A robotic bundling device

Abstract

The application provides a kind of robot bundling device, including wire feeding unit, the wire feeding unit includes big wire reel frame, wire feeder, tension control system and bundling gun;The big wire reel frame and wire feeder are fixedly installed on robot by platform plate;The big wire reel frame includes fixed shaft, pressing block, compression spring, big wire reel, fixed shaft mounting plate;The big wire reel is passive wire feeding, is braked by the compression spring deformation and compacts wire reel, utilizes the friction force of wire reel and mounting plate to slow down.The application has beneficial effects: including wire feeding unit, the wire feeding unit includes big wire reel frame, wire feeder, tension control system and bundling gun, the big wire reel frame and wire feeder are fixedly installed on robot by platform plate;The big wire reel is passive wire feeding, is braked by the compression spring deformation and compacts wire reel, utilizes the friction force of wire reel and mounting plate to slow down;Tension control is carried out using tension control system;Bundling operation is carried out using bundling gun.

Description

Technical Field

[0001] This invention belongs to the field of automatic strapping machine technology, and in particular relates to a robotic strapping device. Background Technology

[0002] Currently, robots are widely used, and there are numerous cases of rebar tying machines working in conjunction with robots to automatically tie rebar. However, rebar tying machines are standard machines, and their industry standard is that they have built-in wire spools with a specification of 100 meters per roll. A single standard wire spool can only be used 200 to 250 times, requiring frequent machine stops to replace the wire spools. Furthermore, due to manufacturing and installation errors in the rebar trusses and mesh, there are deviations between the actual and calculated tying points, which can lead to unsuccessful tying, greatly increasing the probability of collisions with the tying gun and ultimately causing equipment damage.

[0003] Furthermore, due to industry standards, rebar tying machines use brushless motors with high speeds, and the wire length consumed in each tying varies slightly. When used with an external large wire reel, the external wire feeder experiences issues such as mismatch between the wire feeding speed and the speed inside the tying machine, and inconsistent wire feeding lengths. This results in excessive wire tension between the wire feeder and the tying gun, leading to tying failures. Therefore, currently, rebar tying machines used in conjunction with robots in the industry typically employ built-in standard wire reels. Summary of the Invention

[0004] In view of this, the present invention aims to propose a robotic binding device that solves the wire feeding tension through automatic wire feeding by other mechanisms, meets the requirements of external wire feeding, and ultimately realizes the requirement of automatic robotic steel bar binding.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A robotic strapping device includes a wire feeding unit, which includes a large wire spool frame, a wire feeder, a tension control system, and a strapping gun.

[0007] The large wire spool frame and the wire feeder are fixedly mounted on the robot via a platform plate;

[0008] The large wire spool frame includes a fixed shaft, a pressure block, a pressure spring, a large wire spool, and a fixed shaft mounting plate;

[0009] The large wire spool is passively fed with wire, and the wire spool is braked by the deformation of the compression spring, and the speed is reduced by the friction between the wire spool and the mounting plate.

[0010] The tension control system includes a support assembly, a guide wire assembly, and a tension measurement assembly, and tension control is performed using the tension control system.

[0011] Use a strapping gun to perform the strapping operation.

[0012] Furthermore, the wire feeder includes a housing, a drive assembly, a wire guide wheel, a wire pressing wheel, and a wire guide tube;

[0013] The outer shell and platform plate are fixedly installed. The drive assembly includes a servo motor, a reducer, a guide wheel, and a pressing wheel. There are two sets of guide wheels and pressing wheels. The pressing wheel is parallel to the top of the guide wheel to form a wire feeding channel.

[0014] The drive assembly includes a drive shaft, a drive gear, a driven shaft, and a driven gear. The drive shaft and the driven shaft are fixed to the outer casing by double-row angular contact bearings, bushings, and flanges. The drive gear and the driven gear mesh to drive the guide wheel and the pressure wheel to rotate, thus completing the wire feeding function inside the wire feeder.

