WO2019200536A1 - 基于视觉的冲压机的自动上下料装置、方法及冲压设备 - Google Patents

基于视觉的冲压机的自动上下料装置、方法及冲压设备 Download PDF

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Publication number
WO2019200536A1
WO2019200536A1 PCT/CN2018/083399 CN2018083399W WO2019200536A1 WO 2019200536 A1 WO2019200536 A1 WO 2019200536A1 CN 2018083399 W CN2018083399 W CN 2018083399W WO 2019200536 A1 WO2019200536 A1 WO 2019200536A1
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WO
WIPO (PCT)
Prior art keywords
loading
raw material
frame
disposed
unloading
Prior art date
Application number
PCT/CN2018/083399
Other languages
English (en)
French (fr)
Inventor
周醒
马朋巍
黄亮
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2018/083399 priority Critical patent/WO2019200536A1/zh
Priority to CN201880087280.0A priority patent/CN111699056B/zh
Publication of WO2019200536A1 publication Critical patent/WO2019200536A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present application belongs to the technical field of stamping equipment, and in particular relates to an automatic loading and unloading device, a method and a stamping device for a vision-based punching machine.
  • Stamping is a commonly used processing technology in industrial production.
  • the stamping materials are mostly aluminum alloys and plastics, and the shape is flake type.
  • the required processing parts are first marked on the raw materials, and each of the raw materials can be marked with a plurality of processed parts at the same time, and then punched by a punching machine to be separated into a single processed part and waste.
  • the manual processing of a single piece of raw material is placed on a punching machine for punching. Due to manual loading and unloading, it is easy to fatigue and work efficiency is low; during the feeding process, the alignment accuracy is not high, the product qualification rate is lowered; and the equipment utilization rate is low, only Workers can go to work before they can go to work.
  • the application provides an automatic loading and unloading device, a method and a stamping device for a vision-based punching machine, so as to solve the problems of low efficiency of manual feeding, low utilization rate of equipment, low positioning accuracy and low product qualification rate in the prior art. technical problem.
  • a technical solution adopted by the present application is to provide an automatic loading and unloading device for a vision-based punching machine, which is used for automatically loading and unloading raw materials for the punching machine.
  • Material equipment includes:
  • a loading platform disposed on the frame for stacking the raw materials
  • An actuator disposed on the frame for gripping the raw material from the reclaiming mechanism and placing the raw material on the punching machine;
  • a loading platform for collecting the stamped product after being punched by the punching machine
  • a visual positioning system for identifying the location of the material and feeding back position information to cause the actuator to adjust the position of the material on the press.
  • stamping apparatus includes:
  • a loading platform disposed on the frame for stacking the raw materials
  • An actuator disposed on the frame for gripping the raw material from the reclaiming mechanism and placing the raw material on the punching machine;
  • a loading platform for collecting the stamped product after being punched by the punching machine
  • a visual positioning system for identifying the location of the material and feeding back position information to cause the actuator to adjust the position of the material on the press.
  • an automatic loading and unloading method for a vision-based stamping apparatus includes:
  • the actuator is controlled to place the stamped product punched by the punch on the unloading table.
  • the utility model has the beneficial effects that: in the case of the prior art, the automatic loading and unloading device of the vision-based punching machine provided by the present application uses the visual positioning system to identify the position of the raw material, thereby improving the positioning accuracy of the raw material and improving the positioning accuracy of the raw material.
  • Product qualification rate on the other hand, the use of the reclaiming mechanism and the actuator to achieve automatic loading and unloading of raw materials, improve the utilization rate and production efficiency of the equipment, reduce the dependence on labor, and reduce the production cost.
  • FIG. 1 is a schematic perspective structural view of an automatic loading and unloading device provided by the present application.
  • FIG. 2 is a side view showing the automatic loading and unloading device of the present application in a state in which the punching machine is loaded;
  • Figure 3 is a perspective view showing the structure of the loading platform of Figure 1;
  • Figure 4 is a perspective view showing the structure of the reclaiming mechanism of Figure 1;
  • Figure 5 is a perspective view showing the structure of the loading device of Figure 1;
  • Figure 6 is a side elevational view of the clamp of Figure 5 and a partial enlarged view of the circle A;
  • Figure 7 is a side elevational view of the clamp of Figure 5 and a partial enlarged view of the circle B;
  • FIG. 8 is a schematic flow chart of an automatic loading and unloading method according to still another embodiment of the present application.
  • the application provides an automatic loading and unloading device, a method and a stamping device for a vision-based punching machine, so as to solve the problems of low efficiency of manual feeding, low utilization rate of equipment, low positioning accuracy and low product qualification rate in the prior art. technical problem.
  • FIG. 1 is a schematic perspective view of the automatic loading and unloading device provided by the present application.
  • FIG. 2 is a schematic side view of the automatic loading and unloading device of the present application.
  • the present application provides an automatic loading and unloading device 10 for a vision-based punching machine 30 for automatically loading and unloading a raw material 20 for a punching machine 30.
  • the automatic loading and unloading device 10 includes a frame 100, a loading platform 200, a reclaiming mechanism 300, Actuator 400, unloading station 500, and visual positioning system 600.
  • the rack 100 is disposed on one side of the punching machine 30.
  • the rack 100 is provided with a loading platform 200 and an actuator 400.
  • the frame 100 may be formed by splicing a plurality of cross frames, vertical frames, and/or inclined frames, or may be formed by splicing a plurality of sheets.
  • FIG. 3 is a schematic perspective view of the loading platform of FIG.
