CN106079317A - A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function - Google Patents
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function Download PDFInfo
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- CN106079317A CN106079317A CN201610599995.7A CN201610599995A CN106079317A CN 106079317 A CN106079317 A CN 106079317A CN 201610599995 A CN201610599995 A CN 201610599995A CN 106079317 A CN106079317 A CN 106079317A
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- control system
- injection molding
- mechanical arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/20—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of plastics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4266—Robot grippers movable along three orthogonal axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/76—Measuring, controlling or regulating
- B29C45/7626—Measuring, controlling or regulating the ejection or removal of moulded articles
- B29C2045/7633—Take out or gripping means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
Abstract
The invention discloses a kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function, by setting up vision imaging system on existing servo coordinate truss-like mechanical hand, make it communicate to connect with manipulator control system CPU, it is achieved vision guide positions, improve positioning precision.Automaticity of the present invention is high, can substitute for articulated robot, can automatically detect that product quality is the most qualified and orientation direction mechanical hand sorts out defective products, and defective products can be accurately positioned, guide mechanical hand that defective products carries out sanding and polishing etc. automatically and be processed into non-defective unit, make purchase cost reduction by 60%, the reduction by 60% that takes up room, precision improve 2 10 times.Simultaneously, it is equipment or the mechanism that can perform the functions such as 3D printing, milling burr, 2 axle NC, sanding and polishing, assembling/sorting that end in actuator performs device, therefore inter-trade use can be realized, cost-effective, this technology belongs to coordinate truss-like injection molding mechanical arm industry in the world and initiates.
Description
Technical field
The present invention relates to injection molding mechanical arm technical field, be specifically related to a kind of coordinate purlin with vision guide positioning function
Posture injection molding mechanical arm.
Background technology
The defects such as the burr of injecting products, bright trace annoying whole Injection Industry always.Co-ordinate-type mechanical hand on market
Being only capable of simply taking out and be difficult to carry out subsequent automated production, a lot of esbablished corporations are forced to buy CNC, articulated robot to repair hair
Limit, sanding and polishing realize automatization, but cost intensive and floor space are very big, add the complexity producing line, also give maintenance
Bring difficulty！
For medium-sized and small enterprises, purchase CNC, articulated robot price are high, can not bear.In order to save
Cost, takes out injecting products from injection machine only with co-ordinate-type mechanical hand, then manual detection product quality, sees surface
The defects such as the most jagged, burr, it would be desirable to the product of sanding and polishing and certified products sorting placement, recycling polishing tool and dress
Sandwiched is standby carries out sanding and polishing process, this mode low cost to defective products, but production efficiency is low, seriously hinders enterprise
Development.
Articulated robot, sometimes referred to as mechanical hand, because this body structure of equipment is complicated, precision is high, and is provided with vision
System, thus have the advantages that positioning accurate density is high, harmony is good, its repeatable accuracy is up to 0.01-0.05mm.And co-ordinate-type machine
Tool hands does not has vision positioning system, it is impossible to realize the running of high precision, can only carry out straight line, diagonal movement, its repeatable accuracy
Being only capable of and reach 0.1-0.2mm, the repeatable accuracy of articulated robot is 2-10 times of co-ordinate-type mechanical hand, which results in many
The price of articulated robot is high.
It would therefore be desirable to design a kind of coordinate truss-like injection machine with vision guide positioning function for Injection Industry
Tool hands, by improving existing servo co-ordinate-type mechanical hand, increases vision guide positioning function, and realizing function can be with
Articulated robot matches in excellence or beauty, and the purpose that price is popular.
Summary of the invention
For solving above-mentioned technical problem, we have proposed a kind of coordinate truss-like injection with vision guide positioning function
Mechanical hand, by setting up vision imaging system on existing mechanical hand, makes this system communicate with control system CPU of mechanical hand
Connect, enable mechanical hand automatically to detect product the most qualified, it is judged that the positional information of product, automatically carry out subsequent operation, reach
To improving robotic degree, raising production efficiency, reduction production cost, reducing the purpose taken up room.
For reaching above-mentioned purpose, technical scheme is as follows:
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function, including removable support platform, sets
It is placed in the actuator in described removable support platform and for manipulating the control system of described actuator action, also includes
The vision imaging system being connected with the described control system signal of telecommunication, described vision imaging system includes camera, light source and vision control
Device processed, described camera, described light source be arranged at described actuator side or individually fix, described vision controller and described phase
Machine, the described light source signal of telecommunication connect.
Preferably, described camera is high definition lens camera, CCD camera or CMOS camera.
