CN117300709A - Manipulator feeding and discharging system matched with visual positioning and control method thereof - Google Patents
Manipulator feeding and discharging system matched with visual positioning and control method thereof Download PDFInfo
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- CN117300709A CN117300709A CN202311455666.1A CN202311455666A CN117300709A CN 117300709 A CN117300709 A CN 117300709A CN 202311455666 A CN202311455666 A CN 202311455666A CN 117300709 A CN117300709 A CN 117300709A
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- 238000007599 discharging Methods 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000000007 visual effect Effects 0.000 title claims abstract description 45
- 239000000463 material Substances 0.000 claims abstract description 191
- 238000012545 processing Methods 0.000 claims abstract description 130
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000003754 machining Methods 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 18
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 50
- 239000002994 raw material Substances 0.000 description 76
- 238000012546 transfer Methods 0.000 description 42
- 238000003860 storage Methods 0.000 description 41
- 239000011521 glass Substances 0.000 description 23
- 230000009286 beneficial effect Effects 0.000 description 16
- 230000000694 effects Effects 0.000 description 7
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- 238000004364 calculation method Methods 0.000 description 3
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- 239000004334 sorbic acid Substances 0.000 description 3
- 238000007790 scraping Methods 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/008—Catching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/003—Cyclically moving conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulator feeding and discharging system matched with visual positioning and a control method thereof, which comprise a frame, a machine tool, a manipulator, a first positioning CCD device and a second positioning CCD device, wherein a feed bin mechanism for storing a material tray is arranged in the frame, the machine tool is used for processing workpieces, the machine tool is arranged on the side edge of the frame, the manipulator is used for switching positions of the workpieces between the material tray and the machine tool, the manipulator is arranged in the frame and above the feed bin mechanism, a pick-up arm for picking up the workpieces is arranged on the manipulator, the first positioning CCD device is used for identifying the workpiece position in the material tray, the second positioning CCD device is used for identifying the workpiece position in the manipulator, and the manipulator is used for adjusting the position of the pick-up arm according to the workpiece position identified by the first positioning CCD device so as to place the workpieces in the machine tool. The invention adopts the visual recognition combining the coarse positioning and the fine positioning, and can improve the production efficiency by matching with the feeding and discharging on the manipulator.
Description
Technical Field
The invention relates to a manipulator feeding and discharging system matched with vision positioning and a control method thereof, belonging to the technical field of numerical control machining.
Background
Along with the continuous development of scientific technology, the processing of parts has the characteristics of more specifications, less batches, frequent production replacement, high requirements on attractive appearance and the like, and the full-automatic high-speed numerical control machine tool is used as main equipment for processing the parts, so that the requirements of users on the universality, the processing effect, the processing precision, the processing speed and the automation level are higher and higher.
At present, the numerical control machine tool is mainly processed by adopting a mode that a clamp for matching a workpiece is matched with a pushing cylinder for positioning, the workpiece positioning mode not only has the risk of scratching the workpiece, but also is worn by a positioning shoulder to be replaced regularly, and the clamp is required to be matched for replacing when the workpiece is changed, so that the production speed and the production effect are seriously influenced, and the production cost is increased. Meanwhile, for the processing production line, the material tray used for workpiece circulation on the conveying line is also required to be matched for replacement during production replacement, so that the production efficiency is further reduced, and the production cost is improved.
In addition, for the existing processing production line, the manipulator for realizing the automatic processing of the machine tool mainly comprises a six-degree-of-freedom manipulator and a built-in manipulator of the machine tool. The six-degree-of-freedom manipulator generally needs to be matched with a storage bin and a conveying line for use, is large in occupied area and high in price, is large in space required by arm exhibition, and is not beneficial to production layout of workshops. And to the built-in manipulator of lathe, its activity is easily received the lathe inner space restriction, often need pause and dodge other moving parts, has influenced the process velocity, and, built-in manipulator generally needs the built-in charging tray that is used for depositing the work piece in the supporting, it also need change built-in charging tray when changing to produce, and to the setting quantity of built-in charging tray of great built-in charging tray of size, lathe inner space has also limited the setting quantity of built-in charging tray, lead to artifical frequency of changing materials to increase, simultaneously, to built-in manipulator and built-in charging tray, it is easily received the inside environmental pollution of lathe, like by adhesion processing cutting fluid or processing sweeps, thereby further influenced the processing effect.
Disclosure of Invention
The invention provides a manipulator feeding and discharging system matched with visual positioning and a control method thereof, and aims to at least solve one of the technical problems in the prior art. Therefore, the invention provides a manipulator feeding and discharging system matched with visual positioning and a control method thereof, adopts a visual recognition mode combining coarse positioning and fine positioning, and realizes feeding and discharging by matching with a manipulator, thereby improving the production efficiency.
The technical scheme of the invention relates to a manipulator blanking system matched with visual positioning, which comprises the following components: the feeding device comprises a rack, wherein a feed bin mechanism for storing a material tray is arranged in the rack; the machine tool is used for processing workpieces and is arranged on the side edge of the frame; the manipulator is used for switching the position of the workpiece between the tray and the machine tool, and is arranged in the rack and above the bin mechanism; the manipulator is provided with a pick-up arm for picking up a workpiece; the first positioning CCD device is used for identifying the pose of the workpiece in the material tray; the second positioning CCD device is used for identifying the pose of the workpiece on the manipulator; the manipulator picks up the workpiece in the tray according to the workpiece pose identified by the first positioning CCD device, and adjusts the pose of the pick-up arm according to the workpiece pose identified by the second positioning CCD device so as to place the workpiece in the machine tool.
The technical scheme of the invention also relates to a control method for feeding and discharging on the manipulator, which is applied to the manipulator feeding and discharging system matched with the vision positioning in the embodiment, and comprises the following steps: a100, after receiving a processing preparation instruction sent by the machine tool, identifying unprocessed workpieces in the material tray through the first positioning CCD device so as to obtain a first workpiece pose; according to the pose of the first workpiece, after the pose of the pick-up arm is adjusted, the unprocessed workpiece in the tray is picked up by the pick-up arm and moved to a fine positioning position; a200, identifying an unprocessed workpiece on the manipulator through the second positioning CCD device so as to obtain a second workpiece pose; according to the second workpiece pose, adjusting the pose of a pick-up arm of the manipulator so as to adjust the pose of the workpiece on the manipulator; a300, placing an unprocessed workpiece on the machine tool by moving the manipulator, after the manipulator is moved out of the machine tool, processing the workpiece by the machine tool until receiving a current processing instruction of the machine tool, moving the manipulator into the machine tool and picking up the processed workpiece; a400, after the manipulator moves to the fine positioning position, reversely adjusting the pose of the manipulator according to the pose of the second workpiece, and then placing the processed workpiece in the material tray by moving the manipulator; a500, repeating the step A100 to the step A400 until the processing of all the workpieces in the tray is completed.
The technical scheme of the invention also relates to a control method for feeding and discharging on the manipulator, which is applied to the manipulator feeding and discharging system matched with the vision positioning in the embodiment, and comprises the following steps: b100, after receiving a processing preparation instruction sent by the machine tool, identifying unprocessed workpieces in the material tray through the first positioning CCD device so as to obtain a first workpiece pose; according to the first workpiece pose, after the pose of a pick-up arm of the manipulator is adjusted, raw workpieces in the material tray are sucked up through one group of material taking assemblies and are moved to a fine positioning position; b200, identifying an unprocessed workpiece on the manipulator through the second positioning CCD device so as to obtain a second workpiece pose; according to the second workpiece pose, adjusting the pose of a pick-up arm of the manipulator so as to adjust the pose of the workpiece on the manipulator; b300, after receiving a last round of machining completion instruction sent by the machine tool, moving the manipulator into the machine tool, sucking up a machined workpiece on the machine tool through another group of material taking assemblies, placing an unprocessed workpiece on the material taking assemblies on the machine tool through moving the manipulator, and after moving the manipulator out of the machine tool, machining the workpiece through the machine tool; b400, after the manipulator moves to the fine positioning position, reversely adjusting the pose of the manipulator according to the pose of the second workpiece, and then placing the processed workpiece in the material tray by moving the manipulator; b500, repeating the steps B100 to B400 until the processing of all the workpieces in the tray is completed.
The technical scheme of the invention also relates to a control method for feeding and discharging on the manipulator, which is applied to the manipulator feeding and discharging system matched with the vision positioning in the embodiment, and comprises the following steps: c100, after receiving a processing preparation instruction sent by any machine tool, identifying unprocessed workpieces in the material tray through the first positioning CCD device so as to obtain a first workpiece pose; according to the first workpiece pose, after the pose of a pick-up arm of the manipulator is adjusted, two unprocessed workpieces in the material tray are sucked up through one group of material taking assemblies and are moved to a fine positioning position; c200, identifying an unprocessed workpiece on the manipulator through the second positioning CCD device so as to obtain a second workpiece pose; according to the second workpiece pose, adjusting the pose of a pick-up arm of the manipulator so as to adjust the pose of the workpiece on the manipulator; c300, after receiving a previous round of processing completion instruction sent by the machine tool, moving the manipulator into the machine tool, sucking up a processed workpiece on the machine tool through another group of material taking components, then placing an unprocessed workpiece on the material taking components on the machine tool through moving the manipulator, and after moving the manipulator out of the machine tool, processing the workpiece through the machine tool; c400, after receiving a processing completion instruction of the previous round sent by another machine tool, moving the manipulator into the other machine tool, sucking up a processed workpiece on the other machine tool through the other group of material taking components, placing an unprocessed workpiece on the material taking components on the other machine tool through moving the manipulator, and after moving the manipulator out of the other machine tool, processing the workpiece through the other machine tool; c500, after the manipulator moves to the fine positioning position, according to the pose of the second workpiece, reversely adjusting the pose of the manipulator, and then placing two processed workpieces in the material tray by moving the manipulator; and C600, repeating the steps C100 to C500 until the processing of all the workpieces in the tray is completed.
