CN109986323A - A kind of screw automatic charging device flexible and method - Google Patents
A kind of screw automatic charging device flexible and method Download PDFInfo
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- CN109986323A CN109986323A CN201910257010.6A CN201910257010A CN109986323A CN 109986323 A CN109986323 A CN 109986323A CN 201910257010 A CN201910257010 A CN 201910257010A CN 109986323 A CN109986323 A CN 109986323A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/32—Applications of devices for generating or transmitting jigging movements with means for controlling direction, frequency or amplitude of vibration or shaking movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of screw automatic charging device flexible and methods, including central processing unit PLC, vibration feed frequency modulator, vision controller, three Axle mould group controllers and robot controller；The output end of vision controller connects central processing unit PLC, and the vision controller gives central processing unit PLC for carrying out visual analysis and providing visual analysis result；Central processing unit PLC and vibration feed frequency modulator, three Axle mould group controllers and robot controller carry out data interaction, control adjustment vibration frequency, the control for realizing three Axle mould groups and robot.Auto-control power of the present invention and adjustment feed frequency, improve stability and usability；Vision-based detection realizes automation, avoids artificial visual inspection and monitoring, and assembly abnormality detection can also be analyzed by the figure integrity degree of vision, judges and eliminate to come；By the judgement and adjustment of vision, and then the positioning requirements for putting workpiece are reduced, saves the unnecessary waste of deduplication fabricating tools and technological transformation.
Description
Technical field
The present invention relates to intelligent plant flexibility producing line general modules, and in particular to national standard within the scope of certain specification and nonstandard
The feeding of screw.
Background technique
Current Screw feeding machine generallys use fixed point conveying, and fixed point crawl or fixed point are tightened.However have for some
Particular/special requirement, such as: being packed into the numerous in variety of body or assembly, need to adjust for different three-dimensional coordinates.Conventional screw supplies
Material machine, by screw, by vibration, perhaps arrangement is transported to accurate location and then by manipulator or tightens rifle then automatic job
Or manual work: manual work needs to align and then improve the requirement of human work, loses the meaning liberated the productive forces；Automatically
Operation is limited by cost and single product, does not almost accomplish general each specification product.For another example: conventional screw feeding machine is logical
Often accomplish one-to-one fixed point feed, and a pair two or one-to-many needs according to being packed into the machine different with the distributed infrastructures of assembly point
Tool hand structure.In addition, the structure type and cost of manipulator are different, the straight line mould group of high transmission accuracy reach its maturity and at
This is with the obvious advantage, and the technology of multi-axis controller also reaches its maturity but various brands cost difference is bigger.
Summary of the invention
Goal of the invention: in order to solve the problems, such as that Screw feeding machine poor universality of the existing technology, the present invention provide one
Kind screw automatic charging device flexible and method.
A kind of technical solution: screw automatic charging method flexible, comprising:
(1) feeding frequency analog amount data are transferred to central processing unit PLC, central processing unit by vibration feed frequency modulator
PLC receives feeding frequency analog amount data, adjusts vibration frequency after carrying out screening conclusion；
(2) position coordinates of vision controller real-time monitoring pilot hole, and position coordinate data is transferred to central processing
After device PLC, central processing unit PLC receive position coordinate data, three coordinate interpolations are calculated according to the position coordinates of output point
Value, and send and order to three Axle mould group controllers, deploy the torque and revolving speed of three axis servo motors；
(3) position coordinates of vision controller real-time monitoring pilot hole, and position coordinate data is transferred to central processing
After device PLC, central processing unit PLC receive position coordinate data, output analog quantity pulse signal sends to robot controller and orders
It enables.
Further, in step (2), vision controller is taken pictures to being packed into workpiece and carry out vision, and being packed into hole location has multiple, adopts
If collection and capture be packed into hole location circle on do coordinate, calculate be packed into hole location center point coordinate, by with output point
Coordinate difference calculates, and multiple coordinate differences are ranked up, the coordinate data after sequence is sent to central processing unit PLC, in
Central processor PLC sends analog output pulse signal to three Axle mould group controllers according to hole location coordinate is packed into, and controls mould group position
It moves.