[0015] Furthermore, the tension control system includes a support assembly, which includes a guide rod, a limiting plate, a limiting block, an M5 screw, and a mounting plate; the guide rod and the mounting plate are connected by M5 screws, and the mounting plate is mounted on the connecting aluminum plate by M6 screws.

[0016] Furthermore, the tension control system includes a wire guide assembly, which includes a wire guide tube, a wire guide tube mounting base, a wire guide tube mounting base, and a wire guide tube adjustment bracket.

[0017] The guide wire tube adjustment bracket is composed of an M5 screw, a C-shaped bending plate, and an L-shaped sliding plate, and is installed on the fixed plate.

[0018] When feeding the wire, the wire enters from the upper opening of the wire guide tube and exits from the lower opening.

[0019] Furthermore, the tension control system includes a tension measurement component, which includes a gravity frame component, an elastic component, and a detection component;

[0020] The gravity frame assembly includes an upper limit assembly, a lower limit assembly, and an aluminum block assembly. The upper limit assembly includes a fixed plate and a rubber buffer block. The fixed plate and the limit block are fixed to the guide rod by M5 screws, and the rubber buffer block passes through the guide rod and is flush with the lower surface of the fixed plate. The lower limit assembly includes a rubber buffer pad, a fixed plate, and a limit block. The aluminum block assembly includes an aluminum block and a linear bearing. The linear bearing is installed inside the aluminum block and connected to the guide rod. The linear bearing and the aluminum block are integrated as a whole by M4 set screws.

[0021] The elastic component includes a screw with a hole, a tension spring, and a screw with a hole. The screw with a hole is fixedly mounted on the fixing plate and fixed to the aluminum block, and the tension spring is connected to it.

[0022] The detection assembly includes an L-plate, a proximity switch, a detection screw, and a fastening nut; the L-plate is connected to the fixing plate with an M4 screw, and the detection screw is connected to the threaded hole on the aluminum block, using the screw to adjust the gap with the sensor.

[0023] Furthermore, the guide tube has four sections, which are respectively located at: the inlet of the wire feeder, the outlet of the wire feeder, the guide tube above the wire feeder, the bottom of the guide tube, and then directly connected to the inlet of the binding gun.

[0024] Furthermore, the system includes a robot system, including a robot sixth-axis flange connecting plate, connecting aluminum plate, camera connecting plate, camera, light source connecting plate, light source, light source height adjustment block, light source mounting plate, strapping gun clamp, M6 screw, M5 screw, M8 screw, and strapping gun.

[0025] The strapping gun adjusts the clamping force through a clamping plate, M6 screws, and M8 screws, while simultaneously tightening the M6 ​​screws with M5 screws to adjust the muzzle angle of the strapping gun.

[0026] Compared with the prior art, the robotic strapping device of the present invention has the following advantages:

[0027] The present invention discloses a robotic binding device, comprising a wire feeding unit, which includes a large wire spool frame, a wire feeder, a tension control system, and a binding gun. The large wire spool frame and the wire feeder are fixedly mounted on the robot via a platform plate. The large wire spool passively feeds the wire, and is braked by compressing the spool with a spring, and decelerated by the friction between the spool and the mounting plate. Tension is controlled by the tension control system, and binding is performed using the binding gun. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 This is a schematic diagram of the overall structure according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram showing the details of the first structure according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram showing the details of the second structure according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram showing the details of the third structure according to an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 1 ;

[0034] Figure 6 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 2 ;

[0035] Figure 7 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 3 ;

[0036] Figure 8 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 4 ;

[0037] Figure 9 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 5 ;

[0038] Figure 10 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 6 ;

[0039] Figure 11 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 7 ;

[0040] Figure 12 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 8 ;

[0041] Figure 13 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 9 ;

[0042] Figure 14 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 10 ;

[0043] Figure 15 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 11 ;

[0044] Figure 16 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 12 ;

[0045] Figure 17 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 13 ;

[0046] Figure 18 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 14 ;

[0047] Figure 19 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 15 ;

[0048] Figure 20 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 16 ;

[0049] Figure 21This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 17 ;

[0050] Figure 22 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 18 ;

[0051] Figure 23 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 19 ;

[0052] Figure 24 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 20 ;

[0053] Figure 25 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 21 ;

[0054] Figure 26 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 22 ;

[0055] Figure 27 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 23 ;

[0056] Figure 28 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 24 ;

[0057] Figure 29 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 25 ;

[0058] Figure 30 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 26 ;

[0059] Figure 31 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 27 ;

[0060] Figure 32 This is a schematic diagram of the operation process described in the embodiments of the present invention. Figure 28 .

