A feeding method for irregular casting parts for automated production line

Abstract

The present invention discloses a feeding method for irregular ingot parts for an automated production line. First, a plurality of ingot blanks are placed in a feeding tray, and a camera equipped with a robot arm is used to photograph the blanks above the feeding tray. The photographed photos are transmitted to a processor for identification to obtain a target frame of the ingot blank. If the target frame of the ingot blank does not exist, the photo is taken again. Based on the target frame, a ingot blank is selected as a target blank, and is grabbed by a robot arm, and then transferred and placed on a tooling table. Then the robot arm grabs a tightening gun and tightens the tooling pressure plate bolt of the target blank. During the tightening process, the tightening gun transmits the reverse torque generated by the bolt to the processor in real time until the reverse torque is equal to a preset value, stops tightening, and moves the tightened target blank to a processing device to complete the feeding of a blank. This feeding method has good reliability, innovation, and redundancy, and the feeding efficiency is significantly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated production line processing, in particular to a feeding method for irregular casting parts of an automated production line. Background Art

[0002] In the existing batch production and processing of irregular ingot parts with high dimensional accuracy and geometric tolerance requirements, due to the differences in the outer dimensions of the casting blanks, the fixed grasping points of the robot arm are fixed by the method of outer shape positioning or tooling positioning during the feeding and grasping process of the automated production line, which is easy to cause the failure of part grasping or the collision between the robot arm and the part, reducing the degree of automation of the production line and being unfavorable to batch production. On the other hand, the clamping of the parts on the tooling table is carried out by manually tightening the fixed block bolts. The control of the clamping force with the help of a torque wrench increases the labor intensity of the operator and is prone to clamping errors. In the processing of high-precision parts, the low stability of the clamping quality of the parts causes the stress deformation that seriously affects the production quality of the parts, which is not conducive to the automated batch processing of such irregular ingot parts on the production line. Summary of the invention

[0003] The object of the present invention is to provide a method for feeding irregular ingot parts for an automated production line, comprising the following steps:

[0004] 1) Place several casting blanks in the parts loading tray in sequence;

[0005] 2) Using a camera installed on the robot arm to take a photo of the loading tray on which the casting blank is placed, and transmitting the photographed loading tray to the processor;

[0006] 3) Using the processor to identify the loading tray photo to obtain the casting blank target frame, if the casting blank target frame does not exist in the loading tray photo, return to step 2);

[0007] 4) Based on the casting blank target frame, select a casting blank as the target blank, extract the placement position and grasping features of the target;

[0008] 5) After the feature extraction is successful, the robot moves to the top of the target blank and adjusts the position and opening of the gripper according to the placement and grasping features of the target blank;

[0009] 6) Lower the robot arm to the target grasping point and control the clamp to close to complete the grasping of the target blank;

[0010] 7) The grasped target blank is transferred to the tooling table, and then the clamping jaws are controlled to open to place the target blank on the tooling table;

[0011] 8) The robot grabs the tightening gun and moves to the bolt tightening position of the target blank to tighten the tooling pressure plate bolt of the target blank;

[0012] During the tightening process, the feedback device of the tightening gun transmits the reverse torque M generated by the bolt on the tightening gun to the processor in real time until the reverse torque M is equal to the preset value M0, and then stops tightening;

[0013] 9) Move the tightened target blank to the processing equipment to complete the loading work of a blank.

[0014] Furthermore, in step 1), the placement positions of the plurality of casting blanks on the loading tray are disordered.

[0015] Further, in step 2), the camera is located directly above the loading tray.

[0016] Further, in step 4), a casting blank is randomly selected in the casting blank target frame as a target blank.

[0017] Further, in step 4), the grasping features include the shape and size of the blank.

[0018] Furthermore, in step 5), the robot arm pre-recognizes and stores a plurality of grasping features of the casting blanks.

[0019] Further, in step 8), after the bolt stops being tightened, the robot puts the tightening gun back to its original position, then moves again to just above the target blank to grab the target blank, and then moves the target blank to the processing equipment.

[0020] The technical effect of the present invention is unquestionable, and the beneficial effects of the present invention are as follows:

[0021] 1. The feeding method of the present invention cancels the fixed placement of the blank, flexibly adjusts the grasping method, eliminates the grasping failure and collision caused by the uncontrollable shape of the casting blank, and on the other hand, adjusts the clamping force of the part in real time through the feedback device of the tightening gun. This method improves the feeding efficiency of the automated production line, ensures the clamping stability of the parts, realizes the unmanned feeding of the automated production line for irregular casting parts, and has good versatility.