Further, in step (3), after vision controller calculates the center point coordinate of loading hole location, central point is sat
Mark is sent to central processing unit PLC, and central processing unit PLC obtains phase by the coordinate calculating difference of center point coordinate and output point
It is sent to robot controller to coordinate, and by relative coordinate date, robot controller is inserted by the straight line and circular arc of itself
After benefit, robot grabbing workpiece is controlled, and put the workpiece in designated position.
It further, further include that vibration feed frequency modulator alarms to abnormal feeding frequency signal in step (1).
Further, the center point coordinate for being packed into hole location is ranked up according to horizontal axis and vertical pivot coordinate value, is sequentially completed every
A loading work for being packed into hole location.
Further, after the completion of complete assembly acts, central processing unit PLC instruction vision controller is captured a photograph,
The difference for distinguishing mounting hole outer circle and head of screw outer circle pore size, judges whether screw installation omits；If not circular figure
Shape element, explanation are abnormal assembly；The case where for having omission or abnormal assembly, alarms, central processing unit PLC dictating machine
Assembly parts are grabbed and are placed in specified collecting zone by device people's controller control robot.
A kind of screw automatic charging device flexible, including central processing unit PLC, vibration feed frequency modulator, visual spatial attention
Device, three Axle mould group controllers and robot controller；The output end of the vision controller connects central processing unit PLC, described
Vision controller gives central processing unit PLC for carrying out visual analysis and providing visual analysis result；Central processing unit PLC and shake
Dynamic feed frequency modulator, three Axle mould group controllers and robot controller carry out data interaction；Central processing unit PLC is used for vibration
It is fed frequency modulator, three Axle mould group controllers and robot controller and sends control command；Vibration feed frequency modulator will be for that will be fed
Frequency data are sent to central processing unit PLC and adjust feed frequency according to the order of central processing unit PLC；The control of three Axle mould groups
Device is for controlling the displacement of three Axle mould groups；Robot controller is for controlling robot pick-and-place workpiece.
Further, the vibration feed frequency modulator is equipped with alarm unit, vibration frequency setup unit, power detection list
Member, alarm unit is for alarming to abnormal signal, and vibration frequency setup unit is for being configured feeding frequency, power
Detection unit is for detecting operating power.
Further, central processing unit PLC and vibration feed frequency modulator, vision controller, three Axle mould group controllers and machine
485 or 232 communication mode is used between device people's controller.
The utility model has the advantages that the prior art that compares, the present invention provides a kind of screw automatic charging device flexible and method, leads to
PLC or host computer are crossed, realizes that unified management controls respectively.It is detected by exception of the PLC to vibration feeder, auto-control
Power and adjustment feed frequency, improve stability and usability；It is obtained in each by the data of visual pattern analysis processing
Heart point coordinate and three Axle mould group controller interaction datas, and then drive mould group to pick up point by point and put screw to specified center；Vision inspection
It surveys and realizes automation, avoid artificial visual inspection and monitoring, assembly abnormality detection can also be analyzed by the figure integrity degree of vision,
Judge and eliminate to come；The speed of allotment vibration feed and the speed of travel of mould group, by the detection of main PLC or host computer and anti-
Feedback is promoted according to the production capacity of producing line while increasing or decreasing speed；By the judgement and adjustment of vision, and then reduces and put workpiece
Positioning requirements, save deduplication fabricating tools and technological transformation unnecessary waste.
