WO2021248414A1

WO2021248414A1 - Mold closing robot system

Info

Publication number: WO2021248414A1
Application number: PCT/CN2020/095665
Authority: WO
Inventors: 居晓丽
Original assignee: 南通丽科发知识产权代理有限公司
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-12-16

Abstract

Provided is a mold closing robot system. A mold comprises an upper mold portion, a middle mold portion and a lower mold portion, which are sequentially arranged. An operation support is provided with an operation support inlet, the operation support inlet is provided with a mold recognition system, the mold recognition system scans an identification code on the mold, and the mold recognition system is electrically connected to a control system and transmits identification code information on the mold to the control system. The control system calls out an operation program of the mold corresponding to the identification code. A mold closing robot is provided with a mold positioning system for positioning a mold. After a working platform is moved to a mold closing position, the mold closing robot is used for positioning the mold by means of the mold positioning system, and cooperates with a mold model in the control system to accurately grab the middle mold portion of the mold and place same on the lower mold portion. The control system controls the working platform to move out, materials are placed in the mold, the working platform is moved to the mold closing position, and the mold closing robot grabs the upper mold portion of the mold to close the mold.

Description

A clamping robot system

Technical field

The invention relates to the technical field of robots, in particular to a mold clamping robot system.

Background technique

At present, China's industrial robots have made considerable progress, especially since the 1990s, the output of China's industrial robot industry has maintained an annual growth rate of more than 20%. Automation technology is developing towards intelligence, networking and integration, and my country has also become the world's largest consumer market for automation equipment. The popularization of industrial robots is not only a requirement of the market, but also a strategic national policy of the country. China has successively proposed "Made in China 2025" and the era of Industry 4.0, taking robotics as a key development area, and the robotics industry has risen to a national strategic level.

technical problem

When small and medium-sized enterprises began to use robots to replace labor, a key constraint emerged. At present, the talents on the domestic market do not have the knowledge and practical ability to operate robots. Statistics from the China Machinery Industry Federation show that China’s current robots The application talent gap is 200,000, and it continues to increase at an annual rate of 20% to 30%.

Therefore, the present invention proposes a robot system to meet the demands of the growing industrial market.

Technical solutions

In order to overcome the problems in the prior art, the present invention provides a mold clamping robot system.

A mold clamping robot system includes a mold, a work platform, a work support, a screw placement mechanism, a mold recognition system, a mold clamping robot, and a control system; the mold and the screw placement mechanism are arranged above the working platform, and the working platform is arranged below the working platform There is a transmission device, the working platform is located in front of the mold-closing robot, the control system is located at the back of the mold-closing robot near one side, and the mold includes an upper mold, a middle mold, and a lower mold that are sequentially arranged; The work support is provided with a work support entrance, the work support entrance is provided with a mold recognition system, the mold recognition system scans the identification code on the mold, the mold recognition system is electrically connected with the control system, and the mold recognition system sends the control system to the control system. The identification code information on the mold is transferred, the control system calls up the operating program corresponding to the mold corresponding to the identification code, the mold clamping robot is equipped with a mold positioning system to position the mold, and the work platform moves to the mold clamping position to close the mold The robot is used to position the mold through the mold positioning system, and combined with the mold model in the control system, accurately grasp the middle mold part of the mold and place it on the lower mold part. The control system controls the working platform to move out, puts the material in the mold, and works The platform moves to the mold clamping position, and the mold clamping robot grabs the upper mold part and closes the mold.

Preferably, in the above-mentioned mold clamping robot system, the mold positioning system includes a mold clamping robot positioning system and a screw locking positioning system, and the screw locking positioning is used to grab a screw from a screw placement mechanism and put it in In the screw hole of the mold.

Preferably, in the above-mentioned mold clamping robot system, the mold identification system is installed above the entrance of the work support. When the mold passes through the entrance, the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to the control system , The corresponding mold clamping program is called by the control system, and the robot arm is used to perform the handling action.

Preferably, in the above-mentioned mold clamping robot system, after the mold recognition system scans the mold identification code, the mold clamping robot program determines by itself which type of screw fastening head should be selected, and the mold clamping robot program sends it according to the control system The different mold model instructions to execute the corresponding screw grabbing and screw locking.

Preferably, in the above-mentioned mold clamping robot system, the mold positioning system is installed in front of the robot arm of the mold clamping robot, and is mainly used to check whether there is an empty material level in the screw placement mechanism and to accurately position the screw holes on the mold. To the greatest extent, it ensures that the screws are missed and screwed.

Preferably, in the above-mentioned mold clamping robot system, the torque detection system in the tightening device will formulate certain rules to regard the abnormal torque value generated during the tightening process as wrong screwing, so as to avoid the occurrence of wrong screwing.

