WO2021249580A1 - 一种滑石片全自动粘接智能控制方法及*** - Google Patents
一种滑石片全自动粘接智能控制方法及*** Download PDFInfo
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- WO2021249580A1 WO2021249580A1 PCT/CN2021/111437 CN2021111437W WO2021249580A1 WO 2021249580 A1 WO2021249580 A1 WO 2021249580A1 CN 2021111437 W CN2021111437 W CN 2021111437W WO 2021249580 A1 WO2021249580 A1 WO 2021249580A1
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- Prior art keywords
- talc
- bonding
- silicon steel
- sheet
- module
- Prior art date
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- 239000000454 talc Substances 0.000 title claims abstract description 120
- 229910052623 talc Inorganic materials 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004026 adhesive bonding Methods 0.000 title abstract 9
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 71
- 238000012545 processing Methods 0.000 claims description 33
- 230000033001 locomotion Effects 0.000 claims description 18
- 239000003292 glue Substances 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000003708 edge detection Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
Definitions
- the present invention belongs to the technical field of transformer production and manufacturing, and specifically relates to a method and system for automatic intelligent control of talc sheet bonding. Recognizing the position of the talc sheet involves the field of image processing and visual recognition, and the capturing and placing of the talc sheet involves the control of the position and attitude of the manipulator and the force control of the manipulator.
- the external iron core oil passage is composed of talc sheets bonded to silicon steel sheets.
- the talc sheet bonding process is purely manual operation, which is time-consuming and laborious, cumbersome and unsmooth, the amount of glue is not fixed, the force is uneven, and problems such as the talc sheet falling off or the glue overflow after processing and assembly may occur.
- Patent Although the talc sheet automatic bonding device (CN106169366A) realizes the automatic bonding of talc sheet, the PLC control method is not smart enough, and the control of the robot arm is not precise enough, and it needs to be further optimized.
- the present invention aims to use an intelligent control method and system to effectively and accurately control the mechanical arm, so as to realize the accurate, rapid and uniform bonding of the talc sheet to the silicon steel sheet.
- the technical scheme of the present invention is as follows:
- An intelligent control method for fully automatic bonding of talc tablets including:
- Step 1 Preliminary manual preparation work, put the talc sheet, glue solution, and silicon steel sheet in place;
- Step 2 After the equipment of the automatic bonding intelligent control system is started, the initialization of the system is completed;
- Step 3 Start the high-brightness and uniform LED light source to collect the image of the silicon steel sheet, detect and identify the specifications and types of the silicon steel sheet, and call the corresponding talc sheet adhesive trajectory to plan the path according to the specifications and types of the silicon steel sheet; The image detects the edge of the silicon steel sheet to determine the placement position of the first talc sheet;
- Step 4 Automatically start the bonding of the first talc sheet until the bonding of the first row of talc sheets is completed;
- Step 5 Automatically start the bonding of the talc sheets in the following rows until the bonding of the talc sheets of the entire silicon steel sheet is completed.
- step 3 it is judged whether the specifications and types of the identified silicon steel sheets are in the known specifications and types. If so, call the existing bonding workflow to automatically bond the talc sheets; if not, according to the silicon steel sheets The new specifications and types of the tablets, a new bonding workflow is set, and the newly set bonding workflow is called to automatically bond the talc tablets.
- step 4 the single talc flakes are sequentially transported through the spiral slide and the linear slide to the fetching port through the vibration of the barrel; the vertical arm drives the vacuum adsorber to press down under the action of the motor, and the suction nozzle absorbs the talc flakes Lift; compressed air drives the glue head to spray quantitative glue up to the bottom of the talc sheet, and the excess glue is automatically sucked back; the horizontal arm extends horizontally to move the talc sheet to the top of the silicon steel sheet, and the vertical arm drives the vacuum adsorber to press down to the silicon steel sheet After the talc tablets are released after the pressure is maintained for 200 milliseconds, the bonding of the first piece is completed.
- step 4 judge whether the current talc sheet is placed successfully according to the collected image, and set the maximum number of placement times. If the maximum number of placement times is exceeded, the alarm will stop; in step 5, when the end angle of the silicon steel sheet is detected When the bonding work is stopped, the buzzer will sound to remind the operator to take out the completed silicon steel sheet and replace it with a new silicon steel sheet to continue bonding.