Detailed description of the invention
Fig. 1 is the integrated stand composition of screw automatic charging device flexible.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Screw automatic charging device flexible includes central processing unit PLC, vibration feed frequency modulator, vision controller, three
Axle mould group controller and robot controller；The output end of the vision controller connects central processing unit PLC, the vision
Controller gives central processing unit PLC for carrying out visual analysis and providing visual analysis result；Central processing unit PLC and vibration supply
Expect that frequency modulator, three Axle mould group controllers and robot controller carry out data interaction；Central processing unit PLC is used to be fed to vibration
Frequency modulator, three Axle mould group controllers and robot controller send control command；Vibration feed frequency modulator will be for that will be fed frequency
Data are sent to central processing unit PLC and adjust feed frequency according to the order of central processing unit PLC；Three Axle mould group controllers
For controlling the displacement of three Axle mould groups；Robot controller is for controlling robot pick-and-place workpiece.
Screw automatic charging device flexible may be implemented to control and manage concentratedly respectively, and main PLC provides instruction respectively, adjust
The parameter of whole four controllers.
The vibration feed frequency modulator is equipped with alarm unit, vibration frequency setup unit, power detecting unit, and alarm is single
Member is for alarming to abnormal signal, and vibration frequency setup unit is for being configured feeding frequency, power detecting unit
For detecting operating power.Realize PLC to the power of vibration feed frequency modulator and effective management of abnormality detection etc., frequency control
The power of vibrator realizes the adjustment of the wider range of feeding speed, power stability detection and correction.
Mould group uses servo/stepper drive, using three Axle mould group controllers of the three-axis integrative of lathe interpolation pattern, integrates
Degree height occupies little space, and within ± 0.003mm, sport efficiency greatly improves accuracy error；
With main PLC can using the communications protocol such as cclink, profibus, profinet, consider domestic versatility and
Economy problems, therefore more common communication mode is waited using 485,232, easy to use, care and maintenance is at low cost.
Three Axle mould group controllers and robot controller are other than interacting I/O signal with main PLC, the hair of also adjustable whole pulse
Radio frequency rate improves the speed of service, and is manually adjusted by external configuration software link；Zero point is judged and defined simultaneously
Relative coordinate.
Such as Fig. 1, screw automatic charging method flexible includes following three parts:
(1) feeding frequency analog amount data are transferred to central processing unit PLC, central processing unit by vibration feed frequency modulator
PLC receives feeding frequency analog amount data and adjusts vibration frequency in real time, and the byte-sized by receiving data volume judges vibration
The numerical value of frequency is adjusted in reasonable frequency range in time after concluding via the screening of preset program.In order to avoid feed beat mistake
Slow or too fast influence production.；Vibration feed frequency modulator at work alarms to abnormal feeding frequency signal.
(2) position coordinates of vision controller real-time monitoring pilot hole take pictures to workpiece progress vision is packed into, are packed into hole location
Have it is multiple, if acquisition and capture be packed into hole location circle on do coordinate, calculate be packed into hole location center point coordinate such as (X1,
Y1) (X2, Y2) ... (Xn, Yn), by with the calculating of the coordinate difference of output point, by its difference according to from big to small or from it is small to
Big sequence is ranked up, and the sorting data for being loaded into hole location center point coordinate is sent to central processing unit PLC, central processing unit
PLC is sent to three Axle mould group controllers according to three coordinate interpolation values of hole location coordinate calculating are packed into, and deploys the torsion of three axis servo motors
Square and revolving speed realize the optimization of sport efficiency to realize the moving interpolation between three axis.Because hole location is annular spread,
Retrieval arrangement is carried out according to coordinate X and Y value one by one, it can be to avoid the risk for repeating blowing.Three Axle mould group controllers can be three
Regulation is realized in axis direction, versatility is stronger, meets use demand of the vertical deviation to lifting mould group of different hole planes；
(3) position coordinates of vision controller real-time monitoring pilot hole calculate after being packed into the center point coordinate of hole location, will
Center point coordinate is sent to central processing unit PLC, and the coordinate of center point coordinate and output point is carried out difference by central processing unit PLC
It calculates, and coordinate difference data is sent to robot controller, robot controller passes through the straight line and circular interpolation of itself
Afterwards, robot grabbing workpiece is controlled, and puts the workpiece in designated position.
