CN116493903A - Automatic production system for numerical control machine tool machining - Google Patents
Automatic production system for numerical control machine tool machining Download PDFInfo
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- CN116493903A CN116493903A CN202310754387.9A CN202310754387A CN116493903A CN 116493903 A CN116493903 A CN 116493903A CN 202310754387 A CN202310754387 A CN 202310754387A CN 116493903 A CN116493903 A CN 116493903A
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Abstract
The invention relates to the technical field of part machining and assembly, in particular to an automatic production system for numerical control machine tool machining, which comprises a first conveyor belt and a second conveyor belt, and is characterized in that: the numerical control machine tool further comprises a numerical control machining unit, a first manipulator, a second manipulator, a central control unit and an assembly unit, wherein the numerical control machining unit, the first manipulator, the second manipulator and the assembly unit are used for numerical control machining, and the central control unit is in signal connection with the numerical control machining unit, the first manipulator, the second manipulator and the assembly unit and used for interactive control. The positioning of the central point can be realized very accurately, and the calibration coordinates can be established by selecting various poses, so that the calibration process is more accurate, the adopted vision algorithm can perform position compensation, the accurate positioning is realized, and the assembly production efficiency and the assembly precision are greatly improved.
Description
Technical Field
The invention relates to the technical field of part machining and assembly, in particular to an automatic production system for machining of a numerical control machine tool.
Background
The intelligent production line automation technology is an important mark of national manufacturing level and technological level, integrates high-new technologies such as mechanical engineering, electronics, automation, information technology, internet of things technology, artificial intelligence and the like, generally comprises assembly combination of a plurality of parts, is highly integrated in each link in the automatic intelligent manufacturing production of the production line, and is highly automated with the whole production line through each subsystem such as production planning, manufacturing assembly, quality assurance and the like.
In the existing various intelligent production lines, part of the steps still need to be manually operated, or the whole production line is allocated to be manually scheduled, or part of the automatic production process has complex operation flow, and the workpiece processing and storage efficiency is low, so that the production cost is high and the efficiency is low.
In the existing numerical control intelligent assembly production system, the assembly precision of workpieces is controlled by means of a sensor, machine vision detection and the like, and the method can generate larger dynamic assembly errors for the workpieces needing dynamic assembly, for example, when the vision attention auxiliary ViBe algorithm is used for workpiece assembly precision detection, a background motion model is estimated first, then the auxiliary ViBe algorithm is used for processing and compensating, so that a foreground target in a sequence image under a motion background is obtained, the detection capability is improved, but if the moving target is larger, the requirement cannot be met.
Disclosure of Invention
The invention aims to provide an automatic production system for numerical control machine tool machining, which is used for updating a center positioning point of a workpiece to be assembled in real time in a dynamic assembly process, so that the assembly production precision of the workpiece to be assembled is improved, and monitoring and reducing can be carried out according to a shaking process in the assembly process, so that the assembly production precision is further improved in an auxiliary manner.
The invention is realized by the following technical scheme:
the utility model provides an automatic production system of digit control machine tool processing, includes first conveyer belt and second conveyer belt, still includes the numerical control processing unit, first manipulator, second manipulator, well accuse unit, assembly unit and the clamping unit that are used for numerical control processing, well accuse unit with numerical control processing unit, first manipulator, second manipulator, assembly unit signal connection and be used for interactive control, wherein, first manipulator sets up numerical control processing unit one side, and be used for the auxiliary processing operation of numerical control processing unit, the last unloading operation of first conveyer belt and the assembly operation of assembly unit, first conveyer belt sets up the side of first manipulator and keep away from numerical control processing unit, the assembly unit sets up the side of first conveyer belt and keep away from numerical control processing unit, the second conveyer belt sets up one side of assembly unit, just the second manipulator sets up between second conveyer belt and the assembly unit, and be used for the assembly operation of the unloading operation of second conveyer belt, the assembly operation of first conveyer belt, the first manipulator sets up the second conveyer belt and is used for the replacement unit to install the signal connection between the first manipulator has the equipment unit, the equipment unit is still installed to change the equipment unit, the equipment unit is connected with the equipment unit. In the existing various intelligent production lines, part of steps still need to be manually operated, or the whole production line is allocated and manually scheduled, or part of automatic production process operation flow is complex, and the workpiece processing and storage efficiency is low. In addition, the assembly precision of the assembly production system to the workpiece is controlled by means of sensors, machine vision detection and the like, and the mode can generate large dynamic assembly errors to the workpiece needing dynamic assembly.
