CN114906608A - Processing equipment and processing method of modular full-automatic vacuum cup - Google Patents
Processing equipment and processing method of modular full-automatic vacuum cup Download PDFInfo
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- CN114906608A CN114906608A CN202210611735.2A CN202210611735A CN114906608A CN 114906608 A CN114906608 A CN 114906608A CN 202210611735 A CN202210611735 A CN 202210611735A CN 114906608 A CN114906608 A CN 114906608A
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- 238000012545 processing Methods 0.000 title claims abstract description 41
- 238000003672 processing method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 65
- 239000002994 raw material Substances 0.000 claims description 49
- 238000000034 method Methods 0.000 claims description 22
- 238000003754 machining Methods 0.000 claims description 21
- 230000007547 defect Effects 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 15
- 238000003860 storage Methods 0.000 claims description 13
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000009432 framing Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 238000007599 discharging Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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Abstract
The invention belongs to the technical field of vacuum cup processing, and relates to processing equipment and a processing method of a modularized full-automatic vacuum cup. All parts in the processing equipment and the processing method of the modular full-automatic vacuum cup are modular, the loading and unloading efficiency is high, the unloading work can be synchronously carried out while loading, and the coordination of the whole equipment is good.
Description
Technical Field
The invention belongs to the technical field of vacuum cup processing equipment, and relates to processing equipment and a processing method of a modular full-automatic vacuum cup.
Background
In the process of forming the vacuum cup, a plurality of parts such as the inner container, the outer shell, the cup cover, the cup bottom and the like need to be processed in a plurality of processes, such as shaping, rough polishing, fine polishing, welding and the like, so the parts need to be clamped by a plurality of tools for processing the processes. Conventionally, the clamping of the tool is done either manually or by a robot arm.
At present, a form of moving a part to a tool clamping device by a mechanical arm is mostly completed by using one mechanical arm, and the mechanical arm at least has a fixed-point moving function of three stations (a raw material feeding position of a workpiece, a tool clamping position of the workpiece, and a discharging and storing position of the workpiece), so that two processes of taking, feeding (conveying the workpiece from the raw material feeding position to the tool clamping position to complete clamping for processing), and discharging to discharging (discharging and storing the processed workpiece from the tool clamping position to the discharging and storing position) of the workpiece in one processing process are realized.
The above method has a problem of low efficiency. Because the two processes are all completed by the mechanical arm, after the previous process that the workpiece is unloaded to be discharged by the mechanical arm, the next workpiece can be loaded by the mechanical arm, so that the time for the workpiece to be displaced is greatly wasted, and the redundant waiting time for mechanical processing means that the processing benefit is low.
With the progress of technology, equipment which respectively finishes feeding and discharging operations by adopting two manipulators appears in the market, for example, in the invention patent application with the application number of 202110848007.9 and the name of thermos cup processing equipment with a pick-and-place manipulator and a working method thereof, a form of two manipulators is adopted, but the technical means adopted in the documents has defects and cannot realize the highest efficiency, so the equipment has the key points which need to be improved.
Disclosure of Invention
The invention aims to provide a processing device and a processing method of a modularized full-automatic vacuum cup, aiming at the problem that the efficiency of the existing vacuum cup processing device is low in the process of feeding and discharging workpieces.
The purpose of the invention can be realized by the following technical scheme:
a processing method of a modular full-automatic vacuum cup comprises the following steps:
step 1: when a workpiece to be processed is located at the raw material feeding position, the first mechanical arm clamps the workpiece to be processed, transfers the workpiece to be processed to the position of the tool clamping position and stops, and then the tool clamping device of the tool clamping position clamps and fastens the workpiece to be processed;
step 2: the first mechanical arm is reset, the machining device is started to machine the workpiece on the tool clamping device, after the machining process is completed, the workpiece to be machined is changed into a machined workpiece, the machined workpiece is named as a rear workpiece, and the next workpiece to be machined at the position of the raw material feeding position is named as a front workpiece;
and step 3: the tool clamping device loosens the rear workpiece, the second mechanical arm starts to move to the tool clamping position and clamp the rear workpiece, and the rear workpiece is moved to the unloading storage position;
and 4, step 4: and when the rear workpiece is subjected to the step 2 and the step 3, the front workpiece is positioned at the raw material feeding position, when the machining device is used for machining the rear workpiece, the first mechanical arm clamps the front workpiece from the raw material feeding position and moves the front workpiece to a position close to the tool clamping position, and when the second mechanical arm clamps the machined rear workpiece and leaves the position from the tool clamping position, the first mechanical arm moves the front workpiece to the position of the tool clamping position for clamping.