The beneficial effects of the invention are as follows. According to the manipulator feeding and discharging system matched with visual positioning and the control method thereof, a visual recognition mode combining coarse positioning and fine positioning is adopted, feeding and discharging are realized by matching with a manipulator, and the production efficiency can be improved. After the manipulator can directly position the workpiece according to the pose of two visual positioning feedback, place the lathe processing station after picking up the workpiece on the charging tray, compare with the locating mode of traditional promotion cylinder cooperation processing, the visual positioning mode that adopts is applicable not unidimensional workpiece location to can reduce the probability that the workpiece was scraped flowers, the manipulator collects the accurate positioning and transfers integrated function simultaneously, reduces the risk that the positioning error that traditional secondary positioning brought goes up and down, is favorable to guaranteeing the high positioning accuracy under the long distance application, is favorable to improving production efficiency. The positions of the first positioning CCD device and the second positioning CCD device are reasonably arranged, so that the compact arrangement of space is realized, the space utilization rate is improved, the operation between multiple components is avoided, the simultaneous operation of multiple components and multiple steps is realized, and the processing efficiency is improved. The manipulator adopts the mode of XYZ triaxial cooperation rotation axis, compares with six degrees of freedom manipulators, and the restriction in space is less, can realize nimble overall arrangement, reduces equipment cost simultaneously. The manipulator is provided with the multiunit and gets material subassembly for the manipulator can directly carry out the replacement of raw materials and finished product in the lathe inside, reduces the number of times that comes and goes between lathe processing station and raw materials material loading station, is favorable to improving work efficiency.
Drawings
Fig. 1 is a first structural schematic diagram of a glass processing line according to an embodiment of the present invention.
Fig. 2 is a second structural schematic diagram of a glass processing line according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a silo mechanism and a transfer mechanism according to an embodiment of the invention.
Fig. 4 is an enlarged view of the structure at a in fig. 3.
Fig. 5 is a schematic structural view of an feeding conveyor belt and a discharging conveyor belt according to an embodiment of the present invention.
Fig. 6 is a schematic structural view of a feeding and a discharging pin according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a transfer mechanism according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a glass processing line according to an embodiment of the present invention.
Fig. 9 is an overall structural view of a supporting machine tool of a glass processing line according to an embodiment of the present invention.
Fig. 10 is an overall cross-sectional view of a companion machine tool of a glass processing line according to an embodiment of the present invention.
FIG. 11 is a control flow diagram of a glass processing line according to an embodiment of the present invention.
Fig. 12 is a control flow diagram of a robotic arm blanking system with associated visual positioning in accordance with an embodiment of the present invention.
Fig. 13 is a control flow diagram of a vision positioning-based production line loading and unloading system according to an embodiment of the present invention.
Fig. 14 is a schematic structural view of a workpiece positioning system of an automated production line according to an embodiment of the present invention.
Fig. 15 is a basic flow chart of a workpiece positioning method of an automated production line according to an embodiment of the present invention.
Reference numerals:
a 100 rack; 110 feedstock zone; 120 finished product area; 130, a manual feeding station; 140 raw material storage areas; 150 raw material feeding stations; 160 manual blanking stations; 170 a finished product storage area; 180 finished product blanking stations; 190 a security grating;
200 bin mechanisms; 210 a feeding conveyor belt; 220 feeding support rods; 230 blanking a conveying belt; 240 blanking supporting rods;
300 machine tools;
400 manipulators; 410 pick up arm; 420 a first shaft; a second axis 430; 440 third axis; a 450 rotation axis; 460 material taking brackets; 470 a material taking sucker; 480 long rods;
500 a first positioning CCD device; 510 a second positioning CCD device;
600 transfer mechanisms; 610 a transfer rail; 620 connecting the brackets; 630 transferring the stent; 640 transferring the sucker;
700 trays; 710 trough; 720 work piece.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention in the drawings. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element without departing from the scope of the present disclosure.
Referring to fig. 1 to 10, the glass processing line according to the present invention includes a frame 100, a machine tool 300, a bin mechanism 200, a robot 400, a first positioning CCD device 500, a second positioning CCD device 510, and a transfer mechanism 600. The left side and the right side of the frame 100 are respectively provided with a raw material area 110 and a finished product area 120, the raw material area 110 is provided with a manual feeding station 130, a raw material storage area 140 and a raw material feeding station 150, and the finished product area 120 is provided with a manual discharging station 160, a finished product storage area 170 and a finished product discharging station 180. The machine tool 300 is used for machining a workpiece 720, and the machine tool 300 is arranged at the side of the frame 100. The bin mechanism 200 is used for storing the tray 700, the bin mechanism 200 is arranged on the frame 100, and the bin mechanism 200 is provided with a feeding conveyor belt 210 for switching the tray 700 between the manual feeding station 130 and the raw material storage area 140, a feeding support rod 220 for switching the tray 700 between the raw material storage area and the raw material feeding station 150, a discharging conveyor belt 230 for switching the tray 700 between the finished product storage area 170 and the finished product discharging station 180, and a discharging support rod 240 for switching the tray 700 between the finished product storage area 170 and the finished product discharging station 180. The robot 400 is used for switching the position of the workpiece 720 between the raw material loading station 150 and the machine tool 300, the robot 400 is arranged on the frame 100, and the robot 400 is provided with a pickup arm 410 for picking up the workpiece 720. The first positioning CCD device 500 is used to identify the pose of the first workpiece 720 at the raw material loading station 150. The second positioning CCD device 510 is used to identify the pose of the second workpiece 720 on the acquisition robot 400. The transfer mechanism 600 is used for transferring the tray 700 from the raw material loading station 150 to the finished product unloading station 180, and the transfer mechanism 600 is arranged on the frame 100. Wherein, the manipulator 400 picks up the workpiece 720 in the tray 700 of the raw material feeding station 150 according to the pose of the first workpiece 720, and the manipulator 400 adjusts the pose of the pick-up arm 410 with the workpiece 720 according to the pose of the second workpiece 720. Further, the manual feeding station 130 is disposed at the front side of the raw material storage area 140, the raw material feeding station 150 is disposed at the upper side of the raw material storage area 140, the manual discharging station 160 is disposed at the front side of the finished product storage area 170, and the finished product discharging station 180 is disposed at the upper side of the finished product storage area 170, so that the overall layout of the bin mechanism 200 is more compact, the height space is fully utilized, and the occupied area of the equipment is reduced.
In some embodiments of the present invention, the frame 100 of the embodiment of the present invention is provided with a manual feeding station 130, a raw material storage area 140, a manual discharging station 160 and a finished product storage station, wherein the manual feeding station 130 and the raw material storage area 140 are disposed in the raw material area 110, and the manual discharging station 160 and the finished product storage station are disposed in the finished product area 120. Referring to fig. 5, the front end and the rear end of the feeding conveyor belt 210 are divided into a manual feeding station 130 and a raw material storage area 140, one side away from the feeding support rod 220 is the manual feeding station 130 of the feeding conveyor belt 210, one side arranged on the feeding support rod 220 is the raw material storage area 140 of the feeding conveyor belt 210, further referring to fig. 6, the upper part of the raw material storage area 140 is arranged as the raw material feeding station 150, and the feeding support rod 220 ascends the tray 700 to the raw material feeding station 150 to be fetched and processed by the standby manipulator 400. Referring to fig. 5, the front end and the rear end of the blanking conveying belt 230 are divided into a manual blanking station 160 and a finished product storage station, wherein one side of the blanking conveying belt 230 is the finished product storage station of the blanking conveying belt 230, and one side of the blanking conveying belt 240 is the manual blanking station 160 of the feeding conveying belt 210, further referring to fig. 6, the finished product storage station is provided with a finished product blanking station 180 above, and the blanking conveying belt 240 ascends the tray 700 to the finished product blanking station 180 so as to standby the manipulator 400 to store the processed workpieces 720 on the tray 700. By dividing the manual feeding station 130 and the raw material storage area 140, dividing the manual discharging station 160 and the finished product storage station, and setting the upper part of the raw material storage area 140 as the raw material feeding station 150 and the upper part of the finished product storage station as the finished product discharging station 180, the machine tool 300 processing and the manual feeding and discharging can be synchronously performed, and the machine tool is beneficial to realizing the processing of a production line without stopping and improves the processing efficiency.
Referring to fig. 9 and 10, the glass processing production line of the embodiment of the present invention is provided with a manipulator 400 for picking and placing a workpiece 720, a bin mechanism 200 for storing a tray 700, and a plurality of machine tools 300 for processing the workpiece 720, the machine tools 300 are provided with an upper feed port and a lower feed port, the manipulator 400 is provided with a first shaft 420, the first shaft 420 is arranged in the machine tools 300 in a penetrating manner through the upper feed port and the lower feed port, so that the workpiece 720 in the bin mechanism 200 is placed in the machine tools 300, or the workpiece 720 is taken out from the machine tools 300 and placed in the tray 700 of the bin mechanism 200, so that the storage of the tray 700 is arranged outside the machine tools 300, and the manipulator 400 enters the machine tools 300 in a non-processing state, thereby being beneficial to avoiding the pollution of processing cutting fluid and processing scraps, and reducing the probability of running interference between different components.
Referring to fig. 11, the control method of the glass processing line according to the present invention is applied to the glass processing line of the above embodiment, and the control method of the glass processing line at least includes the following steps:
e100, detecting whether the manual feeding station 130 finishes manually stacking the trays 700, if yes, transferring the trays 700 from the manual feeding station 130 to the raw material storage area 140 through the feeding conveyor belt 210, and transferring the tray 700 at the topmost surface in the raw material storage area 140 to the raw material feeding station 150 through the feeding supporting rod 220;
E200, after receiving a processing preparation instruction sent by the machine tool 300, identifying and acquiring the pose of the first workpiece 720 on the raw material feeding station 150 through the first positioning CCD device 500 so as to adjust the pose of the pick-up arm 410, picking up unprocessed workpieces 720 in the material taking disc 700 through the pick-up arm 410, and moving to a fine positioning position;
e300, recognizing and acquiring the pose of a second workpiece 720 on the manipulator 400 through a second positioning CCD device 510, adjusting the pose of a pickup arm 410 of the manipulator 400, placing an unprocessed workpiece 720 on the machine tool 300 through the mobile manipulator 400, moving the manipulator 400 out of the machine tool 300, and processing the workpiece 720 through the machine tool 300;
e400, after receiving the current processing instruction of the machine tool 300, moving the manipulator 400 into the machine tool 300 and picking up the processed workpiece 720, and placing the processed workpiece 720 into the tray 700 of the raw material feeding station 150 by the moving manipulator 400;
e500, repeating the steps E200 to E400 until all the workpieces 720 in the tray 700 of the raw material feeding station 150 are processed;
e600, judging whether the finished product blanking station 180 is empty, and if not, transferring the tray 700 from the finished product blanking station 180 to the finished product storage area 170 through a blanking bracket;
E700, after the tray 700 is transferred from the raw material loading station 150 to the finished product unloading station 180 through the transferring support 630, the tray 700 positioned on the top surface in the raw material storage area 140 is transferred to the raw material loading station 150 through the loading support rod 220;
e800, repeating the steps E200 to E700 until all trays 700 currently positioned on the feeding support rods 220 are transferred to the discharging support rods 240;
e900, through the cooperation of the blanking supporting rods 240 and the blanking conveying belt 230, the trays 700 positioned on the blanking supporting rods 240 are all transferred to the manual blanking station 160.
