Automatic feeding and discharging equipment of universal servo press and control method

Abstract

The invention relates to the technical field of servo press fitting, and provides a universal servo press automatic feeding and discharging device and a control method.The universal servo press automatic feeding and discharging device comprises a servo press body, a double-arm robot mechanism, a material table device, a 3D camera mechanism, an inspection camera mechanism and a control system; a tool is installed on the servo press body, and the tool is installed at the position of an opening in the middle of the servo press body through a quick locker. Raw materials on the raw material tray are photographed and scanned through the 3D camera body to obtain the position of the raw materials, the double-arm robot body grabs the raw materials to the tool to be pressed into finished products, the camera body is checked to photograph the pressed finished products to judge whether the finished products are qualified or not, and the double-arm robot body grabs the finished products to the qualified product tray or the unqualified product tray. The situation that an existing servo press is low in automation degree is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo press mounting, in particular to a universal servo press automatic feeding and discharging equipment and control method. BACKGROUND

[0002] With the rapid development of domestic automobiles, new energy batteries and motors, the demand for servo presses is increasing, and the corresponding requirements are also increasing. At present, the automation degree of servo presses is relatively low, most of which need manual feeding and discharging, manual re-detection, resulting in low production efficiency, high labor cost and unstable product quality.

[0003] In view of the problems of low automation degree, low production efficiency, high production cost and unstable quality of finished products of the current servo press, the present application provides a universal servo press automatic feeding and discharging equipment and control method, which can realize the functions of automatic feeding and discharging, automatic press mounting and automatic detection, greatly improving the production efficiency, precision and stability of quality. SUMMARY

[0004] In view of the shortcomings of the prior art, the present application provides a universal servo press automatic feeding and discharging equipment and control method to solve the problems.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: A universal servo press automatic feeding and discharging equipment, comprising a servo press main body, a dual-arm robot mechanism, a material table device, a 3D camera mechanism, an inspection camera mechanism and a control system, wherein a servo cylinder is installed on the servo press main body, a tooling is installed on the servo press main body, and the tooling is installed in the middle opening position of the servo press main body through a quick lock, a rocker touch screen is installed on the servo press main body, and the tooling can be replaced according to different press mounting products. The 3D camera mechanism takes pictures to scan and obtain the position of the raw materials on the material table device, the dual-arm robot mechanism grabs the raw materials and puts them on the tooling in the servo press main body for press mounting into finished products, then the inspection camera mechanism takes pictures to check whether the finished products are qualified, and the dual-arm robot mechanism grabs the finished products and puts them on the material table device.

[0006] Preferably, the dual-arm robot mechanism comprises a robot base, a dual-arm robot main body is installed on the robot base, and a servo gripper is installed on the dual-wall robot main body.

[0007] Preferably, the material table device comprises two groups of material bases, one group of the material bases is installed with a raw material tray, the material base is installed with a qualified product tray, the other group of the material bases is installed with an unqualified product tray, a guide rod is installed on each group of the material bases, and a gas cylinder is installed on each group of the material bases.

[0008] Preferably, the 3D camera mechanism comprises a first bracket mounted on the material base, and a 3D camera body is mounted on the first bracket and located directly above the raw material tray.

[0009] Preferably, the inspection camera mechanism comprises a second bracket mounted on the servo press body, and a detection camera body is mounted on the second bracket.

[0010] Preferably, the control system comprises an embedded multi-axis network motion controller, a network type servo driver, and a network type IO module, and the software installed on the embedded multi-axis network motion controller comprises servo press control software, double-arm robot control software, camera control software, and logic control software.

[0011] A general servo press automatic feeding and discharging control method, the method comprising the following steps: Step one: the 3D camera body takes a photo of the raw material on the raw material tray and scans it, and through processing, the raw material position is obtained; Step two: the double-arm robot body grabs the raw material and presses it into a finished product on the tool of the servo press body; Step three: the inspection camera body takes a photo of the finished product after pressing, and through processing, it is judged whether it is qualified; Step four: the double-arm robot body grabs the finished product onto a qualified product tray or an unqualified product tray.

[0012] Preferably, the 3D camera body takes a photo of the raw material on the raw material tray and scans it, and through a template matching method, the raw material position points (X1, Y1, Z1, A1, B1, C1) … (Xn, Yn, Zn, An, Bn, Cn) are calculated, and then through an X value from small to large sorting method: points.OrderBy(p =>p.X).ToArray(), the position points are reordered and shared in memory; the double-arm robot body reads the position point values in shared memory, and then grabs the raw materials in sequence.

[0013] Preferably, the servo press control software collects pressure values and position values in real time during the pressing process, forms a pressure position curve, and judges whether it intersects with the line segment of the quality inspection frame in real time, judges whether the pressing process is suitable for qualification by judging whether the pressure position curve intersects with the quality inspection frame, and then shares the pressing result in memory.