- an abnormal situation processing module is set. If the motor overvoltage, or motor overcurrent, or the mechanical device exceeds the edge of the silicon steel sheet, or the talc sheet falls off for many times, or the material in the barrel is insufficient, the alarm will be stopped; if the talc sheet is not successful Adsorb or fall off, re-take the material; if it reaches the edge of the silicon steel sheet, control the placement of the talc sheet to comply with the distance value from the edge.
- An intelligent control system for fully automatic bonding of talc tablets applying the aforementioned intelligent control method for fully automatic bonding of talc tablets, comprising: a hardware processing module, wherein the hardware processing module is electrically connected to a signal acquisition module; the signal acquisition module It is electrically connected with the main program control module, and the main program control module is electrically connected with the upper computer and the drive circuit respectively, and the drive circuit is electrically connected with the actuator.
- the main program control module includes: a PLC controller, an image processing and recognition module, a manipulator pose control module, a manipulator force control module, and a machine vision positioning module;
- the said PLC controller is arranged on the main pulley, and is used to implement the corresponding algorithms of the image processing and recognition module, the robot arm pose control module, the robot arm force control module, and the machine vision positioning module;
- the image processing and recognition module obtains characteristic data through image processing, and determines the specifications and types and edge positions of silicon steel sheets;
- the said robot arm pose control module which controls the horizontal robot arm to stably run to a designated position
- the force control module of the mechanical arm adopts a direct torque control algorithm to control the vertical motion state of the mechanical arm, and control the vertical mechanical arm to ensure a stable output torque;
- the machine vision positioning module is used for determining the initial working position and placing the position of the last talc in each row.
- the signal acquisition module includes: an image acquisition device, a position sensor, a pressure sensor, and a voltage and current sensor;
- the position sensor is located at the driving motor and installed coaxially with the driving motor of the robot arm, and is used to feedback the current position of the robot arm to realize the closed-loop control of the position of the robot arm.
- the encoder is used to incrementally record the current moving distance and calculate the current position. ;
- the pressure sensor is installed in a vertical mechanical arm, and is used to ensure proper pressure when the talc sheet is bonded and placed;
- the voltage and current sensor is used to measure the voltage and current on the motor on the mechanical arm and control the operation of the mechanical arm;
- the image acquisition device is arranged on a horizontal mechanical arm and includes a camera with visual tracking.
- the actuator includes: a mechanical arm, a moving pulley and a feeding mechanism, the mechanical arm is composed of a vertical arm, a horizontal arm and a vacuum absorber, and the moving pulley includes a moving pulley that moves along the length of the worktable.
- Main pulley and auxiliary pulley installed on the main pulley and moving along the width of the worktable;
- the hardware processing module includes: a high-brightness uniform lighting LED light source, a filter, and a hardware filter module; the high-brightness uniform lighting LED light source and the filter are arranged on the upper part of the carriage;
- the driving circuit adopts thyristor as a switch to control the speed of the motor to control the moving speed of the mechanical arm;
- the host computer includes a display control screen and a remote remote control device.
- the display control screen is used to select the bonding method and manually set the talc sheet bonding movement track when necessary, and the remote control device is used to stop and suspend an emergency when a fault occurs.
- the intelligent control method and system of the present invention realize the fully automatic bonding of talc tablets, and ensure the fastness, adhesion, and accuracy of talc tablets bonding.
- Fig. 1 is a flowchart of an intelligent control method according to an embodiment of the present invention
- Figure 2 is a flowchart of an image recognition method according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of the technical requirements for bonding talc sheets in a top and bottom encryption mode according to an embodiment of the present invention
- FIG. 4 is a schematic diagram of the principle of the fully automatic bonding system according to an embodiment of the present invention.
- Fig. 5 is a schematic diagram of the principle of a robot arm control method according to an embodiment of the present invention.
- FIG. 1 it is a flowchart of an intelligent control method according to an embodiment of the present invention.
- FIG. 2 it is a flowchart of an image recognition method according to an embodiment of the present invention.
- FIG. 3 it is a schematic diagram of the technical requirements for bonding the talc sheet in a top and bottom encryption mode according to an embodiment of the present invention.
