A universal end picker for cold pressed parts and its automatic adjustment system and adjustment method

Abstract

The present invention discloses a universal end picker for cold-pressed parts and its automatic adjustment system and method. The device comprises multiple main connecting rods and quick-change joints for connecting to a robotic arm. The quick-change joints are simultaneously connected to the multiple main connecting rods. Multiple arms are distributed along the length of the main connecting rods. The arms are provided with multiple suction cup supports, each of which is equipped with a suction cup. The suction cup is connected to an air circuit assembly for connecting to an air source. The arms and suction cup supports are slidably connected to the main connecting rods and arms via an automatic mounting base. An automatic adjustment system and method are also provided, wherein a drive mechanism drives the mounting base to move to a preset position and fix it, so that the suction cups are distributed according to the pickup point distribution parameters. The present invention has a simple structure and a simple data processing process. Automatically identified and selected pickup points are uniform, resulting in well-balanced cold-pressed part picking. Operation is simple, and production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of end pickers, and in particular to a universal end picker for cold pressed parts and an automatic adjustment system and adjustment method thereof. Background Art

[0002] An end tooling device is a set of products that is connected to the end of an industrial robot (including six-axis robots, high-speed suspended robotic arms), a truss robotic arm (including high-speed GUDEL SPEEDBAR and ROBOBEAM), or a power-assisted robotic arm. Its main function is to assist these devices in picking up and moving workpieces. In the current intelligent manufacturing environment, it is widely used in various industries such as electronics, automobiles, injection molding, packaging, etc.

[0003] At present, the end pickers used in automobile cold stamping workshops are mostly fixedly connected or bolted between the main connecting rod and the support arm, and between the support arm and the suction cup support. That is, each type of cold stamping mold equipment is equipped with a corresponding distribution of end pickers. Generally, end pickers do not have an adjustment function. After replacing the die head, the end picker must be replaced accordingly to facilitate targeted picking up of the changed cold stamping parts. The replacement efficiency is low and the versatility is poor, which leads to low production efficiency. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a universal end picker for cold pressing parts and its automatic adjustment system and adjustment method, which solves the problem of poor versatility of the existing end pickers.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A universal end tool for cold-pressed parts, comprising multiple main connecting rods and quick-change joints for connecting to a robotic arm. The quick-change joints are simultaneously connected to the multiple main connecting rods. Multiple support arms are distributed along the length of the main connecting rods. Multiple suction cup supports are provided on the support arms. Suction cups are mounted on the suction cup supports. The suction cups are connected to an air circuit assembly for connecting to an air source.

[0007] The support arm is slidably connected to the main connecting rod through a mounting base, and the suction cup support is slidably connected to the support arm through a mounting base, wherein the mounting base is installed on the main connecting rod or the support arm through a driving mechanism, and the driving mechanism can drive the mounting base to move along the main connecting rod or the support arm when working, and can fix the mounting base on the main connecting rod or the support arm when stopping working.

[0008] As an optimization, there are two main connecting rods, which are arranged horizontally and parallel. The quick-change connector is connected to the middle of the two main connecting rods at the same time. The support arm is arranged horizontally and perpendicular to the main connecting rods, and is distributed on the opposite side of the two main connecting rods.

[0009] As an optimization, the cross-section of the main connecting rod and the support arm is rectangular, and a rack is provided on the main connecting rod and the support arm along their length direction; correspondingly, the mounting seat is a rectangular sleeve structure and is slidably fitted on the main connecting rod or the support arm, and a driving motor is provided on the mounting seat, and a gear is provided on the motor shaft of the driving motor, and the gear is engaged with the rack. When the driving motor drives the gear to rotate, it drives the mounting seat to move along the main connecting rod or the support arm, and when the gear stops rotating, the mounting seat is locked and fixed on the main connecting rod or the support arm.