  • the loading platform 200 is used for stacking the raw materials 20, including the machine table 210 and the elevator 220.
  • the elevator 220 is fixed on the frame 100, and the output shaft 221 is connected to the machine 210.
  • the machine 210 carries the raw material 20, and the machine 210 is loaded.
  • the elevator 220 pushes the machine table 210 up, so that the height of the raw material 20 on the machine table 210 is maintained at a fixed position, so that the reclaiming mechanism 300 can take off the material at a fixed point.
  • a first guiding rod 110 is disposed on the frame 100, and the first guiding rod 110 is disposed around the outer edge of the machine table 210 to prevent the raw materials 20 stacked on the machine table 210 from scattering.
  • a second guiding rod 230 is disposed on the bottom surface of the machine 210 in contact with the elevator 220.
  • the second guiding rod 230 is evenly disposed on the machine base 210.
  • the guiding rod hole 120 is formed on the frame 100 corresponding to the second guiding rod 230.
  • the guide rod hole 120 cooperates with the second guide rod 230 for improving the stability of the rise of the machine table 210.
  • the number of the elevators 220 may be one.
  • an elevator 220 is located at the bottom center position of the machine table 210 for uniformly stressing the machine table 210 and preventing the machine table 210 from tilting.
  • the number of the elevators 220 may also be multiple, for example, two, and the two elevators 220 are respectively located on both sides of the machine platform 210, and the common carrier platform 210 is raised, so that the machine platform 210 can be balanced and the grounding is more stable;
  • the three or three elevators 220 are arranged in a positive triangle shape, which not only makes the machine 210 more uniform, but also greatly increases the load carrying capacity of the machine 210.
  • the elevator 220 is a servo motor driven screw elevator for driving the height of the screw elevator hoisting platform 210 upon receiving a control command.
  • the elevator 220 may also be a module, an electric cylinder, or a servo motor that drives the ball screw to provide power to raise the machine 210.
  • FIG. 4 is a schematic perspective view of the reclaiming mechanism of FIG. 1 .
  • the reclaiming mechanism 300 may be disposed on the rack 100 or may be separately disposed outside the rack 100, which is not limited herein.
  • the reclaiming mechanism 300 is configured to take out the raw material 20 placed on the loading platform 200.
  • the reclaiming mechanism 300 is disposed on the rack 100, and includes a suction assembly 310, a driving assembly 320, and a control assembly. (not shown in the figure).
  • the suction assembly 310 is configured to suck the raw material 20 placed on the loading platform 200.
  • the driving assembly 320 is disposed on the frame 100 for driving the suction assembly 310 to move in the horizontal direction and the vertical direction, and the control assembly and the driving assembly 320.
  • the control component when receiving the control command, the control component sends a control signal to the driving component 320. Since the driving component 320 is connected to the suction component 310, the driving component 320 drives the suction component 310 to move horizontally above the loading platform 200. Then, the suction assembly 310 is driven to move downward in the vertical direction. After the suction assembly 310 draws the raw material 20, the driving assembly 320 drives the suction assembly 310 to move to a fixed height.
  • the suction assembly 310 includes a bracket 311 and a plurality of vacuum suction cups 312, and a plurality of vacuum suction cups 312 are disposed on the bracket 311 for sucking the raw material 20. Specifically, the vacuum chuck 312 is evenly distributed on the bracket 311 for uniformly applying the sucked raw material 20 to prevent falling.
  • the driving assembly 320 includes a cylinder 321 , and the output shaft 3211 of the cylinder 321 is connected to the bracket 311.
  • the driving component 320 receives the control command of the control component, the driving assembly 310 is driven to move axially along the cylinder 321 so that the material 20 is multiple.
  • the vacuum chuck 312 is sucked.
  • the control component further sends a control command to the driving component 320 to drive the driving component 320.
  • the suction assembly 310 is frequently shaken, so that the excess material 20 adhering to the raw material 20 sucked by the suction assembly 310 is dropped, thereby effectively separating a raw material 20 into the press 30.
  • the plurality of vacuum chucks 312 take up the raw material 20, they are sucked at the edge position of the raw material 20 for lifting the flatness of the raw material 20, and are conveniently picked up by the actuator 400.
  • the raw material 20 is sucked by using a plurality of vacuum suction cups 312, and the suction of the raw material 20 may be realized by using other vacuum devices such as a sponge suction cup.
  • the actuator 400 is disposed on the frame 100 for gripping the raw material 20 from the take-up mechanism 300 and placing the raw material 20 on the punch 30.
  • the actuator 400 includes a three-axis transmission system 410.
  • the loading and executing device 430 is rotatably connected to the servo rotating device 420 for picking up the raw material 20 from the reclaiming mechanism 300.
  • the servo rotating device 420 receives the position information fed back by the visual positioning system 600, thereby driving the loading and executing device 430 to drive
  • the triaxial transmission system 410 receives the position information fed back by the visual positioning system 600, thereby driving the servo rotation device 420 to move, thereby collectively adjusting the position of the material 20.
  • the three-axis transmission system 410 is disposed on the frame 100, and includes an X-axis transmission mechanism 411, a Y-axis transmission mechanism 412, and a Z-axis transmission mechanism 413 that are vertically slidably coupled to each other.
  • the X-axis transmission mechanism 411 is fixedly connected in parallel with the frame 100.
  • the Y-axis transmission mechanism 412 is disposed in parallel with the frame 100 and is slidably coupled to the X-axis transmission mechanism 411.
