CN115464217A - Tapping device and method of automatic tapping robot based on vision technology - Google Patents
Tapping device and method of automatic tapping robot based on vision technology Download PDFInfo
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- CN115464217A CN115464217A CN202211333117.2A CN202211333117A CN115464217A CN 115464217 A CN115464217 A CN 115464217A CN 202211333117 A CN202211333117 A CN 202211333117A CN 115464217 A CN115464217 A CN 115464217A
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- 238000010079 rubber tapping Methods 0.000 title claims abstract description 186
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 239000012636 effector Substances 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 241001441571 Hiodontidae Species 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 210000003128 head Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
- B23G1/00—Thread cutting; Automatic machines specially designed therefor
- B23G1/16—Thread cutting; Automatic machines specially designed therefor in holes of workpieces by taps
- B23G1/18—Machines with one working spindle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23G—THREAD CUTTING; WORKING OF SCREWS, BOLT HEADS, OR NUTS, IN CONJUNCTION THEREWITH
- B23G1/00—Thread cutting; Automatic machines specially designed therefor
- B23G1/44—Equipment or accessories specially designed for machines or devices for thread cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B25J15/0019—End effectors other than grippers
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Abstract
A tapping device and a method of an automatic tapping robot based on a vision technology comprise a horizontal table (2), and are characterized in that at least 1 group of working mechanisms are arranged on the horizontal table (2), each working mechanism at least comprises an industrial robot (1) and an end tapping actuator (5), the end tapping actuators (5) are connected to the industrial robot (1), the bottom of the industrial robot (1) of each working mechanism is fixedly arranged on the horizontal table (2), and a workpiece rotary table (3) is arranged on the horizontal table (2); the workpiece rotary table (3) and the industrial robot (1) keep a set distance; the invention solves the problems that the automatic tapping machining of the threaded bottom hole cannot be independently decided in the prior art, and the technical problems that the production efficiency is low, the quality and consistency of parts are poor, and the process cannot be monitored and traced in the prior art.
Description
Technical Field
The invention discloses a tapping device and a tapping method of an automatic tapping robot based on a vision technology, belongs to the field of thread machining, and particularly relates to a robot automatic tapping device and a robot automatic tapping method based on a vision technology guide.
Background
In the manufacturing industry of China, particularly in the manufacturing and processing of products in the fields of aviation, aerospace, automobiles and the like, a large number of parts need to be subjected to surface treatment and then to thread processing operation. Tapping is the most common technique for small thread processing, in particular to a small-diameter screw hole with phi 1-phi 10 mm. The prior tapping methods comprise 2 manual tapping methods and 2 semi-automatic tapping machines. The labor intensity of manual tapping workers is high, the requirement on the skills of the workers is high, the tapping efficiency is low, and the manual tapping machine is not suitable for the existing automatic large-scale production. The hole position tapped by the semi-automatic tapping machine is positioned by human eyes, so that the condition of less tapping and missing tapping is easy to occur, and the delivery quality of parts is influenced; the tapping feeding is controlled by high manpower, the tapping feeding is controlled by long time, the labor intensity of workers is high, and the tapping quality problem is easy to be solved; the tapping direction is relatively fixed, and the tapping device is not suitable for tapping operation on complex surfaces. This paper has designed a tapping device of automatic tapping robot based on vision technique, solves above problem.
Disclosure of Invention
The invention aims to provide a tapping device and a tapping method of an automatic tapping robot based on a vision technology, and the tapping device and the tapping method are used for solving the problems that the existing thread machining situation needs manpower to participate in machining and the like.
A tapping device of an automatic tapping robot based on a visual technology comprises a horizontal table 2 and is characterized in that at least 1 group of working mechanisms are arranged on the horizontal table 2, each working mechanism at least comprises an industrial robot 1 and an end tapping actuator 5, the end tapping actuators 5 are connected to the industrial robot 1, the bottom of the industrial robot 1 of each working mechanism is fixedly arranged on the horizontal table 2, and a workpiece rotary table 3 is arranged on the horizontal table 2; the workpiece rotary table 3 and the industrial robot 1 keep a set distance;
the end tapping actuator 5 comprises an end effector connecting plate 501, a tapping spindle connecting plate 502, a tapping spindle 503, a tap chuck 504, a camera connecting plate 505, an industrial camera 506, a lead screw slide 507 and a lead screw slide motor 508;
the end effector connecting plate 501 is installed on the end of an arm of the industrial robot 1 through a flange, the lead screw slide way 507 is installed on one side, far away from the flange of the industrial robot 1, of the end effector connecting plate 501 through screw matching, the lead screw slide way motor 508 is installed on the rear end of the lead screw slide way 507 through screw matching, the tapping spindle 503 is installed on a slide block of the lead screw slide way 507 through the tapping spindle connecting plate 502, at the forefront end of the end tapping effector 5, the tap chuck 504 is installed on the tapping spindle 503 through Mooney taper B18, and the industrial camera 506 is installed on one side, close to the flange of the industrial robot 1, of the tapping spindle connecting plate 502 through the camera connecting plate 505;
and a robot control system and a PLC (programmable logic controller) are arranged in the control box 6, the robot control system controls the motion of the industrial robot 1, and the PLC controls the motion of the end tapping actuator 5 and the motion of the workpiece rotary table 3.
