An automated production system for agricultural machinery clutch pressure plate covers

Abstract

The present invention discloses an automated production system for clutch pressure plate covers for agricultural machinery, comprising multiple groups of machine tools for combining and completing all machining steps for a workpiece, auxiliary devices for assisting machining between the machine tools, robotic grippers for transferring workpieces between the machine tools and the auxiliary devices, and a system control device. The auxiliary devices include a destacker and a two-dimensional visual inspection and positioning device for loading the automated production system. The present invention utilizes a destacking PC terminal equipped with a three-dimensional visual positioning system, connected via the system control device, to control the robotic gripper for precise destacking of workpieces. Furthermore, a 2D angle detection PC terminal equipped with a two-dimensional visual inspection system, connected via the system control device, controls the robotic gripper for precise angle adjustment of the workpiece, thereby resolving the problem of manual judgment of machining angles based on experience. Furthermore, the system replaces the manual operation mode of one person per machine, reducing labor intensity, improving efficiency, and effectively alleviating the factory's labor shortage problem.

Description

Technical Field

[0001] The present invention relates to the field of automated production line technology, and in particular to an automated production system for a clutch pressure plate cover of an agricultural machinery. Background Art

[0002] The traditional clutch pressure plate cover production process consists of multiple steps, from inner edge processing to finished product inspection. Currently, most of the processing, circulation, and inspection operations are completed by manual operation of the corresponding equipment. Due to the low efficiency and high labor intensity of traditional manual labor, different workers have different control over quality. It is difficult for the same worker to ensure continuous and stable process quality, which affects the overall quality of the product. Among them, the important six-boss groove and two-side processing processes are processed entirely based on the workers' experience, which requires high experience and technical skills. In addition, the entire clutch pressure plate cover production requires a large number of workers, exacerbating the factory's labor shortage problem. The combination of these existing problems makes traditional manual production unable to adapt to the production control and quality control of modern industry, and it is difficult to meet the urgent needs of modern industry for efficiency and production standards. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides an automated production system for a clutch pressure plate cover of an agricultural machinery.

[0004] The present invention adopts the following technical solutions:

[0005] An automated production system for clutch pressure plate covers for agricultural machinery, comprising a plurality of machine tools for completing all machining processes of a workpiece, auxiliary devices for assisting machining between the machine tools, a robotic gripper device for transferring the workpiece between the machine tools and the auxiliary devices, and a system control device; characterized in that the auxiliary devices include:

[0006] A destacking machine for loading materials in an automated production system comprises a destacking platform provided with a destacking camera, the destacking camera being connected to a destacking PC terminal equipped with a three-dimensional visual positioning system, and the destacking PC terminal being connected to a system control device; the destacking camera is used to scan the surface contour of the workpiece, the three-dimensional visual positioning system is used to obtain point cloud data of the workpiece, 3D modeling is performed on the point cloud data, and the modeling features are analyzed to determine the current placement and posture of the workpiece, the system control device calculates the possible grasping path and posture of the robot gripper device, performs digital virtual grasping, calculates all collision points in the path, and analyzes the reachability of the robot gripper device, and finally selects a collision-free, reachable safe grasping path and gripper posture to grasp and destacker the workpiece;

[0007] A two-dimensional visual inspection and positioning device includes a carrier platform, on which an angle detection camera is provided. The angle detection camera is connected to a 2D angle detection PC terminal equipped with a two-dimensional visual inspection system, and the 2D angle detection PC terminal is connected to a system control device. The angle detection camera visually photographs the six bosses of the workpiece, and the two-dimensional visual inspection system analyzes the photographed data to calculate the distribution and symmetry of the six bosses, deriving an optimal processing angle. The angle information is then sent to a robot gripper device via the system control device to rotate the workpiece.

[0008] As well as a switching table for temporary storage and / or turning over of workpieces, and a transition table for transition transfer.