  • the Z-axis transmission mechanism 413 is vertically coupled to the Y-axis transmission mechanism 412. Slide the connection.
  • the specific structure of the triaxial transmission system 410 and its operation mode can refer to the existing numerical control machine tool.
  • the X-axis transmission mechanism 411, the Y-axis transmission mechanism 412, and the Z-axis transmission mechanism 413 all include components such as a main shaft and a servo motor.
  • the servo motor is used to receive the adjustment information of the visual positioning system 600, thereby driving the triaxial transmission system 410 to drive the servo rotation device 420 to move. Since the point of the invention is not involved, it will not be described here.
  • the servo rotating device 420 is movably connected to the Z-axis transmission mechanism 413, and includes a spindle, a servo motor and the like.
  • the servo motor is used to receive the adjustment information of the visual positioning system 600, thereby driving the servo rotating device 420 to rotate, thereby adjusting the feeding connected thereto.
  • the position of the device 430 is executed.
  • FIG. 5 is a schematic perspective view of the loading device of FIG. 1 .
  • the loading actuator 430 is rotatably coupled to the servo rotating device 420 and includes a loading bracket 431 and a plurality of clamps 432.
  • the loading bracket 431 is connected to the servo rotating device 420, and includes a hanger 4311 and a side frame 4312.
  • the hanger 4311 is connected to the servo rotating device 420, and the side frame 4312 is disposed at opposite ends of the hanger 4311.
  • the shape of the side frame 4312 is adapted to the outer contour of the material 20 to be gripped. For example, in the embodiment of the present application, the rectangular material 20 is punched, the side frame 4312 is linear, and the side frame 4312 is placed in a rectangular material. On the opposite sides of 20; when the circular material 20 is punched, the side frames are rounded, and the side frames 4312 are disposed at opposite ends of the circular material 20.
  • the loading bracket 431 further includes a vacancy position 4313 for avoiding the reclaiming mechanism 300 when the loading execution device 430 grips the material 20 from the reclaiming mechanism 300.
  • the arcuate hanger is used. The arcuate region of the bow hanger can accommodate the reclaiming mechanism 300 when the clamp 432 grips the raw material 20, thereby preventing the loading and executing device 430 from interfering with the reclaiming mechanism 300 and causing damage.
  • FIG. 6 is a side elevational view showing the clamping of the clamp of FIG. 5 and a partial enlarged view of the circle A.
  • FIG. 7 is a side view showing the loosening of the clamp of FIG. 5 and a partial enlarged view of the circle B.
  • the clamp 432 includes a first clamping member 4321, a second clamping member 4322, and a cylinder 4323.
  • the first clamping member 4321 is fixed on the side frame 4312 of the loading bracket 431;
  • the second clamping member 4322 is hinged with the first clamping member 4321, and the second clamping member 4322 includes a clamping portion 4324 and a push-pull portion 4325.
  • the push-pull portion 4325 is for receiving a push-pull force to clamp and release the clamping portion 4324 with respect to the first clamping member 4321;
  • the cylinder 4323 is for providing a pushing force to the push-pull portion 4325.
  • the cylinder 4323 receives the push-pull command, and the extension shaft 4326 of the control cylinder 4323 is extended forward or backward, and when the extension shaft 4326 is extended forward, the push-pull portion 4325 is advanced. Since the first clamping member 4321 is fixed, the clamping portion 4324 hinged with the push-pull portion 4325 is rotated clockwise, so that the clamp 432 is clamped; as shown in FIG. 7, when the extension shaft 4326 is pulled backward, the push-pull is pulled. The portion 4325 is moved backward, and since the first holding member 4321 is fixed, the holding portion 4324 hinged with the push-pull portion 4325 is rotated counterclockwise, so that the jig 432 is loosened.
  • the method of pushing the connecting rod by the cylinder is adopted, and the pushing and pulling force is provided to the push-pull portion 4325, and the mechanism capable of realizing linear motion such as the link slider mechanism, the crank connecting rod mechanism, and the crank slider can also be used.
  • a plurality of clamps 432 are disposed on the loading bracket 431 for gripping the edges of the material 20.
  • the plurality of clamps 432 are evenly distributed on the loading bracket 431 to uniformly force the material 20, for example, the four clamps shown in FIG. 5 are distributed on the four vertices of the side frame 4312.
  • the clamp 432 is prevented from being damaged during the stamping process, and the clamp 432 is clamped at the edge position of the raw material 20 when the raw material 20 is gripped, and when the punch 30 is punched, the plurality of clamps 432 are continuously clamped.
  • the raw material 20 is stamped to ensure that the raw material 20 does not leave the punch 30 during the stamping process and prevents the raw material 20 from being stamped and deformed.
  • the loading platform 500 may be disposed on the rack 100 or may be disposed outside the rack 100.
  • the loading executing device 430 places the material 20 on the punching machine 30 to complete the stamping
  • the loading executing device 430 removes the stamped product and places it on the unloading table 500.
  • the unloading station 500 is used to collect the stamped product after being stamped by the punching machine 30.
  • the stamped product on the unloading table 500 is stacked to a certain amount, it is manually taken away for subsequent Production use.
  • the visual positioning system 600 is used to identify the location of the stock material 20 and to feed back position information to cause the actuator 400 to adjust the position of the stock material 20 on the press 30.
  • the visual positioning system 600 may be disposed on the punching machine 30 or on the automatic loading and unloading device 10 for photographing the raw material 20 on the automatic loading and unloading device 10, thereby adjusting the position of the raw material 20 on the punching machine 30.