The tapping main shaft 503 comprises a servo motor 503a, a speed reducer 503b and a cable joint 503c, the axis of the servo motor 503a is overlapped with the axis of the tap chuck 504 and is parallel to the slide rail, the tapping main shaft 503 is connected with the control box 6 through the cable joint 503c, the PLC in the control box 6 controls the action of the tapping main shaft 503 through the cable joint 503c, and meanwhile, data generated in the working process of the tapping main shaft 503 is transmitted back to the PLC through the cable joint 503c for monitoring, storing, processing and other operations.
And an indicator light is arranged on the control box 6, and a circuit of the indicator light is connected with a PLC (programmable logic controller) in the control box 6.
The workpiece rotary table 3 comprises a three-jaw chuck 301, a worm gear reducer 302, a rotary table servo motor 303, a rotary table motor fixing plate 304 and a rotary table mounting plate 305; the workpiece rotary table 3 is fixed at a proper position of the horizontal table 2 through a rotary table mounting plate 305, the rotary table servo motor 303 is mounted on the side surface of the rotary table mounting plate 305 through a rotary table motor fixing plate 304, an output shaft of the rotary table servo motor 303 is connected with an input shaft of the worm gear reducer 302 through a coupler, an output shaft of the worm gear reducer 302 is connected with the center of the bottom of the three-jaw chuck 301 through threads, and a cylinder 4 to be processed is placed on and clamped on the three-jaw chuck 301.
A tapping method of an automatic tapping robot based on vision technology, which uses the tapping device of the automatic tapping robot based on vision technology as claimed in claim 1 to tap, characterized by comprising the following steps,
firstly, fixing a cylindrical part 4 to be tapped on a three-jaw chuck 301 of a workpiece rotary table 3; the industrial robot 1 then moves to a set position above the upper end surface of the cartridge 4, defining the set position as an initial position;
step two, enabling the axis of the industrial camera 506 on the industrial robot 1 at the initial position to vertically intersect with the axis of the cylinder 4, and defining that the industrial camera 506 is right opposite to the cylinder 4; in this position, the field of view of the industrial camera 506 covers the entire height range of the cartridge 4;
step two, the control box 6 controls the industrial camera 506 to start and continuously take photos, and simultaneously controls the turntable servo motor 303 on the workpiece turntable 3 to start rotating, and after the rotation is reduced by the worm and gear reducer 302, the three-jaw chuck 301 and the barrel part 4 are driven to slowly rotate;
step three, the control box 6 continuously receives the images shot by the industrial camera 506 and processes the shot images: when the axis of a certain threaded bottom hole on the image display cylindrical surface shot by the industrial camera 506 is parallel to the axis of the industrial camera 506, the threaded bottom hole to be tapped on a bus which is perpendicular to the camera axis and is close to the industrial robot 1 on the cylindrical surface at the moment is shown, at the moment, the control box 6 sends an instruction to control the workpiece rotary table 3 to stop rotating, and the barrel 4 keeps static along with the rotation;
step four, controlling the tail end of the industrial robot 1 to vertically move downwards at a slow speed, continuously taking pictures by the industrial camera 506 at the same time until the threaded bottom hole with the shape of a perfect circle is shot, and pausing the motion of the industrial robot 1; and the image shot by the industrial camera 506 is processed by the PLC in the control box 6, the coordinates of the hole center under the robot coordinate system are given, and are transmitted to the robot control system for storage,
controlling the tail end of the industrial robot 1 to continuously move vertically downwards, and repeatedly identifying the perfect circle of the threaded bottom hole and transmitting the coordinates of the circle center until all the positions of the threaded bottom hole of the bus are shot;
step six, after coordinates of all threaded bottom holes on the generatrix of the cylindrical surface are obtained, the industrial robot 1 generates a path program covering the obtained hole position coordinate points;