- An intelligent control method for fully automatic bonding of talc tablets includes the following steps:
- talc and glue into the barrel and the glue bucket respectively; place the silicon steel sheet on the workbench (such as the same size and size can be laid in multiple layers) and align the upper edge with the upper positioning block, the purpose is to ensure the silicon steel sheet Keep vertical to the moving direction of the auxiliary pulley.
- Step 2 After the device is started, it enters the initialization stage, the vertical arm and the horizontal arm return to the mechanical zero position, and the vacuum adsorber moves to the position of the film-taking port.
- the operator can choose different bonding methods through the host computer (according to the different products, it can be divided into two types: encryption and unencrypted on the upper and lower sides, and the default is no encryption), configure the motion trajectory, and complete the initialization of the system at this time.
- Step 3 Start the high-brightness uniform LED light source to collect the image of the silicon steel sheet, and detect and identify the type of the silicon steel sheet;
- the device After the sharp corner of the upper right corner of the silicon steel sheet is placed in the camera shooting range of the visual recognition mechanism, the device will automatically determine the type and specification of the silicon steel sheet from the image collected by the camera after the device is started, and call the corresponding talc according to the type and specification of the silicon steel sheet Plan the path of the bonding trajectory of the chip and the chip;
- this step it is judged whether the identified type of silicon steel sheet is among the known types. If it is, call the existing bonding workflow to automatically bond the talc sheet; if not, it will be based on the new edge type and design of the silicon steel sheet. Set a new bonding workflow, and then call the newly set bonding workflow for automatic bonding of talc tablets.
- Step 4 Automatically start the bonding of the first talc sheet until the bonding of the first row of talc sheets is completed.
- the vertical arm drives the vacuum adsorber to press down under the action of the motor, and the suction nozzle absorbs the talc flakes and lifts it up, while the compressed air drives the spray
- the glue head sprays an appropriate amount of glue up to the bottom of the talc sheet, and the excess glue is automatically sucked back
- the horizontal arm extends horizontally to move the talc sheet to the top of the silicon steel sheet, and the vertical arm drives the vacuum adsorber to press down on the silicon steel sheet and maintain the pressure for 200 After milliseconds, the talc sheet is released and lifted, and the first sheet is bonded.
- Step 5 Automatically start the bonding of the talc sheets in the following rows until the bonding of the talc sheets of the entire silicon steel sheet is completed.
- the main pulley moves to the second row, and the auxiliary pulley automatically completes the bonding work of this row, cyclically completing all the talc sheet bonding work.
- the machine vision system detects the end angle, the bonding will stop, and the buzzer will sound to remind the operator to take out the completed silicon steel sheet and replace it with a new one to continue bonding.
- an abnormal situation processing module is set in this intelligent control method.
- the types of abnormal situations and the corresponding processing methods are shown in the following table.
- the abnormal situation processing module may be one or more processors or chips with a communication interface that can implement a communication protocol, and may also include a memory and related interfaces, a system transmission bus, etc., if necessary;
- the processor or chip executes the program-related code to realize the corresponding function.
- An intelligent control system for fully automatic bonding of talc tablets includes a hardware processing module.
- the hardware processing module is electrically connected with a signal acquisition module, and the signal acquisition is completed by the hardware of the signal acquisition module.
- the signal acquisition module is electrically connected with the main program control module, the main program control module is electrically connected with the upper computer and the drive circuit, and the drive circuit is electrically connected with the actuator.
- the type of silicon steel sheet, the bonding path of the talc sheet and other parameters are set through the host computer.
- the main program control module controls the action of the mechanical device of the actuator through the drive circuit according to the real-time information collected by the signal acquisition module to complete the automatic bonding of the talc sheet. Pick up work.
- the main program control module includes: a PLC controller, an image processing and recognition module, a manipulator pose control module, a manipulator force control module, and a machine vision positioning module.
- the image recognition module is an image processing and recognition module;
- the robot arm automatic control module includes a robot arm pose control module and a robot arm force control module.
- the PLC controller is used to implement the corresponding algorithms of the image processing and recognition module, the robot arm pose control module, the robot arm force control module, and the machine vision positioning module.
- the said PLC controller is arranged on the main pulley and is used to process various algorithms and signals, and is the core of the entire control system.
- the image processing and recognition module processes the images collected by the camera, obtains characteristic data through image processing, determines the specifications and types of silicon steel sheets, and edge positions, thereby determining the operation flow and movement trajectory of the robot arm and the trolley.