  • the visual positioning system 600 is first taught to cause the visual positioning system 600 to obtain preset position coordinates.
  • the raw material 20 is mechanically positioned, firstly, a positioning pin is arranged on the punching machine 30; then, corresponding to the positioning pin, a positioning hole is formed on the raw material 20; the raw material 20 is placed on the punching machine 30, so that the positioning hole is
  • the positioning pin cooperates to identify the center coordinate of the positioning hole by the visual positioning system 600 as the position coordinate preset by the visual positioning system 600.
  • the positioning mark adopts a regular shape to facilitate the visual positioning system 600 to recognize and simplify the vision.
  • the computational complexity of the positioning system 600 is the computational complexity of the positioning system 600.
  • the visual positioning system 600 acquires an image of the stock material 20 and identifies the location mark on the stock material 20, calculates the center point of the anchor mark by the recognition algorithm, and the position coordinates of the center point in the visual positioning system 600; Comparing the position coordinates of the center point with the position coordinates preset by the visual positioning system 600, and generating control information for adjusting the position coordinates of the center point to the position coordinates preset by the visual positioning system 600, the executing mechanism 400 receives the above control information, and controls
  • the triaxial transmission system 410 moves and the servo turning device 420 rotates to adjust the position of the material 20 such that when the material 20 is finally placed on the punch 30, the center point coordinates of the positioning marks on the material 20 are preset by the visual positioning system 600.
  • the position coordinates are identical, thereby achieving precise positioning of the material 20.
  • the automatic loading and unloading device 10 of the vision-based punching machine 30 provided by the present application accurately positions the raw material 20 by setting the visual positioning system 600, thereby feeding back the adjustment information to the execution.
  • the mechanism 400, the actuator 400 receives the adjustment information and drives the material 20 to adjust the posture, so that the positional accuracy of the material 20 on the punch 30 is high, and the yield of the product is improved.
  • the reclaiming mechanism 300 and the actuator 400 cooperate to automatically load and unload the punching machine 30, which reduces the dependence on the manual loading and unloading, improves the utilization rate of the equipment, and further improves the production efficiency.