Based on the above problems, an automatic production system for machining of a numerical control machine tool is provided, wherein a first manipulator can assist a numerical control machining unit to finish machining operation through a central control unit, and move a workpiece to be assembled machined in the numerical control machining unit onto a first conveyor belt, the workpiece to be assembled without numerical control machining is also placed on the first conveyor belt, and the first manipulator is also used for assembly operation on an assembly unit; for the second manipulator, the second manipulator is similar to the first manipulator in overall structure, can be used for loading and unloading operation of the second conveyor belt, and can also be used for assembly operation of the assembly unit. For the replacement unit, because the tools needed in the assembly process are more, the assembly mechanisms at the ends of the first manipulator and the second manipulator are quickly replaced by arranging the replacement unit, so that the requirements of different assembly procedures are met. For the vision center positioning unit, based on the mechanical automation development trend, the vision center positioning unit can be used for the full-automatic assembly production process, and in the automatic assembly production process, the assembly positioning is particularly important, the vision center positioning unit can very accurately realize the center point positioning, and can establish the calibration coordinates by selecting various poses, so that the calibration process is more accurate, the adopted vision algorithm can perform position compensation, the accurate positioning is realized, and the assembly production efficiency and the assembly precision are greatly improved.
Further, the first manipulator includes: slide rail, arm and driving piece, the driving piece slides and sets up on the slide rail. Based on the structure, the driving piece can slide on the sliding rail, so that the position of the driving piece can be moved according to the requirement of assembly conditions; it can be understood that the mechanical arm can perform triaxial movement under the control condition of the central control unit so as to meet the assembly requirement; the driving piece is used as a base of the mechanical arm, and the bottom of the mechanical arm is fixedly connected with the upper end part of the driving piece.
Further, the driving piece comprises a base, a sliding wheel and an eccentric piece are arranged on the base, when the gravity center of the first manipulator is shifted, the eccentric piece moves in the opposite direction of the shifting direction, and the sliding wheel and the sliding rail are arranged in a sliding mode. The first manipulator moves on the slide rail and moves in a linear manner, the dynamic assembly process of the mechanical arm has triaxial movement, the gravity center of the mechanical arm changes along with the movement, and the setting of the eccentric part can balance the dynamic offset of the mechanical arm so as to enable the mechanical arm to move stably.
Further, the eccentric includes: the guide rail, with guide rail complex eccentric block, eccentric distance subassembly, pivot and reset piece on the base, still be provided with on the base and be used for bearing the support rail of guide rail, just the guide rail passes through the pivot is installed on the base. To traditional manipulator structure, its inside all is transmitted through structures such as speed reducer, and gear engagement structure or worm gear etc. that its adopted all have certain clearance, and the manipulator structure is when removing or rotate on the multiaxis, and it must have the skew of focus, and this kind of skew is more obvious in having obvious acceleration variation, can't satisfy the higher field of assembly accuracy requirement. Offset when there is acceleration variation can be balanced based on the eccentric member structure of the first manipulator, and then shake of the manipulator structure during assembly is reduced.
Further, the replacing unit comprises a replacing seat, when the clamping unit is arranged on the replacing unit, the clamping unit is arranged on the replacing seat through a PNP lock or a magnetic attraction, and one or more of a welding gun, a press-fitting unit and a fastening unit are further arranged on the replacing seat. Based on the structure, the first manipulator and the second manipulator can be quickly replaced by the replacement unit to meet the assembly requirements of different conditions, and the structure of the assembly work comprises, but is not limited to, a welding gun, a press-fitting unit, a fastening unit and the like, wherein when the assembly machine is used for assembling a shaft of a motor, the press-fitting unit is used, more particularly, a press-fitting machine and the like; the fastening unit is preferably a bolt fastening device or the like.
Further, the clamping unit includes: the clamping device comprises a clamping seat, clamping claws and a transmission piece, wherein the transmission piece is rotatably arranged in the clamping seat, a transmission motor is further arranged in the clamping seat, a toothed belt is arranged on the periphery of the transmission piece, the output end of the transmission motor is connected with the toothed belt, and the clamping claws can be opened and closed through rotation of the transmission piece. The scroll groove is formed in the transmission piece, one end of the clamping claw is arranged in the scroll groove in a rolling mode, and when the transmission piece rotates through the transmission motor, the other end of the clamping claw can be clamped through opening and closing.