[0010] Based on the universal end picker, the present invention further provides an automatic adjustment system for the universal end picker for cold pressed parts, which is connected to the universal end picker for cold pressed parts and includes:

[0011] An interactive display module, used for inputting interactive instructions, including inputting the name of the cold-pressed part to be processed and / or selecting the cold-pressed part to be processed;

[0012] A parameter preset module, used to store parameters of the cold pressed part, wherein the parameters of the cold pressed part include the name and image of the cold pressed part and corresponding pickup point distribution parameters;

[0013] The single chip microcomputer is connected to the driving motor and is used to identify the input interactive instructions and call the parameters of the corresponding cold pressed parts, and then send control instructions to the driving motor to make the driving mechanism drive the mounting seat to move to a preset position and fix it, so that the suction cup is distributed according to the picking point distribution parameters of the cold pressed parts.

[0014] As an optimization, the parameter preset module includes:

[0015] A storage module, used for storing parameters of the cold pressed part, wherein the parameters of the cold pressed part are manually input through the interactive display module;

[0016] The calling module is used to call the parameters of the cold pressed parts from the storage module;

[0017] As an optimization, the parameter preset module includes:

[0018] An image recognition module is used to obtain an image of the cold pressed part and fit the contour line of the plane area on the cold pressed part that can be picked up by the suction cup;

[0019] a grid generation module, configured to calculate the centroid of the contour line based on the contour line fitted by the image recognition module, and establish a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod, and the transverse axis is parallel to the extension direction of the support arm; after the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied in parallel as grid lines at preset intervals to form a grid until the grid covers the contour line of the cold-pressed part;

[0020] A picking point selection module is used to select an intersection point that meets a preset condition from the intersection points of the horizontal grid lines and the vertical grid lines in the grid as a picking point to generate a picking point distribution parameter;

[0021] A storage module, used for storing parameters of cold pressed parts;

[0022] The calling module is used to call the parameters of the cold pressed parts from the storage module.

[0023] As an optimization, the preset condition is:

[0024] a. The intersection is located inside the contour line of the cold pressed part, and the minimum distance between the intersection and the contour line is greater than a preset value;

[0025] b. When multiple intersection points that meet condition a are located on the same horizontal grid line or vertical grid line, retain the two intersection points on both sides of the horizontal axis or vertical axis with the smallest distance from the contour line;

[0026] c. If the distance between any adjacent intersection points that meet condition b is less than the length of the grid diagonal, then the intersection point with the smallest distance to the contour line is retained;

[0027] d. The retained intersection points that meet condition c are used as picking points.

[0028] Based on the universal end tool and automatic adjustment system, the present invention also provides an adjustment method for a universal end tool for cold pressed parts, comprising the universal end tool for cold pressed parts and the automatic adjustment system; comprising the following steps:

[0029] 1) Install the end effector on a positioning bracket through a quick-change connector;

[0030] 2) Connect the drive motor to the automatic adjustment system and initialize it;

[0031] 3) inputting interactive commands through the interactive display module, including inputting the name of the cold pressed part to be processed, and / or selecting an image of the cold pressed part to be processed;

[0032] 4) After the single chip computer recognizes the input interactive command, it searches and calls the corresponding parameters of the cold pressed part to be processed in the parameter preset module;

[0033] 5) The single chip microcomputer sends control instructions to the drive motor in sequence, so that the drive motor drives the mounting seat to move the corresponding distance according to the pickup point distribution parameters of the cold pressed part to be processed, and the suction cup is distributed according to the pickup point distribution parameters of the cold pressed part to be processed.

[0034] As an optimization, the acquisition of the distribution parameters of the picking points of the cold pressed parts to be processed includes the following steps:

[0035] 301) Acquire an image of the cold pressed part through an image recognition module, and fit the contour line of the plane area on the cold pressed part that can be picked up by the suction cup;

[0036] 302) The grid generation module calculates the centroid of the contour line fitted by the image recognition module and establishes a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod, and the transverse axis is parallel to the extension direction of the support arm. After the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied as grid lines at preset intervals to form a grid until the grid covers the contour line of the cold pressed part;

[0037] 303) The picking point selection module selects picking points from the intersections of the horizontal grid lines and the vertical grid lines in the grid to generate picking point distribution parameters;