Preferably, in the above-mentioned mold clamping robot system, the mold clamping robot system is further provided with a screw fastening head placement platform, and the screw fastening head placement platform is installed on the left side of the mold clamping robot.

Preferably, in the above-mentioned mold clamping robot system, the positioning accuracy of the mold positioning system is not greater than ±0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold, and realize different models by taking pictures of the screw material tray Grasping of screws and avoiding the possibility of empty trays.

Preferably, in the above-mentioned mold clamping robot system, the transfer device includes a first transfer track platform and a second transfer track platform. After the screws are tightened, the working platform moves to the hoisting position to lift the mold away. The work on the first transmission track platform is completed, and the screw locking robot and the mold clamping robot rotate to the second transmission track platform for operation.

Preferably, in the above-mentioned mold-clamping robot system, the robot arm of the mold-clamping robot can automatically return to the origin when the robot arm of the mold-clamping robot is automatically running, so as to avoid the collision of the tooling fixture caused by the manual movement of the robot arm; the vision system can be positioned by taking pictures, The position offset information is sent to the robotic arm, and the handling position, the position of the grasping screw and the position of the tightening screw are automatically corrected.

Beneficial effect

Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the working platform moves to the mold clamping position, and the mold clamping robot grabs the upper mold part of the mold to close the mold; the screw-locking robot tooling fixture is equipped with a mold The positioning system is mainly used to grab the screws from the screw placement mechanism and put them into the screw holes of the mold; when the mold identification system scans the mold identification code, the robot program decides which type of screw should be selected. With the fixed head, the robot program executes the corresponding screw grabbing and screw locking according to the instructions of different mold models sent by the control system, which further realizes the intelligent operation of the robot. 2. The mold positioning system of the present invention is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately position the screw hole positions on the mold to ensure that the screw is missed and screwed to the greatest extent; on the other hand, the tightening device The torque detection system in China will formulate certain rules to treat the abnormal torque value generated during the tightening process as a wrong screw, so as to avoid the occurrence of wrong screw. 3. The mold positioning system of the present invention is installed on the head of the robot, and the positioning accuracy is not greater than ±0.05mm. It can accurately identify the position, shape and hole position of each component of the mold, and realize the grabbing of different types of screws by taking pictures of the screw tray. And to avoid the possibility that the feeder is out of stock. 4. The present invention uses the built-in algorithm to calculate the coordinate system of the actual conveying position and the deviation information of the mold coordinate system in the system by identifying the mold conveying position, and adjusts the system coordinate system in time to keep it consistent with the actual position coordinate system to ensure grasping The location is accurate.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention.

Embodiments of the present invention

The present invention will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

Example 1:

As shown in Figure 1, a mold clamping robot system includes a mold 1, a screw placement mechanism 4, a work platform 2, a mold clamping robot 5, a control system, a mold recognition system 7 and a mold positioning system, the mold and the screw placement mechanism It is arranged above the working platform, the transmission device 6 is arranged below the working platform, the working platform is located in front of the mold clamping robot, the control system is located at the back of the mold clamping robot near one side, and the mold positioning system is divided into The mold robot positioning system and the screw locking positioning system, the mold recognition system is a visual recognition system, and the mold clamping robot positioning system and the screw locking positioning system are implemented by the visual recognition system; the vision system mainly includes a visual hardware system It is composed of two parts: a camera, a visual light source, and a sensor. The visual hardware system recognizes and takes pictures of the mold model, hole position and shape, and guides the mechanical arm of the mold clamping robot to complete mold handling, Screw grabbing and screw tightening actions; the vision software system includes two parts: robot vision processing software and robot vision application software.

Preferably, in the above-mentioned mold clamping robot system, the mold recognition system 7 is installed above the entrance of the work support 3, when the mold passes through the entrance, the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to In the control system, the corresponding mold clamping program is called out by the control system, and there is a mechanical arm to perform the handling action.

Preferably, in the above-mentioned mold clamping robot system, the mold positioning system is installed in front of the robot arm of the mold clamping robot, and the positioning accuracy is not greater than ±0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold. Take pictures of the screw material tray to realize the grasping of different types of screws and avoid the possibility of the material tray being out of material.

Preferably, in the above-mentioned mold clamping robot system, the camera includes a 3D camera and a first camera, the 3D camera and the first camera are arranged above the mold clamping robot, and the 3D camera is used to determine the depth of the recognized object. Whether there are screws in the mold holes and whether the screws are locked in place.

Preferably, in the above-mentioned mold clamping robot system, the first camera is used for calibration to associate the mold clamping robot with the phase coordinate system; the first camera is set with parameters such as resolution, frame rate, and exposure to adjust the camera The camera accuracy.