Based on the above-mentioned structure, when driving motor rotates, drive the driving medium through the toothed belt and rotate in the grip slipper to the quantity of gripper jaw is a pair of time, and the symmetry sets up in the vortex inslot, runs through from top to bottom and has the straight line inslot, and the gripper jaw just arranges this straight line inslot equally, and then when the driving medium rotates, the gripper jaw realizes opening and shutting under the effect of this vortex groove and straight line inslot.
Further, the first manipulator further comprises: the device comprises a servo motor, a servo driver, a contactor, a fuse, a circuit breaker and a filter, wherein the servo motor, the servo driver, the contactor, the fuse, the circuit breaker and the filter are arranged in the mechanical arm, and a PLC (programmable logic controller) and a touch screen are electrically connected between the contactor and the driver. For the existing manipulator structure, the manipulator can realize the automatic feeding and discharging workpiece taking and basic assembly procedures of the automatic equipment, can save labor, reduce the production cost of enterprises, and is an important development direction of the automatic production of the current mechanical manufacturing enterprises. Currently, the ratio in the industry of automatic production by using industrial robots in China is still low, and the improvement of the manipulator has a wide application prospect. Based on the hardware level, triaxial servo motion control can be realized very conveniently.
Further, the first manipulator further comprises a signal connection unit: the automatic detection device comprises an initial module, a positioning module, a communication module, a stepping module, a manual control module and a fault module, wherein the initial module is used for completing self-detection and detection of input and output channels, the positioning module can be used for updating and determining the original point position, the communication module is used for realizing communication between a PLC (programmable logic controller) and a touch screen, the manual control module is used for manually controlling movement of a first manipulator, and the fault module is used for monitoring shake of the first manipulator.
Further, the visual center positioning unit comprises the following signal connections: the system comprises an image acquisition module, a position calibration module, an algorithm processing module, a calculation processing module and an execution processing module, wherein the execution processing module is also connected with the PLC controller through signals, and the algorithm processing module adopts a halcon algorithm to extract a central point. After the processes of camera calibration, coordinate system calibration, coordinate and angle compensation and the like are carried out, the first manipulator and the second manipulator can realize the accurate positioning of the workpiece to be assembled, and the assembly efficiency and the assembly precision are greatly improved.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the first manipulator disclosed by the invention can assist the numerical control machining unit to finish machining operation through the central control unit, and moves the workpiece to be assembled which is machined in the numerical control machining unit to the first conveyor belt, the workpiece to be assembled which is not required to be machined in a numerical control mode is further placed on the first conveyor belt, and the first manipulator is further used for assembly operation on the assembly unit; for the second manipulator, the second manipulator has a similar overall structure with the first manipulator, can be used for loading and unloading operations of the second conveyor belt, can be used for assembling operations of an assembling unit, can update a center positioning point of a workpiece to be assembled in real time in a dynamic assembling process, and improves assembling production precision;
2. the visual center positioning unit can very accurately realize the center point positioning, can establish calibration coordinates by selecting various poses, is more accurate in the calibration process, adopts a visual algorithm to perform position compensation, realizes accurate positioning, and greatly improves the assembly production efficiency and the assembly precision;
3. according to the invention, the assembly mechanisms at the end parts of the first manipulator and the second manipulator are quickly replaced by arranging the replacement unit, so that the requirements of different assembly procedures are met.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the driving member;
FIG. 3 is a schematic diagram of the structure of the refill unit;
FIG. 4 is a schematic cross-sectional structure of the clamping unit;
FIG. 5 is a schematic diagram of a driving member;
FIG. 6 is a hardware block diagram of the first manipulator;
fig. 7 is a software block diagram of the first manipulator.