Specifically, the tray 700 is placed in the manual feeding station 130 of the feeding conveyor 210 by operator handling, i.e., on the side of the feeding conveyor 210 remote from the feeding pins 220. When the manual placement of the tray 700 is completed, the feeding conveyor is started to move backward to drive the tray 700 to move onto the feeding pins 220, i.e., the tray 700 reaches the raw material storage area 140, so that the operator can continue to place the next round of tray 700 on the manual feeding station 130 of the feeding conveyor 210. Then, the feeding support rod 220 is moved up to drive the material tray 700 to reach the material feeding station 150, after the first positioning CCD device 500 recognizes the pose of the first workpiece 720, the manipulator 400 takes out the unprocessed workpiece 720 of the material feeding station 150, then, according to the pose of the second workpiece 720 recognized by the first positioning CCD device 500, the manipulator 400 adjusts the pose of the workpiece 720 on the pickup arm 410, places the workpiece 720 in the machine tool 300 for processing, and after the processing of the workpiece 720 is completed, the manipulator 400 takes out the processed workpiece 720 from the machine tool 300 and places the processed workpiece 720 on the material tray 700 of the material feeding station 150. After all of the workpieces 720 in the tray 700 at the raw material loading station 150 are processed, the blanking support rods 240 move upwards to leave the finished product blanking station 180 free, after the transfer mechanism 600 transfers the processed tray 700 from the loading support rods 220 to the blanking support rods 240, that is, after all of the trays 700 on the wheel loading support rods 220 are transferred from the raw material loading station 150 to the finished product blanking station 180, the blanking support rods 240 move downwards after all of the trays 700 on the wheel loading support rods 220 are transferred from the raw material area 110 to the finished product area 120, and the blanking transport belt 230 moves forwards to drive the trays 700 to move to the manual blanking station 160, so that the blanking support rods 240 can rise again to receive the next wheel tray 700, and an operator can carry the trays 700 on the manual blanking station 160 of the blanking transport belt 230. According to the glass processing production line disclosed by the embodiment of the invention, the machine tool 300 processing and the machine tool 300 loading and unloading can be synchronously performed without stopping and waiting during manual loading and unloading, so that the production flow is more compact, and the processing speed of the production line is improved.
Referring to fig. 1 and 2, the loading and unloading system of the manipulator 400 with vision positioning according to the technical scheme of the invention is applied to a glass processing production line, and comprises a frame 100, a machine tool 300, the manipulator 400, a first positioning CCD device 500 and a second positioning CCD device 510. A bin mechanism 200 for storing the tray 700 is provided in the frame 100. The machine tool 300 is used for machining a workpiece 720, and the machine tool 300 is arranged at the side of the frame 100. The robot 400 is used for switching the position of the workpiece 720 between the tray 700 and the machine tool 300, the robot 400 is disposed in the frame 100 and above the magazine mechanism 200, and the robot 400 is provided with a pickup arm 410 for picking up the workpiece 720. The first positioning CCD device 500 is used to identify the pose of the workpiece 720 within the tray 700. The second positioning CCD device 510 is used to identify the pose of the workpiece 720 on the robot 400. Wherein, the manipulator 400 picks up the workpiece 720 in the tray 700 according to the pose of the workpiece 720 identified by the first positioning CCD device 500, and the manipulator 400 adjusts the pose of the pick-up arm 410 according to the pose of the workpiece 720 identified by the second positioning CCD device 510 to place the workpiece 720 in the machine tool 300.
The loading and unloading system of the manipulator 400 matched with visual positioning in the embodiment of the invention is applied to a glass processing production line, after a material tray 700 is placed in a bin mechanism 200 by manual loading, the manipulator 400 can directly position a workpiece 720 according to the positions fed back by two visual positioning, pick up the workpiece 720 on the material tray 700 and place the workpiece 720 on a processing station of a machine tool 300, compared with the positioning mode of matching processing by a traditional pushing cylinder, the CCD positioning mode adopted in the embodiment of the invention can be suitable for positioning workpieces 720 with different sizes, can reduce the probability of scraping the workpiece 720, simultaneously the manipulator 400 integrates the functions of precise positioning and transferring, reduces the risk of lifting of positioning errors caused by the traditional secondary positioning, is beneficial to ensuring high positioning precision under long-distance application and is beneficial to improving production efficiency.
Referring to fig. 12, the method for controlling feeding and discharging of the manipulator 400 according to the technical scheme of the present invention is applied to a feeding and discharging system of the manipulator 400 with matched visual positioning, and the method at least comprises the following steps:
a100, after receiving a processing preparation instruction sent by the machine tool 300, identifying unprocessed workpieces 720 in the material tray 700 through the first positioning CCD device 500 so as to obtain the pose of the first workpieces 720; according to the pose of the first workpiece 720, after the pose of the pick-up arm 410 is adjusted, the unprocessed workpiece 720 in the material taking disc 700 is picked up by the pick-up arm 410 and moved to a fine positioning position;
a200, identifying an unprocessed workpiece 720 on the manipulator 400 through a second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, the pose of the pick-up arm 410 of the manipulator 400 is adjusted to adjust the pose of the workpiece 720 on the manipulator 400;
a300, placing an unprocessed workpiece 720 on the machine tool 300 by moving the manipulator 400, after the manipulator 400 is moved out of the machine tool 300, processing the workpiece 720 by the machine tool 300 until receiving an instruction of completing the current processing by the machine tool 300, moving the manipulator 400 into the machine tool 300 and picking up the processed workpiece 720;
a400, after the manipulator 400 moves to the fine positioning position, according to the pose of the second workpiece 720, the pose of the manipulator 400 is reversely adjusted, and the machined workpiece 720 is placed in the material tray 700 by moving the manipulator 400;
A500, repeating the steps A100 to A400 until the processing of all the workpieces 720 in the tray 700 is completed.
In some embodiments of the present invention, referring to fig. 8, the first axis 420 of the robot 400 is horizontally disposed to achieve a left-right movement, which can facilitate the picking and placing of the workpiece 720 and the spatial layout. Further, the manipulator 400 is further provided with a second shaft 430 moving back and forth and a third shaft 440 moving up and down, the third shaft 440 is disposed on the first shaft 420 to be movable up and down, and the second shaft 430 is disposed at a lower end of the third shaft 440. Further, the manipulator 400 is further provided with a rotation shaft 450, the rotation shaft 450 is disposed on the bottom surface of the second shaft 430, and the pick-up arm 410 is disposed on the lower end of the rotation shaft 450. Further, the manipulator 400 is further provided with a material taking bracket 460 and a material taking sucker 470, the material taking bracket 460 is connected with the lower side of the pick-up arm 410, the material taking sucker 470 is arranged on the bottom surface of the material taking bracket 460, and the workpiece 720 is taken and placed through the material taking sucker 470. It can be appreciated that the material taking sucker 470 can be connected with an air pipe, and the suction force of the material taking sucker 470 can be adjusted by controlling the air pressure to take and place workpieces 720 with different sizes, further, the material taking sucker 470 can also take and place workpieces 720 in different manners such as magnetic attraction, further, the material taking bracket 460 can also be provided with a clamping jaw to take and place workpieces 720. The manipulator 400 of the embodiment of the invention adopts the mode of matching the XYZ three axes with the rotating shaft 450, is less limited by space compared with the manipulator 400 with six degrees of freedom, can realize flexible layout, and simultaneously reduces equipment cost. It is understood that in the manipulator 400 according to the embodiment of the present invention, the first axis 420, the second axis 430 and the third axis 440 correspond to the X axis, the Y axis and the Z axis, respectively.
In some embodiments of the present invention, the manipulator 400 is matched with the first positioning CCD device 500 and the second positioning CCD device 510 to perform positioning of automatic loading and unloading of the workpiece 720. According to the pose of the workpiece 720 fed back by the first positioning CCD device 500 in the tray 700, the manipulator 400 takes out the workpiece 720 to be processed from the tray 700, then feeds back the pose of the workpiece 720 on the manipulator 400 according to the second positioning CCD device 510, the manipulator 400 adjusts the pose of the workpiece 720 on the material taking support 460, which is beneficial for the manipulator 400 to accurately place the workpiece 720 on the processing station of the machine tool 300, so that after the tray 700 is placed in the bin mechanism 200 by manual feeding, the manipulator 400 directly positions the workpiece 720 on the tray 700 on the processing station of the machine tool 300 according to the poses fed back by two visual positioning, compared with the positioning mode of the traditional pushing cylinder matched processing, the CCD positioning mode adopted by the embodiment of the invention can be suitable for positioning the workpieces 720 with different sizes, and can reduce the probability of scraping the workpiece 720, and meanwhile, the first positioning CCD device 500 and the second positioning CCD device 510 can operate synchronously, which is beneficial for improving the production efficiency. It should be noted that, the first positioning CCD device 500 in the embodiment of the present invention adopts a coarse positioning manner, and the second positioning CCD device 510 in the embodiment of the present invention adopts a fine positioning manner, that is, the positioning accuracy of the second positioning CCD device 510 is set to be greater than that of the first positioning CCD device 500, which is favorable for reducing the operation burden of the system and further accelerating the production efficiency.
Referring to fig. 1 to 3, the feeding and discharging system of the production line according to the technical scheme of the present invention is applied to a glass processing production line, and comprises a frame 100, a bin mechanism 200, a manipulator 400 and a transfer mechanism 600. The left and right sides of the frame 100 are provided with a raw material zone 110 and a finished product zone 120, respectively. The bin mechanism 200 comprises a feeding conveying belt 210 and a feeding supporting rod 220 which are arranged in the raw material area 110, a discharging conveying belt 230 and a discharging supporting rod 240 which are arranged in the finished product area 120, wherein the feeding conveying belt 210 and the discharging conveying belt 230 can be arranged on the frame 100 in a front-back rotating manner, the feeding supporting rod 220 and the discharging supporting rod 240 can be arranged on the frame 100 in a vertically movable manner, a plurality of feeding conveying belts 210 and a plurality of feeding supporting rods 220 are arranged at intervals, and a plurality of discharging conveying belts 230 and a plurality of discharging supporting rods 240 are arranged at intervals. Referring to fig. 3 and 4, the length of the feeding conveyor belt 210 is greater than the length of the feeding conveyor belt 220, the length of the discharging conveyor belt 230 is greater than the length of the discharging conveyor belt 240, the upper plane of the feeding conveyor belt 220 is lower than the upper plane of the feeding conveyor belt 210 when the feeding conveyor belt 220 is in the first position, the upper plane of the discharging conveyor belt 240 is lower than the upper plane of the discharging conveyor belt 230 when the discharging conveyor belt 240 is in the second position, and one side of the feeding conveyor belt 210 away from the feeding conveyor belt 220 is used for manual feeding and one side of the discharging conveyor belt 230 away from the discharging conveyor belt 240 is used for manual discharging. The robot 400 takes out or replaces the workpiece 720 in the source region 110 by visual positioning. The transfer mechanism 600 is disposed on the frame 100 to be movable left and right for transferring the tray 700 from the raw material area 110 to the finished product area 120.
