Die casting visual taking and placing positioning device and positioning method thereof

Abstract

The invention relates to a die casting visual taking and placing positioning device and a positioning method thereof.The die casting visual taking and placing positioning device comprises a cooling module used for cooling a die-cast product; the robot is used for transporting the product cooled by the cooling module; and the visual positioning module is in control connection with the robot, is provided with a first visual positioning device and is used for photographing and positioning the product cooled by the cooling module, and then the robot is controlled to grab the product and convey the product to the next working procedure. According to the method, a robot is used for clamping a product, whether the clamping action is qualified or not is automatically judged, then a control instruction is generated according to the judgment result, the control instruction is transmitted to the robot to grab the product and convey the product to the next process, and when a program switching module in a visual positioning module replaces different products, rapid line changing can be achieved through switching programs, and the production efficiency is improved. And the jig cost caused by product replacement is reduced, and the production cost is reduced.

Description

[0001] The application relates to the technical field of automatic mechanisms, in particular to a die casting visual taking and placing positioning device and a positioning method thereof.

[0002] After the die casting product is cooled, the product is manually placed into a positioning jig, the positioning jig with the product is placed into a punch to punch the product, manual operation is low in efficiency, and the positioning jig needs to be replaced according to different products, but the positioning jig replacement and point calibration take a long time, thereby reducing the efficiency of automatic production.

[0003] Therefore, it is necessary to provide a die casting visual taking and placing positioning device and a positioning method thereof to solve the above problems.

[0004] The application solves the technical problem that after the die casting product is cooled, the product is manually placed into a positioning jig, the positioning jig with the product is placed into a punch to punch the product, manual operation is low in efficiency, and the positioning jig needs to be replaced according to different products, but the positioning jig replacement and point calibration take a long time, thereby reducing the efficiency of automatic production.

[0005] The application solves the technical problem in the following manner: a die casting visual taking and placing positioning device comprises:

[0006] A cooling module is arranged on one side of a die casting machine and used for cooling a product formed by die casting;

[0007] A robot is used for transporting the product cooled by the cooling module;

[0008] A visual positioning module is connected to the robot and comprises a first visual positioning device, a second visual positioning device and a third visual positioning device;

[0009] The first visual positioning device is used for photographing and positioning the product cooled by the cooling module, and then controls the robot to grab and transport the product to a next process;

[0010] The second visual positioning device is used for judging the grabbing state of the product grabbed by the robot, then automatically judges whether the grabbing action is qualified, and generates a control instruction according to the judgment result, and delivers the control instruction to the robot to transport the product to the next process;

[0011] ​​​A third visual positioning device is used to take pictures again of the product determined to be abnormal by the second visual positioning device, and then control the robot to pick up and transport the product to the next process.

[0012] Preferably, the cooling module includes but is not limited to a water circulation air cooling device, which blows the cold air circulated by water onto the product by air to cool the product.

[0013] Preferably, the image capturing part of the visual positioning module includes but is not limited to a CCD camera.

[0014] Preferably, the visual positioning module is provided with a program switching module, which is used to realize quick line change by switching programs when different products are replaced.

[0015] The present application has the beneficial effects that the present application adopts a visual positioning module to take pictures of the product and automatically determines whether the clamping action is qualified, and then generates a control instruction according to the determination result, and transmits the control instruction to the robot to pick up and transport the product to the next process, and the program switching module in the visual positioning module can realize quick line change by switching programs when different products are replaced, thereby reducing the fixture cost caused by product replacement and reducing the production cost.

BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of a die casting visual pick-and-place positioning device.

[0017] Figure 2 is a structural schematic diagram of a visual positioning module in the present application.

[0018] Figure 3 is a flowchart of a die casting visual pick-and-place positioning method.

DETAILED DESCRIPTION

[0019] In order to further illustrate the technical means adopted by the present application and its effects, the following describes in detail the embodiments of the present application and the accompanying drawings.