- the described manipulator posture control module is used to control the horizontal manipulator arm to run stably to a specified position.
- the movement of the robot arm is divided into horizontal movement and vertical movement, and the horizontal movement mainly depends on the position and attitude control of the robot arm to ensure that the robot arm can stay accurately At the designated position; the position closed-loop control method is adopted and the feedforward compensation method is adopted to ensure the rapid movement of the robot arm.
- the force control module of the mechanical arm is mainly used to control the vertical motion state of the mechanical arm, and to control the vertical mechanical arm to ensure stable output torque.
- the direct torque control algorithm is adopted to ensure the constant torque output of the robot arm, so as to ensure that the talc sheet is firmly bonded, and effectively prevent the problem of the talc sheet falling off due to excessive pressure or the glue overflow caused by excessive pressure.
- the machine vision positioning module is mainly used to determine the initial working position and place the last talc sheet in each row, and control the talc sheet to be placed at a distance of 7 mm from the edge of the silicon steel sheet. Using the characteristics of the corners of the silicon steel sheet, determine the placement position of the first talc sheet, and perform edge detection at the last position, placing the talc sheet 7mm away from the edge. Since there is no need to measure the distance in the depth direction, it can be realized by only a single eye.
- the driving circuit adopts thyristor as a switch to control the speed of the motor to control the moving speed of the mechanical arm.
- the driving circuit amplifies the PLC controller signal and the motion signal of the robot arm, converts the control signal of the PLC controller into the driving signal of the driving motor on the robot arm, and then controls the running state of the motor.
- the signal acquisition module includes: an image acquisition device, a position sensor, a pressure sensor, and a voltage and current sensor.
- the position sensor is located at the drive motor and installed coaxially with the drive motor of the robotic arm. It is used to feed back the current position of the robotic arm to realize the closed-loop control of the robotic arm position control.
- the encoder is used to incrementally record the current movement distance and calculate the current Location.
- the pressure sensor is used to monitor the pressure of the mechanical arm on the silicon steel sheet to ensure the constant torque output of the motor.
- the pressure sensor is installed in the vertical mechanical arm, and is mainly used to ensure proper pressure when the talc sheet is bonded and placed.
- the PLC controller controls the operating status of the mechanical arm according to the feedback information of the position sensor and the pressure sensor to ensure the accuracy of the bonding position of the talc sheet and ensure that the talc sheet is evenly stressed.
- the voltage and current sensor is used to measure the voltage and current on the motor on the mechanical arm, control the operation of the mechanical arm, and ensure the speed and followability of the mechanical arm.
- the current sensor in the voltage and current sensor is used to realize closed-loop control and overcurrent monitoring of the manipulator drive motor, and the voltage sensor in the voltage and current sensor realizes the reconstruction of the motor phase voltage and the overvoltage monitoring.
- the image acquisition device is set on a horizontal mechanical arm and includes a camera with visual tracking, which is mainly used to collect the types of silicon steel sheets. Use high-brightness uniform lighting LED light source and filter to optically process the silicon steel sheet, and use a camera with a visual tracking system for image collection. All the above signal acquisition modules are connected to the PLC controller.
- the implementing mechanism includes: a mechanical arm, a moving pulley, and a feeding mechanism.
- the mechanical arm is composed of a vertical arm, a horizontal arm and a vacuum adsorber.
- the mobile trolley includes a main trolley that moves along the length of the worktable and an auxiliary trolley that is installed on the main trolley and moves along the width of the worktable.
- the hardware processing module includes: a high-brightness uniform lighting LED light source, a filter, and a hardware filter module.
- the high-brightness uniform lighting LED light source and the filter are arranged on the upper part of the carriage, provide optical processing on the hardware, improve the recognition of the object, and cooperate with the image acquisition device to collect clear images.
- the hardware processing module is a hardware device that includes a high-brightness uniform lighting LED light source, a filter, and a hardware filter module.
- the hardware filter module may be a communication interface capable of implementing a communication protocol. Or multiple processors or chips, and the processors or chips execute program-related codes to realize corresponding functions.
- the signal acquisition module is a hardware device including an image acquisition device, a position sensor, a pressure sensor, and a voltage and current sensor.
- the main program control module is a hardware device including a PLC controller, an image processing and recognition module, a manipulator pose control module, a manipulator force control module, and a machine vision positioning module. Specifically, it may be a hardware device with a communication interface that can implement a communication protocol. Controller.