[0009] Furthermore, the machine tools include a first machine tool for turning the inner edge, a second machine tool for milling the six-sided boss groove and the two side surfaces, a third machine tool for processing the card return spring groove, a fourth machine tool for drilling, a fifth machine tool for processing the countersink, and a sixth machine tool for processing the separation lever mounting hole, which are arranged in sequence according to the production process;

[0010] The depalletizer is located at the front end of the production process of the first machine tool;

[0011] The tail end of the production process of the sixth machine tool is provided with a dynamic balancing machine and a blanking device for storing finished workpieces in sequence;

[0012] The two-dimensional visual detection and positioning device is located between the production processes of the first and second machine tools;

[0013] The transition station is arranged between the depalletizer and the first machine tool production process;

[0014] There are multiple exchange tables, including a first exchange table, which is the carrying table, a second exchange table arranged between the second machine tool and the third machine tool production process, a third exchange table between the third machine tool and the fourth machine tool production process, a fourth exchange table between the fourth machine tool and the fifth machine tool production process, a fifth exchange table between the fifth machine tool and the sixth machine tool production process, a sixth exchange table between the sixth machine tool and the dynamic balancing machine production process, and a seventh exchange table between the dynamic balancing machine and the blanking device production process.

[0015] Furthermore, a line tail sampling conveyor belt is provided between the production processes of the dynamic balancing machine and the blanking device.

[0016] Furthermore, the robot gripper device is an industrial six-joint robot gripper device, which is multiple in number and includes:

[0017] a first robotic gripper device, wherein the depalletizer, the transition table, the first machine tool, the two-dimensional visual inspection and positioning device, the second machine tool, and the second exchange table are located within a working radius of the first robotic gripper device;

[0018] The second robot gripper device, the second exchange station, the third machine tool, the third exchange station, the seventh exchange station, the end-of-line sampling conveyor belt and the unloading device are located within the working radius of the second robot gripper device;

[0019] The third robot gripper device, the third exchange table, the fourth machine tool, the fourth exchange table, the fifth machine tool, the fifth exchange table, the sixth machine tool, the sixth exchange table, the dynamic balancing machine and the seventh exchange table are located within the working radius of the third robot gripper device.

[0020] Furthermore, the system control device includes a PLC controller, which is connected to the robot gripper device via a Perfinet IO bus, the PLC controller is connected to the depalletizing PC and the 2D angle detection PC via TCP / IP, and the PLC controller performs information exchange through a human-machine interface.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] This solution utilizes a destacking camera installed on the destacking platform. This system utilizes a destacking PC equipped with a 3D visual positioning system, connected via a system control device, to control a robotic gripper for precise workpiece destacking. Furthermore, an angle detection camera installed on the loading platform utilizes a 2D angle detection PC equipped with a 2D visual inspection system, connected via a system control device, to control the robotic gripper for precise workpiece angle adjustment. This eliminates the need for manual judgment of processing angles based on experience and improves product quality. This solution replaces the existing one-person-per-machine manual operation model, reducing labor intensity, improving production efficiency, and effectively alleviating the factory's labor shortage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a plan view of an automated production system for a clutch pressure plate cover for agricultural machinery according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the production and processing process flow of an automated production system for a clutch pressure plate cover for agricultural machinery according to an embodiment of the present invention;

[0025] Figure 3 2 is a schematic structural diagram of a depalletizer according to an embodiment of the present invention;

[0026] Figure 4 2. It is a schematic structural diagram of a two-dimensional visual detection and positioning device according to an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the composition of the system control device in an embodiment of the present invention.

[0028] Explanation of the accompanying symbols: 1. Destacking machine; 1a. Destacking platform; 1b. Destacking camera; 1c. Destacking PC terminal; 2. Transition platform; 3. First machine tool; 4. Two-dimensional visual inspection and positioning device; 4a. Carrying platform; 4b. Angle detection camera; 4c. 2D angle detection PC terminal; 5. Second machine tool; 6. Second exchange platform; 7. Third machine tool; 8. Third exchange platform; 9. Fourth machine tool; 10. Fourth exchange platform; 11. Fifth machine tool; 12. Fifth exchange platform; 13. Sixth machine tool; 14. Sixth exchange platform; 15. Dynamic balancing machine; 16. Seventh exchange platform; 17. Line tail sampling conveyor belt; 18. Unloading device; 19. First robot gripper device; 20. Second robot gripper device; 21. Third robot gripper device; 22. PLC controller; 23. Human-machine interface. DETAILED DESCRIPTION

[0029] To make the present invention more clear, an automated production system for a clutch pressure plate cover for agricultural machinery of the present invention is further described below with reference to the accompanying drawings. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] like Figure 1 、 Figure 2 As shown, an automated production system for clutch pressure plate covers of agricultural machinery includes multiple groups of machine tools for combining to complete all processing procedures of workpieces, auxiliary devices for auxiliary processing between each machine tool, a robot gripper device for transferring workpieces between each machine tool and the auxiliary device, and a system control device.