The raw material feeding position and the discharging storage position can be on a conveyor belt or can be fixed positions of a previous procedure.
In another embodiment, a method for processing a modular fully automatic vacuum cup comprises the following steps:
step 1: taking workpieces to be processed in batches, placing the raw materials of the workpieces on a raw material conveying belt at intervals in a manual feeding or mechanical feeding mode, and then starting the raw material conveying belt to convey the workpieces forwards;
and 2, step: after a workpiece to be processed is conveyed to the position of the raw material feeding position by the conveyor belt, the raw material conveyor belt stops moving, the first mechanical arm clamps the workpiece to be processed, transfers the workpiece to be processed to the position of the tool clamping position and stops, and then the tool clamping device of the tool clamping position clamps and fastens the workpiece to be processed;
and 3, step 3: the first mechanical arm returns to the original position, the machining device starts to machine the workpiece on the tool clamping device, after the machining process is completed, the workpiece to be machined is changed into the machined workpiece, the machined workpiece is named as a rear workpiece, and the next workpiece to be machined, which is transported to the raw material feeding position from the raw material conveying belt, is named as a front workpiece;
and 4, step 4: the tool clamping device loosens the rear workpiece, the second mechanical arm starts to move to a tool clamping position and clamps the rear workpiece, and the rear workpiece is moved to a discharging storage position on the finished product conveying belt;
and 5: and (4) repeating the step (2) on the front workpiece while the step (3) and the step (4) are carried out on the rear workpiece, clamping the front workpiece from the raw material feeding position and moving the front workpiece to a position close to the tool clamping position by the first mechanical arm when the machining device carries out the machining step on the rear workpiece, clamping the machined rear workpiece by the second mechanical arm and leaving the position from the tool clamping position, and shifting the front workpiece to the position of the tool clamping position by the first mechanical arm for clamping.
The processing equipment of the modularized full-automatic vacuum cup comprises a tool clamping position for processing a workpiece, a raw material feeding position for feeding the workpiece and an unloading storage position for unloading the workpiece, and comprises a rack, a raw material conveying device, a tool clamping device, a processing device, a finished material conveying device and two manipulator devices, wherein the raw material conveying device is arranged on the rack and used for conveying the workpiece to be processed to the raw material feeding position, the tool clamping device is used for clamping the workpiece, the processing device is used for processing the workpiece, the finished material conveying device is used for conveying the workpiece which is processed and located at the unloading storage position to the outside of the equipment, and the manipulator devices are respectively used for shifting the workpiece located at the raw material feeding position to the tool clamping position and shifting the workpiece located at the tool clamping position to the unloading storage position.
In the above processing method of the modular full-automatic vacuum cup, the manipulator device comprises a vertical slide rail fixedly arranged on a rack, a lifting part arranged on the vertical slide rail in a sliding manner, a lifting driving part fixedly arranged on the rack and used for driving the lifting part to lift back and forth, a turnover driving part fixedly arranged on the lifting part, a swing arm fixedly arranged at the output end of the turnover driving part, a rotary driving part fixedly arranged at the end part of the outer end of the swing arm, a rotary part fixedly arranged at the output end of the rotary driving part, and a clamping part arranged on the rotary part, wherein the clamping part comprises a clamping cylinder fixedly arranged on the rotary part and two groups of clamping jaws which are symmetrical and can be opened and closed.
The tool clamping device is provided with a detection sensor for detecting whether the material is clamped or not.
A plurality of rotatable defect detection sensors for detecting the surface defects of the workpieces are arranged right above the finished product conveying device.