[0014] Preferably, the inspection camera body takes a photo of the finished product after pressing, calculates whether the product is qualified through a template matching method, and then shares the product qualification result in memory.

[0015] Preferably, the dual-arm robot body reads the press-fitting result and whether the product is qualified through a shared memory method, comprehensively judges whether the product is qualified, and sequentially places the finished product on a qualified product tray or an unqualified product tray according to the positions of (X, Y, Z, A, B, C), wherein X=X0+(n1-1)*ΔX; Y=Y0+(n2-1)*ΔY, Z, A, B, and C remain unchanged.

[0016] Compared with the prior art, the present application has the following beneficial effects: The present application obtains the raw material position by taking a photo of the raw material on the raw material tray through the 3D camera body, the dual-arm robot body presses the raw material on the tool to form a finished product, the inspection camera body takes a photo of the finished product after press-fitting to judge whether it is qualified, and the dual-arm robot body places the finished product on a qualified product tray or an unqualified product tray, thereby avoiding the low automation degree of the current servo press. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 It is a first perspective view of the overall structure of the present application; Figure 2 It is a second perspective view of the overall structure of the present application; Figure 3 It is a front structure schematic view of the present application; Figure 4 It is a side structure schematic view of the present application; Figure 5 It is a control system connection diagram of the present application; Figure 6 It is a software shared memory diagram of the present application.

[0018] In the drawings: 1, servo press body; 11, servo cylinder; 12, tool; 13, rocker arm touch screen; 2, dual-arm robot mechanism; 21, robot base; 22, dual-arm robot body; 23, servo clamping jaw; 3, material table device; 31, material base; 32, raw material tray; 33, qualified product tray; 34, unqualified product tray; 35, guide rod; 36, air cylinder; 4, 3D camera mechanism; 41, No. 1 support; 42, 3D camera body; 5, inspection camera mechanism; 51, No. 2 support; 52, inspection camera body; 71, servo press control software; 72, dual-arm robot control software; 73, camera control software; 74, logic control software. DETAILED DESCRIPTION

[0019] The implementation of the present application will be described in detail below with reference to the accompanying drawings and examples, so that the realization process of how to apply technical means to solve technical problems and achieve technical effects can be fully understood and implemented.

[0020] Embodiment one Since the current servo press has a low degree of automation, in order to solve this problem, with reference to Figures 1-6 The embodiment provides a general servo press automatic feeding and discharging equipment, which comprises a servo press body 1, a double-arm robot mechanism 2, a material table device 3, a 3D camera mechanism 4, an inspection camera mechanism 5 and a control system. A servo electric cylinder 11 is installed on the servo press body 1. A tool 12 is installed on the servo press body 1, and the tool 12 is installed at a middle opening position of the servo press body 1 through a quick locker. A rocker touch screen 13 is installed on the servo press body 1. The tool 12 can be replaced according to different compression products. 3D camera mechanism 4 takes pictures to scan the raw material position on the material table device 3, the double-arm robot mechanism 2 grabs the raw material and puts it on the tooling 12 in the servo press main body 1 to press and assemble into a finished product, then the inspection camera mechanism 5 takes pictures to check whether the finished product is qualified, the double-arm robot mechanism 2 grabs the finished product and puts it on the material table device 3, the double-arm robot mechanism 2 includes a robot base 21, a double-arm robot main body 22 is installed on the robot base 21, a servo gripper 23 is installed on the double-arm robot main body, the servo gripper 23 can adjust the opening size according to the selected product model through the logic control software 74, the material table device 3 includes two groups of material bases 31, one of which is installed with a raw material tray 32, the raw material tray 32 is fixed through a guide rod 35 and a cylinder 36, and the material base 31 is installed with a qualified product tray 33, the other group of material bases 31 is installed with an unqualified product tray 34, each group of material bases 31 is installed with a guide rod 35, and each group of material bases 31 is installed with a cylinder 36, the 3D camera mechanism 4 includes a No. 1 bracket 41 installed on the material base 31, a 3D camera main body 42 is installed on the No. 1 bracket 41, and the 3D camera main body 42 is located directly above the raw material tray 32, the inspection camera mechanism 5 includes a No. 2 bracket 51 installed on the servo press main body 1, an inspection camera main body 52 is installed on the No. 2 bracket 51, the control system includes an embedded multi-axis network motion controller, a network type servo driver, and a network type IO module, the software installed on the embedded multi-axis network motion controller includes servo press control software 71, double-arm robot control software 72, camera control software 73, and logic control software 74, the 3D camera main body 42 takes pictures to scan the raw material on the raw material tray 32, and through processing, the raw material position is obtained, the double-arm robot main body 22 grabs the raw material to the tooling 12 of the servo press main body 1 to press and assemble into a finished product, the inspection camera main body 52 takes pictures of the finished product after pressing, judges whether it is qualified through processing, and the double-arm robot main body 22 grabs the finished product to the qualified product tray 33 or the unqualified product tray 34, avoiding the current low degree of automation of the servo press.