Further, described control system includes:
A. manipulator control system CPU, for being converted into discernible machine language, and to receiving by the information received
Information process, result signal is transferred to actuator；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, controls operation and stopping, the reading of systematic parameter of mechanical hand
Write and the monitoring of IO；
The most anti-interference D/C power, for the D/C power the most stable for the offer of HMI human-computer interaction interface, control signal inputs
Device；
D. input/output module, is converted into after switching signal by machine after the signal of collection machinery hands body or outside
Tool hand control system CPU reads and identifies；
E. vision imaging system interface, is used for accessing vision imaging system；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver；
G. servomotor, for performing the instruction of manipulator control system CPU.
Preferably, described control system also includes:
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, enters
Row Multi-axis motion control, also can do multi-shaft interlocked, straight line and circular interpolation simultaneously.
Preferably, described control system also includes:
I. communication interface, for secondary development and the access of some ancillary equipment of standby functions.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function, the operational approach of its control system is such as
Under:
After product has been molded, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；The execution machine of mechanical hand
Structure moves to ad-hoc location along default path, and when i.e. product is transported to camera fields of view region, camera is to various forms
Product is taken pictures, and is accurately positioned product by mark point, and is exported by the positional information of product；Photographic intelligence and product
The positional information of product is transferred to manipulator control system CPU simultaneously；The normal pictures of this photo with storage is carried out by this system
Relatively, if product does not has the defective work of value, then directly it is placed at defective work；If it is defective qualified
Product, then judge the coordinate information that the position of flaw obtains product occur, guides the actuator of mechanical hand according to instructing having
The place of flaw is modified；During revising, constantly product is taken pictures, it is thus achieved that the photographic intelligence of product and product
The information such as side-play amount, deviation angle, and photo is compared with normal pictures one by one, until photo is the same with picture, then repair
Just terminate.
Further, described removable support platform is two axles, three axles, five axles, six axles, seven axles, eight axles, the nine full servos of axle
Mechanism.
Further, the end in described actuator perform device for can perform 3D printing, milling burr, 2 axle NC,
Sanding and polishing, some glue, bat printing, engraving, cut, spraying, pad pasting, milling, welding, thermoprint, assemble or sort setting of function
Standby or mechanism.
By above technical scheme, the present invention can obtain following beneficial effect:
By setting up vision imaging system on existing common coordinate truss-like mechanical hand so that it is with manipulator control system
System CPU communication connection, when product is transported to camera fields of view region, the product of various forms is taken pictures, is passed through by camera
Product is accurately positioned by mark point, and is exported by the positional information of product.On the one hand arranging of vision imaging system make machine
It is the most qualified that tool hands can detect product automatically, and defective products carries out the subsequent treatment such as sanding and polishing automatically；Repetition can be made simultaneously
Precision brings up to 0.05mm from original 0.1mm, and under the light load of below 10KG, precision is up to 0.01mm, the present invention
Manipulator Accuracy meet or exceed the precision of articulated robot, this technology belongs to the world and initiates in mechanical hand field.
Therefore, automaticity of the present invention is high, can substitute for articulated robot, it is possible to whether detection product closes automatically
Lattice, automatically carry out sanding and polishing process to defective products, purchase cost can reduce by 60%, take up room can reduce by 60%, precision carries
High 2-10 times.
Meanwhile, the end in the actuator of the present invention perform device for can perform 3D printing, milling burr, 2 axle NC,
Sanding and polishing, some glue, bat printing, engraving, cut, spraying, pad pasting, milling, welding, thermoprint, assemble or sort setting of function
Standby or mechanism, i.e. end perform device can be needed according to different uses and be replaced at any time, as industry machine tool, it is achieved
Inter-trade use, cost-effective.This technology belongs to coordinate truss-like injection molding mechanical arm industry in the world and initiates.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
The Control system architecture figure of hands；
Fig. 2 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
Hand control flow chart；
Fig. 3 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
Hands is at the main TV structure schematic diagram of the state of use；
Fig. 4 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
Hands is in the perspective view of the state of use；
Fig. 5 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
The main TV structure schematic diagram of the actuator of hands；
Fig. 6 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
The perspective view of the actuator of hands；
Fig. 7 is a kind of coordinate truss-like injection machine with vision guide positioning function disclosed in the embodiment of the present invention
The volume rendering structural representation of the actuator of hands.