[0038] As an optimization, in step 303), the selection of the picking point includes:

[0039] 3031) Select an intersection point that is inside the contour line of the cold pressed part and whose minimum distance from the contour line is greater than a preset value;

[0040] 3032) From the multiple intersection points on the same horizontal grid line or vertical grid line in step 3031), select the two intersection points with the smallest distance from the contour line on either side of the horizontal axis or the vertical axis;

[0041] 3033) Among the intersection points retained in step 3032), the intersection points whose distances between adjacent intersection points are less than the diagonal length of the grid are selected, and the intersection point with the smallest distance to the contour line is selected;

[0042] 3034) The intersection point selected in step 3033) is used as a picking point.

[0043] Compared with the prior art, this application has the following beneficial effects:

[0044] The present invention adopts a mounting base that can automatically move along the main connecting rod / support arm, and is controlled by an automatic adjustment system, so that the mounting base can be moved to a specified position so that the suction cups are distributed according to the preset pick-up distribution points, thereby being able to adapt to different cold-pressed parts, and the versatility is greatly improved. Among them, the preset pick-up distribution points can be manually preset and input, and can also be completed through automatic recognition and calculation. Automatic adjustment can be well achieved for known or unknown cold-pressed parts, further improving the versatility. The present invention has a simple structure, a simple data processing process, uniform automatic identification and selection of pick-up points, good cold-pressed parts picking balance, simple operation, and improved production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the present invention;

[0046] Figure 2 Schematic diagram of the installation structure of the mounting base and the main connecting rod in the present invention;

[0047] Figure 3 This is a system block diagram of the manual input method of the present invention;

[0048] Figure 4 This is a block diagram of the system for automatically identifying input modes according to the present invention;

[0049] Figure 5 This is an example of the picking point selected for the first time by the picking point selection module in the present invention. The curve in the figure is the outline of the plane area that the suction cup can pick up, and the circle is the picking point selected for the first time;

[0050] Figure 6 This is an example of a picking point selected for the second time by the picking point selection module in the present invention, where the triangle is the picking point selected for the second time;

[0051] Figure 7 This is an example of the picking point selected for the third time by the picking point selection module in the present invention. The box is the picking point selected for the third time, that is, the final picking point;

[0052] In the figure, 1 is a quick-change connector, 2 is a main connecting rod, 3 is a support arm, 4 is a suction cup support, 5 is a suction cup, 6 is a mounting base, 7 is a rack, 8 is a drive motor, and 9 is a gear. DETAILED DESCRIPTION

[0053] The present invention will be described in further detail below with reference to the accompanying drawings.

[0054] When implementing:

[0055] For example, see Figure 1-7

[0056] A universal end tool for cold-pressed parts, comprising multiple main connecting rods 2 and a quick-change joint 1 for connecting to a robotic arm. The quick-change joint 1 is simultaneously connected to the multiple main connecting rods 2. Multiple support arms 3 are distributed along the length of the main connecting rods 2. Multiple suction cup supports 4 are provided on the support arms 3. Suction cups 5 are mounted on the suction cup supports 4. The suction cups 5 are connected to an air circuit assembly for connecting to an air source.

[0057] The support arm 3 is slidably connected to the main connecting rod 2 through the mounting seat 6, and the suction cup support 4 is slidably connected to the support arm 3 through the mounting seat 6, wherein the mounting seat 6 is installed on the main connecting rod 2 or the support arm 3 through a driving mechanism, and the driving mechanism can drive the mounting seat 6 to move along the main connecting rod 2 or the support arm 3 when working, and can fix the mounting seat 6 on the main connecting rod 2 or the support arm 3 when stopping working.

[0058] Specifically, there are two main connecting rods 2, which are arranged horizontally and parallel. The quick-change joint 1 is connected to the middle parts of the two main connecting rods 2 at the same time. The support arm 3 is arranged horizontally and perpendicular to the main connecting rod 2, and is distributed on the opposite side of the two main connecting rods 2.