[0021] The 3D camera main body 42 takes pictures to scan the raw material on the raw material tray 32, calculates the raw material position points (X1, Y1, Z1, A1, B1, C1) … (Xn, Yn, Zn, An, Bn, Cn) through the template matching method, and then sorts the X values from small to large: points.OrderBy(p => p.X).ToArray(), reorder and share memory; the dual-arm robot body 22 reads the position point values of the shared memory, then sequentially grabs the raw materials, a set of position point data S={(X1,Y1,Z1,A1,B1,C1),(X2,Y2,Z2,A2,B2,C2)…(Xn,Yn,Zn,An,Bn,Cn)}, and the adjacent two data A=(X1,Y1,Z1,A1,B1,C1) and B=(X2,Y2,Z2,A2,B2,C2) are compared in turn: if X1X2, then A precedes B; if X1>X2, then B precedes A; if X1=X2 (X value is equal), keep the original relative order; after sorting, a new set of position point data S={S1', S2',…Sn'} is obtained, where each Sk'=(Xk',Yk',Zk',Ak',Bk',Ck') is an element in S.

[0022] The servo press control software 71 collects the pressure value and position value in real time during the press fitting process, forms a pressure position curve, and judges whether the line segment of the quality inspection frame intersects in real time, and whether the two line segments intersect: Math.Min(p1.XValue, p2.XValue) <= p.XValue && p.XValue <= Math.Max(p1.XValue, p2.XValue) && Math.Min(p1.YValues[0], p2.YValues[0]) <= p.YValues[0] && p.YValues[0] <= Math.Max(p1.YValues[0], p2.YValues[0]), whether the pressure position curve intersects with the quality inspection frame to judge whether the press fitting process is suitable for qualified, and then share the press fitting result memory, whether the pressure position curve intersects with the quality inspection frame to judge whether the press fitting process is suitable for qualified, and then share the press fitting result memory, two line segments S1 and S2, endpoints A(Xa, Ya) and B(Xb, Yb) of S1, endpoints C(Xc, Yc) and D(Xd, Yd) of S2; the bounding box of line segment S1(A-B) is: x range: [min(x a ,x β ),max(x a ,x β )], y range: [min(y a ,y β ),max(y a ,y βThe bounding box of the line segment S2 (C-D) is: x range: [min (xc, xd), max (xc, xd)], y range: [min (yc, yd), max (yc, yd)]; exclusion conditions (satisfy any one line segment is not intersected): 1, the maximum value of x of S1 < the minimum value of x of S2; 2, the maximum value of x of S2 < the minimum value of x of S1; 3, the maximum value of y of S1 < the minimum value of y of S2; 4, the maximum value of y of S2 < the minimum value of y of S1.

[0023] The inspection camera body 52 photographs the finished product after pressing, calculates whether the finished product is qualified through a template matching method, and then shares the product qualification result in memory.

[0024] The dual-arm robot body 22 reads the pressing result and product qualification through a shared memory method, comprehensively judges whether the product is qualified, and sequentially places the finished product on the qualified product tray 33 or the unqualified product tray 34 according to the positions of (X, Y, Z, A, B, C), wherein X = X0 + (n1-1)*ΔX; Y = Y0 + (n2-1)*ΔY, Z, A, B, and C remain unchanged, the initial point position (X0, Y0, Z, A, B, C) is the first row and first column position; the position of the second row and third column is calculated through X = X0 + (2-1)*ΔX = X0 + ΔX and Y = Y0 + (3-1)*ΔY = Y0 + 2*ΔY, and the position value is (X0 + ΔX, Y0 + 2*ΔY, Z, A, B, C).

[0025] Working principle: the 3D camera body 42 photographs and scans the raw materials on the raw material tray 32, obtains the raw material position through processing, the dual-arm robot body 22 presses the raw materials on the tooling 12 of the servo press body 1 to form finished products, the inspection camera body 52 photographs the finished products after pressing, judges whether they are qualified through processing, and the dual-arm robot body 22 places the finished products on the qualified product tray 33 or the unqualified product tray 34, thereby avoiding the current low degree of automation of the servo press.

[0026] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that processes, methods, articles, or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles, or devices.