[0022] 2. The feeding method of the present invention has good reliability, innovation and economy. Compared with the traditional feeding method, the degree of automation is improved, the labor intensity of the operator is reduced, the clamping force of the parts is controllable, the stress deformation caused by clamping is reduced, and the clamping reliability and feeding efficiency of irregular ingot parts are improved, which can meet the tasks of mass production.

[0023] 3. The present invention has been successfully applied to the field of processing technology of automated production lines for high-precision irregular ingot parts, significantly improving the feeding efficiency and processing accuracy of such parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The present invention is a flowchart of an implementation method of feeding irregular ingot parts for an automated production line. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the embodiments, but it should not be understood that the above subject matter of the present invention is limited to the following embodiments. Without departing from the above technical ideas of the present invention, various substitutions and changes are made according to the common technical knowledge and customary means in the art, which should all be included in the protection scope of the present invention.

[0026] Embodiment 1:

[0027] A feeding method for irregular ingot parts for an automated production line comprises the following steps:

[0028] 1) Place several casting blanks in the parts loading tray in sequence;

[0029] 2) Using a camera installed on the robot arm to take a photo of the loading tray on which the casting blank is placed, and transmitting the photographed loading tray to the processor;

[0030] 3) Using the processor to identify the loading tray photo to obtain the casting blank target frame, if the casting blank target frame does not exist in the loading tray photo, return to step 2);

[0031] 4) Based on the casting blank target frame, select a casting blank as the target blank, extract the placement position and grasping features of the target;

[0032] 5) After the feature extraction is successful, the robot moves to the top of the target blank and adjusts the position and opening of the gripper according to the placement and grasping features of the target blank;

[0033] 6) Lower the robot arm to the target grasping point and control the clamp to close to complete the grasping of the target blank;

[0034] 7) The grasped target blank is transferred to the tooling table, and then the clamping jaws are controlled to open to place the target blank on the tooling table;

[0035] 8) The robot grabs the tightening gun and moves to the bolt tightening position of the target blank to tighten the tooling pressure plate bolt of the target blank;

[0036] During the tightening process, the feedback device of the tightening gun transmits the reverse torque M generated by the bolt on the tightening gun to the processor in real time until the reverse torque M is equal to the preset value M0, and then stops tightening. The preset value M0 is in the range of 0<M0<500N.

[0037] 9) Move the tightened target blank to the processing equipment to complete the loading work of a blank.

[0038] Embodiment 2:

[0039] The main structure of this embodiment is the same as that of Embodiment 1. Furthermore, in step 1), the placement positions of the plurality of casting blanks on the loading tray are disordered.

[0040] Embodiment 3:

[0041] The main structure of this embodiment is the same as any one of Embodiments 1 to 2. Furthermore, in step 2), the camera is located directly above the loading tray.

[0042] Embodiment 4:

[0043] The main structure of this embodiment is the same as any one of Embodiments 1 to 3. Further, in step 4), a casting blank is randomly selected in the casting blank target frame as a target blank.

[0044] Embodiment 5:

[0045] The main structure of this embodiment is the same as any one of embodiments 1 to 4. Further, in step 4), the grasping features include the shape and size of the blank.

[0046] Embodiment 6:

[0047] The main structure of this embodiment is the same as any one of Embodiments 1 to 5. Further, in step 5), the robot arm pre-identifies and stores the grasping features of several casting blanks.

[0048] Embodiment 7:

[0049] The main structure of this embodiment is the same as any one of Embodiments 1 to 6. Furthermore, in step 8), after the bolt stops being tightened, the robot puts the tightening gun back to its original position, then moves again to the top of the target blank to grab the target blank, and then moves the target blank to the processing equipment.

[0050] Embodiment 8:

[0051] The main structure of this embodiment is the same as any one of Embodiments 1 to 7. Furthermore, the main points of the feeding method of the present invention for irregular ingot parts processed in an automated production line are as follows:

[0052] The casting blanks are placed in the parts loading tray in order. Before the robot grabs the parts, it will use the camera installed on the robot to take pictures at a fixed position above the loading tray, read the information of the blanks in the tray, including the placement of the blanks and the specific size of each blank, and identify the blank features of the pre-set robot gripper gripping points, automatically adjust the opening and position of the gripper to complete the gripping of the blanks.