In the drawings, the reference numerals and corresponding part names:
the device comprises a 1-numerical control machining unit, a 2-first manipulator, a 3-second manipulator, a 4-assembly unit, a 5-first conveyor belt, a 6-second conveyor belt and a 7-replacement unit;
21-sliding rails, 22-driving parts, 23-mechanical arms and 24-clamping units;
221-a base, 222-a sliding wheel, 223-an eccentric;
2231-a guide rail, 2232-an eccentric block, 2233-a reset piece, 2234-a rotating shaft, 2235-a supporting rail, 2236-an eccentric distance component;
241-clamping seat, 242-clamping claw, 243-driving piece, 244-driving motor;
2431-swirl groove;
71-a replacement seat, 72-a PNP type lock and 73-a welding gun.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
Example 1:
referring to fig. 1 to 5, an automatic production system for machining of a numerical control machine tool includes a first conveyor belt 5, a second conveyor belt 6, a numerical control machining unit 1 for numerical control machining, a first manipulator 2, a second manipulator 3, a central control unit, an assembling unit 4 and a clamping unit 24, wherein the central control unit is in signal connection with the numerical control machining unit 1, the first manipulator 2, the second manipulator 3 and the assembling unit 4 and is used for interactive control, the first manipulator 2 is arranged on one side of the numerical control machining unit 1 and is used for auxiliary machining operation of the numerical control machining unit 1, loading and unloading operation of the first conveyor belt 5 and assembling operation of the assembling unit 4, the first conveyor belt 5 is arranged on the side of the first manipulator 2 and is far away from the numerical control machining unit 1, the assembling unit 4 is arranged on one side of the assembling unit 4, the second manipulator 3 is arranged on one side of the second conveyor belt 6 and is used for replacing the assembling unit 4, and is also used for replacing the first conveyor belt 4 and is used for replacing the assembling unit 4, and the assembling unit 4 is also used for replacing the visual equipment unit 4. In the existing various intelligent production lines, part of steps still need to be manually operated, or the whole production line is allocated and manually scheduled, or part of automatic production process operation flow is complex, and the workpiece processing and storage efficiency is low. In addition, the assembly precision of the assembly production system to the workpiece is controlled by means of sensors, machine vision detection and the like, and the mode can generate large dynamic assembly errors to the workpiece needing dynamic assembly. The numerical control machining unit 1 may be a numerical control lathe, a numerical control grinder, or the like; when the present application is used for shaft assembly in an electric motor, the assembly unit 4 is preferably a press-fit machine.
Based on the above problems, an automatic production system for machining by a numerical control machine tool is provided, wherein a first manipulator 2 can assist a numerical control machining unit 1 to finish machining operation through a central control unit, and move a workpiece to be assembled machined in the numerical control machining unit 1 onto a first conveyor belt 5, and the workpiece to be assembled without numerical control machining is also placed on the first conveyor belt 5, and the first manipulator 2 is also used for assembling operation on an assembling unit 4; with respect to the second robot 3, the second robot 3 is similar to the first robot 2 in its overall structure, and can be used for loading and unloading operations of the second conveyor belt 6, and can also be used for assembly operations of the assembly unit 4. For the reloading unit 7, because the tools needed in the assembly process are more, the assembly mechanisms at the end parts of the first manipulator 2 and the second manipulator 3 are quickly replaced by arranging the reloading unit 7, so that the requirements of different assembly procedures are met. For the vision center positioning unit, based on the mechanical automation development trend, the vision center positioning unit can be used for the full-automatic assembly production process, and in the automatic assembly production process, the assembly positioning is particularly important, the vision center positioning unit can very accurately realize the center point positioning, and can establish the calibration coordinates by selecting various poses, so that the calibration process is more accurate, the adopted vision algorithm can perform position compensation, the accurate positioning is realized, and the assembly production efficiency and the assembly precision are greatly improved.
The first manipulator 2 includes: the device comprises a sliding rail 21, a mechanical arm 23 and a driving piece 22, wherein the driving piece 22 is arranged on the sliding rail 21 in a sliding way. Based on the above structure, the driving member 22 can slide on the slide rail 21, so as to perform position movement according to the requirement of the assembly condition; it can be appreciated that the mechanical arm 23 can perform triaxial movement under the control condition of the central control unit so as to meet the assembly requirement; the driving member 22 serves as a base of the robot arm 23, and the bottom of the robot arm 23 is fixedly connected with the upper end portion of the driving member 22.
The driving member 22 includes a base 221, a sliding wheel 222 and an eccentric member 223 are disposed on the base 221, and when the center of gravity of the first manipulator 2 is shifted, the eccentric member 223 moves in a direction opposite to the shifting direction, and the sliding wheel 222 and the sliding rail 21 are slidably disposed. The first manipulator 2 moves on the sliding rail 21 in a linear motion, the dynamic assembly process of the mechanical arm 23 has triaxial movement, the gravity center of the mechanical arm is changed along with the movement, and the eccentric part 223 can balance the dynamic offset of the mechanical arm 23, so that the mechanical arm can move stably.