The defect detection sensor for detecting the defects on the surface of the workpiece comprises the following steps:
step S1: the defect detection sensor detects the workpiece while rotating, the position of a first detection standard workpiece is defined as a first detection position, the first detection position is taken as a reference position, and the position of the standard workpiece at the moment is defined as a second detection position after the sensor rotates clockwise by 120 degrees; taking the secondary detection position as a reference position, and defining the position of the standard workpiece at the moment as a tertiary detection position after the sensor rotates clockwise by 120 degrees;
s2: shooting standard workpiece images at the primary detection position, the secondary detection position and the tertiary detection position respectively to obtain corresponding standard workpiece images; extracting boundaries of each standard workpiece image, denoising and converting the standard workpiece image into a gray image; respectively forming standard workpiece contrast gray level images corresponding to the first detection position, the second detection position and the third detection position;
s3: placing the workpiece to be detected on the finished product conveying device and conveying the workpiece forward along with the finished product conveying device, and obtaining actual gray level images of the workpiece to be detected, which correspond to the primary detection position, the secondary detection position and the tertiary detection position, according to the steps S1-S2;
s4: and calculating the workpiece contrast gray level image and the actual image of the same detection position to obtain pixel points which are different from the workpiece contrast gray level image in the actual image, and framing the positions of the different pixel points to mark, so as to obtain the surface abnormal area of the workpiece on each detection position.
The method for judging whether the gray value abnormal area exists in the actual gray image comprises the following steps: and after the actual gray image and the standard workpiece contrast gray image are superposed, subtracting the gray value of each pixel point of the corresponding standard workpiece contrast gray image from the gray value of each pixel point of the actual gray image, and if the absolute value of the gray value of a certain point after subtraction is greater than 10, judging the point as an abnormal point. The detection of the surface defects of the vacuum cup is automatically realized, the surface images of the cup bodies in different directions can be rapidly obtained, and whether the surface images have defects or not is judged.
Compared with the prior art, the processing equipment and the processing method of the modularized full-automatic vacuum cup have high loading and unloading efficiency, can synchronously unload materials while loading materials, have good harmony of the whole equipment, and have great improvement compared with the conventional technology.
Drawings
FIG. 1 is a processing equipment diagram of the processing method of the modular full-automatic vacuum cup of the invention.
In the figure: 1. a raw material feeding position; 2. a tool clamping position; 3. a discharge storage position; 4. a raw material conveying device; 5. a tool clamping device; 6. a finished product conveying device; 7. provided is a manipulator device.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example 1:
a processing method of a modular full-automatic vacuum cup comprises the following steps:
step 1: when a workpiece to be machined is located at the raw material feeding position 1, the first mechanical arm clamps the workpiece to be machined, transfers the workpiece to be machined to the position of the tool clamping position 2 and stops, and then a tool clamping device of the tool clamping position clamps and fastens the workpiece to be machined;
step 2: the first mechanical arm is reset, the machining device is started to machine the workpiece on the tool clamping device, after the machining process is completed, the workpiece to be machined is changed into a machined workpiece, the machined workpiece is named as a rear workpiece, and the next workpiece to be machined at the position of the raw material feeding position is named as a front workpiece;
and step 3: the tool clamping device loosens the rear workpiece, the second mechanical arm starts to move to the tool clamping position and clamps the rear workpiece, and the rear workpiece is moved to the unloading storage position 3;
and 4, step 4: and when the rear workpiece is subjected to the step 2 and the step 3, the front workpiece is positioned at the raw material feeding position, when the machining device is used for machining the rear workpiece, the first mechanical arm clamps the front workpiece from the raw material feeding position and moves the front workpiece to a position close to the tool clamping position, and when the second mechanical arm clamps the machined rear workpiece and leaves the position from the tool clamping position, the first mechanical arm moves the front workpiece to the position of the tool clamping position for clamping.