By the judgement and adjustment of vision, and then the positioning requirements for putting workpiece are reduced, saves deduplication fabricating tools and skill
The unnecessary waste changed.Vision correcting can guide manipulator or industrial robot accurately to grab, and to assembly integrity degree and dress
With quality testing.
After the completion of complete assembly movement, PLC instruction vision camera is captured a photograph: distinguishing mounting hole outer circle and head of screw
The difference of outer circle pore size, to judge whether screw installation omits；It is not circular graphic element, illustrates equally to be abnormal dress
Match；It instructs robot to grab assembly parts by alarm and PLC and places in specified collecting zone.Assembling abnormality detection can also
To analyze by the figure integrity degree of vision, judge and eliminate to come.
The size and hole location segment information, capacity requirements, inventories of product are acquired by MES system, and then define spiral shell
After the feeding speed of nail, the screw handgrip of different size is automatically switched, by fast replacing device to adapt to different rule in robot front end
The screw of lattice.
The configuration of vision software used by vision controller and hardware environment:
(1) hardware requirement:
A) 2,000,000 pixel industrial camera of Cognex 1, Gige communication modes；B) with the industry of development and application authorization
1 set of camera vision software；C) each 1 of Industrial Ethernet cable, IO, power cable；D) F mouthfuls of industrial camera lens * 1；E) light source
1 set of controller, light source 1；
(2) application software requirement:
A) detection project includes the full content of detection demand；B) image processing software development and application authorization is mounted on visitor
Family is specified on industrial computer, is had and the data communication function of PLC and the interface of I/O signal；C) based on high-level language (VB,
C#, C++ etc.) exploitation image processing software system have more operation functions (type for being directed to examination)；D) single camera is every
Secondary photo opporunity is less than 10S, and detection time is less than 2S, 365 days stabilizations of equipment, lasting work, without any mistake and failure；
(3) vision software running environment:
A) CPU:I7 processor, memory: 8G, hard disk: 1T；B) system: Windows7 (64bit)；C) gigabit Ethernet
Card * 2；D) magnificent I/O board * 1 (PCI-1761) is ground.
Claims (9)
1. a kind of screw automatic charging method flexible characterized by comprising
(1) feeding frequency analog amount data are transferred to central processing unit PLC by vibration feed frequency modulator, and central processing unit PLC connects
Feeding frequency analog amount data are received, adjust vibration frequency after carrying out screening conclusion；
(2) position coordinates of vision controller real-time monitoring pilot hole, and position coordinate data is transferred to central processing unit
After PLC, central processing unit PLC receive position coordinate data, three coordinate interpolation values are calculated according to the position coordinates of output point,
And send and order to three Axle mould group controllers, deploy the torque and revolving speed of three axis servo motors；
(3) position coordinates of vision controller real-time monitoring pilot hole, and position coordinate data is transferred to central processing unit
After PLC, central processing unit PLC receive position coordinate data, output analog quantity pulse signal sends to robot controller and orders.
2. screw automatic charging method flexible according to claim 1, which is characterized in that in step (2), visual spatial attention
Device to be packed into workpiece carry out vision take pictures, be packed into hole location have it is multiple, if acquisition and capture be packed into hole location circle on do coordinate,
The center point coordinate for being packed into hole location is calculated, by the coordinate difference calculating with output point, multiple coordinate differences are ranked up,
Coordinate data after sequence is sent to central processing unit PLC, central processing unit PLC sends analog quantity according to hole location coordinate is packed into
Output pulse signal gives three Axle mould group controllers, control mould group displacement.
3. screw automatic charging method flexible according to claim 1, which is characterized in that in step (3), visual spatial attention
After device calculates the center point coordinate of loading hole location, center point coordinate is sent to central processing unit PLC, central processing unit PLC
Relative coordinate is obtained by the coordinate calculating difference of center point coordinate and output point, and relative coordinate date is sent to robot
Controller after robot controller passes through itself straight line and circular interpolation, controls robot grabbing workpiece, and put the workpiece in
Designated position.