[0061] Explanation of reference numerals in the attached figures:

[0062] 1-Robot; 2-Platform plate; 3-Fixed axis; 4-Pressure block; 5-Compression spring; 6-Large thread spool; 7-Fixed axis mounting plate; 8-Pressure roller; 9-Guide roller; 10-Servo motor; 11-Guide tube; 12-Tension control system; 13-Vision system; 14-Connecting aluminum plate; 15-M8 screw; 16-Binding gun; 17-Binding gun clamp; 18-M6 screw; 19-M5 screw; 20-Light source; 21-Light source connecting plate; 22-Light source connecting plate; 23-Camera; 24-Light source height adjustment block; 25-M6 screw; 26-Camera connecting plate; 27-Robot sixth axis flange connecting plate; 28-Light source mounting plate; 29-Guide rod; 30-Limit block; 31-L-plate; 32-Proximity switch; 33-Limit plate; 34-Limit block; 35-M5 screw; 36-Mounting plate; 37-L-shaped slide plate; 38-Wire guide tube; 39-M5 screw; 40-C-shaped bending plate; 41-Wire guide tube mounting seat; 42-Fixing plate; 43-Detection screw; 44-Fastening nut; 45-Lower limit rubber buffer pad; 46-Screw with hole; 47-Tension spring; 49-Wire guide tube mounting seat; 50-Upper limit fixed plate; 51-Wire guide tube; 52-Rubber buffer block; 53-Aluminum block; 54-Linear bearing. Detailed Implementation

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0064] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] The present invention provides a robotic strapping device, including a robotic system.

[0066] This invention provides a device for automatically identifying and calibrating robot positioning through vision, comprising a robot system and a vision system. The vision system includes a robot sixth-axis flange connection plate 27, a connecting aluminum plate 14, a camera connection plate 26, a camera 23, a light source connection plate 21, a light source 20, a light source height adjustment block 24, a light source mounting plate 28, a strapping gun clamp 17, M6 screws 18, M5 screws 19, M8 screws 15, and a strapping gun 16.

[0067] The strapping gun adjusts the clamping force via clamping plate 17, M6 screws 18, and M8 screws 15, while M5 screws 19 tighten M6 screws 18 to adjust the muzzle angle. The vision system comprises a camera connection plate 26, a camera 23, a light source connection plate 21, a light source 20, a light source height adjustment block 24, and a light source mounting plate 28. The camera's focus is adjusted via its built-in lens. There is a spatial difference in X, Y, and Z coordinates between the camera lens and the strapping nozzle of the strapping gun. The strapping machine and vision system are ultimately connected to the sixth axis of robot 1 via connecting aluminum plate 14 and a six-axis flange 27. The power and control lines for the camera, light source, and strapping machine are connected to the robot's control system.

[0068] The vision system described in this invention identifies the intersections of the longitudinal bars of the steel truss and the transverse bars of the mesh within the field of view using a feature value algorithm, obtains the accurate center coordinates X, Y, Z of the binding point, and interacts with the robot control system to achieve vision calibration of the robot binding.