[0059] The main connecting rod 2 and the support arm 3 have rectangular cross-sections, and racks 7 are provided on the main connecting rod 2 and the support arm 3 along their lengths. Correspondingly, the mounting seat 6 is a rectangular sleeve structure and is slidably fitted on the main connecting rod 2 or the support arm 3. A drive motor 8 is provided on the mounting seat 6. In this embodiment, the drive motor 8 is a stepper motor, and a gear 9 is provided on the motor shaft of the drive motor 8. The gear 9 meshes with the rack 7. When the drive motor 8 drives the gear 9 to rotate, the mounting seat 6 moves along the main connecting rod 2 or the support arm 3. When the gear 9 stops rotating, the engagement of the gear 9 with the rack 7 locks the mounting seat 6 to the main connecting rod 2 or the support arm 3. In this way, driven by the drive motor 8, the support arm 3 can move along the main connecting rod 2, and the suction cup support 4 can move along the support arm 3, so that the multiple suction cups 5 can be combined into a variety of distribution forms, which is convenient for better adapting to and picking up cold-pressed parts of different shapes and has better versatility.

[0060] Based on the universal end picker, the present invention further provides an automatic adjustment system for the universal end picker for cold pressed parts, which is connected to the universal end picker for cold pressed parts and includes:

[0061] The interactive display module is used to input interactive instructions, including inputting the name of the cold-pressed part to be processed and / or selecting the cold-pressed part to be processed. In this way, the name of the cold-pressed part or other keywords, or codes, etc. can be input through the interactive display module, that is, the call command for the corresponding cold-pressed part can be input.

[0062] The parameter preset module is used to store the parameters of the cold pressed part, wherein the parameters of the cold pressed part include the name of the cold pressed part, the image of the cold pressed part, and the corresponding pick-up point distribution parameters. The image of the cold pressed part and the pick-up point distribution parameters can be input manually or through automatic recognition.

[0063] The single chip microcomputer is connected to the drive motor 8 and is used to identify the input interactive instructions and retrieve the parameters of the corresponding cold pressed parts, and then send control instructions to the drive motor 8 to make the drive mechanism drive the mounting seat 6 to move to the preset position and fix it, so that the suction cup 5 is distributed according to the picking point distribution parameters of the cold pressed parts.

[0064] Specifically, the single chip microcomputer is connected to all the drive motors 8 through control lines to send control signals to the drive motors 8. For the stepper motors, the single chip microcomputer establishes adaptive coordinates according to the picking point distribution parameters of the cold pressed parts, and numbers each stepper motor. After calculation and processing, a command of stepping a specified distance is sent to each stepper motor, so that the entire suction cup 5 is distributed according to the picking point distribution parameters.

[0065] Specifically, for the implementation method of manually inputting cold pressing parameters, the parameter preset module includes:

[0066] A storage module, used for storing parameters of the cold pressed part, wherein the parameters of the cold pressed part are manually input through the interactive display module;

[0067] The calling module is used to call the parameters of the cold pressed parts from the storage module;

[0068] Specifically, for the implementation method of automatically identifying the input parameters of cold pressed parts, the parameter preset module includes:

[0069] An image recognition module is used to obtain an image of the cold-pressed part and fit the contour line of the plane area that can be picked up by the suction cup 5 on the cold-pressed part. Since the cold-pressed part is in a plate shape before cold pressing, but takes on various shapes after cold pressing, specifically, the image recognition module includes a three-dimensional image scanner, or includes a plane image scanner and a distance sensor array, which is used to obtain a three-dimensional image of the cold-pressed part and obtain the plane area that can be picked up by the suction cup 5 on the cold-pressed part. The three-dimensional image of the cold-pressed part is directly scanned and obtained by a three-dimensional image scanner, or the plane image is obtained by an image scanner and the elevation parameters in the plane image are obtained in combination with the distance sensor array, and the three-dimensional image of the cold-pressed part is coupled through processing by a processor such as a chip. After obtaining the three-dimensional image of the cold-pressed part, the plane area that can be picked up by the suction cup 5 is identified, and the contour line of the plane area is fitted. Specifically, when identifying the plane area, the area of the plane area will be judged. If the area is small, it will be excluded. It can be set manually, such as the area is less than twice the area of the suction cup 5. In addition, the shape of the identified plane area can also be judged. If the maximum width of the plane area is less than the diameter of the suction cup 5, it will also be excluded. In this way, the plane area with a narrow and long shape is excluded. Other exclusion methods can be set as needed, which can reduce computing power and only select necessary larger areas.