step seven, the industrial robot 1 carries out the thread tapping process: the robot runs according to a program generated by position coordinates of a threaded bottom hole given by image information shot by an industrial camera 506, the robot moves to the position of the threaded bottom hole to be processed on the cylindrical surface of the barrel part 4, the control box 6 controls the axis of a spindle motor 503a to coincide with the axis of the threaded bottom hole at the moment, so that a screw tap head on the screw tap chuck 504 is just contacted with the threaded bottom hole, the control box 6 controls a screw slide rail motor 508 to drive a screw slide rail 507 to drive a tail end automatic tapping executing mechanism 503 to move forwards, meanwhile, the spindle motor 503a rotates at a high speed, and the two movements are combined to perform automatic thread tapping; when the screw guide rail 507 reaches a set position, the PLC sends a command to control the screw guide rail 507 and the spindle motor 503a to stop moving, and controls the screw guide rail 507 and the spindle motor 503a to move and rotate in opposite directions, and after the screw guide rail 507 and the spindle motor 503a reach a preset position, the PLC sends a command to control the screw guide rail 507 and the spindle motor 503a to stop moving and recover to a state before tapping, and the tapping of the thread is completed;
step eight, repeating the tapping process in the step seven until all the threaded bottom holes in the bus are tapped; the industrial robot 1 moves to an initial position and then shifts to the next step;
step nine, when all threads on the barrel part 4 are tapped, finishing the work; and if the thread tapping is not finished, the step II is carried out.
The invention provides a tapping method of an automatic tapping robot based on a vision technology, which is characterized in that a hole position to be tapped is identified and positioned through a vision system, a mechanical arm of the robot is guided to drive a tail end tapping execution mechanism to move to a preset position, tapping operation on a part is realized through tail end automatic tapping execution, and automatic identification, positioning and automatic tapping operation of the hole to be processed are realized. The invention solves the problems that the automatic tapping machining of the threaded bottom hole cannot be independently decided in the prior art, and the technical problems that the production efficiency is low, the quality and consistency of parts are poor, and the process cannot be monitored and traced in the prior art.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
fig. 2 is a schematic structural diagram of the end-tapping actuator 5 according to the present invention;
fig. 3 is a schematic structural diagram of the workpiece turntable 3 according to the present invention.
In the figure: 1 is an industrial robot, 2 is a horizontal table, and 3 is a workpiece rotary table; 4, a barrel part, 5, an end effector, 6, a control box, 501, an end effector connecting plate, 502, a tapping spindle connecting plate, 503, a tapping spindle, 503a, a spindle motor, 503b, a speed reducer, 503c, a cable joint, 504, a screw tap chuck, 505, a camera connecting plate, 506, an industrial camera, 507, a lead screw slide rail, 508, a lead screw slide rail motor and 301, a three-jaw chuck; 302 worm gear reducer; 303 a turntable servo motor; 304 turntable motor fixing plate; 305 turntable mounting plate.
Detailed Description
A tapping device of an automatic tapping robot based on a visual technology comprises a horizontal table 2 and is characterized in that at least 1 group of working mechanisms are arranged on the horizontal table 2, each working mechanism at least comprises an industrial robot 1 and an end tapping actuator 5, the end tapping actuators 5 are connected to the industrial robot 1, the bottom of the industrial robot 1 of each working mechanism is fixedly arranged on the horizontal table 2, and a workpiece rotary table 3 is arranged on the horizontal table 2; the workpiece rotary table 3 and the industrial robot 1 keep a set distance;
the end tapping actuator 5 comprises an end effector connecting plate 501, a tapping spindle connecting plate 502, a tapping spindle 503, a tap chuck 504, a camera connecting plate 505, an industrial camera 506, a lead screw slide 507 and a lead screw slide motor 508;
the end effector connecting plate 501 is installed on the end of an arm of the industrial robot 1 through a flange, the lead screw slide way 507 is installed on one side, far away from the flange of the industrial robot 1, of the end effector connecting plate 501 through screw matching, the lead screw slide way motor 508 is installed on the rear end of the lead screw slide way 507 through screw matching, the tapping spindle 503 is installed on a slide block of the lead screw slide way 507 through the tapping spindle connecting plate 502, at the forefront end of the end tapping effector 5, the tap chuck 504 is installed on the tapping spindle 503 through Mooney taper B18, and the industrial camera 506 is installed on one side, close to the flange of the industrial robot 1, of the tapping spindle connecting plate 502 through the camera connecting plate 505;
and a robot control system and a PLC (programmable logic controller) are arranged in the control box 6, the robot control system controls the motion of the industrial robot 1, and the PLC controls the motion of the end tapping actuator 5 and the motion of the workpiece rotary table 3.