Preferably, in the above-mentioned mold clamping robot system, the sensor is arranged on the side of the mold clamping robot, the sensor transmits the position information of the mold to the mold clamping robot, and the mold clamping robot controls the mold through the mold clamping robot positioning system. To identify the handling position, the system's built-in algorithm calculates the actual handling position's coordinate system and the mold coordinate system deviation information in the system, and adjusts the system coordinate system in time to keep it consistent with the actual position coordinate system to ensure the accuracy of the grasping position.

Preferably, in the above-mentioned mold-clamping robot system, the mold-clamping robot vision application software serves as a communication medium between the host computer vision software and the robot control system to convert position information into program data that the robot can read and write.

Preferably, in the above-mentioned mold clamping robot system, the host computer vision processing software includes a processor for data analysis and processing, an acquisition module, a signal input module, a camera signal input module, an image acquisition module, a motor drive module, and a motor drive Module, and a communication module; the acquisition module collects the motor rotation characteristic signal and transmits it to the processor, the signal input module and the camera position signal input module receive the mold position signal and the camera position signal and transmit to the processor, the image acquisition The module collects the image signal taken by the camera and transmits it to the processor. The processor analyzes and processes the signal and sends instructions to the motor drive module and the motor drive module so that the motor drive module and the motor drive module control the motor and the operation of the motor respectively.

Preferably, in the above-mentioned mold clamping robot system, the screw locking positioning system is used to grab the screw from the screw placement mechanism and put it into the screw hole of the mold.

Preferably, in the above-mentioned mold clamping robot system, when the mold identification system scans the mold identification code, the robot program determines which type of screw fastening head should be selected. The robot program depends on the different mold types sent by the control system. Instructions to execute the corresponding screw grabbing and screw locking. The mold positioning system is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately locate the screw hole position on the mold, ensuring that the screw is missed and screwed to the greatest extent. .

Embodiment two:

A mold clamping robot system. The mold includes an upper mold, a middle mold, and a lower mold that are sequentially arranged; the work support is provided with a work support entrance, and the work support entrance is provided with a mold recognition system, and the mold The identification system scans the identification code on the mold, the mold identification system is electrically connected to the control system, and the mold identification system transmits the identification code information on the mold to the control system, and the control system calls out the operating program of the mold corresponding to the identification code The mold clamping robot is provided with a mold positioning system to position the mold. After the working platform is moved to the mold clamping position, the mold clamping robot is used to position the mold through the mold positioning system, and combines with the mold model in the control system to accurately grasp the mold Put the middle part of the mold on the lower part, the control system controls the work platform to move out, put the material in the mold, the work platform moves to the mold clamping position, and the mold clamping robot grabs the mold upper mold part to close the mold.

Preferably, the mold positioning system includes a mold clamping robot positioning system and a screw locking positioning system, and the screw locking positioning is used to grab a screw from a screw placement mechanism and place it into a screw hole of the mold.

Preferably, the mold identification system is installed above the entrance of the work support. When the mold passes through the entrance, the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to the control system, and the control system calls out the corresponding The mold clamping program, and there is a robot arm to perform the handling action.

Preferably, after the mold identification system scans the mold identification code, the mold-closing robot program determines which type of screw fastening head should be selected by itself, and the mold-closing robot program executes the corresponding instructions according to the different mold model instructions sent by the control system. The screw grabbing and locking the screw.

Preferably, the mold positioning system is installed in front of the robot arm of the mold clamping robot, and is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately position the screw holes on the mold to ensure that the screw is missed to the greatest extent. And leaked screw.

Preferably, the torque detection system in the tightening device will formulate certain rules to regard the abnormal torque value generated during the tightening process as a wrong screw, so as to avoid the occurrence of the wrong screw.

Preferably, the mold clamping robot system is further provided with a screw fastening head placement platform 8 installed on the left side of the mold clamping robot.

Preferably, the positioning accuracy of the mold positioning system is not greater than ±0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold, and realize the grabbing of different types of screws and avoiding the tray by taking pictures of the screw tray. Unexpected possibility.

Preferably, the conveying device includes a first conveying track platform and a second conveying track platform. After the screws are tightened, the working platform is moved to the hoisting position, the mold is lifted away, and the work on the first conveying track platform is completed , The screw locking robot and the mold clamping robot rotate to the second transmission track platform for operation.

Preferably, the robot arm of the mold clamping robot can automatically return to the origin under the automatic operation state, and avoid the collision of the tooling and fixture caused by manually moving the robot arm; the vision system can locate by taking pictures and send the position offset information to the machine The arm automatically corrects the carrying position, grasping screw position and tightening screw position.

So far, this embodiment has been described in detail with reference to the drawings. Based on the above description, those skilled in the art should have a clear understanding of this application.

It should be noted that, in the drawings or the main body of the specification, the implementation manners that are not shown or described are all forms known to those of ordinary skill in the art, and are not described in detail. In addition, the above definitions of various elements and methods are not limited to the various specific structures, shapes, or manners mentioned in the embodiments.