According to the production line feeding and discharging system provided by the embodiment of the invention, the bin mechanism 200 and the transfer mechanism 600 are both arranged on the frame 100, the bin mechanism 200 is arranged below the transfer mechanism 600, the bin mechanism 200 is used for storing the material tray 700, the raw material area 110 and the finished product area 120 are arranged, the transfer mechanism 600 is used for transferring the material tray 700 to the finished product area 120 in the raw material area 110, and the position of the material tray 700 can be switched between the raw material area 110 and the finished product area 120, so that automatic production line flow production is realized, the storage of the material tray 700 is arranged outside the machine tool 300, and the manipulator 400 enters the machine tool 300 in a non-processing state, thereby being beneficial to avoiding the pollution of processing cutting fluid and processing waste scraps, reducing the running interference probability among different parts and realizing efficient production line processing.
Specifically, the bin mechanism 200 includes a plurality of feeding conveyor belts 210, a plurality of discharging conveyor belts 230, a plurality of feeding levers 220, and a plurality of discharging levers 240. The feeding conveyor 210 and the discharging conveyor 230 have the same structure and are disposed on the lower side of the frame 100 in a manner of being movable back and forth. The feeding and discharging levers 220 and 240 have the same structure and are respectively disposed at the left and right sides of the frame 100 to be movable up and down. The raw material area 110 and the finished product area 120 are respectively arranged at the left side and the right side of the frame 100, the feeding supporting rods 220 and the feeding conveying belts 210 are arranged in the raw material area 110, a plurality of feeding supporting rods 220 and a plurality of feeding conveying belts 210 are arranged at intervals, the discharging supporting rods 240 and the discharging conveying belts 230 are arranged in the finished product area 120, and a plurality of discharging supporting rods 240 and a plurality of discharging conveying belts 230 are arranged at intervals. The length of the feeding pin 220 is smaller than that of the feeding conveyor belt 210, and when the feeding pin 220 descends to the first position, the feeding pin 220 is disposed between the two feeding conveyor belts 210 and is disposed at one side of the feeding conveyor belt 210, and an upper plane of the feeding pin 220 may be not higher than an upper plane of the feeding conveyor belt 210. The length of the discharging pin 240 is smaller than that of the feeding conveyor 210, and when the discharging pin 240 descends to the second position, the discharging pin 240 is disposed between the two discharging conveyors 230 and is disposed at one side of the discharging conveyor 230, and an upper plane of the discharging pin 240 may be not higher than an upper plane of the discharging conveyor 230. Wherein, the sum of the length of the tray 700 and the length of the feeding support rod 220 is smaller than the length of the feeding conveyor belt 210, so that the placement of the tray 700 at the front side of the feeding conveyor belt 210 does not affect the up-down movement of the feeding support rod 220, and the sum of the length of the tray 700 and the length of the discharging support rod 240 is smaller than the length of the discharging conveyor belt 230, so that the placement of the tray 700 at the front side of the discharging conveyor belt 230 does not affect the up-down movement of the discharging support rod 240.
Referring to fig. 13, the control method of the feeding and discharging system of the production line according to the technical scheme of the present invention is applied to the feeding and discharging system of the production line according to the embodiment of the present invention, and the control method of the feeding and discharging system of the production line at least includes the following steps:
f100, detecting whether the manual stacking of the tray 700 is finished on one side of the feeding conveyor belt 210 away from the feeding support rod 220; if so, judging whether the feeding supporting rod 220 reaches the first position, and if not, moving the feeding supporting rod 220 to the first position; then, the feeding conveyor belt 210 rotates to move the tray 700 onto the feeding pins 220;
f200, lifting the tray 700 on the top surface to a preset first height through the feeding support rod 220, and taking out unprocessed workpieces 720 in the tray 700 on the top surface of the feeding support rod 220 by adopting a visual positioning mode through the manipulator 400 so as to process the workpieces 720; after the processing is finished, the processed workpiece 720 is placed back into the tray 700 on the top surface of the feeding support rod 220 by adopting a visual positioning mode through the manipulator 400;
f300, repeating the step F200 until all the workpieces 720 in the tray 700 on the top surface of the feeding support rod 220 are processed;
f400, the tray 700 positioned on the top surface of the blanking supporting rod 240 is lowered to a preset second height, and the tray 700 positioned on the top surface of the loading supporting rod 220 is transported to the finished product area 120 through the transporting mechanism 600 and is placed on the tray 700 positioned on the top surface of the blanking supporting rod 240;
F500, repeating the steps F200 to F400 until all trays 700 currently on the feeding pin 220 are transferred to the discharging pin 240;
f600, lowering the blanking pin 240 to the second position, and rotating the blanking conveying belt 230 to move the tray 700 to the side of the blanking conveying belt 230 away from the blanking pin 240.
Further, the transfer mechanism 600 is provided with a transfer chuck 640 for sucking up the tray 700, and the control method for sucking up the tray 700 by the transfer chuck 640 of the transfer mechanism 600 at least comprises the following steps:
f410, moving the transferring mechanism 600 to enable the transferring sucker 640 to reach the upper side of the tray 700 on the top surface of the feeding support rod 220;
and F420, lifting the feeding support rod 220 so that the transfer sucker 640 sucks the tray 700.
Specifically, the tray 700 is placed in the manual feeding station 130 of the feeding conveyor 210 through operator carrying, that is, placed on one side, far away from the feeding support rod 220, of the feeding conveyor 210, after the manual placement of the tray 700 is completed, the feeding support rod 220 is lowered until the upper plane of the feeding support rod 220 is not higher than the upper plane of the feeding conveyor 210, that is, the feeding support rod 220 reaches the first position, the feeding conveyor is started to move backwards to drive the tray 700 to move above the feeding support rod 220, so that an operator can continue to place the next round tray 700 on the manual feeding station 130 of the feeding conveyor 210, then move up the feeding support rod 220 to drive the top tray 700 to reach the first height, that is, the top tray 700 reaches the raw material feeding station 150, and the standby manipulator 400 takes out the unprocessed workpiece 720 of the raw material feeding station 150 and places the unprocessed workpiece in the machine tool 300 for processing. When the machining of the workpiece 720 in the machine tool 300 is completed, the robot 400 takes out the machined workpiece 720 from the machine tool 300 and places it on the tray 700 at the first height. When the workpieces 720 in the tray 700 at the raw material loading station 150 are all processed, the blanking pin 240 moves upward to leave the finished product unloading station 180 empty, i.e. the blanking pin 240 moves downward to the second height, and the transfer mechanism 600 transfers the processed top tray 700 from the loading pin 220 to the blanking pin 240. After all trays 700 on the wheel feeding tray 220 are transferred from the raw material area 110 to the finished product area 120, the blanking tray 240 moves downwards until the upper plane of the blanking tray 240 is not higher than the upper plane of the blanking conveyor belt 230, namely, the blanking tray 240 reaches the second position, the upper plane of the blanking conveyor belt 230 is abutted with the lower plane of the trays 700, and the blanking conveyor belt 230 moves forwards to drive the trays 700 to move to the side far away from the blanking tray 240, namely, the trays 700 reach the manual blanking station 160, so that the blanking tray 240 can ascend again to receive the next wheel of trays 700, and an operator can carry the trays 700 on the manual blanking station 160 of the blanking conveyor belt 230. According to the glass processing production line disclosed by the embodiment of the invention, the machine tool 300 processing and the machine tool 300 loading and unloading can be synchronously performed without stopping and waiting during manual loading and unloading, so that the production flow is more compact, and the processing speed of the production line is improved.
It can be understood that referring to fig. 3, the plurality of feeding and discharging levers 220 and 240 have the same structure, the ends of which are connected through connecting rods, the connecting rods are disposed on the lifting guide rails, and the up-and-down movement of the feeding and discharging levers 220 and 240 is achieved through the lifting drive. Further, the connecting rod and the lifting guide rail are disposed on a side of the frame 100 facing away from the manual feeding station 130 and the manual discharging station 160. It can be understood that the plurality of feeding conveyor belts 210 and the plurality of discharging conveyor belts 230 have the same structure, and the ends of the feeding conveyor belts and the plurality of discharging conveyor belts are connected through a linkage rod, and the linkage rod and the conveyor belts are driven to move back and forth.
In some embodiments of the present invention, referring to fig. 3, 5 and 9, machine tools 300 are provided on both sides of the frame 100, an upper guard plate is provided on the top surface of the frame 100, and a rear guard plate is provided on the rear side of the frame 100. The front side middle part (the transfer mechanism 600) of the frame 100 is provided with a front protection plate and an operation panel, and the upper part of the front protection plate is opened, so that the sufficiency of light is guaranteed when the CCD is positioned. Meanwhile, the lower part of the front protection plate is opened, namely the manual feeding station 130 and the manual discharging station 160 on the front side of the frame 100 are opened, so that manual feeding and discharging are facilitated, further, two safety gratings 190 are arranged on the frame 100, the two safety gratings 190 are respectively arranged on the left side and the right side of the frame 100, and are respectively arranged on the side edge of the manual feeding station 130 and the side edge of the manual discharging station 160, so that the problem that dangerous is caused when foreign matters enter a movement area during equipment movement is solved.