The tapping main shaft 503 comprises a servo motor 503a, a speed reducer 503b and a cable joint 503c, the axis of the servo motor 503a is overlapped with the axis of the tap chuck 504 and is parallel to the slide rail, the tapping main shaft 503 is connected with the control box 6 through the cable joint 503c, the PLC in the control box 6 controls the action of the tapping main shaft 503 through the cable joint 503c, and meanwhile, data generated in the working process of the tapping main shaft 503 is transmitted back to the PLC through the cable joint 503c for monitoring, storing, processing and other operations.
And an indicator lamp is arranged on the control box 6, and a circuit of the indicator lamp is connected with a PLC (programmable logic controller) in the control box 6.
The workpiece rotary table 3 comprises a three-jaw chuck 301, a worm gear reducer 302, a rotary table servo motor 303, a rotary table motor fixing plate 304 and a rotary table mounting plate 305; the workpiece rotary table 3 is fixed at a proper position of the horizontal table 2 through a rotary table mounting plate 305, the rotary table servo motor 303 is mounted on the side surface of the rotary table mounting plate 305 through a rotary table motor fixing plate 304, an output shaft of the rotary table servo motor 303 is connected with an input shaft of the worm gear reducer 302 through a coupler, an output shaft of the worm gear reducer 302 is connected to the center of the bottom of the three-jaw chuck 301 through threads, and the cylinder 4 to be processed is placed on and clamped on the three-jaw chuck 301.
A tapping method of an automatic tapping robot based on vision technology, which uses the tapping device of the automatic tapping robot based on vision technology as claimed in claim 1 to tap, characterized by comprising the following steps,
firstly, fixing a cylindrical part 4 to be tapped on a three-jaw chuck 301 of a workpiece rotary table 3; then the industrial robot 1 moves to a set position higher than the upper end surface of the barrel 4, and the set position is defined as an initial position;
step two, enabling the axis of the industrial camera 506 on the industrial robot 1 at the initial position to vertically intersect with the axis of the cylinder 4, and defining that the industrial camera 506 is right opposite to the cylinder 4; in this position, the field of view of the industrial camera 506 covers the entire height range of the cartridge 4;
step two, the control box 6 controls the industrial camera 506 to start and continuously take photos, and simultaneously controls the turntable servo motor 303 on the workpiece turntable 3 to start rotating, and after the rotation is reduced by the worm and gear reducer 302, the three-jaw chuck 301 and the barrel part 4 are driven to slowly rotate;
step three, the control box 6 continuously receives the images shot by the industrial camera 506, and processes the shot images: when the axis of a certain threaded bottom hole on the image display cylindrical surface shot by the industrial camera 506 is parallel to the axis of the industrial camera 506, the threaded bottom hole to be tapped on a bus which is perpendicular to the camera axis and is close to the industrial robot 1 on the cylindrical surface at the moment is shown, at the moment, the control box 6 sends an instruction to control the workpiece rotary table 3 to stop rotating, and the barrel 4 keeps static along with the rotation;
fourthly, controlling the tail end of the industrial robot 1 to vertically move downwards at a low speed, and continuously shooting by the industrial camera 506 until a threaded bottom hole in a perfect circle is shot, and pausing the motion of the industrial robot 1; and the image shot by the industrial camera 506 is processed by the PLC in the control box 6, the coordinates of the hole center under the robot coordinate system are given and transmitted to the robot control system for storage,
controlling the tail end of the industrial robot 1 to continuously move vertically downwards, and repeatedly identifying the perfect circle of the threaded bottom hole and transmitting the coordinates of the circle center until all the positions of the threaded bottom hole of the bus are shot;
step six, after coordinates of all threaded bottom holes on the generatrix of the cylindrical surface are obtained, the industrial robot 1 generates a path program covering the obtained hole position coordinate points;
step seven, the industrial robot 1 carries out the thread tapping process: the robot runs according to a program generated by position coordinates of a threaded bottom hole given by image information shot by an industrial camera 506, the robot moves to the position of the threaded bottom hole to be machined on the cylindrical surface of the barrel 4, the control box 6 controls the axis of a spindle motor 503a to coincide with the axis of the threaded bottom hole at the moment, so that a screw tap head on the screw tap chuck 504 is just contacted with the threaded bottom hole, the control box 6 controls a screw slide rail motor 508 to drive a screw slide rail 507 to drive a tail end automatic tapping execution mechanism 503 to move forwards, meanwhile, the spindle motor 503a rotates at a high speed, and the two movements are combined to perform automatic thread tapping; when the screw guide rail 507 reaches a set position, the PLC sends a command to control the screw guide rail 507 and the spindle motor 503a to stop moving, and controls the screw guide rail 507 and the spindle motor 503a to move and rotate in opposite directions, and after the screw guide rail 507 and the spindle motor 503a reach a preset position, the PLC sends a command to control the screw guide rail 507 and the spindle motor 503a to stop moving and recover to a state before tapping, and the tapping of the thread is completed;
step eight, repeating the tapping process in the step seven until all the threaded bottom holes in the bus are tapped; the industrial robot 1 moves to an initial position and then shifts to the next step;
step nine, when all threads on the barrel 4 are tapped, finishing the work; and if the thread tapping is not finished, the step II is carried out.