  • the present application also provides a stamping apparatus 40 including a punch 30 , a frame 100 , a loading station 200 , a reclaim mechanism 300 , an actuator 400 , a loading station 500 , and visual positioning System 600.
  • the rack 100, the loading platform 200, the reclaiming mechanism 300, the actuator 400, the unloading station 500, and the visual positioning system 600 have been described in detail in the above embodiments, and details are not described herein again.
  • the punching machine 30 is located at one side of the frame 100 for punching the raw material 20 placed thereon, and the raw material 20 punched by the punching machine 30 includes a workpiece (not shown) and scrap (not shown in the drawing) The workpiece and the scrap are bonded to each other without being separated, and are used for separation in a subsequent process.
  • FIG. 8 is a schematic flow chart of an automatic loading and unloading method according to still another embodiment of the present application.
  • the application also provides an automatic loading and unloading method for a vision-based stamping apparatus, the automatic loading and unloading method comprising the following steps:
  • a plurality of raw materials are stacked on the loading platform, and the reclaiming mechanism receives the control information and sucks the raw materials from the loading platform.
  • S20 Receive signal feedback from the visual positioning system and control the actuator to adjust the position of the material on the press.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Punching Or Piercing (AREA)
  • Details Of Cutting Devices (AREA)

Abstract

本申请提供了一种基于视觉的冲压机的自动上下料装置，自动上下料装置用于为冲压机自动上下原料，该自动上下料装置包括：机架，设置在冲压机的一侧；上料台，设置在机架上，用于堆叠原料；取料机构，用于取出上料台上的原料；执行机构，设置在机架上，用于从取料机构上夹取原料，并将原料放置在冲压机上；下料台，用于收集经冲压机冲压后的冲压成品；视觉定位系统，用于识别原料的位置，并反馈位置信息以使所述执行机构调整所述原料在所述冲压机上的位置。本申请利用视觉定位系统识别原料的位置，从而提高了原料的定位精度，提高产品合格率，同时利用取料机构和执行机构实现原料的自动上下料，提高了设备的利用率和生产效率，降低了生产成本。

Description

基于视觉的冲压机的自动上下料装置、方法及冲压设备
【技术领域】
本申请属于冲压设备技术领域，尤其涉及一种基于视觉的冲压机的自动上下料装置、方法及冲压设备。
【背景技术】
冲压是工业生产中常用的加工工艺，冲压材料多为铝合金、塑料，形状为薄片式。在生产过程中，先将需要的加工件在原料上进行打标，每块原料上可同时打标多个加工件，再利用冲压机进行冲压，将其分离为单一加工件和废料。目前，利用人工将单片原料放置在冲压机上进行冲压，由于人工上下料，易于疲劳，工作效率低下；上料过程中，对位精度不高，产品合格率降低；且设备利用率低，仅工人上班才可以进行生产。
【发明内容】
本申请提供了一种基于视觉的冲压机的自动上下料装置、方法及冲压设备，以解决现有技术中人工上料效率低下，设备利用率低，且定位精度不高，产品合格率低的技术问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种基于视觉的冲压机的自动上下料装置，所述自动上下料装置用于为所述冲压机自动上下原料，所述自动上下料装置包括：
机架，设置在所述冲压机的一侧；
上料台，设置在所述机架上，用于堆叠所述原料；
取料机构，用于取出所述上料台上的所述原料；
执行机构，设置在所述机架上，用于从所述取料机构上夹取所述原料，并将所述原料放置在所述冲压机上；
下料台，用于收集经所述冲压机冲压后的冲压成品；
视觉定位系统，用于识别所述原料的位置，并反馈位置信息以使所述执行机构调整所述原料在所述冲压机上的位置。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种冲压设备，所述冲压设备包括：
冲压机，用于对放置于其上的原料进行冲压；
机架，设置在所述冲压机的一侧；
上料台，设置在所述机架上，用于堆叠所述原料；
取料机构，用于取出所述上料台上的所述原料；
执行机构，设置在所述机架上，用于从所述取料机构上夹取所述原料，并将所述原料放置在所述冲压机上；
下料台，用于收集经所述冲压机冲压后的冲压成品；
视觉定位系统，用于识别所述原料的位置，并反馈位置信息以使所述执行机构调整所述原料在所述冲压机上的位置。
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种基于视觉的冲压设备的自动上下料方法，所述自动上下料方法包括：
控制取料机构从上料台上吸取原料；