- the image processing and recognition module, the manipulator pose control module, the manipulator force control module, and the machine vision positioning module are integrated in a PLC controller, and the PLC controller executes program-related codes to realize corresponding functions.
- the image recognition module is the image processing and recognition module;
- the automatic control module of the robot arm includes the position and attitude control module of the robot arm and the force control module of the robot arm, the image recognition module and the automatic control module of the robot arm can be Integrate into a controller with communication interface capable of realizing communication protocol.
- the controller executes program-related codes to realize corresponding functions.
- the host computer includes a display control screen, a remote control device, and the display control screen is mainly used for selecting the bonding method and manually setting the movement track when necessary.
- the remote control device is used for emergency shutdown and pause in case of failure.
- the upper computer is separated from the PLC controller, which is convenient for the operator to issue commands to the control system and plan the movement trajectory of the bonding.
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Abstract
Description
异常情况 | 处理方式 |
电机过电压 | 报警停机 |
电机过电流 | 报警停机 |
装置超过硅钢片边沿 | 报警停机 |
滑石片未成功吸附或脱落 | 重新取料 |
滑石片多次脱落 | 报警停机 |
料桶内材料不足 | 报警停机 |
到达硅钢片边沿 | 控制滑石片放置位置距离边沿7mm |
到达边角 | 报警停机,更换硅钢片 |
Claims (10)
- 一种滑石片全自动粘接智能控制方法,其特征在于,包括:利用图像识别模块,自动识别待加工的硅钢片的规格和种类;根据硅钢片的规格和种类调用相对应的滑石片粘片的粘接轨迹规划路径,通过机械臂自动控制模块按照粘接轨迹规划路径自动将滑石片粘接到硅钢片的相应位置。
- 根据权利要求1所述的一种滑石片全自动粘接智能控制方法,其特征在于,所述利用图像识别模块,自动识别待加工的硅钢片的规格和种类;根据硅钢片的规格和种类调用相对应的滑石片粘片的粘接轨迹规划路径,通过机械臂自动控制模块按照粘接轨迹规划路径自动将滑石片粘接到硅钢片的相应位置具体包括以下步骤:步骤1、前期人工准备工作,将滑石片和胶液、硅钢片摆放到位;步骤2、全自动粘接智能控制***的设备启动后完成***的初始化工作;步骤3、启动高亮度均匀LED光源对硅钢片进行图像采集,检测辨识硅钢片的规格和种类,根据硅钢片的规格和种类调用相对应的滑石片粘片的粘接轨迹规划路径;根据采集的图像对硅钢片进行边沿检测,确定第一个滑石片的放置位置;步骤4、自动开始第一片滑石片的粘接,直至完成第一列滑石片的粘接;步骤5、自动开始后面各列滑石片的粘接,直至完成整个硅钢片的滑石片的粘接。
- 根据权利要求2所述的一种滑石片全自动粘接智能控制方法,其特征在于,步骤3中还包括:判断所辨识的硅钢片的规格和种类是否在已知规格和种类中,如果是、调用已有的粘接工作流程进行滑石片的自动粘接;如果否,根据硅钢片的新的规格和种类、设定新的粘接工作流程,调用新设定的粘接工作流程进行滑石片的自动粘接。
