies (202) in the blade batch feeding and discharging frame (200) according to batches, and the frame bodies (202) are manually pushed to integrally slide into feeding positions along batch feeding and discharging bases (201) in the blade batch feeding and discharging frame (200);
step 2, reading information of the rack main body (202): the method comprises the steps that a feeding visual identification module (110) in a robot execution module (100) firstly reads label information of an electronic information module (203) in a blade batch feeding and discharging frame (200), obtains type information of blades (210), transmits the information into a control system (700), and triggers subsequent steps according to preset logic; the model of the blade (210) is unchanged, and the model of the blade (210) is changed, and the step 3 is changed;
step 3, the six-degree-of-freedom industrial robot (101) in the robot execution module (100) replaces a tenon tool replacement tool (530) in the blade tool (500) at the tail end of the blade tool library (400), removes a blade tenon tool (520) in the three-coordinate measuring machine (600) from a tenon tool support (402) placed in the blade tool library (400), removes a blade tenon tool (520) with the corresponding blade (210) model, places the blade tenon tool (520) in the three-coordinate measuring machine (600), completes automatic replacement of the blade tenon tool (520), and then the six-degree-of-freedom industrial robot (101) replaces the tail end of the blade tool library (400) with a blade loading and unloading claw (510) with the corresponding model in the blade tool (500);
step 4, blade (210) in-situ detection: the method comprises the steps that a visual identification module (110) for feeding at the tail end of a robot execution module (100) shoots blades (210) according to the sequence of the blades (210) on a frame main body (202), whether the blades (210) are in place or not is identified before grabbing, and tenon information is obtained through image processing;
step 5, the robot grabs the blade (210) and positions the blade: the six-degree-of-freedom industrial robot (101) is characterized in that a blade (210) molded surface is directly clamped by a feeding claw hand (510) at the tail end of the six-degree-of-freedom industrial robot, tenons are placed right above a laser line scanner (303) in the blade visual positioning module (300), a scanner driving module (302) in the blade visual positioning module (300) drives the laser line scanner (303) to scan tenons, the actual pose of a blade tenon tool (520) relative to the robot is identified through visual processing, the six-degree-of-freedom industrial robot (101) automatically adjusts the tail end according to the identified actual pose of the blade tenon, the blade (210) is accurately placed into the blade tenon tool (520), a positioning signal triggers the blade tenon tool (520) to automatically position and clamp the blade (210), and simultaneously the robot executing module (100) repeats steps 4-5;
step 6, blade measurement/processing, namely completing subsequent blade measurement/processing by a three-coordinate measuring machine (600)/blade processing machine tool according to a preset measurement/processing program;
step 7, blade blanking: after blade measurement/processing is completed, the equipment sends a state signal to a control system (700), the tail end of the six-degree-of-freedom industrial robot (101) is provided with a blade feeding and discharging claw (510) which clamps the blade (210) through a molded surface, a blade tenon tool (520) is automatically loosened, the six-degree-of-freedom industrial robot (101) grabs the blade (210) and simultaneously changes the blade (210) to be processed, returns to the tool discharging position, and is placed at a corresponding position in a shelf main body (202) of the discharging position;
step 8, repeatedly executing the steps 4 to 7 until all the blades of the stage are processed, and discharging the blades (210) in batches; and (3) repeatedly executing the steps 1-8 after the rack main body (202) is replaced to realize batch loading and unloading of the blades (210) with different specifications.
2. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: the robot execution module (100) comprises a six-degree-of-freedom industrial robot (101), a robot mounting bottom plate (103), a robot motion driver (102) and a robot ground rail (104), wherein the six-degree-of-freedom industrial robot (101) is movably arranged on the robot ground rail (104) through the robot mounting bottom plate (103); the robot motion driver (102) drives the robot mounting base plate (103) to move; the feeding visual identification module (110) is fixed on a sixth shaft flange of the six-degree-of-freedom industrial robot (101); the tail end claw of the robot (120) is connected with the feeding visual identification module (110) and used for grabbing the blade (210) or the blade tool (404).
3. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: the blade batch feeding and discharging frame (200) comprises a batch feeding and discharging base (201), a frame main body (202) and an electronic information module (203) for recording blade batch information; the frame main body (202) is arranged on the batch feeding and discharging base (201) in a sliding manner; the electronic information module (203) is mounted on the rack main body (202).
4. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: the blade tool (500) is a blade clamping jaw (510) for taking and placing blades or a blade positioning and clamping tenon tool (520) for a three-coordinate measuring machine/machine tool or is used for automatically replacing all tenon tools in a circulation chain after the type of the blades is changed.
5. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: the blade visual positioning module (300) comprises a mounting base (301), a laser line scanner (303) and a scanner driving module (302); the laser line scanner (303) is arranged on the scanner driving module (302) in a sliding way; the scanner driving module (302) is mounted on the mounting base (301).
6. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: blade frock storehouse (400) are including frock storehouse base (401), install tenon frock support (402) on frock storehouse base (401), blade go up unloading claw hand support (403) and tenon frock change frock support (404).
7. The method for automatic loading and unloading of blade lot based on robot system according to claim 1, wherein: the blade batch feeding and discharging frame (200) and the blade visual positioning module (300) are arranged on the same side of the robot execution module (100); the three-coordinate measuring machine (600) is arranged on the other side of the robot execution module (100); blade batch feeding and discharging frames (200) are arranged on one side or two sides of the blade visual positioning module (300).
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| CN202111609204.1A CN114643382B (en) | 2021-12-24 | 2021-12-24 | Automatic blade batch loading and unloading method based on robot system |
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