接收视觉定位系统的信号反馈并控制执行机构调整所述原料在所述冲压机上的位置；
控制所述执行机构将经所述冲压机冲压后的冲压成品放置在下料台。
本申请的有益效果是：区别于现有技术的情况，本申请提供的一种基于视觉的冲压机的自动上下料装置，利用视觉定位系统识别原料的位置，从而提高了原料的定位精度，提高产品合格率；另一方面，利用取料机构和执行机构实现原料的自动上下料，提高了设备的利用率和生产效率，减少了对人工的依赖，降低了生产成本。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1是本申请提供的自动上下料装置的立体结构示意图；
图2是本申请自动上下料装置为冲压机上料状态侧视示意图；
图3是图1中上料台的立体结构示意图；
图4是图1中取料机构的立体结构示意图；
图5是图1中上料执行装置的立体结构示意图；
图6是图5中夹具夹紧的侧视示意图及圈A处局部放大图；
图7是图5中夹具松开的侧视示意图及圈B处局部放大图；
图8是本申请又一实施例的自动上下料方法的流程示意图。
【具体实施方式】
本申请提供了一种基于视觉的冲压机的自动上下料装置、方法及冲压设备，以解决现有技术中人工上料效率低下，设备利用率低，且定位精度不高，产品合格率低的技术问题。
下面将对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参阅图1和图2，图1是本申请提供的自动上下料装置的立体结构示意图，图2是本申请自动上下料装置为冲压机上料状态侧视示意图。
本申请提供一种基于视觉的冲压机30的自动上下料装置10，用于为冲压机30自动上下原料20，该自动上下料装置10包括机架100、上料台200、取料机构300、执行机构400、下料台500和视觉定位系统600。
其中，机架100设置在冲压机30的一侧，机架100上设置有上料台200和执行机构400。机架100可由多个横架、竖架和/或斜架拼接而成，或者由多个板材拼接而成。
请参阅图3，并请继续参阅图1，图3 是图1中上料台的立体结构示意图。
上料台200用于堆叠原料20，包括机台210和升降机220，升降机220固定在机架100上，其输出轴221与机台210连接，机台210上承载有原料20，当机台210上的原料20被取走时，升降机220推动机台210上升，使得机台210上原料20的高度保持在固定位置，以便取料机构300定点取料。
进一步地，在机架100上设置有第一导杆110，第一导杆110围设在机台210外边缘处，起到防止机台210上堆叠的原料20散落的作用。
在机台210与升降机220接触的底面上设置有第二导杆230，第二导杆230均匀设置在机台210上，对应第二导杆230在机架100上形成有导杆孔120，导杆孔120与第二导杆230配合，用于提升机台210上升的平稳性。
进一步地，升降机220的数量可以为一个，例如图1中所示，一个升降机220位于机台210的底部中心位置，用于使机台210受力均匀，防止机台210倾斜。升降机220的数量也可以为多个，例如两个，两个升降机220分别位于机台210两侧，其共同承载机台210上升，可以使机台210受力平衡，上升地更加平稳；或者是三个，三个升降机220成正三角形状设置，不仅可以使机台210受力均匀，也极大地提高了机台210的承载能力。
具体地，在本实施例中，升降机220为伺服电机驱动的螺旋升降机，伺服电机用于在接收到控制命令时，驱动螺旋升降机提升机台210的高度。在其他实施例中，升降机220也可以是模组、电缸、伺服电机驱动滚珠丝杠的方式提供使机台210上升的动力。
请参阅图4，并请继续参阅图，图4是图1中取料机构的立体结构示意图。
取料机构300可以设置在机架100上，也可以单独设置在机架100外，在此不作限定。该取料机构300用于取出放置于上料台200上的原料20，在本申请的实施例中，取料机构300设置在机架100上，其包括吸取组件310、驱动组件320和控制组件（图中未示出）。
其中，吸取组件310用于吸取放置于上料台200上的原料20，驱动组件320设置在机架100上，用于在水平方向和竖直方向驱动吸取组件310移动，控制组件与驱动组件320电连接，用于向驱动组件320发送控制信号。
具体地，控制组件在接收到控制命令时，向驱动组件320发送控制信号，由于驱动组件320与吸取组件310连接，使得驱动组件320驱动吸取组件310先在水平方向移动到上料台200上方后，进而驱动吸取组件310在竖直方向下移，在吸取组件310吸取到原料20后，驱动组件320带动吸取组件310上移到固定高度。
进一步地，吸取组件310包括支架311和多个真空吸盘312，多个真空吸盘312分布设置在支架311上，用于吸取原料20。具体地，真空吸盘312均匀分布在支架311上，用于使其吸取的原料20受力均匀，防止掉落。
驱动组件320包括气缸321，该气缸321的输出轴3211与支架311连接，当驱动组件320接收到控制组件的控制命令时，带动吸取组件310沿气缸321轴向移动，以使原料20被多个真空吸盘312吸取。
进一步地，为了防止吸取组件310在吸取原料20时，同时吸取多个原料20，使得冲压失误，在吸取组件310吸取原料20后，控制组件进一步向驱动组件320发送控制命令，使驱动组件320带动吸取组件310频繁抖动，使得粘附在吸取组件310吸取的原料20上的多余原料20掉落，从而有效分离出一件原料20给冲压机30上料。
可选地，多个真空吸盘312吸取原料20时，是吸取在原料20的边缘位置，用于提升原料20的平整度，便于被执行机构400夹取。在本申请的实施例中，采用多个真空吸盘312吸取原料20，也可以采用海绵吸盘等其他真空装置实现对原料20的吸取。
请继续参阅图1，执行机构400设置在机架100上，用于从取料机构300上夹取原料20，并将原料20放置在冲压机30上，该执行机构400包括三轴传动系统410、伺服转动装置420和上料执行装置430。
其中，上料执行装置430与伺服转动装置420旋转连接，用于从取料机构300上夹取原料20，伺服转动装置420接收视觉定位系统600反馈的位置信息，进而驱动上料执行装置430带动原料20转动，三轴传动系统410接收视觉定位系统600反馈的位置信息，进而驱动伺服转动装置420移动，从而共同调整原料20的位置。
其中，三轴传动系统410设置在机架100上，其包括相互垂直滑动连接的X轴传动机构411、Y轴传动机构412以及Z轴传动机构413。X轴传动机构411与机架100平行固定连接，Y轴传动机构412相对机架100平行设置并与X轴传动机构411滑动连接，Z轴传动机构413在竖直方向上与Y轴传动机构412滑动连接。三轴传动系统410的具体结构及其运作方式可参考现有的数控机床，一般而言，X轴传动机构411、Y轴传动机构412以及Z轴传动机构413均包括主轴、伺服电机等部件，伺服电机用于接收视觉定位系统600的调整信息，进而驱动三轴传动系统410带动伺服转动装置420移动。由于不涉及发明点所在，此处不作赘述。