[0069] This invention provides a tension-controlled robotic wire feeding device, including a large wire spool frame, a wire feeder, a tension control system, and a wire binding machine. The large wire spool frame is fixedly mounted on a platform plate 2, which is in turn fixedly mounted on a robot. The large wire spool frame comprises a fixed shaft 3, a pressure block 4, a compression spring 5, a large wire spool 6, and a fixed shaft mounting plate 7. The large wire spool passively feeds the wire, and braking is achieved by the deformation of the compression spring pressing the spool, with the friction between the spool and the mounting plate 7 reducing speed. The wire feeder, fixed on the platform plate 2, includes a housing, a drive assembly, a guide wheel, a pressure wheel, and a guide tube. The housing and platform plate 2 are fixedly mounted. The drive assembly consists of a servo motor, a reducer, a guide wheel, and a pressure wheel. Two sets of guide wheels and pressure wheels are provided, with the pressure wheel parallel to the top of the guide wheel, forming a wire feeding channel. The drive assembly includes a drive shaft, a drive gear, a driven shaft, and a driven gear. The drive shaft and the driven shaft are fixed to the outer casing by double-row angular contact bearings, bushings, and flanges. The drive gear and the driven gear mesh to drive the guide wheel and the pressure wheel to rotate, thus completing the wire feeding function inside the wire feeder.

[0070] The tension control system consists of a support assembly, a wire guide assembly, and a tension measuring assembly. The support assembly comprises a guide rod 29, a limiting plate 33, a limiting block 34, an M5 screw 35, and a mounting plate 36. The guide rod and the mounting plate are connected by M5 screws, and the mounting plate is mounted on the connecting aluminum plate 14 by M6 screws. The wire guide assembly mainly consists of a wire guide tube 51, a wire guide tube 38, a wire guide tube mounting seat 49, a wire guide tube mounting seat 41, and a wire guide tube adjustment bracket assembly. The wire guide tube adjustment bracket is composed of an M5 screw 39, a C-shaped bending plate 40, and an L-shaped sliding plate 37, and is mounted on the fixed plate 33. When feeding the wire, the wire enters from the upper opening of the wire guide tube 51 and exits from the lower opening of the wire guide tube 38. The tension measuring assembly consists of a gravity frame assembly, an elastic component, and a detection component. The gravity frame assembly consists of an upper limit component, a lower limit component, and an aluminum block assembly. The upper limit is composed of a fixed plate 50 and a rubber buffer block 52. The fixed plate and the limit block 30 are fixed to the guide rod 29 by M5 screws. The rubber buffer block 52 passes through the guide rod 29 and is flat against the lower surface of the fixed plate 50. The lower limit is composed of a rubber buffer pad 45, a fixed plate 42, and a limit block 30. The aluminum block assembly is composed of an aluminum block 53 and a linear bearing 54. The linear bearing is installed inside the aluminum block and connected to the guide rod 29. The linear bearing and the aluminum block are integrated by M4 set screws. Without any external force, the aluminum block can slide freely down the guide rod to the lower limit rubber buffer pad 45. The elastic component consists of a screw with holes 46, a tension spring 47, and a screw with holes 54. The screw with holes is fixedly installed on the fixing plate 50, and the screw with holes 54 is fixed to the aluminum block, with the tension spring connected to it. In the initial state, the tension spring is stretched, fixing the aluminum block at the upper limit. Once the wire in the guide tube 51 is not long enough, the wire pulls the entire aluminum block down, at which point the deformation of the tension spring increases. The detection component consists of an L-plate 31, a proximity switch 32, a detection screw 43, and a fastening nut 44. The L-plate is connected to the fixing plate 30 with an M4 screw, and the detection screw is connected to the threaded hole on the aluminum block. The screw can adjust the gap with the sensor, and the sensor can also adjust the detection range on the L-plate. Under initial conditions, the uppermost sensor detects the screw. When the aluminum block is pulled downwards due to insufficient wire length, the uppermost sensor and the detection screw experience relative displacement. The sensor detects the screw's movement and sends a signal to the robot control cabinet, which then controls the servo motor in the wire feeder to complete the wire feeding. If the proximity switches in the middle or bottom also send signals to the robot control cabinet, the wire feeding function is also completed.

[0071] Preferably, the guide tube has four sections: one section is located at the inlet of the wire feeder, one section is located at the outlet of the wire feeder, one section is located above the wire feeder frame, and the last section is located below the guide tube and directly connected to the inlet of the binding machine.