[0027] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A general-purpose servo press automatic loading and unloading device, comprising a servo press body (1), a dual-arm robot mechanism (2), a material table device (3), a 3D camera mechanism (4), an inspection camera mechanism (5), and a control system, characterized in that, The servo press body (1) is equipped with a servo electric cylinder (11), and the servo press body (1) is equipped with a tooling (12). The tooling (12) is installed in the middle opening of the servo press body (1) by a quick locking device. The servo press body (1) is equipped with a rocker arm touch screen (13). The tooling (12) can be replaced according to the different pressing products. The 3D camera mechanism (4) takes pictures and scans to obtain the position of the raw material on the material table device (3). The dual-arm robot mechanism (2) grabs the raw material and places it on the tooling (12) in the servo press body (1) to press it into a finished product. Then the inspection camera mechanism (5) takes pictures to check whether the finished product is qualified. The dual-arm robot mechanism (2) grabs the finished product and places it on the material table device (3).

2. The universal servo press automatic loading and unloading equipment according to claim 1, characterized in that, The dual-arm robot mechanism (2) includes a robot base (21), on which a dual-arm robot body (22) is mounted, and a servo gripper (23) is mounted on the dual-arm robot body.

3. The universal servo press automatic loading and unloading equipment according to claim 2, characterized in that, The material platform device (3) includes two sets of material bases (31), one set of material bases (31) is equipped with a raw material tray (32) and a qualified product tray (33) is installed on the material base (31), and the other set of material bases (31) is equipped with a non-qualified product tray (34). Each set of material bases (31) is equipped with a guide rod (35) and a cylinder (36).

4. The universal servo press automatic loading and unloading equipment according to claim 3, characterized in that, The 3D camera mechanism (4) includes a first bracket (41) mounted on a material base (31), on which a 3D camera body (42) is mounted, and the 3D camera body (42) is located directly above the raw material tray (32).

5. A general-purpose servo press automatic loading and unloading device according to claim 4, characterized in that, The inspection camera mechanism (5) includes a second bracket (51) mounted on the servo press body (1), and the inspection camera body is mounted on the second bracket (51).

6. The universal servo press automatic loading and unloading equipment according to claim 1, characterized in that, The control system includes an embedded multi-axis network motion controller, a network servo driver, and a network I / O module. The software installed on the embedded multi-axis network motion controller includes servo press control software (71), dual-arm robot control software (72), camera control software (73), and logic control software (74).

7. A general-purpose servo press automatic loading and unloading control method, characterized in that, The device includes a general-purpose servo press automatic loading and unloading device as described in any one of claims 1-6, and includes the following steps: Step 1: The 3D camera body (42) takes pictures and scans the raw materials on the raw material tray (32), and obtains the position of the raw materials through processing; Step 2: The dual-arm robot body (22) grabs the raw material onto the tooling (12) of the servo press body (1) and presses it into a finished product; Step 3: Check the camera body (52) to take pictures of the finished product after pressing, and judge whether it is qualified by processing; Step 4: The dual-arm robot body (22) grabs the finished product onto the qualified product tray (33) or the unqualified product tray (34).

8. The general-purpose servo press automatic loading and unloading control method according to claim 7, characterized in that, The 3D camera body (42) takes pictures of the raw materials on the raw material tray (32), and calculates the raw material position points (X1,Y1,Z1,A1,B1,C1)...(Xn,Yn,Zn,An,Bn,Cn) using the template matching method. Then, it reorders the raw materials by sorting the X values ​​from smallest to largest using points.OrderBy(p => pX).ToArray(), and then shares the memory. The dual-arm robot body (22) reads the position point values ​​from the shared memory and then grabs the raw materials in sequence.

9. A general-purpose servo press automatic loading and unloading control method according to claim 8, characterized in that, During the pressing process, the servo press control software (71) collects pressure and position values ​​in real time, forms a pressure position curve, and makes a judgment on whether the curve intersects with the line segment of the quality inspection frame in real time. By judging whether the pressure position curve intersects with the quality inspection frame, it is determined that the pressing process is suitable and qualified, and then the pressing results are shared in memory.

10. The general-purpose servo press automatic loading and unloading control method according to claim 9, characterized in that, The inspection camera body (52) takes pictures of the finished product after pressing, calculates whether the finished product is qualified by template matching method, and then shares the result of whether the product is qualified with memory.

11. The general-purpose servo press automatic loading and unloading control method according to claim 10, characterized in that, The dual-arm robot body (22) reads the pressing result and whether the product is qualified through a shared memory method, makes a comprehensive judgment on whether the product is qualified, and places the finished product on the qualified product tray (33) or unqualified product tray (34) in sequence according to the positions (X,Y,Z,A,B,C), where X=X0+(n1-1)*ΔX; Y=Y0+(n2-1)*ΔY, and Z,A,B,C remain unchanged.

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