Example 2:
a processing method of a modular full-automatic vacuum cup is characterized by comprising the following steps:
step 1: taking workpieces waiting for processing in batches, placing workpiece raw materials on a raw material conveying belt at intervals in a manual feeding or mechanical feeding mode, and then starting the raw material conveying belt to convey the workpieces forwards;
step 2: after a workpiece to be processed is conveyed to the position of the raw material feeding position by the conveyor belt, the raw material conveyor belt stops moving, the first mechanical arm clamps the workpiece to be processed, transfers the workpiece to be processed to the position of the tool clamping position and stops, and then the tool clamping device of the tool clamping position clamps and fastens the workpiece to be processed;
and 3, step 3: the first mechanical arm returns to the original position, the machining device starts to machine the workpiece on the tool clamping device, after the machining process is completed, the workpiece to be machined is changed into the machined workpiece, the machined workpiece is named as a rear workpiece, and the next workpiece to be machined, which is transported to the raw material feeding position from the raw material conveying belt, is named as a front workpiece;
and 4, step 4: the tool clamping device loosens the rear workpiece, the second mechanical arm starts to move to a tool clamping position and clamps the rear workpiece, and the rear workpiece is moved to a discharging storage position on the finished product conveying belt;
and 5: and (4) repeating the step (2) on the front workpiece while the step (3) and the step (4) are carried out on the rear workpiece, clamping the front workpiece from the raw material feeding position and moving the front workpiece to a position close to the tool clamping position by the first mechanical arm when the machining device carries out the machining step on the rear workpiece, clamping the machined rear workpiece by the second mechanical arm and leaving the position from the tool clamping position, and shifting the front workpiece to the position of the tool clamping position by the first mechanical arm for clamping.
It can be seen that in the whole process, the first mechanical arm and the second mechanical arm independently complete the feeding and discharging work, and the two processes are synchronously performed, so that the problem of time waste of waiting does not exist.
The process is different from the comparison document (the application number is 202110848007.9, the name is a vacuum cup processing device with a pick-and-place mechanical arm and a working method thereof, and the comparison document is abbreviated as follows).
In the description of the reference document [0045], it is mentioned that "the whole pick-and-place manipulator moves up and down along with the mold plug, and when the plug lifting drive motor drives the mold plug to descend, the whole pick-and-place manipulator descends at the same time", and it can be understood from the description that the mold plug can be regarded as a vertical direction drive component of the manipulator, and then the steps of the working method can be combined to obtain: in the technical scheme of the comparison document, the two manipulators can only carry out synchronous lifting, so that the function of preparing materials in advance for the first manipulator cannot be realized to save time in the process.
Because in the comparison file, when the second manipulator got the material to the back work piece that has already accomplished processing on the frock clamping position, the getting of work piece before the position was put in to the raw materials could be arrived to first manipulator, and after the work piece moved away from behind the second manipulator, the position department that the work piece moved to the frock clamping position before the position was put in to the raw materials far away carried out linking processing to first manipulator.
In the scheme, the second mechanical arm is used for taking the workpiece after the workpiece is machined on the tool clamping position, the first mechanical arm is used for taking the workpiece in advance and moving the workpiece to a position close to the tool clamping position (equivalent to material preparation in advance), and when the second mechanical arm is moved away from the tool clamping position, the first mechanical arm immediately moves the workpiece to the tool clamping position from the nearest position to be jointed and machined.
Therefore, compared with a comparison file, the scheme is equivalent to a material preparation link, so that the rear workpiece can be connected with the front workpiece at the moment after being processed and moved away, the whole capacity of the equipment can be improved by a considerable value although the processing flow seems to be slightly changed, and particularly, the streamline processing equipment needs to capture seconds.
As shown in figure 1, the equipment related to the processing method of the modularized full-automatic vacuum cup comprises a tool clamping position 2 for processing a workpiece, a raw material feeding position 1 for feeding the workpiece and an unloading storage position 3 for unloading the workpiece, and comprises a rack, a raw material conveying device 4, a tool clamping device 5, a processing device for processing the workpiece, a finished material conveying device 6 and two manipulator devices 7, wherein the raw material conveying device 4 is arranged on the rack and used for conveying the workpiece to be processed to the raw material feeding position, the finished material conveying device 6 is used for conveying the workpiece which is processed and is located at the unloading storage position to the outside of the equipment, and the manipulator devices 7 are respectively used for shifting the workpiece located at the raw material feeding position to the tool clamping position and shifting the workpiece located at the tool clamping position to the unloading storage position.