[0072] The reason for this tension control is that in the initial state, the wire feeder feeds a fixed length of wire through a servo motor. However, due to the variable wire consumption length in each binding of the binding gun and wear of the overall wire feeding system, the wire consumption is greater than the fixed wire feeding by the wire feeder. Therefore, when the binding machine feeds wire, if there is not enough wire and the aluminum block moves downward, the first sensor detects that the detection screw is outside the detection range, and the wire feeder needs to feed additional wire. The condition for the wire feeder to stop feeding wire is: the detection screw returns to the initial state, that is, the aluminum block returns to the upper limit position, at which point the wire has no tension.

[0073] The vision system described in this invention identifies the intersection of the longitudinal bars of the steel truss and the transverse bars of the mesh within the field of view using existing eigenvalue algorithms, obtains the accurate center coordinates X, Y, Z of the binding point, and interacts with the robot control system to realize visual calibration of the robot binding. The aforementioned eigenvalue algorithm can adopt existing technology, which will not be elaborated in this solution.

[0074] To facilitate understanding, this solution also discloses the following methods for bundling robot localization and vision system localization:

[0075] First, the robot needs to have its zero point set. Before setting the zero point, the zero point positions of each joint of the robot must be determined, such as... Figure 5 As shown, first change the permissions to manufacturer permissions, then in the

Preparation for Operation

Robot Zero Point Setting

[0076] In teach mode, move each joint to the position shown in the zero-point diagram (this position must be determined using a dedicated measuring tool, not by visual observation; the robot has zero-point identifiers on the corresponding axes). Press the [Record] button; the zero-point status indicator light will turn green, and the joint coordinates will be refreshed to the [corresponding coordinates] values. (Release the safety switch and ensure the servo drive is powered on during recording). Zero-point calibration for this robot only requires calibrating axes 1 to 6. After successful zero-point setting for each axis, all indicator lights in the [Zero Return Status] column of the interface shown in the image above should be green. Figure 7 As shown; Verification: After the zero-position calibration is completed, in the above interface, press and hold the [Safety Switch] in the teaching state, move each axis at low speed, and then keep holding the [Run to Zero Point] button. At this time, the robot will move to the actual zero point position shown in the zero coordinate diagram of the corresponding model.

[0077] To enable the robot to perform correct linear interpolation, circular interpolation, and other interpolation actions, the tool's dimensions must be correctly input, and the positions of the control points must be defined. Tool coordinates are established by setting six different sets of data for the robot's end effector; the system then automatically calculates the positions of the tool's control points.

[0078] The tool verifies that the input is the coordinate value of the tool control point in the flange coordinate system, such as... Figure 8 As shown; to perform tool calibration, six different postures need to be taught using control points as a reference. The system automatically calculates the tool dimensions based on these six data points, and the points are selected as follows. Figure 9 As shown; it should be noted that as Figure 9 The attitude changes of points P1-P4 should be as large as possible. At point P5, the straight line where the welding wire (the straight part at the end of the welding gun) is located must be in line with the gun alignment device. Point P6 is used to determine the X direction of the tool coordinates, that is, the line connecting point P5 and point P6 is the X direction of the tool coordinates.

[0079] Select <Preparation for Run> - <Tool Coordinate Settings> to enter the tool coordinate system settings interface, as follows: Figure 10 As shown;

[0080] Use the stylus to select "Tool Coordinate Number," then use the handwheel or stylus to select the desired tool coordinate system number. Finally, click <Six-Point Verification> to enter the tool coordinate system verification interface. Figure 11 As shown;

[0081] Use the stylus to select "Record Point," then select record point P1 using the handwheel or stylus. Move the welding torch tip (welding wire) to the corresponding position and press <Record Current Point>. At this time, the indicator icon below P1 will turn from gray to green, and the prompt bar will indicate that the current point P1 has been recorded. Figure 12 As shown, following the recording method of point P1, set P2-P6 sequentially, ensuring that the indicator icons below P1-P6 all turn green, as shown. Figure 13 As shown.