[0053] The blank is transferred to the tooling table by the robot, and the tightening gun is grabbed to tighten the tooling pressure plate bolts. During the tightening process, the tightening gun receives the reaction force of the bolt and calculates that the current clamping force on the part is within the preset range. The part is clamped, and the tooling tray is transferred to the processing equipment by the robot to start processing and complete the automated loading process of the ingot parts.

[0054] The feeding method of the present invention cancels the fixed placement position of the blank, flexibly adjusts the grasping method, eliminates the grasping failure and collision caused by the uncontrollable shape of the casting blank, and on the other hand, adjusts the clamping force of the part in real time through the feedback device of the tightening gun. The method improves the feeding efficiency of the automated production line, ensures the clamping stability of the parts, realizes the unmanned feeding of the automated production line for irregular casting parts, and has good versatility, which is the key to the present invention.

[0055] Embodiment 9:

[0056] The main structure of this embodiment is the same as any one of Embodiments 1 to 8. Furthermore, the specific feeding process of the irregular ingot parts in the automated production line is as follows:

[0057] 1) Place the casting blanks in the loading tray of the parts in order;

[0058] 2) The robot carries a camera to take photos at a fixed position above the loading tray and transmits the photos to the processor;

[0059] 3) The processor extracts features from the photo, determines the grasped blank and the placement and grasping features of the corresponding blank, and if the recognition fails, repeats the photo-taking action;

[0060] 4) The robot adjusts the position and opening of the gripper according to the feature recognition data and moves to the top of the target blank part;

[0061] 5) The robot arm descends vertically to the target grasping point, the gripper closes, the target blank is grasped, and the blank is transferred to the tooling table;

[0062] 6) The robot gripper opens and releases the blank onto the workbench;

[0063] 7) The robot grabs the tightening gun to the bolt tightening position of the tooling table and starts tightening the bolt. While tightening, the reverse torque generated by the bolt on the tightening gun is transmitted to the processor through the feedback device of the tightening gun until the preset value is reached, and then the tightening stops to ensure the stability of the clamping force of the parts;

[0064] 8) The robot takes out the tightening gun and puts it back to its original place, and transfers the tooling to the processing equipment, thus completing the loading of a blank.

[0065] By adopting the clamping method and clamping device in this invention, the operator only needs to place the blank in the raw material tray, and the automated production line will automatically carry out batch production without manual intervention in the middle, thus improving the clamping efficiency and production efficiency of the parts and realizing batch production.

[0066] By adopting the grasping method and clamping method of the present invention, the operator only needs to place the casting blank on the loading tray and press the start button of the automated production line to realize the automated loading of the casting blank without manual intervention, thereby improving the grasping efficiency and clamping stability of the parts.

Claims

1. A feeding method for irregular ingot parts for an automated production line, characterized in that: The following steps are involved: 1) Place several casting blanks in the parts loading tray in sequence; 2) Using a camera installed on the robot arm to take a photo of the loading tray on which the casting blank is placed, and transmitting the photographed loading tray to the processor; 3) Using the processor to identify the loading tray photo to obtain the casting blank target frame, if the casting blank target frame does not exist in the loading tray photo, return to step 2); 4) Based on the casting blank target frame, select a casting blank as the target blank, extract the placement position and grasping features of the target; 5) After the feature extraction is successful, the robot moves to the top of the target blank and adjusts the position and opening of the gripper according to the placement and grasping features of the target blank; 6) Lower the robot arm to the target grasping point and control the clamp to close to complete the grasping of the target blank; 7) The grasped target blank is transferred to the tooling table, and then the clamping jaws are controlled to open to place the target blank on the tooling table; 8) The robot grabs the tightening gun and moves to the bolt tightening position of the target blank to tighten the tooling pressure plate bolts of the target blank. During the tightening process, the feedback device of the tightening gun transmits the reverse torque M generated by the bolt on the tightening gun to the processor in real time until the reverse torque M is equal to the preset value M0, and then stops tightening. 9) Move the tightened target blank to the processing equipment to complete the loading work of a blank.

2. A method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 1), the placement positions of the plurality of casting blanks on the loading tray are disordered.

3. The method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 2), the camera is located directly above the loading tray 1 .

4. The method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 4), a casting blank is randomly selected in the casting blank target box as a target blank.

5. The method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 4), the gripping features include the shape and size of the blank.

6. The method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 5), the robot arm pre-recognizes and stores the grasping features of several casting blanks.

7. The method for feeding irregular ingot parts for an automated production line according to claim 1, characterized in that: In step 8), after the bolt stops being tightened, the robot puts the tightening gun back to its original position, then moves again to just above the target blank to grab the target blank, and then moves the target blank to the processing equipment.

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