Method and device for determining optimum location for automatically picking work piece in punching production line
A technology of automatic picking and optimal position, applied in the direction of positioning device, feeding device, storage device, etc., can solve the problems of workpiece disturbance and deformation, the inability to ensure the accuracy of the picking position of the end picker, product manufacturing quality and cost impact, etc.
Inactive Publication Date: 2015-07-29
GUANGDONG UNIV OF TECH
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Problems solved by technology
Obviously, this process cannot guarantee the accuracy of the pick-up position of the end effector. Therefore, the process of manipulator handling is likely to cause disturbance and deformation of the workpiece. In serious cases, the shift of the center of gravity will cause damage to the suction cup, sub-rod and connecting arm. To a certain extent, it will affect the quality and cost of product manufacturing
Method used
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[0018] The method of the present invention for determining the best position for automatically picking up workpieces in a stamping production line includes the following steps:
[0019] 1) Establish a workpiece model and obtain parameters such as the center of gravity, perimeter and boundary of the workpiece to be transported;
[0020] 2) Make a circle with the center of gravity of the workpiece as the center, and make a series of concentric circles according to the radius of the pick-up head of the end picker and its movable range;
[0021] 3) Then draw the bisector through the center of the circle, and find the intersection of the bisector and the circle. If the paired two intersection points fall within the physical range of the workpiece, then these paired points are the ones to be picked up by the optional end picker point;
[0022] 4) Finally, select an appropriate point pair from the candidate point pairs as the pick-up point position of the manipulator and the require...
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The invention discloses a method and a device for determining an optimum location for automatically picking a work piece in a punching production line. The method comprises the following steps: (1) building a work piece model and acquiring the gravity center, perimeter and boundary of a to-be-transported work piece; (2) making a circle by taking the gravity center of the work piece as a circle center, and making a series of concentric circles according to the radius and a movement change range of a picking head of an end picker; (3) making bisectors by the circle center and obtaining intersected points of the bisectors and the circles, wherein if two paired intersected points are both within an entity range of the work piece, the paired points are alternative points to be picked by the end picker; (4) finally selecting the quantity of picking points and suckers for a mechanical arm from the alternative paired points. The method and the device disclosed by the invention can be used for guaranteeing the stability, reliability and steadiness of the end picker in picking so that the steadiness and reliability of the mechanical arm during transportation of the work piece are guaranteed, safety of a punching process and the quality of products are guaranteed, and the service life of a mold and the service life of a robot arm are prolonged.
Description
technical field [0001] The invention relates to a method and a device for determining the optimal position of a stamping production line for automatically picking up workpieces, and belongs to the innovative technology of the method and device for determining the optimal position of a stamping production line for automatically picking up workpieces. Background technique [0002] Stamping production automation is one of the important development directions of the stamping industry. The stamping production of large and medium-sized complex sheet metal parts usually requires multiple processes to complete. For this reason, different processes are often separated on different presses. On the automatic production line, the work of moving workpieces from one machine to another is done by manipulators. Among them, the accuracy and stability of the end picker of the manipulator determines whether the positioning of the blank in the stamping process is accurate and reliable, which d...
Claims
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IPC IPC(8): B21D43/00
CPCB21D43/18
Inventor 肖小亭肖可畏陈康徐信赵娜孙友松章争荣程永奇
Owner GUANGDONG UNIV OF TECH