The eccentric member 223 includes: the base 221 is further provided with a supporting rail 2235 for carrying the guide rail 2231, and the guide rail 2231 is mounted on the base 221 through the rotating shaft 2234. To traditional manipulator structure, its inside all is transmitted through structures such as speed reducer, and gear engagement structure or worm gear etc. that its adopted all have certain clearance, and the manipulator structure is when removing or rotate on the multiaxis, and it must have the skew of focus, and this kind of skew is more obvious in having obvious acceleration variation, can't satisfy the higher field of assembly accuracy requirement. The offset amount when the acceleration is changed can be balanced based on the eccentric 223 structure of the first manipulator 2, so that the shake of the manipulator structure during assembly is reduced. For the reset member 2233, the preferred scheme is: the reset element 2233 includes a first flange and a second flange that are disposed along the direction of the guide track 2231 at intervals, the first flange and the second flange extend from the middle of the guide track 2231 to two ends, and the setting directions on the guide track 2231 correspond to each other, and detection spring pieces are disposed on the first flange and the second flange. For the eccentric block 2232, when the eccentric block 2232 is located at the geometric center of the guide rail 2231, both detection spring plates conduct the detection circuit, at this time, the eccentric block 2232 is in a reset state, and when the eccentric block 2232 deviates from the reset state, only one of the two detection spring plates conducts with the detection circuit.
When the clamping unit 24 is disposed on the replacing unit 7, the clamping unit is disposed on the replacing unit 71 through a PNP lock 72 or magnetic attraction, and one or more of a welding gun 73, a press-fitting unit, and a fastening unit is further disposed on the replacing unit 71. Based on the above structure, the first manipulator 2 and the second manipulator 3 can be quickly replaced by the replacement unit 7 to meet the assembly requirements of different conditions, and the structure of the assembly work includes, but is not limited to, a welding gun 73, a press-fitting unit, a fastening unit, etc., wherein when the present application is used for assembling a motor center shaft, the press-fitting unit, more specifically, a press-fitting machine, etc., is used; the fastening unit is preferably a bolt fastening device or the like.
The holding unit 24 includes: the clamping seat 241, the clamping claw 242 and the transmission member 243 are rotatably arranged in the clamping seat 241, the transmission member 243 is internally provided with the transmission motor 244, the periphery of the transmission member 243 is provided with a toothed belt, the output end of the transmission motor 244 is connected with the toothed belt, and the clamping claw 242 can be opened and closed through the rotation of the transmission member 243. The driving member 243 is provided with a scroll 2431, one end of the clamping claw 242 is disposed in the scroll 2431 in a rolling manner, and when the driving member 243 rotates through the driving motor 244, the other end of the clamping claw 242 can be clamped by opening and closing.
Based on the above structure, when the transmission motor 244 rotates, the transmission member 243 is driven by the toothed belt to rotate in the clamping seat 241, and the clamping claws 242 are symmetrically arranged in the vortex groove 2431 when the number of the clamping claws 242 is a pair, the clamping seat 241 vertically penetrates through to start to have a linear groove, and the clamping claws 242 are also arranged in the linear groove, so that when the transmission member 243 rotates, the clamping claws 242 are opened and closed under the action of the vortex groove 2431 and the linear groove. The number of the holding claws 242 may be two, and the holding claws 242 may be connected to the scroll groove 2431 and the linear groove by gears, belts, or the like. More specifically, the existing manipulator clamping functions are all driven by means of a speed reducer, belt transmission and the like, and meanwhile, the driving member 243 of the present application is converted into linear motion of the clamping claw 242 by rotation of the driving member 243, so that meshing force is stronger and stepping action is more sensitive.
As shown in fig. 6, the first manipulator 2 further includes: the servo motor, the servo driver, the contactor, the fuse, the circuit breaker and the filter are arranged in the mechanical arm 23, and a PLC controller and a touch screen are further electrically connected between the contactor and the driver. For the existing manipulator structure, the manipulator can realize the automatic feeding and discharging workpiece taking and basic assembly procedures of the automatic equipment, can save labor, reduce the production cost of enterprises, and is an important development direction of the automatic production of the current mechanical manufacturing enterprises. Currently, the ratio in the industry of automatic production by using industrial robots in China is still low, and the improvement of the manipulator has a wide application prospect. Based on the hardware level, triaxial servo motion control can be realized very conveniently. For the servo motor, the preferred is the loose A5 series, and is provided with a responsive speed reducer; the PLC is preferably an FX3U-64MR type controller, the basic execution instruction time is extremely short, the triaxial positioning and linkage can be conveniently realized, and in order to improve the electromagnetic compatibility of a hardware structure, a filter is designed in the hardware for preventing external electromagnetic interference.