Example (b):
the utility model provides a chasing bar of automatic tapping robot based on vision technique, this equipment utilizes vision positioning and detection technique, through carrying out visual identification and high accuracy location to the screw bottom hole position, realizes the system and independently decides, and guide robot "hand" eye "carries out automatic tapping operation in coordination, has broken through the restriction of traditional equipment range of application, has promoted the compatible ability and the intelligent degree of equipment greatly.
The utility model provides a tapping device of automatic tapping robot based on vision technique, includes horizontal stand 2, its characterized in that is equipped with 1 at least work mechanism of group on the horizontal stand 2, and work mechanism includes work robot 1 and end tapping executor 5 at least.
The end tapping actuator 5 is installed on a flange of the industrial robot through an end effector connecting plate 501, a lead screw slide way 507 is installed on one side, far away from the flange of the industrial robot 1, of the end effector connecting plate 501 through screw fit, a lead screw slide way motor 508 is installed at the rear end of the lead screw slide way 507 through screw fit, a tapping spindle 503 is installed on a sliding block of the lead screw slide way 507 through a tapping spindle connecting plate 502, at the foremost end of the end tapping actuator 5, a tap chuck 504 is installed on the tapping spindle 503 through a Mohs taper B18, and an industrial camera 506 is installed on one side, close to the flange of the industrial robot 1, of the tapping spindle connecting plate 502 through a camera connecting plate 505.
A robot control system and a PLC (programmable logic controller) are arranged in the control box 6, the robot control system has the function of controlling the industrial robot 1, and the PLC has the function of completing all control functions except controlling the industrial robot 1;
the tapping main shaft 503 comprises a servo motor 503a, a speed reducer 503b and a cable joint 503c, the axis of the servo motor 503a is ensured to be coincident with the axis of the tap chuck 504 through structural design and is parallel to a slide rail, the tapping main shaft 503 is connected with the control box 6 through the cable joint 503c, a PLC controller in the control box 6 controls the action of the tapping main shaft 503 through the cable joint 503c, and meanwhile, data generated in the working process of the tapping main shaft 503 is transmitted back to the PLC controller through the cable joint 503c for monitoring, storing, processing and other operations.
An indicator light is arranged on the control box 6, and a circuit of the indicator light is connected with a PLC (programmable logic controller) in the control box 6.
The purpose of the invention is realized by the following steps: the tapping device comprises a horizontal table, the size of the horizontal table is at least enough for installing a group of working mechanisms, the working mechanisms at least comprise an industrial robot and an end tapping actuator, the end tapping actuator is detachably connected to the tapping robot, the end tapping actuator at least comprises a tapping main shaft, a lead screw slide rail assembly and an industrial camera, the tapping main shaft is installed on the lead screw slide rail assembly and can move in a certain range along the direction of a slide rail, and a tap chuck of the tapping main shaft can rotate around the axial lead of the tapping main shaft.
When the robot works, the part is fixed on the workpiece table, then the robot moves to a fixed position higher than the upper end face of the part, namely an initial position, the axial lead of the industrial camera at the position is vertical to the upper end face of the part, namely the industrial camera is opposite to the part, and the visual field of the industrial camera covers the whole height range of the part. And controlling the industrial camera to start photographing, giving out coordinates of the circle center of the hole under the robot coordinate system by the camera, transmitting the coordinates to the robot control system for storage, controlling the robot to horizontally move left and right, and repeating the processes of recognizing the perfect circle and transmitting the coordinates of the circle center until all positions of the plane are photographed. After obtaining the coordinates of all the threaded bottom holes on the plane of the part, the robot generates a path program covering the obtained coordinate points. And the robot starts to perform automatic tapping on the surface of the part. The method comprises the steps that firstly, a robot moves to the position right above a part, the robot moves to the position of a hole to be tapped of the part according to a program generated by position coordinates of a threaded bottom hole obtained through shooting, the tapping main shaft is controlled to coincide with the axis of the hole in the process, a screw tap is in right contact with the hole, a slide rail is controlled to drive the tapping main shaft to move downwards, meanwhile, the tapping main shaft rotates at a high speed, and the two movements are combined to automatically tap the hole. In the process, the torque value of the tapping spindle is transmitted to the PLC in real time through the cable joint, when the PLC detects that the torque of the tapping spindle reaches the set torque upper limit or the slide rail reaches the set position, the PLC sends out an instruction to control the slide rail and the spindle to move in opposite directions and return to the surface of a part, and the slide rail moves to a safe position quickly. And then repeating the tapping process until the tapping operation of all hole sites of the part is completed.