Corresponding component title represented by numeral in figure:
1. posture parts 2. feeding device 3. pneumatic quick-change fixture
4. power set 5. vision imaging system 11. posture portion
12. posture portion mounting seat 21. sucker 22. sucker disk seats
23. feeding fixture 24. feeding fixture installing plate 110.L type fixed plates
41. motor 42. motor mount 51. cameras
421. first fixed plate 422. second fixed plate 423. support posts
424. guard shield panel beatings 425. accommodate chamber 411. motor shaft
4221. first side opening 4222. second side opening 426. motor support plate
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Below in conjunction with embodiment and detailed description of the invention, the present invention is further detailed explanation.
Embodiment.
As it is shown in figure 1, a kind of three axle servo manipulators with vision imaging system, including removable support platform, set
It is placed in the actuator in removable support platform and for manipulating the control system of actuator action, described control system bag
Include:
A. manipulator control system CPU, it is equivalent to the brain of mechanical hand, is the most crucial part of mechanical hand, uses
LINUX kernel is the control system of bottom, has the advantage that stability is strong；This part is for being converted into the external information received
Discernible machine language, and the information received such as pictorial information is processed, it is transferred to result signal perform
Mechanism；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, controls operation and stopping, the reading of systematic parameter of mechanical hand
Write and the monitoring of IO；
The most anti-interference D/C power, for the D/C power the most stable for the offer of HMI human-computer interaction interface, control signal inputs
Device；
D. input/output module, is converted into after switching signal by machine after the signal of collection machinery hands body or outside
Tool hand control system CPU reads and identifies；
E. vision imaging system interface, is used for accessing vision imaging system；By accessing vision imaging system, machinery is manual
System CPU processed may determine that product to be captured is the best, thus selects action to be carried out；Make the actuator of mechanical hand
Vision imaging system can be coordinated to carry out position correction, thus realize how not tube workpiece is put, can be according to workpiece
Path is modified, such as work such as polishing or polishings；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver, it is achieved high response, province's line；
G, servomotor, for performing the instruction of manipulator control system CPU, use high inertia type servomotor, speed
Faster, run more stable；
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, supports
Incremental and absolute value type servo, carry out Multi-axis motion control, also can do multi-shaft interlocked, straight line and circular interpolation simultaneously；
I. communication interface, for secondary development and the access of some ancillary equipment of standby functions.
As in figure 2 it is shown, the operating process of above-mentioned manipulator control system is as follows:
(1), after product has been molded, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；
(2) actuator of mechanical hand moves to ad-hoc location along default path, i.e. product is transported to camera and regards
During wild region, the product of various forms is taken pictures by camera, is accurately positioned product by mark point, and by product
Positional information exports；The photo of product and coordinate (position) information are transmitted to manipulator control system CPU；
(3) the product photo received is contrasted by manipulator control system CPU with depositing quality good product photo, comes
Detection judges that product has intact material, the quality such as heterochromatic bad；
(4) if defective products, then signal and guide mechanical hand to be directly placed into defective product box；If qualified product defective
Product, then judge the coordinate information that the position of flaw obtains product occur according to coordinate information, guides the actuator of mechanical hand to press
According to instruction, place defective is carried out polishing to revise；During polishing is revised, constantly product is taken pictures, it is thus achieved that product
Image information and the information such as the side-play amount of product, deviation angle, and photo and normal pictures are compared, the most ceaselessly
Product is modified (such as polishing or polishing), takes pictures, until photo is the same with picture, then modify (such as polishing or polishing) knot
Bundle.
As shown in Fig. 3-Fig. 7, above-mentioned actuator includes:
A. posture parts 1, posture parts includes posture portion 11 and posture portion mounting seat 12, posture portion mounting seat
12 tops being fixed on posture portion, the lower end in posture portion 11 is connected with L-type fixed plate 110；
B. feeding device 2, feeding device includes sucker 21, sucker disk seat 22, feeding fixture 23 and feeding fixture installing plate 24,
The bottom of feeding fixture installing plate 24 is fixed on the side plate of L-type fixed plate 110 by four trip bolts, and feeding fixture 23 leads to
Crossing bolt and be fixed on the top of feeding fixture installing plate 24, sucker disk seat 22 is sheathed on feeding fixture 23, and sucker is located at by sucker 21
On seat 22；Sucker 21, sucker disk seat 22, the quantity of feeding fixture 23 are four, arranged in arrays in feeding fixture installing plate 24
Top；It is provided with compression spring between feeding fixture 23 and sucker disk seat 22；
C. pneumatic quick-change fixture 3, pneumatic quick-change fixture 3 is arranged on L-type fixed plate 110 base plate in posture portion 11；
D. power set 4, power set include that motor 41 and motor mount 42, motor mount 42 press from both sides with pneumatic quick-change
Tool 3 is fixed together, and motor 41 is arranged on motor mount 42；
E. end performs device (not shown), and described end performs device and is connected with the rotary shaft of motor, from motor
Obtain kinetic energy.