It should be noted that, the first manipulator 2 further includes signal connections in sequence: the automatic detection device comprises an initial module, a positioning module, a communication module, a stepping module, a manual control module and a fault module, wherein the initial module is used for completing self-detection and detection of input and output channels, the positioning module can be used for updating and determining the original point position, the communication module is used for realizing communication between a PLC (programmable logic controller) and a touch screen, the manual control module is used for manually controlling movement of the first manipulator 2, and the fault module is used for monitoring shaking of the first manipulator 2. For the initial module, each shaft moves to the original position according to a certain position searching mode after being started according to an operation instruction of a user, and the communication module realizes RS-422 communication between the PLC and the touch screen, namely receives a control instruction and a control parameter transmitted by the touch screen, and executes corresponding actions and stores the corresponding control parameter. The PLC controller adopts GXWorks programming to complete programming. For the fault module, the statistical process monitoring principle is utilized, the statistical characteristic values such as the mean value, variance, peak value and the like of the residual errors of the position feed signals (namely pulse signals) of the servo motor encoders of the 3 axes of the manipulator are analyzed in the time domain, and the fault state can be judged by using the calculation result of the characteristic values.
It should be noted that, as shown in fig. 7, the visual center positioning unit includes: the system comprises an image acquisition module, a position calibration module, an algorithm processing module, a calculation processing module and an execution processing module, wherein the execution processing module is also connected with the PLC controller through signals, and the algorithm processing module adopts a halcon algorithm to extract a central point. After the processes of camera calibration, coordinate system calibration, coordinate and angle compensation are performed, the first manipulator 2 and the second manipulator 3 can achieve accurate positioning of the workpiece to be assembled, and assembly efficiency and assembly precision are greatly improved. For the image acquisition module, an MVC series digital camera is preferable, and an LED lamp light source is arranged; for the calibration process of the position calibration module, firstly, the initial row coordinates and the end row coordinates of the workpiece are ordered from small to large in a pixel coordinate system, the initial column coordinates and the end column coordinates of the workpiece are ordered from small to large by taking the middle row coordinates (namely x), the middle column coordinates are ordered from small to large by taking the middle column coordinates (namely y), and the screened row and column coordinates are combined to form a central point (x, y). The coordinate of the workpiece center point of the pixel coordinate system is converted into the coordinate of the workpiece center point of the world coordinate system through a relation matrix between the image parent coordinate system and the world coordinate system, and the visual center positioning unit transmits the processed coordinate information of the workpiece center point to the central control unit through network communication, so that the center point positioning can be realized. And (3) for the calibration process, a template is manufactured, the calibration plates are respectively arranged into various postures, the images are collected and stored, the collected whole calibration plate diagram is imported for camera pose calibration, and left and right mark points of the calibration plates are collected to obtain an abscissa and ordinate to calculate an included angle. The camera internal parameters and external parameters can be obtained by using a relation matrix of a World coordinate system and a pixel coordinate system, and the camera can be corrected after calculation.
Example 2:
this example describes only the portions different from example 1, specifically: the working process of the application is explained by combining the assembly of the positioning shaft and the locking mechanism in the numerical control turntable, and the thickness of the turntable adjusting pad has important influence on the installation of the positioning shaft, so that the whole assembly process is as follows: the positioning shaft is placed in the assembling unit 4, the assembling unit 4 at this time can be an operation table, a press mounting table or the like, then a pressing sleeve, a bearing or the like is placed, and then a bolt on the pressing sleeve is fastened. During operation, the position and the thickness of the adjusting pad are measured through the visual center positioning unit, the adjusting pad is ground in the numerical control unit according to the measuring structure, and the numerical control unit can be a numerical control grinding machine. In the prior art, the positioning shaft and the locking mechanism are installed in a matched mode, namely the distance between the surface on which the adjusting plate is installed and the surface on which the clamping plate is installed is measured, the measured value is marked, the measured value is compared with the total thickness of the adjusting plate, and the value to be ground is determined. In the application, the grinding value can be determined through measurement of the visual center positioning unit, the mating process is reduced, and the relative gap between the positioning shaft and the locking mechanism is effectively controlled.
