CN210823883U

CN210823883U - Unloading system in intelligence

Info

Publication number: CN210823883U
Application number: CN201921023805.2U
Authority: CN
Inventors: 万松峰; 刘炽华; 王康; 丁佳伟
Original assignee: Dongguan Polytechnic
Current assignee: Dongguan Polytechnic
Priority date: 2019-07-02
Filing date: 2019-07-02
Publication date: 2020-06-23
Anticipated expiration: 2029-07-02

Abstract

The utility model discloses an intelligent feeding and discharging system, which comprises a robot, a clamp library, a warehouse, a vision module, a slide rail and a central control processing system, wherein the robot is used for clamping a clamp and a workpiece, the clamp library is used for providing the clamp for the robot and automatically switching the clamp, the warehouse is used for storing the workpiece and providing the workpiece for the robot, the vision module is used for providing vision guide for the robot and carrying out vision measurement on the workpiece, and the central control processing system is used for sending instructions and carrying out data processing; different work pieces are respectively clamped by different clamps of the same robot through quick replacement, and visual guide and work piece information reading are carried out through a visual module, so that automatic feeding and discharging operations of the work pieces are realized, the accuracy of the whole feeding and discharging process is ensured, feeding and discharging of the work pieces needing manual operation are avoided, potential safety hazards existing due to manual operation are eliminated, time and labor are saved, the production and processing cost is saved, and the production efficiency is improved.

Description

Unloading system in intelligence

Technical Field

The utility model relates to the field of processing technology, in particular to unloading system in intelligence.

Background

Along with the development of science and technology and the continuous rising of human cost, in the machining field, unloading has begun to replace traditional manual operation step by step in the automation, but unloading still has certain limitation in present automation, to having the different work pieces of a certain quantity, can't snatch and discern this a plurality of work pieces accurately at last unloading in-process, lead to appearing the mistake of different degrees, and then influence the processing of subsequent work piece.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, an object of the utility model is to provide an unloading system in intelligence, the different work piece is got respectively to the anchor clamps of the same robot quick replacement of accessible, and then goes up unloading operation on going up to the work piece, carries out vision guide and information reading through setting up the vision module simultaneously, improves the accurate nature of going up unloading, and labour saving and time saving also saves the production and processing cost, improves production efficiency.

The utility model provides a technical scheme that its problem adopted is:

the utility model provides a unloading system in intelligence, includes:

the robot is used for clamping the clamp and the workpiece and sending instructions;

the fixture library is used for receiving a rotation instruction of the robot and comprises more than two fixtures, and the fixtures are arranged on the fixture library;

the warehouse is used for providing workpieces for the robot and comprises more than one bin and a display used for displaying workpiece information, and the workpieces and the display are arranged on the bins;

the vision module is used for receiving a scanning instruction of the robot, providing vision guidance for the robot, reading workpiece information and measuring the size of the workpiece, and is arranged at the tail end of an arm of the robot;

the sliding rail is used for receiving a sliding instruction of the robot and moving the robot, the robot is arranged on the sliding rail, and the robot is connected with the sliding rail;

and the central control processing system is used for respectively sending a control instruction to the robot and a call-out instruction to the warehouse, receiving an updating instruction of the robot, updating information of a workpiece and sending the updated information to the display.

Further, be provided with on the anchor clamps and let the robot presss from both sides the sub-clamp of anchor clamps, the sub-clamp sets up the top of anchor clamps.

Furthermore, the sub-clips are connected with the robot in a pneumatic connection mode.

Further, the fixture library also comprises a turntable for driving the fixture to rotate, a positioning disc for exposing the fixture, an indexer for driving the turntable to rotate and a clamping piece for clamping the fixture, the turntable is circular, the positioning disc is circular and provided with a concave position on the circumference, the concave position can expose one clamp, the diameter of the turntable is smaller than that of the positioning disc, the positioning disc is arranged on the turntable, the rotary disc is arranged on an output shaft of the indexer, the indexer is arranged inside the clamp library, the clamping pieces are equidistantly arranged on the circumference of the rotating disc, one end of each clamping piece is connected with the rotating disc, the other end of the clamping piece is an annular body with an opening and used for clamping the clamp, and the annular body is suspended at the other end of the clamping piece.

Further, the central control processing system is a Siemens PLC S7-1212.

Further, the robot is an industrial robot of IRB2600 type.

Further, the warehouse comprises four placing layers, and the bin is arranged on the placing layers.

Further, the display displays the workpiece information in a two-dimensional code display mode.

Further, still including being used for receiving the movement instruction of robot and removing the AGV dolly in anchor clamps storehouse, the anchor clamps storehouse sets up on the AGV dolly.