The robot control system and the PLC are arranged in the control box. Still be equipped with the pilot lamp on the control box, the pilot lamp is connected with the PLC controller electricity.
The invention is further described below with reference to the accompanying drawings.
The tapping device of the automatic tapping robot based on the visual technology comprises a horizontal table 2, wherein at least 1 group of working mechanisms are arranged on the horizontal table 2, and each working mechanism at least comprises an industrial robot 1 and an end tapping actuator 5. The end tapping actuator 5 is installed on an industrial robot flange through an end effector connecting plate 501, a screw guide rail 507 is installed on one side, far away from the industrial robot 1 flange, of the end effector connecting plate 501 through bolt matching, a screw guide rail motor 508 is installed at the rear end of the screw guide rail 507 through bolt matching, a tapping spindle 503 is installed on a sliding block of the screw guide rail 507 through a tapping spindle connecting plate 502, at the foremost end of the end tapping actuator 5, a tap chuck 504 is installed on the tapping spindle 503 through a Mohs taper B18, and an industrial camera 506 is installed on one side, close to the industrial robot 1 flange, of the tapping spindle connecting plate 502 through a camera connecting plate 505. The end tapping actuator 503 adopts a nonstandard design and comprises a spindle motor 503a, a speed reducer 503b and a cable joint 503c, the axial lead of the spindle motor 503a is ensured to coincide with the axial lead of the tap chuck 504 through structural design and is parallel to the sliding rail, the end tapping actuator 503 is connected with the control box 6 through the cable joint 503c, data is transmitted to the PLC, and monitoring, acquisition and storage of the data are realized.
In the invention, a workpiece rotary table 3 is fixed at a proper position of a horizontal table 2 through a rotary table mounting plate 305, a rotary table servo motor 303 is arranged on the side surface of the rotary table mounting plate 305 through a rotary table motor fixing plate 304, an output shaft of the rotary table servo motor 303 is connected with an input shaft of a worm gear reducer 302 through a coupling, an output shaft of the worm gear reducer 302 is connected with the center of the bottom of a three-jaw chuck 301 through threads, and a cylinder 4 to be processed is placed on and clamped on the three-jaw chuck 301.
In operation, the present invention first fixes the cylinder 4 to the three-jaw chuck 301 of the workpiece turret 3, and then the industrial robot 1 moves to a fixed position above the upper end surface of the cylinder 4, defined as the initial position, where the axis of the industrial camera 506 perpendicularly intersects the axis of the cylinder 4, defined as the position where the industrial camera 506 is facing the cylinder 4, and where the field of view of the industrial camera 506 covers the entire height of the cylinder 4. After the industrial camera 506 is located at the initial position, the control box 6 controls the industrial camera to start and continuously take pictures, and simultaneously controls the turntable servo motor 303 on the workpiece turntable 3 to start rotating, and after the rotation is reduced by the worm gear reducer 302, the three-jaw chuck 301 and the barrel 4 start to be driven to slowly rotate, and the control box 6 continuously receives and processes the shot images. When the image shot by the industrial camera 506 shows that the axis of a certain threaded bottom hole on the cylindrical surface is parallel to the axis of the industrial camera 506, the threaded bottom hole to be tapped on a bus which is on the cylindrical surface and is close to the side of the robot and is vertically intersected with the axis of the camera at the moment is shown, the control box 6 sends an instruction to control the workpiece rotary table 3 to stop rotating at the moment, the barrel 4 keeps still, then the tail end of the industrial robot 1 is controlled to move downwards at a slow speed, the industrial camera 506 continuously shoots until the hole in a perfect circle is shot, the industrial robot 1 stops moving, the image shot by the industrial camera 506 is processed by the PLC in the control box 6, the coordinate of the circle center of the hole in the robot coordinate system is given and transmitted to the robot control system for storage, then the tail end of the industrial robot 1 is controlled to continue to move downwards vertically, and the processes of recognizing the perfect circle and transmitting the coordinate of the circle center are repeated until all positions of the bus are shot. After obtaining the coordinates of all the threaded bottom holes on the generatrix of the cylindrical surface, the industrial robot 1 generates a path program covering the