[0031] Specifically, the machine tools include a first lathe 3 for lathing the inner edge, a second lathe 5 for milling the six-sided boss groove and two side surfaces, a third lathe 7 for machining the return spring slot, a fourth lathe 9 for drilling, a fifth lathe 11 for machining counterbores, and a sixth lathe 13 for machining the mounting hole for the release lever. In this embodiment, the first lathe 3 is a vertical lathe, the second lathe 5 and the third lathe 7 are both horizontal milling machines, the fourth lathe 9 and the fifth lathe 11 are vertical milling machines, and the sixth lathe 13 is a punch.

[0032] The auxiliary devices include a destacker 1 for loading the automated production system, a workpiece exchanger for temporary storage and / or flipping, a transition table 2 for transitional transfer, a two-dimensional visual inspection and positioning device 4, a dynamic balancing machine 15 for inspecting the dynamic balance of the workpieces, a line end inspection conveyor 17, and a material unloading device 18. In this embodiment, there are multiple exchangers, including a first exchanger 6, a second exchanger 8, a fourth exchanger 10, a fifth exchanger 12, a sixth exchanger 14, and a seventh exchanger 16. These exchangers determine whether to have a flip function based on process requirements, and the flip function of the exchangers is conventional.

[0033] The robot gripper device is an industrial six-joint robot gripper device, and there are three of them, namely a first robot gripper device 19 , a second robot gripper device 20 and a third robot gripper device 21 .

[0034] Specifically, the automated production system is equipped with a destacker 1, a transition table 2, a first machine tool 3, a two-dimensional visual inspection and positioning device 4, a second machine tool 5, a second exchange table 6, a third machine tool 7, a third exchange table 8, a fourth machine tool 9, a fourth exchange table 10, a fifth machine tool 11, a fifth exchange table 12, a sixth machine tool 13, a sixth exchange table 14, a dynamic balancing machine 15, a seventh exchange table 16, an end-of-line inspection conveyor belt 17, and a material unloading device 18, arranged in sequence according to the production process. Depending on the number of random inspections set by the system, some workpieces can skip the end-of-line inspection conveyor belt 17 and go directly to the unloading device 18.

[0035] Among them, the arrangement positions of the above-mentioned devices are arranged in a rectangular production route as a whole, and the destacker 1, transition table 2, fifth exchange table 12, sixth machine tool 13, sixth exchange table 14, dynamic balancing machine 15, end-of-line sampling conveyor belt 17 and unloading device 18 are located on one long side of the production route; the second machine tool 5, second exchange table 6, third machine tool 7, third exchange table 8 and fourth machine tool 9 are located on the other long side of the production route; the first machine tool 3 and the two-dimensional visual inspection and positioning device 4 are located on one short side of the production route; the fifth machine tool 11 is located on the other short side of the production route; in addition, the fourth exchange table 10 and the seventh exchange table 16 are arranged on the inner side of the rectangular production route and are located on the opposite side of the fifth machine tool 11.

[0036] The first robotic gripper 19, second robotic gripper 20, and third robotic gripper 21 are also arranged inside the rectangular production route. The depalletizer 1, transition table 2, first machine tool 3, two-dimensional visual inspection and positioning device 4, second machine tool 5, and second exchange table 6 are located within the working radius of the first robotic gripper; the second exchange table 6, third machine tool 7, third exchange table 8, seventh exchange table 16, end-of-line inspection conveyor belt 17, and unloading device 18 are located within the working radius of the second robotic gripper; the third exchange table 8, fourth machine tool 9, fourth exchange table 10, fifth machine tool 11, fifth exchange table 12, sixth machine tool 13, sixth exchange table 14, dynamic balancing machine 15, and seventh exchange table 16 are located within the working radius of the third robotic gripper.

[0037] like Figure 3As shown, the destacking machine 1 includes a destacking platform 1a with a frame structure and a bearing surface, the destacking platform 1a has two areas for bearing workpieces, and a destacking camera 1b is provided on both sides of the destacking platform 1a, each destacking camera 1b is connected to a destacking PC terminal 1c with a three-dimensional visual positioning system, and the destacking PC terminal 1c is connected to a system control device; each destacking camera 1b is used to scan the surface contour of the workpiece in the corresponding area, and the three-dimensional visual positioning system is used to obtain point cloud data of the workpiece, and the point cloud data is 3D modeled and the modeling features are analyzed to determine the current placement and posture of the workpiece, and the system control device calculates the possible grasping path and posture of the robot gripper device, and performs digital virtual grasping, calculates all collision points in the path, and analyzes the reachability of the robot gripper device, and finally selects a collision-free, reachable safe grasping path and gripper posture to grasp and destacker the workpiece.