Foregoing visual image system 5 includes that in camera 51, light source and vision controller, this example, camera 51 is arranged at motor peace
Dress seat 42 side (or the most individually fixing), light source matches with camera 51, and vision controller is with camera 51, the light source signal of telecommunication even
Connect.Vision controller is connected by port communication with manipulator control system CPU simultaneously.
Herein, the physical location for vision imaging system 5 is not required to set fixing position, say, that camera 51, light
The position of source and vision controller not only may be mounted on mechanical hand, also can be according to actually used situation as according to product
Position depending on, be adjusted their position, as may be mounted on injection machine, streamline first-class, as long as making vision imaging
System communicates to connect with manipulator control system CPU, it is possible to carries out Automated condtrol and just can realize the function of correspondence, for it
Physical location does not fix setting.
As shown in Fig. 5, Fig. 6 and Fig. 7, motor mount 42 includes first fixed plate the 421, second fixed plate 422, four
Support column 423 and guard shield panel beating 424, the second fixed plate 422 is arranged at the underface of the first fixed plate 421, by four supports
Column 423 is fixing to be connected, and guard shield panel beating 424 encloses is located at the first fixed plate 421 and the second fixed plate 422 outer, and formation can accommodate
The receiving chamber 425 of motor body.The sidewall of the first fixed plate 421 is provided with the first side opening 4211, and the sidewall of the second fixed plate 422 sets
Having the second side opening 4221, guard shield panel beating 424 is fixed by screws on the first side opening 4211 and the second side opening 4221.
The center of the second fixed plate 422 is provided with and is available for the first through hole (not shown) that motor shaft passes.Second fixes
Being additionally provided with motor support plate 426 on plate 422, motor 41 is positioned in motor support plate 426.Second fixed plate 422 center is provided with
Second through hole, the second through hole is less than the first through hole.
The main body of motor is positioned at receiving intracavity, and motor shaft 411 one end is connected with motor body, and the other end is free end, its
Initially passing through the second through hole, be then passed through the first through hole, exposed free end is used for connecting end and performs device outside, as rotary milling tools,
Rotary-grinding machine, buffing machine, 3D printhead, Glue dripping head, pad printer, gilding press, laser engraving machine, cutting machine, there is absorption merit
The tool of folder function or can be embraced.
Camera 51 is CCD high-definition fixed-focus camera lens, is fixed on the first fixed plate 421 side.Camera 51 can also be high definition mirror
Head camera, CCD camera, CMOS zoom lens, CMOS tight shot or CCD high definition automatic zoom camera lens, as long as being capable of height
Clear shooting purpose.
In the present embodiment, the removable support platform of mechanical hand is three axle servo structure, but is not limited to this, it is also possible to for
Five axles, six axles, seven axles or the full servo control mechanism of eight axles.
Aforesaid end perform device for can perform 3D printing, milling burr, 2 axle NC, sanding and polishing, some glue, bat printing,
Engraving, cut, spraying, pad pasting, milling, welding, thermoprint, assemble, the equipment of the function such as sorting or mechanism.
The hardware components advantage of the present invention is:
A, in the market a lot of slide block type manipulator control systems do not possess the interface carrying vision imaging system, we
Manipulator control system CPU can be communicated to connect by Ethernet port and vision imaging system.Vision imaging system is given
The side-play amount going out workpiece guides the actuator of mechanical hand to position with deflection angle, coordinates vision imaging system can also detect that
The speckle of workpiece, scarce material, burr, both forward and reverse directions etc., mechanical hand can recognize that defective according to the data that vision imaging system is given
Product and defective work is placed at defective work.
B, in the market a lot of slide block type manipulator control systems do not possess the function of multi-shaft interlocked multi-axis interpolation, we
Control system can realize very easily.
The software section advantage of the present invention is:
A, being derived the CNC machining path of workpiece by CAM software (computer-aided manufacturing software), our machinery is manual
System CPU processed can directly read CNC by simple process and process formula, convenient and easy.And can realize multi-shaft interlocked, multiaxis
Interpolation.
B, vision imaging system are carried out data transmission with control system CPU by Ethernet interface, and transmission speed faster, passes
Transmission of data is more stable.