[0082] exist Figure 12 Press the <Calculate> button on the interface, and the system will automatically calculate the tool coordinates, determine the tool's coordinate system and orientation, and obtain the dimensions of the tool tip relative to the robot's end flange. After the tool coordinate system calculation is complete, you can switch to the tool coordinate system to verify if it is the desired tool coordinates and orientation. After verification, press the <Close> button to exit. Figure 14 As shown;

[0083] During the robot position calibration process, the operation is as follows: Figure 15 As shown, click <Preparation for Run> - <Variables> - <Global Variables>, and a pop-up window will appear as follows: Figure 15 The interface shown;

[0084] Record Current Point: Move the cursor to the GP variable number you want to record; this line will turn green. Press and hold the safety switch, enable button movement, and use the coordinate movement keys to move the robot to the desired position. Then click on the submenu area <Record Current Point>. The robot's current position will be recorded in the selected variable number. After recording, select the GP point and click "Move to Specified Point" to confirm that the robot has moved to the recorded point.

[0085] The basic position for calibrating robot movements:

[0086] GP00: An intermediate variable used for assignment;

[0087] GP01: The ultimate goal of remote binding of the robot in posture 1;

[0088] GP02: The ultimate goal of proximal tethering of the robot in posture 1;

[0089] GP03: Midpoint of remote binding on robot in posture 1;

[0090] GP04: Midpoint of the robot's proximal strapping in posture 1;

[0091] GP10: An intermediate variable used for assignment;

[0092] GP11: The ultimate goal of remote binding of the robot in posture 2;

[0093] GP12: The ultimate goal of proximal tethering of the robot in posture 2;

[0094] GP13: Intermediate transition point for remote binding of the robot in posture 2;

[0095] GP14: Intermediate transition point for robot proximal strapping in posture 2;

[0096] GP20: Attitude 1 shooting point;

[0097] GP21: Attitude 2 photo point;

[0098] When calibrating the final goals of remote and proximal bundling by the robot, place the bundling gun in close contact with the rebar surface, such as... Figure 17 As shown in (a). The final goal of the binding is to move it upwards slightly above the rebar surface, and then move it a certain distance diagonally forward of the nozzle. This point is the intermediate transition point of the binding, as shown in (a). Figure 17 As shown in (b), the final destination and intermediate transition point move back and forth smoothly without touching the reinforcing bars.

[0099] Taking the far point of posture 2 as an example, the robotic arm is at position GP13. Select GP11, press and hold the safety switch, and then press and hold "Move to designated point". The robotic arm moves from position GP13 to position GP11. Select GP13, press and hold the safety switch, and then press and hold "Move to designated point". The robotic arm moves from position GP11 to position GP13. During the movement, the head of the strapping gun does not collide or obstruct any movement. This point can be used as a teaching point to record the value of the rectangular coordinate system of GP11 on the current teaching pendant for teaching calibration in 2.2.3.

[0100] like Figure 18 As shown, during robot monitoring, click <Monitor> - <plc>-Auxiliary relay

[0101] > - <m0-m95> / <m96-m495> / <m496-m799>Alternatively, when the IO monitoring area is open, click on the submenu area. <m0-m95> / <m96-m495> / <m496-m799>The following interface will pop up, allowing you to view the relay status. For M relays with normal output, you can use the keys on the left side of the screen to set or reset them;

[0102] During camera settings, when performing a contour search, such as Figure 19 and Figure 20 As shown, the tool searches for the part most similar to the pre-registered contour information and outputs its position and tilt. This tool is used as a position offset correction source, and position offset correction is performed on the correction object tool based on the detected changes in the graphic's position and tilt. T100 is the contour search for the outer graphic, and T104 is the contour search for the inner graphic.

[0103] During the calibration process, the vision camera performs data calibration, using the nine-point calibration method to align the camera's xy plane with the robot's xy plane.

[0104] 1) Recalibration is required when changing the camera's height above the shooting surface. Enter setting mode, click the calibration button in the upper left corner to enter the calibration interface. Select the calibration data to use, such as "calibration data 001", click edit, and follow the wizard to fill in the data step by step, such as... Figure 21 As shown.