Example 3:
the present embodiment is described only in the part different from embodiment 1, and for the visual center positioning unit, since the image acquisition module is easily interfered by various noises in the process of acquiring images, the imaging quality and visual effect of the collocated images are seriously affected, and the subsequent processing is also greatly affected, so that in the process of image acquisition by the image acquisition module, the image noise reduction processing including but not limited to gaussian filtering, median filtering, bilateral filtering and the like is also involved. For Gaussian filtering, the Gaussian filtering is a linear filter for eliminating Gaussian white noise of an image, a template is utilized to determine the value of a pixel corresponding to a numerical control assembly system based on visual guidance by carrying out convolution summation on the pixel in the field of each pixel of the image and a template weight coefficient instead of the template, and then the purpose of smoothing the image is achieved.
Example 4:
the present embodiment describes only a part different from embodiment 3, and for the visual center positioning unit, in addition to the image noise reduction processing, the image enhancement processing is also related to the image enhancement processing, and the image enhancement technology has the effects of improving the quality of the image, highlighting the information of the region of interest in the image, and suppressing or removing other information to improve the visual effect of the image, and transforming the image into a form more suitable for human-machine recognition and calculation. Specifically, the image acquisition modules at the first manipulator 2 and the second manipulator 3 mainly based on laplace sharpening enhancement, gamma transformation and histogram equalization in the application, more specifically, the image acquisition modules at the assembling unit 4 adopt histogram equalization processing, and the reason for adopting the algorithm differently is that: the applicant finds that the image of the central part is excessively enhanced by the sharpening enhancement of the Laplace operator, so that the foreground is lightened to highlight the marginalized details, and further the marginalized details among workpieces to be assembled in dynamic assembly can be effectively highlighted by the image acquisition module at the assembly unit 4 through the sharpening enhancement of the Laplace operator, thereby being beneficial to improving the assembly precision.
Example 5:
in this embodiment, only the part different from embodiment 4 is described, and for the visual center positioning unit, the process of extracting the center point by the algorithm processing module using the halcon algorithm needs to be established on the edge effect determination of the workpiece, specifically, the edge of the workpiece is a basic feature of the image, and the edge refers to a set of pixels with gray steps or sharp changes in the image, which widely exist between the workpiece and between the workpiece and the background, and is an important basis on which image analysis such as image distribution, dynamic assembly, texture feature extraction, shape feature extraction and the like depends. Based on the above, in the process of performing the center point extraction, the present application considers the expected gray value deviation of the image, and ensures the accuracy of the image edge by controlling the edge deviation in the workpiece assembly state within the tolerance deviation, specifically, by adopting the algorithm of the double-threshold segmentation to mechanically extract the image edge.
Example 6:
this embodiment describes only a part different from embodiment 5, and for the extraction process of the image edge, mainly includes the following steps: step 1, searching in a clockwise direction, finding out a point b0 where a first pixel value at the left upper corner of a workpiece area changes, marking the point b0 as a starting point, and marking a background point adjacent to the left side of the point b0 as c0; step 2, searching 8 adjacent points of b0 from c0 in a clockwise direction, marking the encountered adjacent point with the first pixel value of 1 as b1, marking the previous point of b1 as c1 (c 1 is a background point), and simultaneously recording the positions of b0 and b 1; step 3, let b=b1, c=c1; step 4, proceeding clockwise from c, making 8 adjacent points of b n1, n1 … … n8, and finding the first nk with the pixel value of 1; step 5, let b=nk and c=nk-1; repeating the steps 4 and 5 until b=b0 and the next boundary is b1, and when the algorithm is finished, finding the sequence of all b points and marking the sequence as the set of the arranged boundary points.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a digit control machine tool processing automatic production system, includes first conveyer belt (5) and second conveyer belt (6), its characterized in that: the numerical control machine tool further comprises a numerical control machining unit (1), a first mechanical arm (2), a second mechanical arm (3), a central control unit, an assembling unit (4) and a clamping unit (24), wherein the central control unit is in signal connection with the numerical control machining unit (1), the first mechanical arm (2), the second mechanical arm (3) and the assembling unit (4) and used for interactive control, the first mechanical arm (2) is arranged on one side of the numerical control machining unit (1) and used for auxiliary machining operation of the numerical control machining unit (1), feeding and discharging operation of a first conveyor belt (5) and assembling operation of the assembling unit (4), the first conveyor belt (5) is arranged on the side edge of the first mechanical arm (2) and far away from the numerical control machining unit (1), the assembling unit (4) is arranged on one side of the assembling unit (4), the second conveyor belt (6) is arranged on one side of the assembling unit (4) and between the second conveyor belt (3) and the assembling unit (6) and the assembling operation of the second conveyor belt (4), the automatic assembling device is characterized in that a reloading unit (7) for reloading is further arranged between the first manipulator (2) and the second manipulator (3), the assembling unit (4) is further connected with a visual center positioning unit in a signal mode, and the clamping unit (24) is detachably connected to the reloading unit (7) or the first manipulator (2).