obtained hole site coordinate points. The industrial robot 1 starts to perform the thread machining on this bus bar. The robot runs according to a program generated by position coordinates of a threaded bottom hole given by image information shot by an industrial camera 506, the robot moves to the position of the threaded bottom hole to be processed on the cylindrical surface of the barrel part 4, the control box 6 controls the axis of the spindle motor 503a to coincide with the axis of the threaded bottom hole at the moment, so that a screw tap head on the screw tap chuck 504 is just contacted with the threaded bottom hole, the control box 6 controls the screw slide rail motor 508 to drive the screw slide rail 507 to drive the tail end automatic tapping executing mechanism 503 to move forwards, meanwhile, the spindle motor 503a rotates at a high speed, and the two movements are combined to perform automatic thread tapping. When the lead screw slide rail 507 reaches a set position, the PLC sends a command to control the lead screw slide rail 507 and the spindle motor 503a to stop moving, controls the lead screw slide rail 507 and the spindle motor 503a to move and rotate in opposite directions, and after the lead screw slide rail 507 reaches the preset position, the PLC sends a command to control the lead screw slide rail 507 and the spindle motor 503a to stop moving and restore to a state before tapping. And then repeating the tapping process until all the threaded bottom holes on the bus are tapped. And then the industrial robot 1 moves to an initial position, and all the operations from the slow rotation of the workpiece rotary table 3 to the completion of the thread tapping are repeated until the thread tapping operation on the whole cylindrical surface is completed.
Claims (5)
1. A tapping device of an automatic tapping robot based on a visual technology comprises a horizontal table (2) and is characterized in that at least 1 group of working mechanisms are arranged on the horizontal table (2), each working mechanism at least comprises an industrial robot (1) and an end tapping actuator (5), the end tapping actuators (5) are connected to the industrial robot (1), the bottom of the industrial robot (1) of each working mechanism is fixedly arranged on the horizontal table (2), and a workpiece rotary table (3) is arranged on the horizontal table (2); the workpiece rotary table (3) and the industrial robot (1) keep a set distance;
the end tapping actuator (5) comprises an end actuator connecting plate (501), a tapping spindle connecting plate (502), a tapping spindle (503), a tap chuck (504), a camera connecting plate (505), an industrial camera (506), a lead screw slide rail (507) and a lead screw slide rail motor (508);
the end effector connecting plate (501) is installed on the end of an arm of an industrial robot (1) through a flange, a lead screw slide rail (507) is installed on one side, away from the flange of the industrial robot (1), of the end effector connecting plate (501) through screw matching, a lead screw slide rail motor 508 is installed at the rear end of the lead screw slide rail (507) through screw matching, a tapping spindle (503) is installed on a slide block of the lead screw slide rail (507) through a tapping spindle connecting plate (502), at the foremost end of an end tapping effector (5), a tap chuck (504) is installed on the tapping spindle (503) through Mooney taper B18, and an industrial camera (506) is installed on one side, close to the flange of the industrial robot (1), of the tapping spindle connecting plate (502) through a camera connecting plate (505);
and a robot control system and a PLC (programmable logic controller) are arranged in the control box (6), the robot control system controls the motion of the industrial robot (1), and the PLC controls the motion of the end tapping executor (5) and the workpiece rotary table (3).
2. The tapping device of the automatic tapping robot based on the visual technology as claimed in claim 1, wherein the tapping spindle (503) comprises a servo motor (503 a), a speed reducer (503 b) and a cable joint (503 c), the axis of the servo motor (503 a) is coincident with the axis of the tap chuck (504) and is parallel to the slide rail, the tapping spindle (503) is connected with the control box (6) through the cable joint (503 c), the PLC in the control box (6) controls the action of the tapping spindle (503) through the cable joint (503 c), and meanwhile, data generated during the working process of the tapping spindle (503) is transmitted back to the PLC through the cable joint (503 c) for monitoring, storage, processing and other operations.
3. The tapping device of automatic tapping robot based on vision technique as claimed in claim 1 or 2, wherein the control box (6) is provided with an indicator light, and the circuit of the indicator light is connected with the PLC controller in the control box (6).