[0105] 2) Set the starting position: Click the clear button to clear the original starting coordinates. In the robot teach pendant, click Monitor - Coordinates - Cartesian Coordinates, or when opening another coordinate monitoring interface, click Cartesian Coordinates in the submenu area of ​​the screen, enter the data, register, and click Next. Figure 22 As shown;

[0106] 3) Set the detection tool: Select the graphic to be recognized. Here, T102 is selected. This graphic needs to be placed below the camera lens during recognition. The recognition graphic used for calibration is the T102 graphic. After selecting, click Next. Figure 23 and 24 As shown;

[0107] 4) Set the movement mode and distance, click "Reset" to clear the previously marked 9 points, click "OK," and re-record the 9 points. Move the robot to the correct position based on the coordinate values, minimizing movement error. Once in position, click "Execute Detection." A checkmark will automatically appear in front of the corresponding detection point upon successful detection. The 9 points are now recorded, and the lower right corner displays "Correction Complete." At this point, the 9 points shown on the image will form a square, evenly distributed. Click "OK" to proceed to the next step. Figure 25 and 26 As shown;

[0108] 5) Calculate the rotation center: Set the rotation angle, click "Reset" to clear the previously recorded position, click "OK" to re-record the angle, move the robot's position according to the coordinate values, minimizing the movement error, and move it into place. Click "Execute Detection." A checkmark will automatically appear in front of the corresponding detection point upon successful detection. After recording 3 points, the lower right corner will display "Correction Complete." Click "OK," then click "Finish." Figure 27 and 28 As shown;

[0109] During the teaching and calibration process, the position offset is calculated. When the position of the strapping gun changes, the corresponding reference position needs to be recalibrated to ensure that the offset given by the camera is accurate. T101 is the reference position of the far-end strapping point in attitude 1, T103 is the reference position of the near-end strapping point in attitude 1, T105 is the reference position of the far-end strapping point in attitude 2, and T106 is the reference position of the near-end strapping point in attitude 2. Figure 29 As shown, it specifically includes:

[0110] 1) Enter the settings mode, select the corresponding toolbar, enter the editing interface, and begin editing, such as... Figure 30 As shown;

[0111] 2) For outer strapping points, use a T100 tool for identification; for inner strapping points, use a T104 tool for identification. Figure 31 As shown;

[0112] 3) Move the robot's strapping head to the desired strapping position, check the teach pendant monitor - coordinates - rectangular coordinates, fill in the corresponding data, and click register;

[0113] 4) Move the camera to the shooting position, click "Clear" in the standard position image bar, then take an image of the current binding point, register, and click "Done". Figure 32 As shown;

[0114] After calibration, the camera takes a picture and provides the offset. The robot moves according to the offset to see if it can move to the corresponding binding point. If it can successfully move to the binding point, the calibration is successful; if it cannot move to the binding point, the calibration is repeated.

[0115] SET GP#10(0)GP#13(0) / / GP13 is written to GP10

[0116] ADD GP#10(1)GI#(0) / / GP10 x-axis offset GI#(0) value

[0117] ADD GP#10(2)GI#(1) / / GP10 y-axis offset GI#(1) value

[0118] MOVJ VJ=100.0% GP#10PL=9TOOL=1 / / Motion GP00, Motion binding midpoint

[0119] SET GP#10(0)GP#11(0) / / GP11 is written to GP10

[0120] ADD GP#10(1)GI#(0) / / GP10 x-axis offset GI#(0) value

[0121] ADD GP#10(2)GI#(1) / / GP10 y-axis offset GI#(1) value

[0122] MOVJ VJ = 100.0% GP#10PL = 9TOOL = 1 / / Move GP10, move to the final binding purpose

[0123] Taking this program as an example, run these 8 lines of code individually on the teach pendant. Move the cursor to the first line, switch the teach pendant to PLAY, select single-line execution, set the speed to 5%, and click the clockwise execution button on the right. The program will start jogging single-line execution, executing one line per click. When it reaches the 4th line, the robot will have reached the intermediate transition point of the binding process. When it reaches the 8th line, the robot will have reached the final binding point. If the binding head is in the correct position, the calibration for this point is complete. If you need to stop the operation midway, click the red stop button below.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. < / m96-m495> < / m0-m95> < / m96-m495> < / m0-m95> < / plc>