Referring to fig. 2 and 3, a transfer mechanism 600 according to an embodiment of the present invention is disposed in the middle of the frame 100 and above the magazine mechanism 200. The transferring mechanism 600 comprises a transferring guide rail 610, a connecting bracket 620 and a transferring bracket 630 for taking and placing the tray 700, wherein one side of the connecting bracket 620 is connected with the transferring guide rail 610 in a left-right sliding manner, and the other side of the connecting bracket 620 is fixedly connected with the transferring bracket 630. Referring to fig. 3 and 4, a transfer rail 610 is provided through the raw material area 110 and the finishing area 120 so that a transfer bracket 630 can drive the tray 700 to switch positions between the raw material area 110 and the finishing area 120. The transfer guide rail 610 is disposed on one side of the frame 100 facing away from the feeding support rod 220 and the discharging support rod 240, one side of the transfer guide rail 610 is disposed above the manual feeding station 130 of the feeding conveyor belt 210, and the other side of the transfer guide rail 610 is disposed above the manual discharging station 160 of the discharging conveyor belt 230. Referring to fig. 7, when the transferring rack 630 is located in the raw material area 110, that is, when the connecting rack 620 is located above the manual feeding station 130, the transferring rack 630 is located above the feeding pin 220, and the tray 700 on the feeding pin 220 is taken out, and when the transferring rack 630 is located in the finished product area 120, that is, when the connecting rack 620 is located above the manual discharging station 160, the transferring rack 630 is located above the discharging pin 240, and the tray 700 on the discharging pin 240 is taken out.
Specifically, when the feeding support rod 220 drives the a-tray 700 to reach the raw material feeding station 150, so that the upper plane of the a-tray 700 reaches the set first height, the manipulator 400 takes out the workpieces 720 to be processed in the a-tray 700 one by one and places the workpieces 720 on the machine tool 300 for processing, the manipulator 400 takes out the workpieces 720 and places the workpieces back on the a-tray 700 after the processing of the workpieces 720 is completed, and after all the workpieces 720 in the a-tray 700 are completed, the transferring support 630 and the connecting support 620 move along the transferring guide rail 610, so that the transferring support 630 reaches the upper side of the a-tray 700, and meanwhile, the discharging support 240 drives the B-tray 700 to move downwards to the set second height, the transferring support 630 transfers the a-tray 700 from the raw material feeding station 150 to the finished product discharging station 180 and stacks on the B-tray 700, thereby completing the transferring of the tray 700 from the raw material area 110 to the finished product area 120. The feeding tray 700 on the top surface reaches the preset height (the raw material feeding station 150 and the finished product discharging station 180) through the feeding tray 220 and the discharging tray 240 with the lifting function, the requirement of the transfer mechanism 600 for taking and discharging the tray 700 at the fixed height is met, and the tray 700 can be transferred from the raw material area 110 to the finished product area 120 in mid-air through the left-right movement function of the transfer mechanism 600, so that the feeding tray 700 is not interfered with manual feeding and discharging, the synchronous feeding and discharging of the machine tool 300 is realized, the stacking and placing of a plurality of trays 700 on the feeding tray 220 and the discharging tray 240 along the vertical direction is realized, and the frequency of manual feeding and discharging is reduced.
According to the bin mechanism 200 provided by the embodiment of the invention, the front end and the rear end of the feeding conveyor belt 210 are divided into the manual feeding station 130 and the raw material storage area 140, the front end and the rear end of the discharging conveyor belt 230 are divided into the manual discharging station 160 and the finished product storage station, the manual feeding and discharging and the automatic feeding and discharging of the machine tool 300 are separately arranged, the manual feeding and discharging without stopping can be realized, the raw material storage area 140 is arranged above the raw material storage area 140, the finished product storage area 170 is arranged above the finished product storage station, the transfer mechanism 600 is arranged above the manual feeding station 130 and the manual discharging station 160, the vertical space is fully utilized, the occupied area of equipment is obviously reduced, and the position of the material tray 700 in a plurality of areas is switched through the feeding conveyor belt 210 and the discharging conveyor belt 230 which can move forwards and backwards, the feeding support 220 and the discharging support 240 which can move leftwards and rightwards, and the transfer support 630 which can move leftwards and rightwards.
In some embodiments of the present invention, referring to fig. 2 and 7, the transfer mechanism 600 further includes a transfer suction cup 640 for sucking up the tray 700, and the transfer suction cup 640 is disposed at the lower side of the transfer bracket 630. When the transferring support 630 reaches the upper part of the material tray 700, the feeding supporting rod 220 ascends, so that after the transferring sucker 640 contacts with the material tray 700 to suck tightly, the material tray 700 moves along with the transferring support 630, and the feeding supporting rod 220 with the lifting function and the discharging supporting rod 240 are matched with the material taking sucker 470, so that the material tray 700 is sucked tightly by the transferring mechanism 600, and the structure is simplified. Further, the transporting sucker 640 can be connected with an air pipe, the suction force of the transporting sucker 640 is adjusted by controlling air pressure, the transporting of the trays 700 with different sizes is achieved, further, the transporting sucker 640 can also take and put the trays 700 in different modes such as magnetic attraction, further, the clamping jaw can be arranged on the transporting bracket 630, and the taking and putting of the trays 700 are achieved.
In some embodiments of the present invention, the transferring mechanism 600 of the present invention is disposed between the bin mechanism 200 and the manipulator 400, referring to fig. 2, the transferring bracket 630 is disposed below the material taking bracket 460 and above the material loading supporting rod 220 or the material unloading supporting rod 240, and the transferring bracket 630 is disposed below the material taking sucker 470, so that collision between the transferring mechanism 600 and the manipulator 400 is avoided, and synchronous operation between the transferring mechanism 600 and the manipulator 400 is facilitated. Further, referring to fig. 1 and 2, the first positioning CCD device 500 is disposed on the top surface of the frame 100 and above the first shaft 420 of the manipulator 400, so that an image of the upper surface of the material taking tray 700 is taken from above to position the workpiece 720 in the material taking tray 700, meanwhile, the second positioning CCD device 510 is disposed below the transfer sucker 640 and between the feeding supporting rod 220 and the discharging supporting rod 240, an image of the manipulator 400 and the workpiece 720 is taken from below to obtain the position of the workpiece 720 on the material taking sucker 470, and according to the positioning characteristics of each positioning CCD device, the positions of the first positioning CCD device 500 and the second positioning CCD device 510 are reasonably set to realize compact arrangement of space, improve the space utilization rate, and facilitate avoiding the collision between multiple components, realize multiple steps of simultaneous operation, and improve the processing efficiency.
The embodiment is described herein, a plurality of material grooves 710 for placing the workpieces 720 are provided on the material tray 700 according to the embodiment of the invention, after the unprocessed workpieces 720 are loaded into each material groove 710, the plurality of material trays 700 are stacked on the manual loading station 130 by manual operation, then the material tray 700 is transported to the raw material storage area 140 by the backward rotation of the loading conveyor 210, the material tray 700 is transported to the raw material loading station 150 by the upward movement of the loading support rod 220, after the material tray 700 on the top surface is at the set first height, the manipulator 400 moves into the raw material area 110 along the first axis 420, the material taking support 460 reaches the material tray 700 above the material tray 700 of the loading support rod 220, the pose of the workpiece 720 to be processed in the material groove 710 is identified according to the first positioning CCD device 500, the manipulator 400 moves along the first axis 420, the second axis 430, the third axis 440 and the rotation axis 450, the workpiece 720 is sucked out after the material tray 470 contacts with the preset position of the workpiece 720, the manipulator 400 drives the workpiece 720 to move to the position, the workpiece 400 moves into the machine tool 300 by the second positioning device 720, the position of the workpiece 300 is controlled by the second positioning device, the workpiece 400 is placed in the machine tool 300, and the position of the machine tool 300 is adjusted, the workpiece 300 is placed in the machine tool 300, and the machine tool 300 is placed in the position 300 is adjusted, and the machine tool 300 is placed in the machine tool 300, and the position is required to be in the machine tool 300, and the machine tool 300 is placed. The manipulator 400 again takes out the workpiece 720 in the other trough 710 of the top fabric tray 700, puts the workpiece 720 into the empty trough 710 after being processed by the machine tool 300 until after all the workpieces 720 of the trough 710 in the top fabric tray 700 are processed, the discharging support rods 240 move up to a set second height, the transfer mechanism 600 moves above the tray 700 of the charging support rods 220, the top fabric tray 700 is sucked up by the lifting of the charging support rods 220 and the matching of the material taking suction disc 470, and then moves rightward along the transfer guide rail 610, so that the tray 700 is transferred from the raw material area 110 to the finished product area 120 and reaches the finished product discharging station 180, and the transfer mechanism 600 places the tray 700 on the tray 700 of the discharging support rods 240 to realize the stacking of the tray 700. After all trays 700 of the wheel feeding pin 220 are transferred from the raw material area 110 to the finished product area 120, the blanking pin 240 drives the trays 700 to move downwards, so that the trays 700 are abutted with the blanking conveying belt 230, the blanking conveying belt 230 rotates to enable the trays 700 to move forwards to reach the manual blanking station 160, an operator takes the trays 700 with processed workpieces 720 out of the manual blanking station 160, and meanwhile, the blanking pin 240 moves upwards to process the next wheel of trays 700.
In some embodiments of the present invention, the manipulator 400 of embodiments of the present invention is provided with multiple sets of take-off assemblies, each set of take-off assemblies including multiple take-off suction cups 470. In some embodiments, the robot 400 is provided with two sets of pick-up assemblies, each set having a plurality of pick-up chucks 470 thereon, wherein one set of pick-up assemblies is used to pick up unprocessed workpieces 720 in the pick-up chuck 700 and the other set of pick-up assemblies is used to pick up processed workpieces 720 in the machine tool 300. In this description, it is assumed that the manipulator 400 is provided with a first material taking component and a second material taking component, the first material taking component sucks the workpiece 720 to be processed of the raw material loading station 150 and enters the machine tool 300, after the second material taking component sucks the processed workpiece 720 on the machine tool 300 by moving the manipulator 400, the workpiece 720 on the first material taking component is placed on the processing station of the machine tool 300 by moving the manipulator 400, and then the manipulator 400 moves out of the machine tool 300, and the processed workpiece 720 on the second material taking component is placed on the tray 700 of the raw material loading station 150, so that the manipulator 400 can directly replace raw materials and finished products inside the machine tool 300, and the number of round trips between the processing station of the machine tool 300 and the raw material loading station 150 is reduced, which is beneficial to improving the working efficiency.