The manipulator device is including the fixed vertical slide rail that sets up in the frame, the lift piece that slides and set up on vertical slide rail, the fixed lifting drive part that sets up in the frame and be used for driving the lift piece to make a round trip to go up and down, the fixed upset drive part that sets up on the lift piece, the fixed swing arm that sets up at the upset drive part output, the fixed rotary drive part that sets up at the outer end tip of swing arm, the fixed rotating member that sets up at the rotary drive part output, the hold assembly of setting on the rotating member, the hold assembly is including fixed centre gripping cylinder and the jack catch that can open and shut setting up of two sets of symmetries that set up on the rotating member.
The tool clamping device is provided with a detection sensor for detecting whether the material is clamped or not, and the detection sensor can be a visual sensor or a gravity sensor.
After the design is adopted, compared with the mode of adopting mechanical arm equipment, the machine frame, the mechanical arm and the feeding assembly line of the whole equipment are integrated into a whole workbench, the occupied area is small, the space is saved, the flexible application is realized, the machining processes are freely switched, and the degree of freedom is very high.
In appearance, the appearance size is unanimous, and the safety cover panel beating integrates with the frame in the frame, saves smallclothes transport time and installation time, and the fillet is handled to the frame corner, and is safe both pleasing to the eye.
In the processing device, the rotating speed can be changed by controlling the main shaft rotating frequency converter, so that different products can be more flexibly processed.
The above mentioned driving parts are basically completed by adopting a servo motor and an air cylinder with a controller, so that the debugging time is saved, different products are flexibly applied to processing, and the production efficiency is improved.
Because the servo motor is adopted, the servo motor drives the vertical movement, the debugging only needs to change the position parameters, the debugging time is saved, and the production efficiency is improved.
Two arm structures and machine combine together, and area is little, saves space, goes up unloading manipulator and adopts the design of both hands similar people, and synchro control raises the efficiency. The clamping jaw is driven by a motor alone, the mechanical arm has an up-and-down moving function, a large arm rotating function and a clamping jaw rotating function, and the clamping jaw overturning function realizes overturning and turning-around processing of products.
The application equipment can have a plurality of series connection and form the feed assembly line together, and whole equipment combines together with the machine, and area is little, saves space, and adjustable velocity of flow speed can store by the processing product, steerable processing rhythm.
A plurality of rotatable defect detection sensors for detecting the surface defects of the workpieces are arranged right above the finished product conveying device.
The defect detection sensor for detecting the defects on the surface of the workpiece comprises the following steps:
step S1: the defect detection sensor detects the workpiece while rotating, the position of a first detection standard workpiece is defined as a first detection position, the first detection position is taken as a reference position, and the position of the standard workpiece at the moment is defined as a second detection position after the sensor rotates clockwise by 120 degrees; taking the secondary detection position as a reference position, and defining the position of the standard workpiece at the moment as a tertiary detection position after the sensor rotates clockwise by 120 degrees;
s2: shooting standard workpiece images at the primary detection position, the secondary detection position and the tertiary detection position respectively to obtain corresponding standard workpiece images; extracting boundaries of each standard workpiece image, denoising and converting the standard workpiece image into a gray image; respectively forming standard workpiece contrast gray level images corresponding to the first detection position, the second detection position and the third detection position;
s3: placing the workpiece to be detected on the finished product conveying device and conveying the workpiece forward along with the finished product conveying device, and obtaining actual gray level images of the workpiece to be detected, which correspond to the primary detection position, the secondary detection position and the tertiary detection position, according to the steps S1-S2;
s4: and calculating the workpiece contrast gray level image and the actual image of the same detection position to obtain pixel points which are different from the workpiece contrast gray level image in the actual image, and framing the positions of the different pixel points to mark, so as to obtain the surface abnormal area of the workpiece on each detection position.
The method for judging whether the gray value abnormal area exists in the actual gray image comprises the following steps: and after the actual gray image and the standard workpiece contrast gray image are superposed, subtracting the gray value of each pixel point of the corresponding standard workpiece contrast gray image from the gray value of each pixel point of the actual gray image, and if the absolute value of the gray value of a certain point after subtraction is greater than 10, judging the point as an abnormal point. The detection of the surface defects of the vacuum cup is automatically realized, cup body surface images in different directions can be rapidly obtained, and whether the cup body surface images have defects or not is judged.