Claims

1. A robotic strapping device, characterized in that: The system includes a wire feeding unit, which comprises a large wire spool frame, a wire feeder, a tension control system, and a binding gun. The large wire spool frame and the wire feeder are fixedly mounted on the robot via a platform plate; The large wire spool frame includes a fixed shaft, a pressure block, a pressure spring, a large wire spool, and a fixed shaft mounting plate; The large wire spool is passively fed with wire, and the wire spool is braked by the deformation of the compression spring, and the speed is reduced by the friction between the wire spool and the mounting plate. The tension control system includes a support assembly, a guide wire assembly, and a tension measurement assembly, and tension control is performed using the tension control system. Use a strapping gun to perform strapping operations; The wire feeder includes a housing, a drive assembly, a wire guide wheel, a wire pressing wheel, and a wire guide tube; The outer shell and platform plate are fixedly installed. The drive assembly includes a servo motor, a reducer, a guide wheel, and a pressing wheel. There are two sets of guide wheels and pressing wheels. The pressing wheel is parallel to the top of the guide wheel to form a wire feeding channel. The drive assembly includes a drive shaft, a drive gear, a driven shaft, and a driven gear. The drive shaft and the driven shaft are fixed to the outer casing by double-row angular contact bearings, bushings, and flanges. The drive gear and the driven gear mesh to drive the guide wheel and the pressure wheel to rotate, thus completing the wire feeding function inside the wire feeder. The tension control system includes a support assembly, which includes a guide rod, a limiting plate, a limiting block, an M5 screw, and a mounting plate; the guide rod and the mounting plate are connected by M5 screws, and the mounting plate is mounted on the connecting aluminum plate by M6 screws; The tension control system includes a wire guide assembly, which includes a wire guide tube, a wire guide tube mounting base, and a wire guide tube adjustment bracket. The guide wire tube adjustment bracket is composed of an M5 screw, a C-shaped bending plate, and an L-shaped sliding plate, and is installed on the fixed plate. When feeding the wire, the wire enters from the upper opening of the wire guide tube and exits from the lower opening of the wire guide tube; The tension control system includes a tension measurement component, which includes a gravity frame component, an elastic component, and a detection component. The gravity frame assembly includes an upper limit assembly, a lower limit assembly, and an aluminum block assembly. The upper limit assembly includes a fixed plate and a rubber buffer block. The fixed plate and the limit block are fixed to the guide rod by M5 screws, and the rubber buffer block passes through the guide rod and is flush with the lower surface of the fixed plate. The lower limit assembly includes a rubber buffer pad, a fixed plate, and a limit block. The aluminum block assembly includes an aluminum block and a linear bearing. The linear bearing is installed inside the aluminum block and connected to the guide rod. The linear bearing and the aluminum block are integrated as a whole by M4 set screws. The elastic component includes a screw with a hole, a tension spring, and a screw with a hole. The screw with a hole is fixedly mounted on the fixing plate and fixed to the aluminum block, and the tension spring is connected to it. The detection assembly includes an L-plate, a proximity switch, a detection screw, and a fastening nut; the L-plate is connected to the fixing plate with an M4 screw, and the detection screw is connected to the threaded hole on the aluminum block, using the screw to adjust the gap with the sensor.

2. The robotic strapping device according to claim 1, characterized in that: The guide tube has four sections, which are located at: the inlet of the wire feeder, the outlet of the wire feeder, the guide tube above the wire feeder, the bottom of the guide tube, and then directly connected to the inlet of the binding gun.

3. The robotic strapping device according to claim 1, characterized in that: The system includes a robot system, including a sixth-axis flange connecting plate, connecting aluminum plate, camera connecting plate, camera, light source connecting plate, light source, light source height adjustment block, light source mounting plate, strapping gun clamp, M6 screw, M5 screw, M8 screw, and strapping gun. The strapping gun adjusts the clamping force through a clamping plate, M6 screws, and M8 screws, while simultaneously tightening the M6 ​​screws with M5 screws to adjust the muzzle angle of the strapping gun.

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