[0020] The present application provides a die casting visual pick-and-place positioning device, comprising:

[0021] A cooling module 110 is located on one side of the die casting machine, which is used to cool the product 200 formed by die casting;

[0022] A robot 170 is used to transport the product 200 cooled by the cooling module 110;

[0023] The visual positioning module 100 controls the connection robot 170, and the visual positioning module 100 comprises a first visual positioning device 120, a second visual positioning device 130 and a third visual positioning device 140.

[0024] The first visual positioning device 120 is used for photographing and positioning the product 200 cooled by the cooling module 110, and then the robot 170 is controlled to grab and convey the product 200 to the next process.

[0025] The second visual positioning device 130 is used for judging the grabbing condition of the product 200 grabbed by the robot 170, then automatically judging whether the grabbing action is qualified, and generating a control instruction according to the judgment result, and delivering the control instruction to the robot 170 to convey the product 200 to the next process.

[0026] The third visual positioning device 140 is used for photographing and positioning the product 200 judged as abnormal by the second visual positioning device 130 again, and then controlling the robot 170 to grab and convey the product 200 to the next process.

[0027] The cooling module 110 includes but is not limited to a water circulation air cooling device, which blows the water circulation cold air onto the product 200 to cool and cool the product 200.

[0028] The image grabbing part of the visual positioning module 100 includes but is not limited to a CCD camera.

[0029] The visual positioning module 100 is provided with a program switching module, which is used for realizing quick line changing by switching programs when different products 200 are replaced.

[0030] In addition, the application also provides a visual taking and placing positioning method for die castings.

[0031] Embodiment 1

[0032] S1: cooling the product 200: placing the die cast product 200 on the cooling module 110, and the product 200 is cooled by the chain plate line 160 and flows to the end;

[0033] S2: the first visual positioning device 120 positions the product 200: the first visual positioning device 120 photographs and positions the product 200 cooled by the cooling module 110, then automatically judges the position information of the product 200, and generates a control instruction according to the information, and delivers the control instruction to the robot 170 to grab and convey the product 200 to the next process.

[0034] Embodiment 2

[0035] S1: cooling product 200: placing the die-casting product 200 on the cooling module 110, and the product 200 is cooled by the chain plate line 160 and flows to the end;

[0036] S2: first visual positioning device 120 positions product 200: the first visual positioning device 120 photographs and positions the product 200 cooled by the cooling module 110, then automatically judges the position information of the product 200, and generates a control instruction according to the information, and transmits the control instruction to the robot 170 to grab and transport the product 200 to the second visual positioning device 130;

[0037] S3: second visual positioning device 130 positions product 200: the second visual positioning device 130 judges the grabbing situation of the product 200 grabbed by the robot 170, then automatically judges whether the grabbing action is qualified, generates a control instruction according to the judgment result, and transmits the control instruction to the robot 170. The robot 170 transports the product 200 judged to be normal to the next process according to the received instruction, or transports the product 200 judged to be abnormal to the abnormal product 200 stacking place.

[0038] Embodiment 3

[0039] S1: cooling product 200: placing the die-casting product 200 on the cooling module 110, and the product 200 is cooled by the chain plate line 160 and flows to the end;

[0040] S2: first visual positioning device 120 positions product 200: the first visual positioning device 120 photographs and positions the product 200 cooled by the cooling module 110, then automatically judges the position information of the product 200, and generates a control instruction according to the information, and transmits the control instruction to the robot 170 to grab and transport the product 200 to the second visual positioning device 130;

[0041] S3: second visual positioning device 130 positions product 200: the second visual positioning device 130 judges the grabbing situation of the product 200 grabbed by the robot 170, then automatically judges whether the grabbing action is qualified, generates a control instruction according to the judgment result, and transmits the control instruction to the robot 170. The robot 170 transports the product 200 judged to be normal to the next process according to the received instruction, or transports the product 200 judged to be abnormal to the third visual positioning device 140;

[0042] S4: the third visual positioning device 140 positions the product 200: the robot 170 places the product 200 on the rack 101, the third visual positioning device 140 takes a photo of the product 200 again, then automatically judges the feature information of the product 200, and generates a control instruction according to the information, and delivers the control instruction to the robot 170 to re-grab and transport the product 200 to the second visual positioning device 130;

[0043] S5: the second visual positioning device 130 positions the product 200: the second visual positioning device 130 judges the grabbing situation of the product 200 grabbed by the robot 170, then automatically judges whether the grabbing action is qualified, generates a control instruction according to the judgment result, and delivers the control instruction to the robot 170, and the robot 170 transports the product 200 judged to be normal to the next process according to the received instruction.

