Machining tool convenient to position

Abstract

The utility model discloses a machining tool convenient to position, which relates to the technical field of precision machining and comprises a machine table, a conveying mechanism, a mechanical arm, a visual camera, a calibration tool and a machining tool are arranged on the machine table, and the mechanical arm and the calibration tool are respectively arranged on two sides of the conveying mechanism. The visual camera is arranged right above the conveying mechanism; the machining tool is arranged at the suspension end of the mechanical arm. During use, before the mechanical arm is replaced, the position of the mechanical arm relative to the calibration tool is obtained through the visual camera with the calibration tool as a reference, and after the mechanical arm is replaced, the second mechanical arm is adjusted to the same coordinate position as the first mechanical arm under the assistance of a coordinate system with the calibration tool as the reference. Therefore, the device can be directly put into production without calibration, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to precision machining technical field, concretely is a machining frock convenient to position. BACKGROUND

[0002] In the forefront of industrial automation production, mechanical arm has become the core strength of promoting the efficient operation of production process. They bear a series of precise and key production tasks such as part assembly, material handling and screw locking with precise control and stable performance, and lay down sweat horse merit for guaranteeing product quality and production efficiency.

[0003] However, when the mechanical arm needs to be replaced as a whole or in part due to fault maintenance, technical upgrading or replacement, a long-term problem plaguing the industry emerges - the replaced mechanical arm usually must be calibrated again.

[0004] The existing secondary calibration process not only needs professional technicians to invest a lot of time and energy, but also needs to rely on a series of complex measuring instruments to complete following complicated operation procedures. This process often leads to long-time stagnation of production line, seriously affecting the production efficiency and delivery capacity of enterprises.

[0005] Therefore, there is an urgent need for a machining frock convenient to position. UTILITY MODEL CONTENT

[0006] In view of the problems existing in the prior art, the utility model solves the problems by the following technical structure.

[0007] To achieve the above purpose, the utility model adopts the following technical scheme:

[0008] A machining frock convenient to position, comprising: a machine table, a conveying mechanism, a mechanical arm, a visual camera, a calibration frock and a machining tool are arranged on the machine table, the mechanical arm and the calibration frock are arranged on the two sides of the conveying mechanism respectively, and the visual camera is arranged above the conveying mechanism;

[0009] The machining tool is arranged on the suspended end of the mechanical arm.

[0010] Further features are that,

[0011] A vertical rod is arranged on the machine table, a support is horizontally arranged on the vertical rod, and the visual camera is arranged on the support.

[0012] The support is slidingly arranged on the vertical rod.

[0013] An installation frame is arranged on the visual camera, the installation frame is slidingly arranged on the support, and a locking member for locking the installation frame on the support is arranged on the installation frame.

[0014] The mounting frame is provided with a ring-shaped light source arranged directly below the visual camera.

[0015] The conveying mechanism comprises a conveying belt and a workpiece fixing tool arranged on the conveying belt.

[0016] The conveying mechanism further comprises a reflective photoelectric sensor suspended above the conveying belt.

[0017] The top end of the vertical rod is provided with a warning light.

[0018] The conveying mechanism further comprises an encoder arranged on one side of the conveying belt.

[0019] The mechanical arm is a six-axis collaborative mechanical arm.

[0020] The above structure of the utility model can achieve the following beneficial effects:

[0021] When used, before the mechanical arm is replaced, the visual camera is used to obtain the position of the mechanical arm relative to the calibration tool, and after the mechanical arm is replaced, the second mechanical arm is adjusted to the same coordinate as the first mechanical arm under the assistance of the coordinate system with the calibration tool as the reference, so that calibration is avoided and production is directly started, and production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic view of the embodiment;

[0023] Figure 2 It is a structural schematic view of the vertical rod in the embodiment;

[0024] Figure 3 It is a structural schematic view of the reflective photoelectric sensor in the embodiment.