Referring to fig. 8, a material taking bracket 460 of the embodiment of the invention is a rectangular frame, the length direction of the frame is the same as the direction of a first shaft 420 of a manipulator 400, the width direction of the frame is the same as the direction of a second shaft 430 of the manipulator 400, a plurality of parallel long rods 480 are arranged in an outer frame of the material taking bracket 460, the length direction of the long rods 480 is the same as the direction of the second shaft 430 of the manipulator 400, and a plurality of material taking suckers 470 are connected to the lower side of the long rods 480. The plurality of long rods 480 are parallel to each other, and the take-out suction cups 470 located at the same position on each long rod 480 are on the same line parallel to the first axis 420. In some embodiments, the take-out support 460 of the present invention is provided with four long rods 480, and four take-out suction cups 470 are provided on each long rod 480, thereby forming four rows of take-out suction cups 470, each row of take-out suction cups 470 being disposed along the first axis 420. Further, the two rows of material taking suction cups 470 at the front side of the manipulator 400 form a group of material taking assemblies, and the two rows of material taking suction cups 470 at the rear side of the manipulator 400 form another group of material taking assemblies, further, the material taking assembly at the front side is used for sucking up the unprocessed workpiece 720, and the material taking assembly at the rear side is used for sucking up the processed workpiece 720.
Further, the method for controlling feeding and discharging of the manipulator 400 according to the embodiment of the present invention is applied to a feeding and discharging system of the manipulator 400 with matched visual positioning, wherein the manipulator 400 is provided with two groups of material taking components, and the method for controlling feeding and discharging of the manipulator 400 at least comprises the following steps:
b100, after receiving a processing preparation instruction sent by the machine tool 300, identifying unprocessed workpieces 720 in the tray 700 through the first positioning CCD device 500 to obtain the pose of the first workpieces 720; according to the pose of the first workpiece 720, after the pose of the pick-up arm 410 of the manipulator 400 is adjusted, the unprocessed workpiece 720 in the tray 700 is sucked up through one group of material taking components and moved to a fine positioning position;
b200, identifying an unprocessed workpiece 720 on the manipulator 400 through a second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, the pose of the pick-up arm 410 of the manipulator 400 is adjusted to adjust the pose of the workpiece 720 on the manipulator 400;
b300, after receiving a last round of processing completion instruction sent by the machine tool 300, moving the manipulator 400 into the machine tool 300, sucking up a processed workpiece 720 on the machine tool 300 through another group of material taking components, placing an unprocessed workpiece 720 on the material taking components on the machine tool 300 through the moving manipulator 400, moving the manipulator 400 out of the machine tool 300, and processing the workpiece 720 through the machine tool 300;
B400, after the manipulator 400 moves to the fine positioning position, according to the pose of the second workpiece 720, the pose of the manipulator 400 is reversely adjusted, and then the machined workpiece 720 is placed in the material tray 700 by moving the manipulator 400;
b500, repeating the steps B100 to B400 until the processing of all the workpieces 720 in the tray 700 is completed.
In some embodiments of the present invention, the manipulator 400 of the embodiment of the present invention is provided with two sets of material taking components, and correspondingly, the glass processing line of the embodiment of the present invention is provided with two machine tools 300, and the two machine tools 300 are symmetrically disposed at the left end and the right end of the first shaft 420 of the manipulator 400. Specifically, two rows of material taking suction cups 470 at the front side of the manipulator 400 form a group of material taking assemblies, two rows of material taking suction cups 470 at the rear side of the manipulator 400 form another group of material taking assemblies, wherein after two unprocessed workpieces 720 are simultaneously taken out through one group of material taking assemblies according to the positions of the workpieces 720 in the material tray 700 fed back by the first positioning CCD device 500, the manipulator 400 simultaneously adjusts the positions of the unprocessed workpieces 720 on the two suction cups according to the feedback of the second positioning CCD device 510, the manipulator 400 enters one of the machine tools 300 and sucks the processed workpieces 720 through the other group of material taking assemblies, one of the unprocessed workpieces 720 is placed on a processing station of the current machine tool 300, then the manipulator 400 moves out of the current machine tool 300 and moves along the first shaft 420 to reach the other machine tool 300, the unprocessed workpieces 720 on the other machine tool 300 are sucked up through an empty suction tray on the other group of material taking assemblies, then the unprocessed workpieces 720 are placed on the processing station of the current machine tool 300, the two unprocessed workpieces 720 are driven to move out of the current machine tool 300, and the two unprocessed workpieces 720 are placed on the processing station of the raw materials at the position of the machine tool 300 according to the visual positioning result, so that the number of times of the machine tools 300 is reduced and the processing stations of the machine tool 300 is increased, and the number of times of processing stations of the machine tools is increased between the machine tools 300 and the machine tool stations is positioned by the visual machine tool 400.
It can be understood that the glass production line of the embodiment of the present invention may be provided with a plurality of machine tools 300, the first shaft 420 of the manipulator 400 is penetrating through the plurality of machine tools 300, and further, the number of rows of the material taking suction cups 470 of each material taking component is the same as the number of the machine tools 300, so that the machining loading and unloading of the plurality of machine tools 300 can be performed by the manipulator 400 according to the feedback result of the first positioning CCD device 500 and the feedback result of the second positioning CCD device 510, and the one-time visual positioning result of the two CCD devices can be used for loading and unloading positioning of the plurality of machine tools 300.
Further, the method for controlling loading and unloading of the manipulator 400 according to the embodiment of the present invention is applied to a loading and unloading system of the manipulator 400 with matched visual positioning, referring to fig. 9, the machine tool 300 is provided with two, the manipulator 400 is provided with a material taking assembly for sucking up two unprocessed workpieces 720 and a material taking assembly for sucking up two processed workpieces 720, and the method for controlling loading and unloading of the manipulator 400 at least comprises the following steps:
c100, after receiving a ready-to-process instruction sent by any machine tool 300, identifying an unprocessed workpiece 720 in the tray 700 by the first positioning CCD device 500 to obtain the pose of the first workpiece 720; according to the pose of the first workpiece 720, after the pose of the pick-up arm 410 of the manipulator 400 is adjusted, two unprocessed workpieces 720 in the tray 700 are sucked up through one group of material taking components and are moved to a fine positioning position;
C200, identifying an unprocessed workpiece 720 on the manipulator 400 through a second positioning CCD device 510 to obtain the pose of the second workpiece 720; according to the pose of the second workpiece 720, the pose of the pick-up arm 410 of the manipulator 400 is adjusted to adjust the pose of the workpiece 720 on the manipulator 400;
c300, after receiving the previous round of processing completion instruction sent by the machine tool 300, moving the manipulator 400 into the machine tool 300, sucking up the processed workpiece 720 on the machine tool 300 through another group of material taking components, then placing the unprocessed workpiece 720 on the material taking components on the machine tool 300 through moving the manipulator 400, moving the manipulator 400 out of the machine tool 300, and then processing the workpiece 720 through the machine tool 300;
c400, after receiving a previous round of processing completion instruction sent by the other machine tool 300, moving the manipulator 400 into the other machine tool 300, sucking up the processed workpiece 720 on the other machine tool 300 through the other group of material taking components, placing the unprocessed workpiece 720 on the material taking components on the other machine tool 300 through the manipulator 400, moving the manipulator 400 out of the other machine tool 300, and processing the workpiece 720 through the other machine tool 300;
c500, after the manipulator 400 moves to the fine positioning position, according to the pose of the second workpiece 720, the pose of the manipulator 400 is reversely adjusted, and then the two processed workpieces 720 are placed in the tray 700 by moving the manipulator 400;
And C600, repeating the steps C100 to C500 until the processing of all the workpieces 720 in the tray 700 is completed.
In the description of one embodiment, it is assumed that the robot 400 is provided with a first material taking assembly and a second material taking assembly, the material taking assembly at the front side is used as the first material taking assembly, the first material taking assembly is used for sucking up the unprocessed workpiece 720, the material taking assembly at the rear side is used as the first material taking assembly, and the first material taking assembly is used for sucking up the processed workpiece 720. When processing is started, after the pose of the workpiece 720 in the tray 700 is fed back through the first positioning CCD device 500, the manipulator 400 moves to enable the first material taking component to reach the upper side of two adjacent workpieces 720 located at the rear side of the tray 700, and at this time, the second material taking component and the tray 700 are arranged in a staggered manner. After the manipulator 400 moves down and then sucks up two workpieces 720 on the rear side through the first material taking assembly, and then the pose of the workpieces 720 on the manipulator 400 is adjusted according to feedback of the second positioning CCD device 510, the manipulator 400 moves along the first axis 420 to reach the first machine tool 300 on the left side, after the machined workpieces 720 are sucked up through the rear material taking chuck 470 of the second material taking assembly, the unprocessed workpieces 720 on the rear material taking chuck 470 of the first material taking assembly are placed on the machining station of the first machine tool 300, then the manipulator 400 moves out of the first machine tool 300 on the left side and enters the second machine tool 300 on the right side, after the machined workpieces 720 of the second machine tool 300 are sucked up through the front material taking chuck 470 of the second material taking assembly, the unprocessed workpieces 720 of the front material taking chuck 470 of the first material taking assembly are placed on the machining station of the second machine tool 300 on the right side, and according to the feedback result of the second positioning CCD device, the manipulator 400 moves out two machined workpieces 720 on the right side and reaches the fine positioning position. When the manipulator 400 reaches the upper side of the tray 700 of the raw material feeding station 150, two workpieces 720 on the second material taking component are respectively located above two material grooves 710 on the rear side of the tray 700, meanwhile, two rows of material taking suction cups 470 of the first material taking component are respectively located above two material grooves 710 on the front side of the tray 700, the manipulator 400 drives the material taking support 460 to move downwards, so that the processed workpieces 720 of the second material taking component are placed in the rear material groove 710, meanwhile, the material taking suction cups 470 of the first material taking component are in contact with unprocessed workpieces 720 in the front material groove 710, and therefore, when the manipulator 400 drives the material taking support 460 to ascend by respectively controlling suction of the second material taking component and the first material taking component, the material taking suction cups 470 of the second material taking component are separated from the workpieces 720, and meanwhile, the material taking suction cups 470 of the first material taking component suck up two other unprocessed workpieces 720 to enter the next production line for processing. It should be noted that, in the embodiment of the present invention, the interval between two adjacent material taking suction cups 470 on the same long rod 480 is matched with the interval between two adjacent material grooves 710, so as to implement that one group of material taking components place the workpiece 720 while the other group of material taking components take out the workpiece 720, which is beneficial to improving the processing efficiency.