4. screw automatic charging method flexible according to claim 1, which is characterized in that further include shake in step (1)
Dynamic feed frequency modulator alarms to abnormal feeding frequency signal.
5. screw automatic charging method flexible according to claim 2, which is characterized in that the central point for being packed into hole location is sat
Mark is ranked up according to horizontal axis and vertical pivot coordinate value, is sequentially completed each loading work for being packed into hole location.
6. screw automatic charging method flexible according to claim 1, which is characterized in that acted in complete assembly
Cheng Hou, central processing unit PLC instruction vision controller capture a photograph, and distinguish mounting hole outer circle and head of screw outer circle pore size
Difference, judges whether screw installation omits；If not circular graphic element, explanation is abnormal assembly；For have omit or it is different
Often the case where assembly, alarms, and assembly parts are grabbed and put by central processing unit PLC instruction robot controller control robot
It sets in specified collecting zone.
7. a kind of screw automatic charging device flexible, which is characterized in that including central processing unit PLC, vibration feed frequency modulator,
Vision controller, three Axle mould group controllers and robot controller；The output end of the vision controller connects central processing unit
PLC, the vision controller give central processing unit PLC for carrying out visual analysis and providing visual analysis result；Central processing
Device PLC and vibration feed frequency modulator, three Axle mould group controllers and robot controller carry out data interaction；Central processing unit PLC
For sending control command to vibration feed frequency modulator, three Axle mould group controllers and robot controller；Vibration feed frequency modulator
Central processing unit PLC is sent to and according to the order of central processing unit PLC adjustment feed frequency for frequency data will to be fed；Three
Axle mould group controller is for controlling the displacement of three Axle mould groups；Robot controller is for controlling robot pick-and-place workpiece.
8. screw automatic charging device flexible according to claim 7, which is characterized in that the vibration is fed frequency modulator
It is equipped with alarm unit, vibration frequency setup unit, power detecting unit, alarm unit is used to alarm to abnormal signal,
Vibration frequency setup unit is for being configured feeding frequency, and power detecting unit is for detecting operating power.
9. screw automatic charging device flexible according to claim 7, which is characterized in that central processing unit PLC and vibration
It is fed the communication mode between frequency modulator, vision controller, three Axle mould group controllers and robot controller using 485 or 232.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910257010.6A CN109986323B (en) | 2019-04-01 | 2019-04-01 | Flexible screw automatic feeding device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910257010.6A CN109986323B (en) | 2019-04-01 | 2019-04-01 | Flexible screw automatic feeding device and method |
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| CN109986323B CN109986323B (en) | 2020-12-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112935780A (en) * | 2021-02-23 | 2021-06-11 | 西门子工厂自动化工程有限公司 | Threading device and threading method |
| CN115648644A (en) * | 2022-09-26 | 2023-01-31 | 清华大学 | Self-adaptive press fitting device and method based on vision |
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| CN109227104A (en) * | 2018-09-17 | 2019-01-18 | 常州数控技术研究所 | A kind of stubborn bolt method of moment of torsion control |
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| JPH07299674A (en) * | 1994-05-02 | 1995-11-14 | Nikko Eng Kk | Screw feed method and screw feed device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112935780A (en) * | 2021-02-23 | 2021-06-11 | 西门子工厂自动化工程有限公司 | Threading device and threading method |
| CN115648644A (en) * | 2022-09-26 | 2023-01-31 | 清华大学 | Self-adaptive press fitting device and method based on vision |
| CN115648644B (en) * | 2022-09-26 | 2024-04-09 | 清华大学 | Self-adaptive press fitting device and method based on vision |
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| Publication number | Publication date |
|---|---|
| CN109986323B (en) | 2020-12-25 |
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