This mechanical hand carries vision imaging system, possesses vision guide positioning function, by taking pictures existing product and
Depositing the contrast of quality good product photo, detecting judgement product has intact material, the quality such as heterochromatic bad, and defective products signals and draws
Lead mechanical hand and be directly placed into defective product box.Taking out after product puts into tool detects if any burr, then guide mechanical hand milling cutter
Or the automatic repair flash of bistrique is to non-defective unit；Can also complete to require the up to bat printing of 0.01 millimeter of positioning precision, silk-screen, gold stamping, point
The subsequent automated processing such as glue, pad pasting.The another set of tool of fast automatic replacing, after taking-up product puts into localization tool, mechanical hand
Control polisher and carry out sanding and polishing along product curved surface etc..
Above-described is only the preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, it is also possible to make some deformation and improvement, these broadly fall into the present invention
Protection domain.
Claims (8)
1. there is a coordinate truss-like injection molding mechanical arm for vision guide positioning function, including removable support platform, setting
Actuator in described removable support platform and for manipulating the control system of described actuator action, its feature exists
In, also including the vision imaging system being connected with the described control system signal of telecommunication, described vision imaging system includes camera, light source
And vision controller, described camera, described light source be arranged at described actuator side or individually fix, described vision controller
It is connected with described camera, the described light source signal of telecommunication.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 1, it is special
Levying and be, described camera is high definition lens camera, CCD camera or CMOS camera.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 1 and 2, its
Being characterised by, described control system includes:
A. manipulator control system CPU, for being converted into discernible machine language, and to the letter received by the information received
Breath processes, and result signal is transferred to actuator；
B.HMI human-computer interaction interface, is used for manipulating mechanical hand, control the operation of mechanical hand and stopping, systematic parameter read-write with
And the monitoring of IO；
The most anti-interference D/C power, for the D/C power the most stable for the offer of HMI human-computer interaction interface, control signal input dress
Put；
D. input/output module, is converted into after switching signal by mechanical hand after the signal of collection machinery hands body or outside
Control system CPU reads and identifies；
E. vision imaging system interface, is used for accessing vision imaging system；
F. network-type servo-driver interface, is used for connecting bus-type servo-driver；
G. servomotor, for performing the instruction of manipulator control system CPU.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 3, it is special
Levying and be, described control system also includes:
H. standby bus type servo-driver interface, as spare interface, is used for connecting bus-type servo-driver, carries out many
Axle motor control, also can do multi-shaft interlocked, straight line and circular interpolation simultaneously.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 4, it is special
Levying and be, described control system also includes:
I. communication interface, for secondary development and the access of some ancillary equipment of standby functions.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 5, it is special
Levying and be, the operational approach of described control system is as follows:
After product has been molded, injection moulding machine mould open, the actuator of mechanical hand captures injecting products；The actuator edge of mechanical hand
Default path and move to ad-hoc location, when i.e. product is transported to camera fields of view region, the camera product to various forms
Take pictures, by mark point, product is accurately positioned, and the positional information of product is exported；Photographic intelligence and product
Positional information is transferred to manipulator control system CPU simultaneously；The normal pictures of this photo with storage is compared by this system,
If product does not has the defective work of value, then directly it is placed at defective work；If qualified products defective,
Then judge that the coordinate information that the position of flaw obtains product occurs, guide the actuator of mechanical hand according to instructing defective
Place is modified；During revising, constantly product is taken pictures, it is thus achieved that the photographic intelligence of product and the skew of product
The information such as amount, deviation angle, and photo is compared with normal pictures one by one, until photo is the same with picture, then revise knot
Bundle.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 6, it is special
Levying and be, described removable support platform is two axles, three axles, five axles, six axles, seven axles, eight axles, the nine full servo control mechanisms of axle.
A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function the most according to claim 5, it is special
Levy and be, end in described actuator perform device for can perform 3D printing, milling burr, 2 axle NC, sanding and polishing,
Point glue, bat printing, engraving, cut, spraying, pad pasting, milling, welding, thermoprint, the equipment assembling or sorting function or mechanism.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610255585.0A CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
| CN2016102555850 | 2016-04-22 |
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| CN106079317A true CN106079317A (en) | 2016-11-09 |
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| CN201610255585.0A Withdrawn CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
| CN201610599995.7A Pending CN106079317A (en) | 2016-04-22 | 2016-07-27 | A kind of coordinate truss-like injection molding mechanical arm with vision guide positioning function |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610255585.0A Withdrawn CN105751452A (en) | 2016-04-22 | 2016-04-22 | Mechanical arm with visual image system |
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