Referring to fig. 14, the glass processing line of the embodiment of the present invention is provided with a vision rough positioning system, a vision fine positioning system, a robot 400 console, and a CNC processing system. First, the vision rough positioning system feeds back the vision recognition result of the first positioning CCD device 500 on the workpiece 720 in the tray 700 to the console of the manipulator 400, so as to pick up the unprocessed workpiece 720 in the tray 700 after the posture adjustment of the manipulator 400. Then, the vision fine positioning system feeds back the vision recognition result of the second positioning CCD device 510 on the workpiece 720 on the manipulator 400 to the console of the manipulator 400, so as to adjust the pose of the workpiece 720 on the chuck through the manipulator 400. Next, the workpiece 720 on the machining station of the machine tool 300 is replaced by the movement of the robot 400 according to the machining completion instruction of the workpiece 720 sent by the CNC machining system. Finally, the console of the manipulator 400 performs inverse adjustment of the pose of the workpiece 720 according to the recognition result of the visual precise positioning system, so as to put the processed workpiece 720 into the trough 710 of the tray 700. According to the workpiece 720 positioning method of the glass processing production line, a mode that the manipulator 400 is matched with visual recognition to position the workpiece 720 is adopted, a software system can be used for changing a calibration template to adapt to the positioning requirements of workpieces 720 in different shapes, and the workpiece 720 positioning method is beneficial to improving the processing efficiency, reducing the production cost and avoiding the problem of scratching the workpiece 720 caused by pushing of a cylinder compared with the traditional mode that a clamp is matched with the workpiece 720 is required to be replaced.
Referring to fig. 15, the workpiece 720 positioning method of the automated production line according to the present invention is applied to a glass processing production line of an embodiment of the present invention, the glass processing production line is provided with a tray 700 for storing the workpiece 720, a machine tool 300 for processing the workpiece 720, a robot 400 for switching the position of the workpiece 720 between the tray 700 and the machine tool 300, a first positioning CCD device 500 for recognizing the pose of the workpiece 720 in the tray 700, and a second positioning CCD device 510 for recognizing the pose of the workpiece 720 on the robot 400, and the robot 400 is provided with a pickup arm 410 for picking up the workpiece 720. The method at least comprises the following steps:
d100, recognizing and obtaining the pose of the first workpiece 720 in the tray 700 through the first positioning CCD device 500, and calibrating according to the pre-introduced workpiece 720 module of the tray 700 to generate a first deviation value;
d200, calculating to obtain a first posture compensation according to the distance between the rotation center of the manipulator 400 and the center of the pick-up arm 410, and picking up unprocessed workpieces 720 in the material taking disc 700 by the manipulator 400 after adjusting the posture of the manipulator 400 according to the first posture compensation;
d300, when the manipulator 400 is detected to reach the precise positioning position, recognizing and acquiring the pose of a second workpiece 720 on the manipulator 400 through a second positioning CCD device 510, calibrating according to a pre-imported arm end workpiece 720 template to generate a second deviation value, and obtaining second pose compensation through calculation;
D400, according to the second posture compensation, after the posture of the workpiece 720 on the manipulator 400 is adjusted, the adjusted workpiece 720 is placed on the processing station of the machine tool 300 through the manipulator 400.
Further, the method comprises the steps of,
d500, after receiving the instruction of finishing the current machining of the machine tool 300, moving the manipulator 400 into the machine tool 300 and picking up the machined workpiece 720;
d600, after the manipulator 400 moves to the fine positioning position, according to the pose of the second workpiece 720, reversely adjusting the pose of the manipulator 400, and then placing the processed workpiece 720 in the tray 700 by moving the manipulator 400;
d700, repeating the steps D100 to D600 until the processing of all the workpieces 720 in the tray 700 is completed.
In some embodiments of the present invention, the first positioning CCD device 500 of the present invention is used to identify the pose of the workpiece 720 on the tray 700, so as to enable the manipulator 400 to take out the workpiece 720 in the trough 710 of the tray 700 or put the workpiece 720 into the trough 710 of the tray 700. Specifically, the rough visual positioning control console determines the template a of the workpiece 720 of the tray 700 through the imported standard drawing files, such as loading CAD drawings, and the subsequent recognition result of the tray 700 is calibrated according to the template a of the workpiece 720 of the tray 700. In the process of visual identification of the first positioning CCD device 500, the coarse visual positioning console obtains a first X-axis (first axis 420) deviation value Deltax in the coordinate system C according to the calibration result a First deviation value delta Y of Y axis (second axis 430) a And a first deviation value Deltar of the rotation axis 450R a Then according to the distance l between the rotation center of the manipulator 400 and the center of the pick arm 410 x And l y Converted pickup first attitude compensation comp1 x 、comp1 y And comp1 r . Calculation to obtain comp1 x 、comp1 y And comp1 r After that, the manipulator 400 controlsThe workpiece 720 in the tray 700 is picked up after the gesture of the manipulator 400 is adjusted by the manufacturing station, so that the relative relation between the visual coarse positioning system and the picking up of the manipulator 400 is established.
Wherein, the attitude compensation 1 of the first positioning CCD device 500 is calculated by the following algorithm:
wherein comp1 x 、comp1 y And comp1 r Representing X-axis first attitude compensation, Y-axis first attitude compensation, and rotation axis 450 first attitude compensation, i.e., comp1, respectively x 、comp1 y And comp1 r The first axis 420 first attitude compensation, the second axis 430 first attitude compensation, and the rotation axis 450 first attitude compensation are represented, respectively. Δx a 、Δy a And Deltar a Representing the X-axis first deviation value, Y-axis first deviation value and rotation axis 450 first deviation value, delta X, respectively, in the coordinate system C a 、Δy a And Deltar a The first axis 420 first offset value, the second axis 430 first offset value, and the rotation axis 450 first offset value in the coordinate system C are represented, respectively. l (L) x And l y Representing the X-axis distance and Y-axis distance between the center of rotation of the robot 400 and the center of the pick arm 410, i.e./respectively x And l y The first axis 420 distance and the second axis 430 distance between the center of rotation of the robot 400 and the center of the pick arm 410 are shown, respectively.
Further, in the tray 700 according to the embodiment of the present invention, the intervals of two adjacent material grooves 710 are equal and parallel to each other, so that the offset angles of all the workpieces 720 in the same tray 700 are the same, after any workpiece 720 in the tray 700 is identified by the first positioning CCD device 500, the posture of the manipulator 400 is adjusted according to the generated posture compensation 1, and then the compensation values of other workpieces 720 in the same tray 700 can be obtained by calculating according to the interval setting of the material grooves 710, so that the compensation values of a plurality of workpieces 720 in the same tray 700 can be obtained by one-time CCD visual identification, which is beneficial to improving the processing efficiency. Further, in the manipulator 400 according to the embodiment of the present invention, the interval between two adjacent material taking suction cups 470 on the same long rod 480 is set according to the interval between two adjacent material tanks 710, so that when one row of material taking suction cups 470 contacts with the preset position of the workpiece 720 in one of the material tanks 710, the other row of material taking suction cups 470 which contacts with the material taking suction cup 470 just contacts with the preset position of the workpiece 720 in the other adjacent material tank 710, thereby enabling the manipulator 400 to pick up multiple workpieces 720 simultaneously according to the primary identification result, which is beneficial to improving the production efficiency.
In some embodiments of the present invention, the second positioning CCD device 510 of the present invention is configured to adjust the pose of the workpiece 720 on the manipulator 400, so that the pose of the workpiece 720 on the manipulator 400 meets the pose requirement of the workpiece 720 at the processing station of the machine tool 300, and replaces the conventional manner of positioning the workpiece 720 by matching a matched fixture with a pushing cylinder. Specifically, the precision vision positioning control console picks up the standard component through the pick-up arm 410 to define each characteristic point of the standard component, so as to determine the template b of the workpiece 720 at the arm end, and the recognition result of the workpiece 720 at each subsequent time is calibrated according to the template b of the workpiece 720 at the arm end. In the visual recognition process of the second positioning CCD device 510, after the posture of the manipulator 400 is adjusted, the precision visual positioning console recognizes according to the template b of the arm end workpiece 720, and obtains an X-axis deviation value Deltax with higher precision under the coordinate system C b Y-axis deviation value Deltay b And a rotation axis 450R deviation Deltar b Calculate the second attitude compensation comp2 x 、comp2 y And comp2 r The robot 400 control console adjusts the posture of the workpiece 720 by the robot 400 and then places the workpiece on the machining station of the machine tool 300.
Wherein, the attitude compensation 2 of the second positioning CCD device 510 is calculated by the following algorithm:
wherein comp2 x 、comp2 y And comp2 r Representing X-axis second attitude compensation, Y-axis second attitude compensation, and rotation axis 450 second attitude compensation, i.e., comp2, respectively x 、comp2 y And comp2 r Representing the first axis 420 second attitude compensation, the second axis 430 second attitude compensation, and the rotation axis 450 second attitude compensation, respectively. Δx a 、Δy a And Deltar a Representing the X-axis second deviation value, Y-axis second deviation value and rotation axis 450 second deviation value, respectively, in the coordinate system C, i.e., deltax a 、Δy a And Deltar a The first axis 420 second deviation value, and the rotation axis 450 second deviation value in the coordinate system C are represented, respectively.
Further, the fine visual positioning control console judges whether the current second compensation value exceeds the tolerance according to a preset compensation threshold value. If the compensation value exceeds the error, the visual recognition is performed again through the second positioning CCD device 510, and the calculation of the X-axis second posture compensation, the Y-axis second posture compensation and the rotation axis 450 second posture compensation is performed until the compensation value is within the set range, and then the relative relation between the visual precise positioning system and the manipulator 400 is established. After the manipulator 400 adjusts the position of the workpiece 720 on the chuck, the workpiece is fed back to the CNC processing system, and after the standby bed 300 finishes processing the workpiece 720, the manipulator 400 moves into the machine tool 300 to replace the workpiece 720.
Further, in order to reduce errors of the visual fine positioning system and the CNC machining system, multiple fine positioning recognition is introduced, and comp2 is compensated through the second posture x 、comp2 y And comp2 r The gesture of the manipulator 400 is adjusted for multiple times, so that the compensation value is more towards zero, and the machining precision is improved. In the workpiece 720 positioning method of the automated production line in the embodiment of the invention, the second positioning CCD device 510 is adopted to identify and acquire the second posture compensation, and the method at least comprises the following steps:
d310, judging whether the current second compensation value exceeds the error or not according to a preset compensation threshold value;
d320, if yes, re-identifying the pose of the second workpiece 720 on the manipulator 400 through the second positioning CCD device 510, re-calibrating according to the pre-imported arm end workpiece 720 template to generate a new second deviation value, calculating to obtain a new second pose compensation, and replacing the current second compensation value with the new second pose compensation;
and D330, if not, outputting the finally obtained second attitude compensation.