The embodiment of the utility model provides a following beneficial effect has at least: in the automatic production process, different workpieces are clamped respectively by different clamps of the same robot for fast replacement, the workpieces are subjected to feeding and discharging operations, meanwhile, visual guidance and information reading of the workpieces can be carried out through the visual module, the accuracy of the robot operation is ensured, feeding and discharging of the workpieces needing manual operation are avoided, potential safety hazards caused by manual operation are eliminated, time and labor are saved, production and processing costs are saved, and production efficiency is improved.

Drawings

The invention is further described with reference to the following figures and examples.

Fig. 1 is a schematic structural view of an intelligent loading and unloading system of the present invention;

FIG. 2 is a schematic structural view of the jig magazine of the present invention;

FIG. 3 is a schematic structural view of the jig magazine of the present invention;

fig. 4 is a schematic structural view of the clamp of the present invention;

fig. 5 is a schematic structural diagram of the warehouse of the present invention.

Detailed Description

The utility model provides a go up unloading system in intelligence, it is following right the embodiment of the utility model provides a unloading system introduces in intelligence.

Referring to fig. 1, the embodiment of the utility model provides a feeding and discharging system on intelligence, include:

a robot 100 for gripping the jig 210 and the workpiece 310, and for sending an instruction;

a jig library 200 for receiving a rotation command of the robot 100, wherein the jig library 200 includes two or more jigs 210, and the jigs 210 are disposed on the jig library 200;

a warehouse 300 for providing workpieces 310 to the robot 100, the warehouse 300 comprising one or more bins 320 and a display 330 for displaying information of the workpieces 310, the workpieces 310 and the display 330 each being disposed on the bins 320;

a vision module 400, configured to receive a scanning instruction of the robot 100, provide visual guidance to the robot 100, read information of the workpiece 310, and perform a dimension measurement on the workpiece 310, where the vision module 400 is disposed at an end of an arm of the robot 100;

a slide rail 500 for receiving a slide command of the robot 100 and moving the robot 100, wherein the robot 100 is disposed on the slide rail 500 and the robot 100 is connected to the slide rail 500;

the central control processing system 600 is configured to send a control instruction to the robot 100 and a call instruction to the warehouse 300, and to receive an update instruction of the robot 100, update information of the workpiece 310, and send the updated information to the display 330.

In this embodiment, the work flow of the intelligent loading and unloading system is as follows: firstly, an operator sets a workpiece 310 to be loaded and unloaded and introduces detection standard data of the workpiece 310 on the central control processing system 600, and the central control processing system 600 sends a control command to the robot 100 and a call-out command to the warehouse 300 in a Modbus-TCP protocol mode; after receiving the dispatch command from the central control processing system 600, the warehouse 300 pushes out the set bin 320 of the workpiece 310 to be loaded and unloaded, and the set workpiece 310 is placed on the bin 320; after receiving the control command of the central control processing system 600, the robot 100 sends a scanning command to the vision module 400, a rotation command to the fixture library 200, and a sliding command to the slide rail 500, respectively; after receiving the rotation instruction of the robot 100, the gripper library 200 rotates the designated gripper 210 to a designated position for the robot 100 to grip; after receiving the sliding instruction of the robot 100, the sliding rail 500 drives the robot 100 to slide to a proper position beside the clamp library 200, the robot 100 clamps the designated clamp 210, and meanwhile, the vision module 400 provides vision guidance for the robot 100 to ensure the accuracy of clamping the clamp 210 by the robot 100; then, the slide rail 500 drives the robot 100 to slide to the warehouse 300, at this time, the vision module 400 reads the information of the workpiece 310 in the display 330 on the warehouse 320, the information of the workpiece 310 is sent to the robot 100 after checking, and the robot 100 clamps the workpiece 310 through the clamp 210 after receiving the information of the workpiece 310, and puts the workpiece into the machine tool for processing; when the workpiece 310 is processed, the robot 100 re-picks up the processed workpiece 310, re-slides to a suitable position beside the warehouse 300 by the driving of the slide rail 500, and places the processed workpiece 310 in a suitable bin 320; at this time, the vision module 400 performs size detection on the processed workpiece 310, sends detected information to the central control processing system 600 after the detection is completed, the central control processing system 600 sorts and updates the detected information, generates a two-dimensional code and sends the two-dimensional code to the display 330, and the display 330 displays the two-dimensional code. At this point, the automatic loading and unloading operation of one workpiece 310 is completed, and then the automatic loading and unloading operation of the next workpiece 310 is started.

Further, referring to fig. 4, a sub-clip 211 for the robot 100 to clamp the clamp 210 is disposed on the clamp 210, and the sub-clip 211 is disposed at a top end of the clamp 210.

In the present embodiment, the sub-clips 211 on each of the clamps 210 are identical and can be matched with the robot 100, so that the robot 100 can clamp the clamps 210 by gripping the sub-clips 211, and such a design is convenient for mass production and reduces the production cost.