[0038] like Figure 4 As shown, the two-dimensional visual inspection and positioning device 4 includes a carrier 4a, which can be used for temporary storage and / or turning over of the workpiece. An angle detection camera 4b is provided on the carrier 4a via a bracket. The angle detection camera 4b is connected to a 2D angle detection PC terminal 4c equipped with a two-dimensional visual inspection system, and the 2D angle detection PC terminal 4c is connected to the system control device. The six bosses of the workpiece are visually photographed by the angle detection camera 4b. The two-dimensional visual inspection system analyzes the data of the photographed image, calculates the distribution and symmetry of the six bosses, and obtains an optimal processing angle. The angle information is then sent to the robot gripper device through the system control device to rotate the workpiece. Here, the carrier 4a can serve as the first exchange platform.

[0039] like Figure 5 As shown, the system control device includes a programmable PLC controller 22, which is connected to the control modules of the first to third robot gripper devices via the Perfinet IO bus. The PLC controller 22 is respectively connected to the depalletizing PC terminal 1c and the 2D angle detection PC terminal 4c via TCP / IP. The PLC controller 22 performs information exchange through the human-machine interface 23 (HMI).

[0040] The working process of this system is as follows: First, the pallet containing the product is manually loaded onto the depalletizing table 1a and positioned. The pallet is then depalletized by the depalletizer 1 and the first robotic gripper device 19. The depalletized workpiece is placed on the transition table 2 for adjustment. The workpiece is then transferred to the first machine tool 3 for the inner edge turning process. The relative angle is adjusted by the two-dimensional visual inspection and positioning device 4. The workpiece is then transferred to the second machine tool 5 for milling the six-sided boss groove and two side surfaces. It is then transferred to the second exchange table 6 for adjustment. The exchange table is set according to the process requirements and can be used for production rhythm adjustment, workpiece flipping adjustment, and transfer adjustment between various workstations. The exchange tables described below all have the above functions and will not be repeated below.

[0041] The second robot gripper device 20 then performs the transfer. The second robot gripper device 20 transfers the workpiece from the second exchange table 6 to the third machine tool 7, processes the reset spring groove of the workpiece, and then transfers it to the third exchange table 8 for adjustment.

[0042] Next, the third robot gripper 21 transfers the workpiece from the third exchange table 8 to the fourth machine tool 9 for drilling processing. It then undergoes adjustment on the fourth exchange table 10, countersinking on the fifth machine tool 11, adjustment on the fifth exchange table 12, separation lever mounting hole processing on the sixth machine tool 13, adjustment on the sixth exchange table 14, and dynamic balancing testing of the workpiece on the dynamic balancing machine 15. Finally, it enters the seventh exchange table 16 for adjustment.

[0043] According to the random inspection settings, some workpieces are transferred from the seventh exchange table 16 to the end-of-line random inspection conveyor belt 17 through the second robot gripper device 20 to check whether each processing dimension is qualified, and finally enter the unloading device 18; some workpieces are directly transferred from the seventh exchange table 16 to the unloading device 18 through the second robot gripper device 20. The unloading device 18 is provided with a turnover pallet, and the pallet of the stacked finished workpieces is manually taken away as a whole and replaced with an empty pallet.

[0044] Of course, in this embodiment, the processing flow can be adjusted according to different models of clutch covers to improve the adaptability of the automated production system.

[0045] The above embodiments of the present invention are merely examples for the purpose of illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all embodiments here. However, obvious variations or modifications arising from the essence of the present invention remain within the scope of protection of the present invention.