- 根据权利要求3所述的一种滑石片全自动粘接智能控制方法,其特征在于,步骤4中还包括:通过料筒的振动使单片滑石片经螺旋滑道、直线滑道顺次输送至取片口;垂直臂在电机作用下带动真空吸附器下压,吸嘴吸附滑石片上提;压缩空气带动喷胶头将定量胶液向上喷至滑石片底部,多余胶液自动吸回;水平臂水平伸出将滑石片移动到硅钢片上方,垂直臂带动真空吸附器下压到硅钢片上,并保压200毫秒后释放滑石片后,第一片粘接完成。
- 根据权利要求4所述的一种滑石片全自动粘接智能控制方法,其特征在于,步骤4中还包括:根据采集的图像判断当前滑石片是否放置成功,设置最多的放置次数,如果超过设置的最多的放置次数、则报警停机;步骤5中还包括:当检测到硅钢片的结束角时停止粘接工作,蜂鸣器发出响声提醒操作者取出已完成的硅钢片,更换新硅钢片继续粘接。
- 根据权利要求5所述的一种滑石片全自动粘接智能控制方法,其特征在于,设置异常情况处理模块,如果电机过电压、或电机过电流、或机械装置超过硅钢片边沿、或滑石片多次脱落、或料桶内 材料不足,则报警停机;如果滑石片未成功吸附或脱落,则重新取料;如果到达硅钢片边沿,则控制滑石片的放置符合距离边沿的距离值。
- 一种滑石片全自动粘接智能控制***,其特征在于,应用如权利要求1-6任一项所述的滑石片全自动粘接智能控制方法,包括:硬件处理模块,所述的硬件处理模块与信号采集模块电连接;所述的信号采集模块与主程序控制模块电连接,所述的主程序控制模块分别与上位机、驱动电路电连接,所述的驱动电路与执行机构电连接。
- 根据权利要求7所述的一种滑石片全自动粘接智能控制***,其特征在于,所述的主程序控制模块包括:PLC控制器、图像处理与识别模块、机械臂位姿控制模块、机械臂力控制模块、机器视觉定位模块;所述的PLC控制器设置在主滑车上,用于实现图像处理与识别模块、机械臂位姿控制模块、机械臂力控制模块、机器视觉定位模块的相应算法;所述的图像处理与识别模块,通过图像处理获得特征数据,确定硅钢片的规格和种类、边沿位置;所述的机械臂位姿控制模块,控制水平机械臂稳定的运行到指定位置;所述的机械臂力控制模块,采用直接转矩控制算法,控制机械臂竖直方向运动状态,控制竖直机械臂保证稳定的输出扭矩;所述的机器视觉定位模块,用于工作初始位置的确定和每一行最后一枚滑石片的位置摆放。
- 根据权利要求8所述的一种滑石片全自动粘接智能控制***,其特征在于,所述的信号采集模块包括:图像采集装置、位置传感器、压力传感器、电压电流传感器;所述的位置传感器位于驱动电机处、与机械臂驱动电机同轴安装,用于反馈机械臂当前位置,实现机械臂位置的闭环控制,利用编码器采用增量方式记录当前移动距离,计算当前位置;所述的压力传感器安装在竖直机械臂中,用于滑石片粘接放置时保证合适的压力;所述电压电流传感器用于测量机械臂上电机上的电压电流,控制机械臂的运行;所述的图像采集装置设置在水平机械臂上,包括:具备视觉跟踪的摄像头。
- 根据权利要求9所述的一种滑石片全自动粘接智能控制***,其特征在于,所述的执行机构包括:机械臂、移动滑车以及送料机构,所述的机械臂由竖直臂、水平臂和真空吸附器组成,所述的移动滑车包括沿工作台长度方向移动的主滑车和安装于主滑车上的沿工作台宽度方向移动的副滑车;所述的硬件处理模块包括:高亮度均匀照明LED光源、滤光片、硬件滤波模块,所述的高亮度均匀照明LED光源和滤光片设于滑车的上部;所述的驱动电路采用可控硅作为开关,控制电机转速从而控制机械臂的移动速度;所述的上位机包括:显示控制屏、远程遥控装置,显示控制屏用于选择粘接方式和必要时进行手动设置滑石片粘接运动轨迹,远程遥控装置用于故障时紧急停机、暂停。
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CN106169366A (zh) * | 2016-09-05 | 2016-11-30 | 山东电力设备有限公司 | 滑石片全自动粘接装置 |
CN106856147A (zh) * | 2016-12-28 | 2017-06-16 | 河北工业大学 | 一种基于视觉检测的特高压变压器铁芯贴片方法 |
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CN108465648A (zh) * | 2018-04-23 | 2018-08-31 | 苏州香农智能科技有限公司 | 一种基于机器视觉的磁芯自动分拣*** |
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CN106169366A (zh) * | 2016-09-05 | 2016-11-30 | 山东电力设备有限公司 | 滑石片全自动粘接装置 |
WO2018052537A1 (en) * | 2016-09-13 | 2018-03-22 | Green Hvac Ducts Usa, Llc | Systems, devices, and methods for manufacture and use of laminated sheet metals |
CN106856147A (zh) * | 2016-12-28 | 2017-06-16 | 河北工业大学 | 一种基于视觉检测的特高压变压器铁芯贴片方法 |
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