[0070] a grid generation module for calculating the centroid of the contour line based on the contour line fitted by the image recognition module, and establishing a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod 2, and the transverse axis is parallel to the extension direction of the support arm 3; after the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied into grid lines at preset intervals to form a grid until the grid covers the contour line of the cold-pressed part;

[0071] A picking point selection module is used to select an intersection point that meets a preset condition from the intersection points of the horizontal grid lines and the vertical grid lines in the grid as a picking point to generate a picking point distribution parameter;

[0072] A storage module, used for storing parameters of cold pressed parts;

[0073] The calling module is used to call the parameters of the cold pressed parts from the storage module.

[0074] Specifically, the preset condition is:

[0075] a. The intersection is located inside the contour line of the cold pressed part, and the minimum distance between the intersection and the contour line is greater than a preset value;

[0076] b. When multiple intersection points that meet condition a are located on the same horizontal grid line or vertical grid line, retain the two intersection points on both sides of the horizontal axis or vertical axis with the smallest distance from the contour line;

[0077] c. If the distance between any adjacent intersection points that meet condition b is less than the length of the grid diagonal, then the intersection point with the smallest distance to the contour line is retained;

[0078] d. The retained intersection points that meet condition c are used as picking points.

[0079] Based on the universal end tool and automatic adjustment system, the present invention also provides an adjustment method for a universal end tool for cold pressed parts, comprising the universal end tool for cold pressed parts and the automatic adjustment system; comprising the following steps:

[0080] 1) Install the end effector on a positioning bracket through the quick-change connector 1;

[0081] 2) Connecting the drive motor 8 to the automatic adjustment system and then initializing it;

[0082] 3) inputting interactive commands through the interactive display module, including inputting the name of the cold pressed part to be processed, and / or selecting an image of the cold pressed part to be processed;

[0083] 4) After the single chip computer recognizes the input interactive command, it searches and calls the corresponding parameters of the cold pressed part to be processed in the parameter preset module;

[0084] 5) The single chip microcomputer sends control instructions to the drive motor 8 in sequence, so that the drive motor 8 drives the mounting seat 6 to move a corresponding distance according to the pickup point distribution parameters of the cold pressed part to be processed, so that the suction cup 5 is distributed according to the pickup point distribution parameters of the cold pressed part to be processed.

[0085] Specifically, the acquisition of the distribution parameters of the picking points of the cold pressed parts to be processed includes the following steps:

[0086] 301) Acquire an image of the cold pressed part through an image recognition module, and fit the contour line of the plane area on the cold pressed part that can be picked up by the suction cup 5;

[0087] 302) The grid generation module calculates the centroid of the contour line fitted by the image recognition module and establishes a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod 2, and the transverse axis is parallel to the extension direction of the support arm 3. After the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied as grid lines at preset intervals to form a grid until the grid covers the contour line of the cold pressed part;

[0088] 303) The picking point selection module selects picking points from the intersections of the horizontal grid lines and the vertical grid lines in the grid to generate picking point distribution parameters;

[0089] The selection of picking points includes:

[0090] 3031) Select the intersection point that is inside the contour line of the cold pressed part and whose minimum distance from the contour line is greater than the preset value, such as Figure 5 shown.

[0091] 3032) In step 3031), for multiple intersections on the same horizontal grid line or vertical grid line, select the two intersections with the smallest distance from the contour line on both sides of the horizontal axis or the vertical axis, such as Figure 6 shown.