Further, the sub-clip 211 is connected to the robot 100 in a pneumatic manner.

In this embodiment, the clamping or releasing of the clamp 210 by the robot 100 is realized by pneumatically clamping or releasing the sub-clamp 211, and the pneumatic method has the advantages that the action of the robot 100 for grabbing or releasing the clamp 210 can be completed in a very short time, even in a very small space, a small action can be realized, the production efficiency is greatly improved, and meanwhile, the pneumatic method is safe and has no pollution to the surrounding environment.

Further, referring to fig. 2 and 3, the jig library 200 further includes a turntable 220 for driving the jigs 210 to rotate, a positioning plate 230 for exposing the jigs 210, an indexer 250 for driving the turntable 220 to rotate, and a clamping member 240 for clamping the jigs 210, the turntable 220 is circular, the positioning plate 230 is circular with a concave 231 on the circumference, the concave 231 can expose one of the jigs 210, the diameter of the turntable 220 is smaller than that of the positioning plate 230, the positioning plate 230 is disposed on the turntable 220, the turntable 220 is disposed on an output shaft of the indexer 250, the indexer 250 is disposed inside the jig library 200, the clamping members 240 are equidistantly disposed on the circumference of the turntable 220, one end of the clamping member 240 is connected to the turntable 220, the other end of the clamping member 240 is an annular body 241 having an opening for clamping the jigs 210, the ring body 241 is suspended from the other end of the clamping member 240.

In this embodiment, the indexer 250 is a high-precision rotating device, has the characteristics of long service life and high reliability in transmission, and is used for positioning and angle adjustment of the turntable 220 to drive the turntable 220 to rotate to different angles; because the clamping members 240 are equidistantly arranged on the circumference of the turntable 220, the clamping members 240 can clamp or release the clamps 210 in a pneumatic manner, after receiving a rotation instruction of the robot 100, the indexer 250 drives the turntable 220 to rotate the designated clamp 210 to the concave position 231 and position the designated clamp 210 in the concave position 231, and the sub-clamps 211 on the other clamps 210 are blocked by the positioning disc 230, at this time, the robot 100 can only clamp the sub-clamps 211 of the clamps 210 in the concave position 231, so that the clamping reliability and the clamping unicity are ensured, and the design can save materials as much as possible; after the robot 100 successfully clamps the sub-clamps 211 on the clamp 210, the clamping members 240 release the clamp 210, so that the robot 100 clamps the clamp 210 away; the clamping member 240 has an open ring body 241 at one end, which is matched with the shape of the sub-clamp 211 on the clamp 210, so that the sub-clamp 211 is accommodated in the clamping member 240, and the clamping member 240 clamps or releases the clamp 210 in a pneumatic manner, so that when the robot 100 needs to clamp a designated clamp 210 away, the robot 100 clamps the clamp 210 out of the clamping member 240 along the opening of the ring body 241, and meanwhile, when the robot 100 needs to put the clamp 210 back to the clamp library 200, the clamp 210 is also put back into the clamping member 240 along the opening of the ring body 241, and such design makes the operation of clamping the clamp 210 by the robot 100 orderly and does not occupy redundant space; different clamps 210 are switched through the clamp library 200 to be clamped by the robot 100, so that the situation that the clamps 210 fixedly connected on the robot 100 are replaced by manual operation or a plurality of robots 100 with different clamps 210 are equipped at the same time is avoided, the potential safety hazard caused by manual operation is eliminated, time and labor are saved, and the production efficiency is improved.

Further, the central control processing system 600 is a Siemens PLC S7-1212.

In the embodiment, the central control processing system 600 mainly comprises siemens PLC S7-1212 and a Nanjing Huatai remote IO module FR8210, and software programming is realized through TIA Botu software. The S7-1212 has a compact design, low cost, and powerful function, and is well suited for small control applications. The Huatai remote IO module simplifies the PLC to develop remote IO. The central control processing system 600 mainly implements control with the warehouse 300, and control and data interaction with the robot 100.

Further, the robot 100 is an IRB2600 type industrial robot.

In this embodiment, the IRB2600 industrial robot has a maximum load of up to 20kg, and the working range in material handling, loading and unloading applications can be optimized. The IRB2600 industrial robot has the highest accuracy and acceleration in the same kind of products, can ensure high yield and low rejection rate, thereby improving productivity, can conveniently communicate with the existing industrial control network by carrying the Ethernet interface and the serial port, and realizes flexible automatic operation.