It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be interpreted in an open-ended sense, i.e., in a sense equivalent to "including at least … …", and not in a closed sense, i.e., in a sense not to be interpreted as "including only … …".
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. A processing method of a modular full-automatic vacuum cup is characterized by comprising the following steps:
step 1: when a workpiece to be processed is located at the raw material feeding position, the first mechanical arm clamps the workpiece to be processed, transfers the workpiece to be processed to the position of the tool clamping position and stops, and then the tool clamping device of the tool clamping position clamps and fastens the workpiece to be processed;
step 2: the first mechanical arm is reset, the machining device is started to machine the workpiece on the tool clamping device, after the machining process is completed, the workpiece to be machined is changed into a machined workpiece, the machined workpiece is named as a rear workpiece, and the next workpiece to be machined at the position of the raw material feeding position is named as a front workpiece;
and step 3: the tool clamping device loosens the rear workpiece, the second mechanical arm starts to move to the tool clamping position and clamps the rear workpiece, and the rear workpiece is moved to the unloading storage position;
and 4, step 4: and when the rear workpiece is subjected to the step 2 and the step 3, the front workpiece is positioned at the raw material feeding position, when the machining device is used for machining the rear workpiece, the first mechanical arm clamps the front workpiece from the raw material feeding position and moves the front workpiece to a position close to the tool clamping position, and when the second mechanical arm clamps the machined rear workpiece and leaves the position from the tool clamping position, the first mechanical arm moves the front workpiece to the position of the tool clamping position for clamping.
2. A modular automatic thermos cup processing device of the modular automatic thermos cup processing method according to claim 1, characterized in that: the automatic unloading and storing device comprises a rack, a raw material conveying device, a tool clamping device, a processing device, a finished material conveying device and two manipulator devices, wherein the raw material conveying device is arranged on the rack and used for conveying workpieces to be processed to the raw material feeding position, the tool clamping device is used for clamping the workpieces, the processing device is used for performing processing procedures on the workpieces, the finished material conveying device is used for conveying the workpieces which are processed and located at the unloading and storing position to the outside of equipment, and the two manipulator devices are respectively used for shifting the workpieces located at the raw material feeding position to the tool clamping position and shifting the workpieces located at the tool clamping position to the unloading and storing position.
3. The apparatus of claim 2, wherein: the manipulator device is including the fixed vertical slide rail that sets up in the frame, the lift piece that slides and set up on vertical slide rail, the fixed lift driver part that sets up in the frame and be used for driving the lift piece to make a round trip to go up and down, the fixed upset driver part that sets up on the lift piece, the fixed swing arm that sets up at the upset driver part output, the fixed rotation driver part that sets up at the outer end tip of swing arm, the fixed rotating member that sets up at the rotation driver part output, the hold assembly of setting on the rotating member, the hold assembly is including the fixed centre gripping cylinder that sets up on the rotating member and two sets of symmetries and the jack catch that can open and shut the setting.
4. The apparatus of claim 2 or 3, wherein: the tool clamping device is provided with a detection sensor for detecting whether the material is clamped or not.
5. The processing method of the modular full-automatic thermos cup according to claim 1, characterized in that: the rotary defect detecting sensor is used for detecting the surface defects of the workpieces and can rotate.
6. The processing method of the modular full-automatic thermos cup according to claim 5, characterized in that: the defect detection sensor for detecting the defects on the surface of the workpiece comprises the following steps:
step S1: the defect detection sensor detects the workpiece while rotating, the position of a first detection standard workpiece is defined as a first detection position, the first detection position is taken as a reference position, and the position of the standard workpiece at the moment is defined as a second detection position after the sensor rotates clockwise by 120 degrees; taking the secondary detection position as a reference position, and defining the position of the standard workpiece at the moment as a tertiary detection position after the sensor rotates clockwise by 120 degrees;
s2: shooting standard workpiece images at the primary detection position, the secondary detection position and the tertiary detection position respectively to obtain corresponding standard workpiece images; extracting boundaries of each standard workpiece image, denoising and converting the standard workpiece image into a gray image; respectively forming standard workpiece contrast gray level images corresponding to the first detection position, the second detection position and the third detection position;
s3: placing the workpiece to be detected on the finished product conveying device and conveying the workpiece forward along with the finished product conveying device, and obtaining actual gray level images of the workpiece to be detected, which correspond to the primary detection position, the secondary detection position and the tertiary detection position, according to the steps S1-S2;
s4: and calculating the workpiece contrast gray level image and the actual image of the same detection position to obtain pixel points which are different from the workpiece contrast gray level image in the actual image, and framing the positions of the different pixel points to mark, so as to obtain the surface abnormal area of the workpiece on each detection position.