[0092] 3033) Among the intersection points retained in step 3032), the intersection points whose distance between adjacent intersection points is less than the diagonal length of the grid are selected, and the intersection point with the smallest distance to the contour line is selected, such as Figure 7 shown.

[0093] 3034) The intersection point selected in step 3033) is used as a picking point.

[0094] The present invention adopts a mounting base that can automatically move along the main connecting rod / support arm, and is controlled by an automatic adjustment system, so that the mounting base can be moved to a specified position so that the suction cups are distributed according to the preset pick-up distribution points, thereby being able to adapt to different cold-pressed parts, and the versatility is greatly improved. Among them, the preset pick-up distribution points can be manually preset and input, and can also be completed through automatic recognition and calculation. Automatic adjustment can be well achieved for known or unknown cold-pressed parts, further improving the versatility. The present invention has a simple structure, a simple data processing process, uniform automatic identification and selection of pick-up points, good cold-pressed parts picking balance, simple operation, and improved production efficiency.

[0095] Although the embodiments of the present invention have been shown and described, it is apparent to those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and basis of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Therefore, the embodiments of the present invention are merely illustrative examples of the present invention. No matter from which point of view, the embodiments of the present invention do not constitute a limitation on the present invention.

Claims

1. An automatic adjustment system for a universal end tool for cold pressed parts, characterized in that: include, A universal end tool for cold-pressed parts comprises a plurality of main connecting rods and a quick-change joint for connecting to a robotic arm, wherein the quick-change joint is simultaneously connected to the plurality of main connecting rods, a plurality of support arms are distributed along the length direction of the main connecting rods, a plurality of suction cup supports are provided on the support arms, a suction cup is mounted on the suction cup supports, and the suction cup is connected to an air circuit assembly, which is used to connect to an air source; the support arms are slidably connected to the main connecting rods via mounting seats, and the suction cup supports are slidably connected to the support arms via mounting seats, wherein the mounting seats are mounted on the main connecting rods or the support arms via a driving mechanism, and the driving mechanism can drive the mounting seats to move along the main connecting rods or the support arms when working, and can fix the mounting seats on the main connecting rods or the support arms when working. An interactive display module, used for inputting interactive instructions, including inputting the name of the cold-pressed part to be processed and / or selecting the cold-pressed part to be processed; A parameter preset module, used to store parameters of the cold pressed part, wherein the parameters of the cold pressed part include the name and image of the cold pressed part and corresponding pickup point distribution parameters; The single chip microcomputer is connected to the drive motor and is used to identify the input interactive instructions and call the parameters of the corresponding cold pressed part, and then send a control instruction to the drive motor to make the drive mechanism drive the mounting seat to move to a preset position and fix it, so that the suction cup is distributed according to the pick-up point distribution parameters of the cold pressed part; Wherein, the parameter preset module includes: An image recognition module is used to obtain an image of the cold pressed part and fit the contour line of the plane area on the cold pressed part that can be picked up by the suction cup; a grid generation module, configured to calculate the centroid of the contour line based on the contour line fitted by the image recognition module, and establish a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod, and the transverse axis is parallel to the extension direction of the support arm; after the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied in parallel as grid lines at preset intervals to form a grid until the grid covers the contour line of the cold-pressed part; A picking point selection module is used to select an intersection point that meets a preset condition from the intersection points of the horizontal grid lines and the vertical grid lines in the grid as a picking point to generate a picking point distribution parameter; A storage module, used for storing parameters of cold pressed parts; A calling module is used to call the parameters of the cold pressing parts from the storage module; The preset condition is: a. The intersection is located inside the contour line of the cold pressed part, and the minimum distance between the intersection and the contour line is greater than a preset value; b. When multiple intersection points that meet condition a are located on the same horizontal grid line or vertical grid line, retain the two intersection points on both sides of the horizontal axis or vertical axis with the smallest distance from the contour line; c. If the distance between any adjacent intersection points that meet condition b is less than the length of the grid diagonal, then the intersection point with the smallest distance to the contour line is retained; d. The retained intersection points that meet condition c are used as picking points.