[0025] In the figure: 1, mechanical arm; 2, visual camera; 3, calibration tool; 4, machining tool; 5, support; 6, mounting frame; 7, ring-shaped light source; 8, warning light; 9, conveying belt; 10, workpiece fixing tool; 11, reflective photoelectric sensor; 12, encoder. DETAILED DESCRIPTION

[0026] In order to enable personnel in the technical field to better understand the utility model scheme, the technical scheme in the utility model embodiment will be clearly and completely described below in combination with the drawings in the utility model embodiment. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the utility model.

[0027] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover the non-exclusive inclusion, for example, a process, method, device, product or equipment including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0028] The above and other aspects of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which: Figures 1-3 The present application will be further described in detail.

[0029] Reference Figure 1 The machining tool shown in the figure is convenient to position, comprising: a machine table, a conveying mechanism, a mechanical arm 1, a visual camera 2, a calibration tool 3 and a machining tool 4 are arranged on the machine table, the mechanical arm 1 and the calibration tool 3 are arranged on the two sides of the conveying mechanism respectively, and the visual camera 2 is arranged directly above the conveying mechanism.

[0030] The machining tool 4 is arranged at the suspended end of the mechanical arm 1.

[0031] Based on the above structure, before the mechanical arm 1 is replaced, the position of the mechanical arm 1 relative to the calibration tool 3 is obtained by taking the calibration tool 3 as a reference through the visual camera 2 (a coordinate system is established by taking the calibration tool 3 as a reference, and the coordinate of the machining position of the mechanical arm 1 on the conveying mechanism is obtained), and after the mechanical arm 1 is replaced, the second mechanical arm 1 is adjusted to the same coordinate as the first mechanical arm 1 under the assistance of the coordinate system taking the calibration tool as a reference, so that calibration can be avoided and production can be directly put into operation (the hole position for fixing the mechanical arm 1 is fixed, so that the relative position of the mechanical arm after replacement can be ensured not to be offset).

[0032] As Figure 1 and Figure 2 As shown in the figure, in order to make the visual camera 2 be above the conveying mechanism, a vertical rod is arranged on the machine table, a support 5 is horizontally arranged on the vertical rod, the visual camera 2 is arranged on the support 5, and a mounting bracket 6 is arranged on the visual camera 2, the mounting bracket 6 is slidingly arranged on the support 5, a locking piece for locking the mounting bracket 6 on the support 5 is arranged on the mounting bracket 6, the mounting bracket 6 can be adjusted to slide on the support 5 by adjusting the locking piece, so as to adjust the position of the visual camera 2, wherein the locking piece can be a bolt, and in order to facilitate the adjustment of the height of the visual camera 2, the support 5 is slidingly arranged on the vertical rod and is also locked by the locking piece.

[0033] As Figure 2 shown, in order to improve the shooting effect of the visual camera 2, a ring-shaped light source 7 is arranged on the mounting bracket 6, the ring-shaped light source 7 is arranged directly below the visual camera 2, and is used for lighting the shooting of the visual camera 2.

[0034] As shown in Figure 1 In order to realize the conveying of the workpiece to the machining position of the mechanical arm, the conveying mechanism includes a conveying belt 9 and a workpiece fixing tool 10 arranged on the conveying belt 9. The conveying belt 9 is arranged on the machine table, and the workpiece at the workpiece fixing tool 10 is conveyed to the machining position of the mechanical arm 1 through the conveying belt 9.

[0035] As shown in Figure 1 and Figure 3 In order to timely find the deviation of the conveying belt 9, the conveying mechanism further includes a reflective photoelectric sensor 11 suspended above the conveying belt 9. There is a risk of deviation of the conveying belt 9 after long-term use. In view of this risk, the reflective photoelectric sensor 11 is specially added. There is a gap between the conveying belt 9 and the baffles on the left and right sides. The reflective photoelectric sensor 11 senses. Under normal circumstances, the light source emitted by the light emitter of the reflective photoelectric sensor 11 is reflected back by the reflector and is received by the light receiver of the reflective photoelectric sensor 11. Once the light path is blocked by the detected object, the light receiver cannot receive light, the photoelectric switch acts, and outputs a switch control signal. The top end of the stand is provided with a warning light 8. When an abnormality occurs, the warning light 8 is bright (a three-color light can be used. If an abnormality occurs, the red light of the warning light 8 is bright), prompting personnel to maintain the problem here.