Further, in the tray 700 and the manipulator 400 according to the embodiments of the present invention, the intervals between two adjacent material tanks 710 are equal and parallel to each other, so that the offset angles of all the workpieces 720 in the same tray 700 are the same, and the intervals between two adjacent material taking suction cups 470 on the same long rod 480 are set according to the interval between two adjacent material tanks 710, so that when one row of material taking suction cups 470 contacts with the preset position of the workpiece 720 in one material tank 710, the other row of material taking suction cups 470 contacts with the preset position of the workpiece 720 in the other material tank 710, the manipulator 400 can pick up multiple workpieces 720 in the same tray 700 at the same time, and the offset values of the different workpieces 720 picked up by the manipulator 400 at the same time are the same, so that after the gesture of the manipulator 400 is identified and adjusted according to the second positioning CCD device 510, gesture compensation of the multiple workpieces 720 on the manipulator 400 can be realized, and when the workpiece 720 is placed on the machine tool 300, the gesture of the workpiece 720 is properly adjusted according to the interval between two adjacent long rods 480, thereby being beneficial to improving the processing efficiency.
It can be appreciated that, for the case of higher processing precision requirement, the manipulator 400 is adopted to pick up only one workpiece 720 at a time and pick up the workpiece 720 each time to identify the workpiece 720 through the first positioning CCD device 500 and the second positioning CCD device 510, which is favorable for improving the processing precision of the workpiece 720 and meeting different processing requirements.
In some embodiments of the present invention, the glass processing line of the present invention is provided with two machine tools 300, and the two machine tools 300 are symmetrically disposed at the left and right ends of the first shaft 420 of the robot 400. Wherein, both machine tools 300 are used for processing the same working procedure on the workpiece 720, or both machine tools 300 are respectively used for processing different working procedures of the workpiece 720, thereby realizing simultaneous processing of the two workpieces 720 and being beneficial to improving the production efficiency. Further, when two machine tools 300 are used to perform the same process processing, the two machine tools 300 may be set to perform the processing of the workpiece 720 synchronously, or may be set to perform the processing of the workpiece 720 asynchronously.
The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.
Claims (10)
1. A robotic arm (400) loading and unloading system for use with a vision positioning system, comprising:
the feeding device comprises a rack (100), wherein a bin mechanism (200) for storing a tray (700) is arranged in the rack (100);
a machine tool (300) for machining a workpiece (720), the machine tool (300) being arranged on a side of the frame (100);
a manipulator (400) for switching a position of a workpiece (720) between the tray (700) and the machine tool (300), the manipulator (400) being disposed within the frame (100) and above the magazine mechanism (200); the robot arm (400) is provided with a pick-up arm (410) for picking up a workpiece (720);
the first positioning CCD device (500) is used for identifying the pose of a workpiece (720) in the material tray (700);
a second positioning CCD device (510) for identifying the pose of the workpiece (720) on the manipulator (400);
the manipulator (400) picks up the workpiece (720) in the tray (700) according to the pose of the workpiece (720) identified by the first positioning CCD device (500), and the manipulator (400) adjusts the pose of the pick-up arm (410) according to the pose of the workpiece (720) identified by the second positioning CCD device (510) so as to place the workpiece (720) in the machine tool (300).
2. The feeding and discharging system of the manipulator (400) with the visual positioning function according to claim 1, wherein the manipulator (400) is provided with a first shaft (420), a second shaft (430), a third shaft (440) and a rotating shaft (450), the first shaft (420) is arranged on the frame (100), one end of the first shaft (420) is arranged in the machine tool (300) in a penetrating manner, the third shaft (440) is arranged on the side edge of the first shaft (420) in a vertically movable manner, the second shaft (430) is arranged on the lower side of the third shaft (440) in a vertically movable manner, the rotating shaft (450) is arranged on the lower side of the second shaft (430) in a rotatable manner, and the pick-up arm (410) is connected with the lower side of the rotating shaft (450).
3. The system of claim 2, wherein the manipulator (400) further comprises a pick-up bracket (460) and a pick-up chuck (470), the pick-up bracket (460) is connected to the underside of the pick-up arm (410), and the pick-up chuck (470) is disposed on the underside of the pick-up bracket (460).
4. A matched vision positioning manipulator (400) loading and unloading system as in claim 3, wherein said manipulator (400) is provided with two sets of pick-up assemblies, each set of pick-up assemblies comprising a plurality of pick-up suction cups (470).
5. The loading and unloading system of the manipulator (400) with the visual positioning function according to claim 4, wherein the number of the machine tools (300) is two, and the two machine tools (300) are respectively arranged at two ends of the first shaft (420); the material taking support (460) is provided with a material taking assembly for sucking up two unprocessed workpieces (720) and a material taking assembly for sucking up two processed workpieces (720).
6. The loading and unloading system of the manipulator (400) with the visual positioning function according to claim 1, wherein the first positioning CCD device (500) is disposed on the frame (100) and above the manipulator (400).
7. The loading and unloading system of the manipulator (400) with the visual positioning function according to claim 6, wherein the second positioning CCD device (510) is disposed on the frame (100) and is disposed below the manipulator (400).
8. A control method for feeding and discharging of a manipulator (400), which is applied to a feeding and discharging system of the manipulator (400) matched with visual positioning according to any one of claims 1 to 7, the method comprising the following steps:
a100, after receiving a ready-to-process instruction sent by the machine tool (300), identifying an unprocessed workpiece (720) in the tray (700) through the first positioning CCD device (500) so as to obtain the pose of the first workpiece (720); according to the pose of the first workpiece (720), after the pose of the pick-up arm (410) is adjusted, the unprocessed workpiece (720) in the tray (700) is picked up by the pick-up arm (410) and moved to a fine positioning place;
a200, identifying an unprocessed workpiece (720) on the manipulator (400) through the second positioning CCD device (510) so as to obtain the pose of the second workpiece (720); according to the pose of the second workpiece (720), adjusting the pose of a pick-up arm (410) of the manipulator (400) to adjust the pose of the workpiece (720) on the manipulator (400);
A300, placing an unprocessed workpiece (720) on the machine tool (300) by moving the manipulator (400), processing the workpiece (720) by the machine tool (300) after the manipulator (400) is moved out of the machine tool (300), and moving the manipulator (400) into the machine tool (300) and picking up the processed workpiece (720) after receiving an instruction of completing the current processing of the machine tool (300);
a400, after the manipulator (400) moves to a fine positioning position, according to the pose of the second workpiece (720), reversely adjusting the pose of the manipulator (400), and then placing the processed workpiece (720) in the material tray (700) by moving the manipulator (400);
a500, repeating the steps A100 to A400 until the processing of all the workpieces (720) in the tray (700) is completed.
9. A control method for loading and unloading of a manipulator (400), which is applied to a loading and unloading system of the manipulator (400) with matched visual positioning as claimed in claim 4, the method comprising the following steps:
b100, after receiving a ready-to-process instruction sent by the machine tool (300), identifying an unprocessed workpiece (720) in the tray (700) through the first positioning CCD device (500) so as to obtain the pose of the first workpiece (720); according to the pose of the first workpiece (720), after the pose of a pick-up arm (410) of the manipulator (400) is adjusted, the unprocessed workpiece (720) in the material tray (700) is sucked up through one group of material taking components and moved to a fine positioning position;
B200, identifying an unprocessed workpiece (720) on the manipulator (400) through the second positioning CCD device (510) so as to obtain the pose of the second workpiece (720); according to the pose of the second workpiece (720), adjusting the pose of a pick-up arm (410) of the manipulator (400) so as to adjust the pose of the workpiece (720) on the manipulator (400);
b300, after receiving a last round of machining completion instruction sent by the machine tool (300), moving the manipulator (400) into the machine tool (300), sucking up a machined workpiece (720) on the machine tool (300) through another group of material taking components, placing an unprocessed workpiece (720) on the material taking components on the machine tool (300) through moving the manipulator (400), and machining the workpiece (720) through the machine tool (300) after the manipulator (400) is moved out of the machine tool (300);
b400, after the manipulator (400) moves to the fine positioning position, according to the pose of the second workpiece (720), reversely adjusting the pose of the manipulator (400), and then placing the processed workpiece (720) in the material tray (700) by moving the manipulator (400);
b500, repeating the steps B100 to B400 until the processing of all the workpieces (720) in the tray (700) is completed.
10. A control method for loading and unloading of a manipulator (400), which is applied to a loading and unloading system of the manipulator (400) with matched visual positioning as set forth in claim 5, the method comprising the following steps:
c100, after receiving a ready-to-process instruction sent by any machine tool (300), identifying an unprocessed workpiece (720) in the tray (700) through the first positioning CCD device (500) so as to obtain the pose of the first workpiece (720); according to the pose of the first workpiece (720), after the pose of a pick-up arm (410) of the manipulator (400) is adjusted, two unprocessed workpieces (720) in the material tray (700) are sucked up through one group of material taking components and are moved to a fine positioning position;
c200, identifying an unprocessed workpiece (720) on the manipulator (400) through the second positioning CCD device (510) so as to obtain the pose of the second workpiece (720); according to the pose of the second workpiece (720), adjusting the pose of a pick-up arm (410) of the manipulator (400) so as to adjust the pose of the workpiece (720) on the manipulator (400);
c300, after receiving a previous round of processing completion instruction sent by the machine tool (300), moving the manipulator (400) into the machine tool (300), sucking up a processed workpiece (720) on the machine tool (300) through another group of material taking components, then, placing an unprocessed workpiece (720) on the material taking components on the machine tool (300) through moving the manipulator (400), and after the manipulator (400) is moved out of the machine tool (300), processing the workpiece (720) through the machine tool (300);
C400, after receiving a previous round of machining completion instruction sent by another machine tool (300), moving the manipulator (400) into the other machine tool (300), sucking up a machined workpiece (720) on the other machine tool (300) through another group of material taking components, and then, placing an unprocessed workpiece (720) on the material taking components on the other machine tool (300) through moving the manipulator (400), and after the manipulator (400) is moved out of the other machine tool (300), machining the workpiece (720) through the other machine tool (300);
c500, after the manipulator (400) moves to the fine positioning position, according to the pose of the second workpiece (720), reversely adjusting the pose of the manipulator (400), and then placing two processed workpieces (720) in the tray (700) by moving the manipulator (400);
and C600, repeating the steps C100 to C500 until the processing of all the workpieces (720) in the tray (700) is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311455666.1A CN117300709A (en) | 2023-11-03 | 2023-11-03 | Manipulator feeding and discharging system matched with visual positioning and control method thereof |
Applications Claiming Priority (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118255158A (en) * | 2024-04-25 | 2024-06-28 | 广东科杰技术股份有限公司 | Be applied to unloading equipment on production line |
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