4. The tapping device of the vision-based automatic tapping robot according to claim 1, 2 or 3, wherein the workpiece turret (3) comprises a three-jaw chuck (301), a worm gear reducer (302), a turret servo motor (303), a turret motor fixing plate (304) and a turret mounting plate (305); the workpiece rotary table (3) is fixed at a proper position of the horizontal table (2) through a rotary table mounting plate (305), a rotary table servo motor (303) is mounted on the side surface of the rotary table mounting plate (305) through a rotary table motor fixing plate (304), an output shaft of the rotary table servo motor (303) is connected with an input shaft of a worm and gear reducer (302) through a coupling, an output shaft of the worm and gear reducer (302) is connected to the center of the bottom of the three-jaw chuck (301) through threads, and a barrel part (4) to be processed is placed on and clamped on the three-jaw chuck (301).
5. A tapping method of an automatic tapping robot based on visual technique, which utilizes the tapping device of the automatic tapping robot based on visual technique as claimed in claim 1, characterized in that it comprises the following steps,
firstly, fixing a cylindrical part (4) to be tapped on a three-jaw chuck (301) of a workpiece rotary table (3); then the industrial robot (1) moves to a set position higher than the upper end surface of the barrel part (4), and the set position is defined as an initial position;
step two, enabling the axis of the industrial camera (506) on the industrial robot (1) at the initial position to vertically intersect with the axis of the barrel part (4), and defining that the industrial camera (506) is right opposite to the barrel part (4); in this position, the field of view of the industrial camera (506) covers the entire height range of the cartridge (4);
step three, the control box (6) controls the industrial camera (506) to start and continuously take pictures, simultaneously controls a turntable servo motor (303) on the workpiece turntable 3 to start rotating, and starts to drive the three-jaw chuck (301) and the barrel part (4) to slowly rotate after being decelerated by a worm and gear reducer (302);
step four, the control box (6) continuously receives the images shot by the industrial camera (506) and processes the shot images: when the axis of a certain threaded bottom hole on the image display cylindrical surface shot by the industrial camera (506) is parallel to the axis of the industrial camera (506), the threaded bottom hole to be tapped on a bus which is on the side close to the industrial robot (1) and is vertically intersected with the axis of the camera on the cylindrical surface is indicated, at the moment, the control box (6) sends a command to control the workpiece rotary table (3) to stop rotating, and the barrel part (4) keeps static along with the threaded bottom hole;
controlling the tail end of the industrial robot (1) to vertically move downwards at a low speed, and continuously taking pictures by the industrial camera (506) until a threaded bottom hole in a shape of a perfect circle is shot, and pausing the motion of the industrial robot (1); and the image shot by the industrial camera (506) is processed by a PLC controller in the control box (6), the coordinates of the hole center under the robot coordinate system are given and transmitted to the robot control system for storage,
controlling the tail end of the industrial robot (1) to continue to move vertically downwards, and repeatedly identifying the right circle of the threaded bottom hole and transmitting the coordinates of the circle center until all the positions of the threaded bottom hole of the bus are shot;
step seven, after the coordinates of all threaded bottom holes on the generatrix of the cylindrical surface are obtained, the industrial robot (1) generates a path program covering the obtained hole position coordinate points;
step eight, the industrial robot (1) performs a thread tapping process: the robot runs according to a program generated by position coordinates of a threaded bottom hole given by image information shot by an industrial camera (506), the robot moves to the position of the threaded bottom hole to be processed on the cylindrical surface of a barrel part (4), a control box (6) controls the axis of a spindle motor (503 a) to coincide with the axis of the threaded bottom hole at the moment, so that a screw tap head on a screw tap chuck (504) is just contacted with the threaded bottom hole, the control box (6) controls a screw slide rail motor (508) to drive a screw slide rail (507) to drive a tail end automatic tapping executing mechanism (503) to move forwards, meanwhile, the spindle motor (503 a) rotates at a high speed, and the two movements are combined to perform automatic tapping of threads; when the screw rod slide rail (507) reaches a set position, the PLC sends an instruction to control the screw rod slide rail (507) and the spindle motor (503 a) to stop moving and control the screw rod slide rail (507) and the spindle motor (503 a) to move and rotate in opposite directions, and after the screw rod slide rail (507) and the spindle motor (503 a) reach a preset position, the PLC sends an instruction to control the screw rod slide rail (507) and the spindle motor (503 a) to stop moving and recover to a state before tapping, and tapping of the thread is completed;
step nine, repeating the tapping process in the step eight until all the thread bottom holes on the bus are tapped; the industrial robot (1) moves to an initial position and then shifts to the next step;
step ten, when all threads on the barrel piece (4) are tapped, finishing the work; and if the thread tapping is not finished, the step II is carried out.
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