伺服转动装置420与Z轴传动机构413活动连接，其包括主轴、伺服电机等部件，伺服电机用于接收视觉定位系统600的调整信息，进而驱动伺服转动装置420旋转，进而调整与其连接的上料执行装置430的位置。
请参阅图5，并请继续参阅图1，图5是图1中上料执行装置的立体结构示意图。
上料执行装置430与伺服转动装置420旋转连接，其包括上料支架431和多个夹具432。
其中，上料支架431与伺服转动装置420连接，其包括吊架4311和侧架4312，吊架4311与伺服转动装置420连接，侧架4312设置在吊架4311的相对两端。侧架4312的形状与夹取的原料20的外轮廓相适应，例如，在本申请的实施例中，对矩形原料20进行冲压，侧架4312采用直线型，且将侧架4312设置在矩形原料20的相对两个侧边上；当冲压圆形原料20时，侧架采用圆弧形，且将侧架4312设置成在圆形原料20的相对两端。
进一步地，上料支架431还包括一避空位4313，用于在上料执行装置430从取料机构300上夹取原料20时，避让取料机构300。在本实施例中，采用弓形吊架，弓形吊架的弓形区可以在夹具432夹取原料20时，容纳取料机构300，防止上料执行装置430与取料机构300发生干涉，造成损坏。
请参阅图6和图7，图6是图5中夹具夹紧的侧视示意图及圈A处局部放大图，图7是图5中夹具松开的侧视示意图及圈B处局部放大图。
夹具432包括第一夹持件4321、第二夹持件4322和气缸4323。其中，第一夹持件4321固定在上料支架431的侧架4312上；第二夹持件4322与第一夹持件4321铰接，第二夹持件4322包括夹持部4324和推拉部4325，推拉部4325用于接受推拉力以使夹持部4324相对第一夹持件4321夹紧和松开；气缸4323用于向推拉部4325提供推拉力。
具体地，如图6所示，气缸4323接收推拉命令，控制气缸4323的伸出轴4326向前伸出或者向后拉动，当伸出轴4326向前伸出时，推动推拉部4325前移，由于第一夹持件4321固定不动，使得与推拉部4325铰接的夹持部4324顺时针旋转，从而夹具432夹紧；如图7所示，当伸出轴4326向后拉动时，拉动推拉部4325后移，由于第一夹持件4321固定不动，使得与推拉部4325铰接的夹持部4324逆时针旋转，从而夹具432松开。
在本实施例中，采用的是气缸推动连杆的方式，对推拉部4325提供推拉力，也可以采用连杆滑块机构、曲柄连杆机构、曲柄滑块等可以实现直线运动的机构来带动推拉部4325运动的机构。
多个夹具432分布设置在上料支架431上，用于夹取原料20的边缘。优选地，多个夹具432均匀分布的上料支架431上，以使原料20受力均匀，例如图5中所示的4个夹具，分布在侧架4312的四个顶点上。为了避开冲压位，防止在冲压的过程中损伤夹具432，夹具432在夹取原料20时，夹取在原料20的边缘位置处，且在冲压机30冲压时，多个夹具432持续夹持原料20进行冲压，以保证原料20在冲压过程中不脱离冲压机30和防止原料20被冲压变形。
请继续参阅图1，下料台500可以设置在机架100上，也可以设置在机架100外部，当上料执行装置430将原料20放置在冲压机30上完成冲压后，上料执行装置430将冲压成品取下，放置在下料台500上，下料台500用于收集经冲压机30冲压后的冲压成品，当下料台500上的冲压成品堆叠到一定数量后，人工取走供后续生产使用。
视觉定位系统600用于识别原料20的位置，并反馈位置信息以使执行机构400调整原料20在冲压机30上的位置。
其中，视觉定位系统600可以设置在冲压机30上，也可以设置在自动上下料装置10上，用于拍摄自动上下料装置10上的原料20，从而调整原料20在冲压机30上的位置。在对同种原料20进行冲压时，首先需对视觉定位系统600进行示教，使视觉定位系统600获得预设的位置坐标。
示教时采用机械的方式对原料20进行定位，首先在冲压机30上设置定位销；然后对应定位销，在原料20上形成定位孔；将原料20放置在冲压机30上，使定位孔与定位销配合，利用视觉定位系统600识别定位孔的中心坐标，作为视觉定位系统600预设的位置坐标。
在原料20上打印加工件时，需要同时在加工件附近位置处打印定位标记，定位标记的数量至少为两个，优选地，定位标记采用规则的形状，便于视觉定位系统600进行识别，简化视觉定位系统600的计算复杂度。
在进行加工时，视觉定位系统600获取原料20的图像，并识别原料20上的定位标记，通过识别算法计算出定位标记的中心点，以及该中心点在视觉定位系统600中的位置坐标；然后将中心点的位置坐标与视觉定位系统600预设的位置坐标进行比较，并生成调整中心点的位置坐标到视觉定位系统600预设的位置坐标的控制信息，执行机构400接收上述控制信息，控制三轴传动系统410移动和伺服转动装置420转动，从而调整原料20的位置，使得最后将原料20放置在冲压机30上时，原料20上定位标记的中心点坐标与视觉定位系统600预设的位置坐标一致，从而实现原料20的精确定位。
综上所述，本领域技术人员容易理解，本申请提供的一种基于视觉的冲压机30的自动上下料装置10，通过设置视觉定位系统600对原料20进行精确定位，进而反馈调整信息给执行机构400，执行机构400接收调整信息并带动原料20调整位姿，使得原料20在冲压机30上的位置精度较高，提升产品的合格率。同时，采用取料机构300和执行机构400配合为冲压机30自动进行上下料，减少了对人工上下料的依赖，提高了设备的利用率，进而提高生产效率。
请继续参阅图2，本申请还提供一种冲压设备40，该冲压设备40包括冲压机30、机架100、上料台200、取料机构300、执行机构400、下料台500和视觉定位系统600。
其中，机架100、上料台200、取料机构300、执行机构400、下料台500和视觉定位系统600在上述实施例已详细描述，在此不再赘述，具体结构请参阅上述实施例。冲压机30位于机架100的一侧，用于对放置其上的原料20进行冲压，经过冲压机30冲压后的原料20包括加工件（图中未示出）和废料（图中未示出），加工件和废料相互粘结在一起，不脱离，用于在后续工序中进行分离。
请参阅8，图8是本申请又一实施例的自动上下料方法的流程示意图。
本申请还提供一种基于视觉的冲压设备的自动上下料方法，该自动上下料方法包括以下步骤：
S10：控制取料机构从上料台上吸取原料。
其中，取料机构和上料台的结构在上文中已描述，在此不再赘述，请参考上述实施例。上料台上堆叠有多件原料，取料机构接收控制信息，从上料台上吸取原料。
S20：接收视觉定位系统的信号反馈并控制执行机构调整原料在冲压机上的位置。