[0036] As shown in Figure 1 The conveying mechanism further includes an encoder 12 arranged on one side of the conveying belt 9. The encoder 12 can accurately measure the position, angle or linear displacement of the measured object (the conveying belt 9), provide accurate position feedback signals, and realize accurate positioning control of the action of the conveying belt 9.

[0037] Further optimization is that the mechanical arm 1 is a six-axis collaborative mechanical arm.

[0038] The present application can be used in traditional screw locking operation (at this time the machining tool 4 is a screw gun). The mechanical arm 1 relies on very precise coordinate positioning and motion control algorithm to ensure that each screw can be accurately installed to the designated position and the appropriate tightening torque is applied. After replacing the mechanical arm 1, the mechanical arm 1 can be quickly positioned and quickly put into screw installation work, realizing quick replacement of the mechanical arm and avoiding secondary calibration, ensuring the continuity and accuracy of the screw locking process.

[0039] In summary, before replacing the mechanical arm 1, the position of the mechanical arm 1 relative to the calibration tool 3 is obtained by taking the calibration tool 3 as a reference through the vision camera 2. After replacing the mechanical arm 1, the second mechanical arm 1 is adjusted to the same coordinate as the first mechanical arm 1 under the assistance of the coordinate system with the calibration tool as a reference. Then, calibration can be avoided and production can be directly put into production, improving production efficiency.

[0040] The above is only the preferred embodiment of the application, and the utility model is not limited to the above embodiments. It can be understood that other improvements and changes directly derived or thought of by those skilled in the art without departing from the spirit and concept of the utility model should be considered to be included in the protection scope of the utility model.

Claims

1. A machining fixture facilitating positioning, characterized by The utility model relates to a kind of machine table and its processing method, including: Machine table, conveying mechanism, mechanical arm (1), visual camera (2), calibration tool (3) and processing tool (4) are arranged on the machine table, the mechanical arm (1) and calibration tool (3) are respectively arranged in the two sides of conveying mechanism, the visual camera (2) is arranged above conveying mechanism; The processing tool (4) is arranged in the suspended end of mechanical arm (1).

2. The tooling fixture of claim 1, wherein: Vertical pole is arranged on the machine table, support (5) is horizontally arranged on the vertical pole, and the visual camera (2) is arranged on the support (5).

3. A machining fixture for facilitating positioning according to claim 2, wherein: The support (5) is slidably arranged on the vertical pole.

4. The tooling fixture of claim 2, wherein: Mounting bracket (6) is arranged on the visual camera (2), the mounting bracket (6) is slidably arranged on the support (5), and locking member for locking mounting bracket (6) on the support (5) is arranged on the mounting bracket (6).

5. A machining fixture for facilitating positioning according to claim 4, wherein: Annular light source (7) is arranged on the mounting bracket (6), and the annular light source (7) is arranged below the visual camera (2).

6. A machining fixture for facilitating positioning according to claim 2, wherein: The conveying mechanism includes conveying belt (9) and workpiece fixing tool (10) arranged on conveying belt (9), and the conveying belt (9) is arranged on the machine table.

7. A machining fixture for facilitating positioning according to claim 6, wherein: The conveying mechanism further includes reflective photoelectric sensor (11) suspended above conveying belt (9).

8. A machining fixture for facilitating positioning according to claim 6, wherein: The conveying mechanism further includes encoder (12) arranged on one side of conveying belt (9).

9. A machining fixture for facilitating positioning according to claim 7, wherein: Warning light (8) is arranged at the top end of the vertical pole.

10. The tooling fixture of claim 1, wherein: The mechanical arm (1) is six-axis collaborative mechanical arm.

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