It should also be noted that this article can provide demonstrations of parameters containing specific values, but these parameters do not need to be exactly equal to the corresponding values, but can be approximated to the corresponding values within acceptable error tolerances or design constraints. The directional terms mentioned in the embodiments, such as "up", "down", "front", "rear", "left", "right", etc., are only directions with reference to the drawings, and are not used to limit the application protected range. In addition, unless the steps are specifically described or must occur sequentially, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. In addition, the above-mentioned embodiments can be mixed and matched with each other or mixed and matched with other embodiments based on considerations of design and reliability, that is, the technical features in different embodiments can be freely combined to form more embodiments.

The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as the exclusion of other embodiments, but can be applied to various other embodiments. Combinations, modifications and environments can be modified through the above teachings or technology or knowledge in related fields within the scope of the inventive concept described herein. The modifications and changes made by those skilled in the art do not depart from the spirit and scope of the present invention, and should fall within the protection scope of the appended claims of the present invention.

Claims

A mold clamping robot system, which is characterized in that it includes a mold (1), a working platform (2), a work support (3), a screw placement mechanism (4), a mold recognition system, a mold clamping robot (5), and a control system; The mold and the screw placement mechanism are arranged above a working platform, a transmission device (6) is arranged below the working platform, the working platform is located in front of the mold clamping robot, and the control system is located at the back of the mold clamping robot and close to one side Where, the mold includes an upper mold, a middle mold, and a lower mold that are sequentially arranged; the work support is provided with a work support entrance, and the work support entrance is provided with a mold recognition system (7), the mold recognition system Scan the identification code on the mold, the mold identification system is electrically connected to the control system, and the mold identification system transmits the identification code information on the mold to the control system, and the control system calls up the operating program corresponding to the identification code corresponding to the mold. The mold clamping robot is provided with a mold positioning system to position the mold. After the work platform is moved to the mold clamping position, the mold clamping robot is used to position the mold through the mold positioning system, and combines with the mold model in the control system to accurately grasp the center of the mold. The mold part is placed on the lower mold part, the control system controls the work platform to move out, put the material in the mold, the work platform moves to the mold clamping position, and the mold clamping robot grabs the mold upper mold part to close the mold.
The mold clamping robot system according to claim 1, wherein the mold positioning system includes a mold clamping robot positioning system and a screw locking positioning system, and the screw locking positioning is used for grabbing from the screw placement mechanism Screw and put it into the screw hole of the mold.
The mold clamping robot system according to claim 1, characterized in that: the mold recognition system is installed above the entrance of the work support, when the mold passes through the entrance, the model of the mold can be quickly identified through the identification code on the mold. The marking signal is provided to the control system, and the corresponding mold clamping program is called out by the control system, and there is a mechanical arm to perform the handling action.
The mold clamping robot system according to claim 3, characterized in that: after the mold identification system scans the mold identification code, the mold clamping robot program determines by itself which type of screw fastening head should be selected, and the mold clamping robot program According to the instructions of different mold models sent by the control system, the corresponding screw grabbing and screw locking are executed.
The mold clamping robot system according to claim 1, wherein the mold positioning system is installed in front of the robot arm of the mold clamping robot, and is mainly used to check whether there is an empty material position in the screw placement mechanism and to adjust the screws on the mold. The precise positioning of the hole positions ensures that the screws are missed and screwed to the greatest extent.
The mold clamping robot system according to claim 1, characterized in that: the torque detection system in the tightening device will formulate certain rules to regard the abnormal torque value generated during the tightening process as wrong screwing, so as to avoid wrong screwing. The occurrence of screwing.
The mold clamping robot system according to claim 1, characterized in that: the mold clamping robot system is further provided with a screw fastening head placement platform (8), and the screw fastening head placement platform is installed on the mold clamping robot The left side.
The mold clamping robot system according to claim 1, characterized in that: the positioning accuracy of the mold positioning system is not greater than ±0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold. Take pictures of the screw feeder to realize the grabbing of different types of screws and avoid the possibility of no feeder for the feeder.
The mold clamping robot system according to claim 1, wherein the transmission device includes a first conveying track platform and a second conveying track platform. After the screws are tightened, the working platform is moved to the hoisting position, and the The mold is hoisted away, the work on the first conveying track platform is completed, and the screw-locking robot and the mold clamping robot rotate to the second transmission track platform for operation.
The mold clamping robot system according to claim 1, wherein the robot arm of the mold clamping robot can automatically return to the origin when the robot arm of the mold clamping robot is running automatically, so as to avoid the collision of the tooling fixture caused by the manual movement of the robot arm; The system can locate by taking pictures, send the position offset information to the robotic arm, and automatically correct the handling position, the position of the grasping screw, and the position of tightening the screw.