S30：控制执行机构将经冲压机冲压后的冲压成品放置在下料台。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (20)

  1. 一种基于视觉的冲压机的自动上下料装置，其特征在于，所述自动上下料装置用于为所述冲压机自动上下原料，所述自动上下料装置包括：
    机架，设置在所述冲压机的一侧；
    上料台，设置在所述机架上，用于堆叠所述原料；
    取料机构，用于取出所述上料台上的所述原料；
    执行机构，设置在所述机架上，用于从所述取料机构上夹取所述原料，并将所述原料放置在所述冲压机上；
    下料台，用于收集经所述冲压机冲压后的冲压成品；
    视觉定位系统，用于识别所述原料的位置，并反馈位置信息以使所述执行机构调整所述原料在所述冲压机上的位置。
  2. 根据权利要求1所述的自动上下料装置，其特征在于，所述上料台包括机台和升降机，所述机台用于承载所述原料，所述升降机固定在所述机架上，用于提升所述机台的高度位置。
  3. 根据权利要求1所述的自动上下料装置，其特征在于，所述取料机构包括：
    吸取组件，用于吸取所述原料；
    驱动组件，设置在所述机架上，用于在水平方向和竖直方向驱动所述吸取组件移动；
    控制组件，与所述驱动组件电连接，用于向所述驱动组件发送控制信号。
  4. 根据权利要求3所述的自动上下料装置，其特征在于，所述吸取组件包括：
    支架，与所述驱动组件连接；
    多个真空吸盘，分布设置在所述支架上，用于吸取所述原料。
  5. 根据权利要求4所述的自动上下料装置，其特征在于，所述驱动组件包括气缸，所述气缸用于带动所述吸取组件沿所述气缸轴向移动，以使所述原料被多个所述真空吸盘吸取。
  6. 根据权利要求1所述的自动上下料装置，其特征在于，所述执行机构包括：
    三轴传动系统，设置在所述机架上；
    伺服转动装置，与所述三轴传动系统活动连接；
    上料执行装置，与所述伺服转动装置旋转连接；
    其中，所述上料执行装置用于从所述取料机构上夹取所述原料，所述伺服转动装置接收所述视觉定位系统反馈的位置信息，进而驱动所述上料执行装置转动，所述三轴传动系统接收所述视觉定位系统反馈的位置信息，进而驱动所述伺服转动装置移动，从而调整所述原料的位置。
  7. 根据权利要求6所述的自动上下料装置，其特征在于，所述三轴传动系统包括相互垂直滑动连接的X轴传动机构、Y轴传动机构以及Z轴传动机构，其中所述X轴传动机构与所述机架平行固定连接。
  8. 根据权利要求6所述的自动上下料装置，其特征在于，所述上料执行装置包括：
    上料支架，与所述伺服转动装置连接;
    多个夹具，分布设置在所述上料支架上，用于夹取所述原料的边缘。
  9. 根据权利要求8所述的自动上下料装置，其特征在于，所述上料支架包括吊架和侧架，所述吊架与所述伺服转动装置连接，所述侧架设置在所述吊架的相对两端，与多个所述夹具连接。
  10. 根据权利要求8所述的自动上下料装置，其特征在于，所述夹具包括：
    第一夹持件，固定在所述上料支架上；
    第二夹持件，与所述第一夹持件铰接，第二夹持件包括夹持部和推拉部，所述推拉部用于接受推拉力以使所述夹持部相对所述第一夹持件夹紧和松开；
    气缸，用于向所述推拉部提供推拉力。
  11. 根据权利要求9所述的自动上下料装置，其特征在于，所述上料支架包括一避空位，用于在所述上料执行装置从所述取料机构上夹取所述原料时，避让所述取料机构。
  12. 一种冲压设备，其特征在于，所述冲压设备包括：
    冲压机，用于对放置于其上的原料进行冲压；
    机架，设置在所述冲压机的一侧；
    上料台，设置在所述机架上，用于堆叠所述原料；
    取料机构，用于取出所述上料台上的所述原料；
    执行机构，设置在所述机架上，用于从所述取料机构上夹取所述原料，并将所述原料放置在所述冲压机上；
    下料台，用于收集经所述冲压机冲压后的冲压成品；
    视觉定位系统，用于识别所述原料的位置，并反馈位置信息以使所述执行机构调整所述原料在所述冲压机上的位置。
  13. 根据权利要求12所述的冲压设备，其特征在于，所述取料机构包括：
    吸取组件，用于吸取所述原料；
    驱动组件，设置在所述机架上，用于在水平方向和竖直方向驱动所述吸取组件移动；
    控制组件，与所述驱动组件电连接，用于向所述驱动组件发送控制信号。
  14. 根据权利要求13所述的冲压设备，其特征在于，所述吸取组件包括：
    支架，与所述驱动组件连接；
    多个真空吸盘，分布设置在所述支架上，用于吸取所述原料。
  15. 根据权利要求14所述的冲压设备，其特征在于，所述驱动组件包括气缸，所述气缸用于带动所述吸取组件沿所述气缸轴向移动，以使所述原料被多个所述真空吸盘吸取。
  16. 根据权利要求12所述的冲压设备，其特征在于，所述执行机构包括：
    三轴传动系统，设置在所述机架上；
    伺服转动装置，与所述三轴传动系统活动连接；
    上料执行装置，与所述伺服转动装置旋转连接；
    其中，所述上料执行装置用于从所述取料机构上夹取所述原料，所述伺服转动装置接收所述视觉定位系统反馈的位置信息，进而驱动所述上料执行装置转动，所述三轴传动系统接收所述视觉定位系统反馈的位置信息，进而驱动所述伺服转动装置移动，从而调整所述原料的位置。
  17. 根据权利要求16所述的冲压设备，其特征在于，所述上料执行装置包括：
    上料支架，与所述伺服转动装置连接;
    多个夹具，分布设置在所述上料支架上，用于夹取所述原料的边缘。
  18. 根据权利要求17所述的冲压设备，其特征在于，所述上料支架包括吊架和侧架，所述吊架与所述伺服转动装置连接，所述侧架设置在所述吊架的相对两端，与多个所述夹具连接。
  19. 根据权利要求17所述的冲压设备，其特征在于，所述夹具包括：
    第一夹持件，固定在所述上料支架上；
    第二夹持件，与所述第一夹持件铰接，第二夹持件包括夹持部和推拉部，所述推拉部用于接受推拉力以使所述夹持部相对所述第一夹持件夹紧和松开；
    气缸，用于向所述推拉部提供推拉力。
  20. 一种基于视觉的冲压设备的自动上下料方法，其特征在于， 所述自动上下料方法包括：
    控制取料机构从上料台上吸取原料；
    接收视觉定位系统的信号反馈并控制执行机构调整所述原料在所述冲压机上的位置；
    控制所述执行机构将经所述冲压机冲压后的冲压成品放置在下料台。
PCT/CN2018/083399 2018-04-17 2018-04-17 基于视觉的冲压机的自动上下料装置、方法及冲压设备 WO2019200536A1 (zh)

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