2. The automatic production system for numerical control machine tool machining according to claim 1, wherein: the first manipulator (2) includes: the device comprises a sliding rail (21), a mechanical arm (23) and a driving piece (22), wherein the driving piece (22) is arranged on the sliding rail (21) in a sliding way.
3. The automatic production system for numerical control machine tool machining according to claim 2, wherein: the driving piece (22) comprises a base (221), a sliding wheel (222) and an eccentric piece (223) are arranged on the base (221), when the gravity center of the first manipulator (2) is shifted, the eccentric piece (223) moves in the opposite direction of the shifting direction, and the sliding wheel (222) and the sliding rail (21) are arranged in a sliding mode.
4. A numerically controlled machine tool automated production system as in claim 3, wherein: the eccentric (223) comprises: the eccentric device comprises a guide rail (2231) mounted on a base (221), an eccentric block (2232) matched with the guide rail (2231), an eccentric distance assembly (2236), a rotating shaft (2234) and a reset piece (2233), wherein a supporting rail (2235) for bearing the guide rail (2231) is further arranged on the base (221), and the guide rail (2231) is mounted on the base (221) through the rotating shaft (2234).
5. The automatic production system for numerical control machine tool machining according to claim 2, wherein: the replacement unit (7) comprises a replacement seat (71), and when the clamping unit (24) is arranged on the replacement unit (7), the clamping unit is arranged on the replacement seat (71) through a PNP lock (72) or magnetic attraction, and one or more of a welding gun (73), a press-fitting unit and a fastening unit are further arranged on the replacement seat (71).
6. The automatic production system for numerical control machine tool machining according to claim 5, wherein: the clamping unit (24) comprises: clamping seat (241), gripper jaw (242) and driving medium (243), driving medium (243) rotate and set up in clamping seat (241), just still be provided with driving motor (244) in clamping seat (241), the periphery of driving medium (243) is provided with the tooth area, the output of driving motor (244) with the tooth area is connected, gripper jaw (242) can realize opening and shutting through the rotation of driving medium (243).
7. The automatic production system for numerical control machine tool machining according to claim 6, wherein: the scroll groove (2431) is formed in the transmission member (243), one end of the clamping claw (242) is arranged in the scroll groove (2431) in a rolling mode, and when the transmission member (243) rotates through the transmission motor (244), the other end of the clamping claw (242) can be clamped through opening and closing.
8. The automatic production system for numerical control machine tool machining according to claim 2, wherein: the first manipulator (2) further comprises a plurality of sensors electrically connected in sequence: the device comprises a servo motor, a servo driver, a contactor, a fuse, a circuit breaker and a filter which are arranged in the mechanical arm (23), wherein a PLC controller and a touch screen are further electrically connected between the contactor and the driver.
9. The automated numerically controlled machine tool manufacturing system of claim 8, wherein: the first manipulator (2) further comprises a signal connection part connected with the following parts in sequence: the automatic detection device comprises an initial module, a positioning module, a communication module, a stepping module, a manual control module and a fault module, wherein the initial module is used for completing self-detection and detection of input and output channels, the positioning module can be used for updating and determining the original point position, the communication module is used for realizing communication between a PLC (programmable logic controller) and a touch screen, the manual control module is used for manually controlling movement of a first manipulator (2), and the fault module is used for monitoring shaking of the first manipulator (2).
10. The automated numerically controlled machine tool manufacturing system of claim 8, wherein: the visual center positioning unit comprises the following components which are connected in sequence in a signal mode: the system comprises an image acquisition module, a position calibration module, an algorithm processing module, a calculation processing module and an execution processing module, wherein the execution processing module is also connected with the PLC controller through signals, and the algorithm processing module adopts a halcon algorithm to extract a central point.
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| CN116493903B (en) | 2023-09-26 |
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