Further, the vision module 400 is composed of an industrial camera, a lens, a controller and a light source, wherein the industrial camera is an ohm dragon FZ-SC color 30W CCD camera shooting element, the lens is a VS-0620VM lens, and the controller is an ohm dragon FH-L550 controller; the external interface of the FH-L550 controller comprises an Ethernet interface, a serial communication interface, an EtherNet/IP interface, a PROFINET interface, a USB interface, a parallel I/F interface and the like, supports various communication modes, and is convenient to communicate with external equipment. The vision module 400 mainly includes two functions of vision guidance and vision measurement. First, the robot 100 can know the change of the surrounding working environment in real time through the vision module 400, and adjust the action accordingly to ensure the task is completed correctly. The vision module 400 provides an external closed-loop control mechanism that ensures that the robot 100 automatically compensates for errors due to environmental changes. The visual guidance and positioning is based on visual servoing, in which the approximate orientation of the objects is observed first, and then the deviation between the robot 100 and each object is observed during the movement of the robot 100, and the deviation is fed back to the robot 100 to adjust the movement direction of the robot 100. The visual guidance function flow comprises the following steps: after the industrial camera of the vision module 400 is initialized, waiting for acquiring a photographing instruction, after receiving the photographing instruction, the industrial camera respectively performs image acquisition, image processing, template matching, target position calculation and the like, converts the position information of the acquired target workpiece 310 in the image into the position information of the target workpiece 310 relative to the base coordinate of the robot 100, obtains the coordinate position of the workpiece 310 relative to the robot 100, repeats the above operations five times to ensure the accuracy of the position of the workpiece 310, removes the maximum value and the minimum value, averages the three times in the middle, and sends the processed position information of the workpiece 310 to the robot 100. Second, the vision module 400 has a vision measuring function, and can automatically measure the external dimensions of the workpiece 310, such as the dimensions of the outline, aperture, height, area, etc. of the workpiece 310. The functional flow of vision measurement respectively comprises: the industrial camera of the vision module 400 initializes, acquires an image, image processing, searches for features, measures a size, converts coordinates, and outputs a result.

Further, referring to fig. 5, the warehouse 300 includes four shelves 340, and the bins 320 are disposed on the shelves 340.

In this embodiment, the warehouse 300 is designed to have four layers 340, so that the workpieces 310 can be placed orderly and orderly, and the robot 100 can clamp the workpieces 310 conveniently.

Further, the display 330 displays the workpiece 310 information in a manner of displaying a two-dimensional code.

In this embodiment, the two-dimensional code for displaying the information of the workpiece 310 is controlled by the single-chip microcomputer, when an object approaches, the display 330 displays the state of the workpiece 310 through the two-dimensional code and the characters, and the workpiece is automatically turned off after 10 seconds; when the bin 320 receives the updated information of the workpiece 310 sent by the cpu 600, the display 330 displays the new updated information of the workpiece 310, wherein the information received by the bin 320 from the cpu 600 is received through the serial or ethernet interface.

Further, referring to fig. 1, the AGV cart 700 for receiving a moving instruction of the robot 100 and moving the jig library 200 is further included, and the jig library 200 is disposed on the AGV cart 700.

In this embodiment, after receiving the movement command from the robot 100, the AGV cart 700 is responsible for transporting the gripper library 200 to the robot 100, which can further improve the work efficiency.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which all belong to the protection scope of the present invention.

Claims

1. The utility model provides a unloading system in intelligence which characterized in that includes:

2. The intelligent loading and unloading system according to claim 1, wherein a sub-clamp for the robot to clamp the clamp is arranged on the clamp, and the sub-clamp is arranged at the top end of the clamp.

3. The intelligent loading and unloading system according to claim 2, wherein the sub-clamps are connected with the robot in a pneumatic connection manner.

4. The intelligent loading and unloading system as claimed in claim 3, wherein the fixture library further comprises a turntable for driving the fixture to rotate, a positioning disk for exposing the fixture, an indexer for driving the turntable to rotate, and a clamping member for clamping the fixture, the turntable is circular, the positioning disk is circular with a concave portion on the circumference, the concave portion can expose one fixture, the diameter of the turntable is smaller than that of the positioning disk, the positioning disk is arranged on the turntable, the turntable is arranged on an output shaft of the indexer, the indexer is arranged inside the fixture library, the clamping members are equidistantly arranged on the circumference of the turntable, one end of the clamping member is connected with the turntable, and the other end of the clamping member is an annular body with an opening for clamping the fixture, the annular body is suspended at the other end of the clamping piece.

5. The intelligent loading and unloading system as claimed in claim 1, wherein the central control processing system is siemens PLC S7-1212.

6. The intelligent loading and unloading system according to claim 1, wherein the robot is an IRB2600 type industrial robot.

7. The intelligent loading and unloading system according to claim 1, wherein the warehouse comprises four laying layers, and the bin is arranged on the laying layers.

8. The intelligent loading and unloading system according to claim 1, wherein the display displays the workpiece information in a two-dimensional code display manner.

9. The intelligent loading and unloading system according to claim 1, further comprising an AGV cart for receiving the moving instruction of the robot and moving the jig library, wherein the jig library is disposed on the AGV cart.