2. The automatic adjustment system of a universal end tool for cold pressing parts according to claim 1 is characterized in that: There are two main connecting rods, which are arranged horizontally and in parallel. The quick-change joint is connected to the middle parts of the two main connecting rods at the same time. The support arms are arranged horizontally and perpendicular to the main connecting rods and are distributed on the opposite sides of the two main connecting rods.

3. The automatic adjustment system of a universal end tool for cold pressing parts according to claim 1 is characterized in that: The cross-section of the main connecting rod and the support arm is rectangular, and a rack is provided on the main connecting rod and the support arm along their length direction; correspondingly, the mounting seat is a rectangular sleeve structure and is slidably fitted on the main connecting rod or the support arm, and a driving motor is provided on the mounting seat, and a gear is provided on the motor shaft of the driving motor. The gear is engaged with the rack, and when the driving motor drives the gear to rotate, it drives the mounting seat to move along the main connecting rod or the support arm, and when the gear stops rotating, the mounting seat is locked and fixed on the main connecting rod or the support arm.

4. The automatic adjustment system for a universal end tool for cold pressing parts according to claim 1 is characterized in that: The parameter preset module includes: A storage module, used for storing parameters of the cold pressed part, wherein the parameters of the cold pressed part are manually input through the interactive display module; The calling module is used to call the parameters of the cold pressed parts from the storage module.

5. A method for adjusting a universal end tool for cold pressing parts, comprising an automatic adjustment system for a universal end tool for cold pressing parts according to any one of claims 1 to 4; characterized in that: The following steps are included: 1) Install the end effector on a positioning bracket through a quick-change connector; 2) Connect the drive motor to the automatic adjustment system and initialize it; 3) inputting interactive commands through the interactive display module, including inputting the name of the cold pressed part to be processed, and / or selecting an image of the cold pressed part to be processed; 4) After the single chip computer recognizes the input interactive command, it searches and calls the corresponding parameters of the cold pressed part to be processed in the parameter preset module; 5) The single chip microcomputer sends control instructions to the drive motor in sequence, so that the drive motor drives the mounting seat to move the corresponding distance according to the pickup point distribution parameters of the cold pressed part to be processed, and the suction cup is distributed according to the pickup point distribution parameters of the cold pressed part to be processed.

6. The method for adjusting a universal end tool for cold pressing parts according to claim 5, characterized in that: The acquisition of the distribution parameters of the picking points of the cold pressed parts to be processed includes the following steps: 301) Acquire an image of the cold pressed part through an image recognition module, and fit the contour line of the plane area on the cold pressed part that can be picked up by the suction cup; 302) The grid generation module calculates the centroid of the contour line fitted by the image recognition module and establishes a plane coordinate system with the centroid as the coordinate origin, wherein the longitudinal axis of the plane coordinate system is parallel to the extension direction of the main connecting rod, and the transverse axis is parallel to the extension direction of the support arm. After the coordinate system is established, the transverse axis and the longitudinal axis are respectively copied as grid lines at preset intervals to form a grid until the grid covers the contour line of the cold pressed part; 303) The picking point selection module selects picking points from the intersections of the horizontal grid lines and the vertical grid lines in the grid to generate picking point distribution parameters.

7. The method for adjusting a universal end tool for cold pressing parts according to claim 6, characterized in that: In step 303), the selection of the picking point includes: 3031) Select an intersection point that is inside the contour line of the cold pressed part and whose minimum distance from the contour line is greater than a preset value; 3032) From the multiple intersection points on the same horizontal grid line or vertical grid line in step 3031), select the two intersection points with the smallest distance from the contour line on either side of the horizontal axis or the vertical axis; 3033) Among the intersection points retained in step 3032), the intersection points whose distances between adjacent intersection points are less than the diagonal length of the grid are selected, and the intersection point with the smallest distance to the contour line is selected; 3034) The intersection point selected in step 3033) is used as a picking point.

Images