Claims

1. An automated production system for clutch pressure plate covers for agricultural machinery, comprising multiple sets of machine tools for completing all machining steps of a workpiece, auxiliary devices for assisting machining between the machine tools, a robotic gripper device for transferring the workpiece between the machine tools and the auxiliary devices, and a system control device; characterized in that: The auxiliary device comprises: A destacking machine (1) for loading materials in an automated production system comprises a destacking platform (1a), a destacking camera (1b) being provided on the destacking platform (1a), the destacking camera (1b) being connected to a destacking PC terminal (1c) equipped with a three-dimensional visual positioning system, and the destacking PC terminal (1c) being connected to a system control device; the destacking camera (1b) is used to scan the surface contour of a workpiece, the three-dimensional visual positioning system is used to obtain point cloud data of the workpiece, 3D modeling is performed on the point cloud data, and modeling features are analyzed to determine the current placement position and posture of the workpiece, the system control device calculates the possible grasping path and posture of a robot gripper device, performs digital virtual grasping, calculates all collision points in the path, and analyzes the reachability of the robot gripper device, and finally selects a collision-free, reachable safe grasping path and gripper posture to grasp and destacking the workpiece; A two-dimensional visual inspection and positioning device (4) comprises a supporting platform (4a), an angle detection camera (4b) is provided on the supporting platform (4a), the angle detection camera (4b) is connected to a 2D angle detection PC terminal (4c) equipped with a two-dimensional visual inspection system, and the 2D angle detection PC terminal (4c) is connected to a system control device; the six bosses of a workpiece are visually photographed by the angle detection camera (4b), the two-dimensional visual inspection system analyzes the photographed image data, calculates the distribution and symmetry of the six bosses, and obtains an optimal processing angle; the angle information is sent to a robot gripper device through the system control device to rotate the workpiece; And a switching table for temporarily storing and / or turning over workpieces, and a transition table (2) for transition transfer.

2. The automated production system for clutch pressure plate covers for agricultural machinery according to claim 1, characterized in that: The machine tools include a first machine tool (3) for turning the inner edge, a second machine tool (5) for milling the six-sided boss groove and the two side surfaces, a third machine tool (7) for processing the card return spring groove, a fourth machine tool (9) for drilling, a fifth machine tool (11) for processing the countersink, and a sixth machine tool (13) for processing the separation lever mounting hole, which are arranged in sequence according to the production process. The destacker (1) is located at the front end of the production process of the first machine tool (3); The sixth machine tool (13) is provided with a dynamic balancing machine (15) and a blanking device (18) for storing finished workpieces at the end of the production process; The two-dimensional visual detection and positioning device (4) is located between the production processes of the first and second machine tools; The transition platform (2) is arranged between the destacker (1) and the first machine tool (3) production process; The exchange stations are multiple, including a first exchange station, which is the carrier station (4a), a second exchange station (6) arranged between the production processes of the second machine tool (5) and the third machine tool (7), a third exchange station (8) arranged between the production processes of the third machine tool (7) and the fourth machine tool (9), a fourth exchange station (10) arranged between the production processes of the fourth machine tool (9) and the fifth machine tool (11), a fifth exchange station (12) between the production processes of the fifth machine tool (11) and the sixth machine tool (13), a sixth exchange station (14) between the production processes of the sixth machine tool (13) and the dynamic balancing machine (15), and a seventh exchange station (16) between the production processes of the dynamic balancing machine (15) and the blanking device (18).

3. The automated production system for clutch pressure plate covers for agricultural machinery according to claim 2, characterized in that: A line tail sampling conveyor belt (17) is also provided between the production processes of the dynamic balancing machine (15) and the unloading device (18).

4. The automated production system for clutch pressure plate covers for agricultural machinery according to claim 3, characterized in that: The robot gripper device is an industrial six-joint robot gripper device, which is multiple in number and includes: a first robot gripper device (19), the depalletizer (1), the transition table (2), the first machine tool (3), the two-dimensional visual detection and positioning device (4), the second machine tool (5) and the second exchange table (6) being located within a working radius of the first robot gripper device; The second robot gripper device (20), the second exchange platform (6), the third machine tool (7), the third exchange platform (8), the seventh exchange platform (16), the end-of-line sampling conveyor belt (17) and the unloading device (18) are located within the working radius of the second robot gripper device; A third robot gripper device (21), the third exchange table (8), the fourth machine tool (9), the fourth exchange table (10), the fifth machine tool (11), the fifth exchange table (12), the sixth machine tool (13), the sixth exchange table (14), the dynamic balancing machine (15) and the seventh exchange table (16) are located within the working radius of the third robot gripper device.

5. The automated production system for clutch pressure plate covers for agricultural machinery according to claim 4, characterized in that: The system control device includes a PLC controller (22), the PLC controller (22) is connected to a robot gripper device via a Perfinet IO bus, the PLC controller (22) is connected to a depalletizing PC terminal (1c) and a 2D angle detection PC terminal (4c) via TCP / IP, and the PLC controller (22) performs information exchange via a human-machine interface (23).

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