7. The processing method of the modular full-automatic thermos cup according to claim 6, characterized in that: the method for judging whether the gray value abnormal area exists in the actual gray image comprises the following steps: and after the actual gray image and the standard workpiece contrast gray image are superposed, subtracting the gray value of each pixel point of the corresponding standard workpiece contrast gray image from the gray value of each pixel point of the actual gray image, and if the absolute value of the gray value of a certain point after subtraction is greater than 10, judging the point as an abnormal point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210611735.2A CN114906608A (en) | 2022-05-31 | 2022-05-31 | Processing equipment and processing method of modular full-automatic vacuum cup |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210611735.2A CN114906608A (en) | 2022-05-31 | 2022-05-31 | Processing equipment and processing method of modular full-automatic vacuum cup |
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| CN114906608A true CN114906608A (en) | 2022-08-16 |
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| CN202210611735.2A Pending CN114906608A (en) | 2022-05-31 | 2022-05-31 | Processing equipment and processing method of modular full-automatic vacuum cup |
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| US20080000203A1 (en) * | 2006-06-29 | 2008-01-03 | Smart Motion Robotics, Inc. | Robotic packaging device and method |
| CN105328451A (en) * | 2015-11-27 | 2016-02-17 | 苏州中悦行自动化机械科技有限公司 | Multifunctional full-automatic cup lid assembling robot |
| CN110053964A (en) * | 2019-04-12 | 2019-07-26 | 杭州普联自动化设备有限公司 | Vacuum cup production line special-purpose thermal insulation cup clamping and placing system |
| CN211418813U (en) * | 2019-12-20 | 2020-09-04 | 永康市强锋自动化科技有限公司 | Special rotary overturning, clamping, cup taking and placing mechanism for vacuum cup |
| CN113562455A (en) * | 2021-07-27 | 2021-10-29 | 永康中奥自动化科技有限公司 | Vacuum cup processing equipment with pick-and-place manipulator and working method thereof |
| CN215515732U (en) * | 2021-07-13 | 2022-01-14 | 永康市明科自动化设备有限公司 | Loading and unloading device of manipulator |
| CN114235047A (en) * | 2021-12-16 | 2022-03-25 | 浙江保康电器有限公司 | Vacuum cup manufacturing process for online detection of production quality |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080000203A1 (en) * | 2006-06-29 | 2008-01-03 | Smart Motion Robotics, Inc. | Robotic packaging device and method |
| CN105328451A (en) * | 2015-11-27 | 2016-02-17 | 苏州中悦行自动化机械科技有限公司 | Multifunctional full-automatic cup lid assembling robot |
| CN110053964A (en) * | 2019-04-12 | 2019-07-26 | 杭州普联自动化设备有限公司 | Vacuum cup production line special-purpose thermal insulation cup clamping and placing system |
| CN211418813U (en) * | 2019-12-20 | 2020-09-04 | 永康市强锋自动化科技有限公司 | Special rotary overturning, clamping, cup taking and placing mechanism for vacuum cup |
| CN215515732U (en) * | 2021-07-13 | 2022-01-14 | 永康市明科自动化设备有限公司 | Loading and unloading device of manipulator |
| CN113562455A (en) * | 2021-07-27 | 2021-10-29 | 永康中奥自动化科技有限公司 | Vacuum cup processing equipment with pick-and-place manipulator and working method thereof |
| CN114235047A (en) * | 2021-12-16 | 2022-03-25 | 浙江保康电器有限公司 | Vacuum cup manufacturing process for online detection of production quality |
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