[0044] The beneficial effects of the present application are that the present application adopts the visual positioning module 100 to take a photo of the product 200 and automatically judge whether the grabbing action is qualified, then generates a control instruction according to the judgment result, delivers the control instruction to the robot 170 to grab and transport the product 200 to the next process, and the program switching module in the visual positioning module 100 can realize quick line change by switching the program when different products 200 are replaced, reduce the fixture cost caused by the replacement of the product 200, and reduce the production cost.

[0045] It should be pointed out that the present application is not limited to the above-mentioned embodiments, and any simple modification, equivalent change and modification of the above-mentioned embodiments based on the technical scheme of the present application by any person skilled in the art falls within the protection scope of the present application.

Claims

1. A visual picking and positioning device for die-cast parts, characterized in that, include: A cooling module for cooling die-cast products; The robot is used to transport products cooled by the cooling module. A visual positioning module is connected to the robot. The visual positioning module is equipped with a first visual positioning device, which is used to take pictures and locate the product after it has been cooled by the cooling module. Then, the robot is controlled to grab and transport the product to the next process.

2. The visual picking and positioning device for die-cast parts as described in claim 1, characterized in that: The visual positioning module is equipped with a second visual positioning device, which is used to judge the gripping status of the product by the robot, and then automatically judge whether the gripping action is qualified. Based on the judgment result, a control command is generated and transmitted to the robot to transport the product to the next process.

3. The visual picking and positioning device for die-casting parts as described in claim 2, characterized in that: The visual positioning module is equipped with a third visual positioning device, which is used to take a picture and reposition the product that the second visual positioning device judges to be abnormal, and then control the robot to grab and transport the product to the next process.

4. The visual picking and positioning device for die-casting parts as described in claim 1, characterized in that: The cooling module is a water-circulating air-cooled device.

5. The visual picking and positioning device for die-cast parts as described in claim 1, characterized in that: The image capture component of the visual positioning module is a CCD camera.

6. The visual picking and positioning device for die-cast parts as described in claim 1, characterized in that: The visual positioning module includes a program switching module, which is used to quickly switch production lines by switching programs when changing to different products.

7. The positioning method of the die-casting visual pick-and-place positioning device as described in any one of claims 1 to 6 is characterized in that: S1: Cooling Product: The die-cast product is placed on the cooling module, and the product flows through the chain plate cooling line to the end; S2: First visual positioning device positions the product: The first visual positioning device takes a picture of the product after it has been cooled by the cooling module and positions it, and then controls the robot to grab and transport the product to the next process.

8. The positioning method of the die-casting visual pick-and-place positioning device as described in claim 7 is characterized in that: The robot transports the product to the second vision positioning device. The second vision positioning device judges the robot's gripping of the product, then automatically judges whether the gripping action is qualified, and generates a control command based on the judgment result. The control command is transmitted to the robot to transport the qualified product to the next process.

9. The positioning method of the die-casting visual pick-and-place positioning device as described in claim 8 is characterized in that: The robot places the abnormal products identified by the second visual positioning device in the abnormal product stacking area.

10. The positioning method of the die-casting visual pick-and-place positioning device as described in claim 8, characterized in that: After the robot transports the product deemed abnormal by the second visual positioning device to the third visual positioning device, the robot places the product on a rack. The third visual positioning device then takes a picture of the product again to reposition it. Subsequently, the robot is controlled to grab and transport the product back to the second visual positioning device. The second visual positioning device judges the robot's gripping of the product, then automatically determines whether the gripping action is qualified, and generates a control command based on the judgment result. The control command is then transmitted to the robot to transport the qualified product to the next process.

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