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WO2021248414A1 - 一种合模机器人系统 - Google Patents

一种合模机器人系统 Download PDF

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Publication number
WO2021248414A1
WO2021248414A1 PCT/CN2020/095665 CN2020095665W WO2021248414A1 WO 2021248414 A1 WO2021248414 A1 WO 2021248414A1 CN 2020095665 W CN2020095665 W CN 2020095665W WO 2021248414 A1 WO2021248414 A1 WO 2021248414A1
Authority
WO
WIPO (PCT)
Prior art keywords
mold
mold clamping
screw
robot
clamping robot
Prior art date
Application number
PCT/CN2020/095665
Other languages
English (en)
French (fr)
Inventor
居晓丽
Original Assignee
南通丽科发知识产权代理有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南通丽科发知识产权代理有限公司 filed Critical 南通丽科发知识产权代理有限公司
Priority to PCT/CN2020/095665 priority Critical patent/WO2021248414A1/zh
Publication of WO2021248414A1 publication Critical patent/WO2021248414A1/zh

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Classifications

    • 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
    • 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
    • B29C33/00—Moulds or cores; Details thereof or accessories therefor
    • B29C33/20—Opening, closing or clamping

Definitions

  • the invention relates to the technical field of robots, in particular to a mold clamping robot system.
  • the present invention proposes a robot system to meet the demands of the growing industrial market.
  • the present invention provides a mold clamping robot system.
  • a mold clamping robot system includes a mold, a work platform, a work support, a screw placement mechanism, a mold recognition system, a mold clamping robot, and a control system; the mold and the screw placement mechanism are arranged above the working platform, and the working platform is arranged below the working platform
  • the working platform is located in front of the mold-closing robot
  • the control system is located at the back of the mold-closing robot near one side
  • the mold includes an upper mold, a middle mold, and a lower mold that are sequentially arranged
  • the work support is provided with a work support entrance, the work support entrance is provided with a mold recognition system, the mold recognition system scans the identification code on the mold, the mold recognition system is electrically connected with the control system, and the mold recognition system sends the control system to the control system.
  • the identification code information on the mold is transferred, the control system calls up the operating program corresponding to the mold corresponding to the identification code, the mold clamping robot is equipped with a mold positioning system to position the mold, and the work platform moves to the mold clamping position to close the mold
  • the robot is used to position the mold through the mold positioning system, and combined with the mold model in the control system, accurately grasp the middle mold part of the mold and place it on the lower mold part.
  • the control system controls the working platform to move out, puts the material in the mold, and works The platform moves to the mold clamping position, and the mold clamping robot grabs the upper mold part and closes the mold.
  • the mold positioning system includes a mold clamping robot positioning system and a screw locking positioning system, and the screw locking positioning is used to grab a screw from a screw placement mechanism and put it in In the screw hole of the mold.
  • the mold identification system is installed above the entrance of the work support.
  • the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to the control system ,
  • the corresponding mold clamping program is called by the control system, and the robot arm is used to perform the handling action.
  • the mold clamping robot program determines by itself which type of screw fastening head should be selected, and the mold clamping robot program sends it according to the control system The different mold model instructions to execute the corresponding screw grabbing and screw locking.
  • the mold positioning system is installed in front of the robot arm of the mold clamping robot, and is mainly used to check whether there is an empty material level in the screw placement mechanism and to accurately position the screw holes on the mold. To the greatest extent, it ensures that the screws are missed and screwed.
  • the torque detection system in the tightening device will formulate certain rules to regard the abnormal torque value generated during the tightening process as wrong screwing, so as to avoid the occurrence of wrong screwing.
  • the mold clamping robot system is further provided with a screw fastening head placement platform, and the screw fastening head placement platform is installed on the left side of the mold clamping robot.
  • the positioning accuracy of the mold positioning system is not greater than ⁇ 0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold, and realize different models by taking pictures of the screw material tray Grasping of screws and avoiding the possibility of empty trays.
  • the transfer device includes a first transfer track platform and a second transfer track platform. After the screws are tightened, the working platform moves to the hoisting position to lift the mold away. The work on the first transmission track platform is completed, and the screw locking robot and the mold clamping robot rotate to the second transmission track platform for operation.
  • the robot arm of the mold-clamping robot can automatically return to the origin when the robot arm of the mold-clamping robot is automatically running, so as to avoid the collision of the tooling fixture caused by the manual movement of the robot arm;
  • the vision system can be positioned by taking pictures, The position offset information is sent to the robotic arm, and the handling position, the position of the grasping screw and the position of the tightening screw are automatically corrected.
  • the present invention has the following beneficial effects: 1.
  • the working platform moves to the mold clamping position, and the mold clamping robot grabs the upper mold part of the mold to close the mold;
  • the screw-locking robot tooling fixture is equipped with a mold
  • the positioning system is mainly used to grab the screws from the screw placement mechanism and put them into the screw holes of the mold; when the mold identification system scans the mold identification code, the robot program decides which type of screw should be selected. With the fixed head, the robot program executes the corresponding screw grabbing and screw locking according to the instructions of different mold models sent by the control system, which further realizes the intelligent operation of the robot. 2.
  • the mold positioning system of the present invention is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately position the screw hole positions on the mold to ensure that the screw is missed and screwed to the greatest extent; on the other hand, the tightening device
  • the torque detection system in China will formulate certain rules to treat the abnormal torque value generated during the tightening process as a wrong screw, so as to avoid the occurrence of wrong screw.
  • the mold positioning system of the present invention is installed on the head of the robot, and the positioning accuracy is not greater than ⁇ 0.05mm. It can accurately identify the position, shape and hole position of each component of the mold, and realize the grabbing of different types of screws by taking pictures of the screw tray. And to avoid the possibility that the feeder is out of stock. 4.
  • the present invention uses the built-in algorithm to calculate the coordinate system of the actual conveying position and the deviation information of the mold coordinate system in the system by identifying the mold conveying position, and adjusts the system coordinate system in time to keep it consistent with the actual position coordinate system to ensure grasping The location is accurate.
  • Figure 1 is a schematic diagram of the structure of the present invention.
  • a mold clamping robot system includes a mold 1, a screw placement mechanism 4, a work platform 2, a mold clamping robot 5, a control system, a mold recognition system 7 and a mold positioning system, the mold and the screw placement mechanism It is arranged above the working platform, the transmission device 6 is arranged below the working platform, the working platform is located in front of the mold clamping robot, the control system is located at the back of the mold clamping robot near one side, and the mold positioning system is divided into The mold robot positioning system and the screw locking positioning system, the mold recognition system is a visual recognition system, and the mold clamping robot positioning system and the screw locking positioning system are implemented by the visual recognition system;
  • the vision system mainly includes a visual hardware system It is composed of two parts: a camera, a visual light source, and a sensor.
  • the visual hardware system recognizes and takes pictures of the mold model, hole position and shape, and guides the mechanical arm of the mold clamping robot to complete mold handling, Screw grabbing and screw tightening actions;
  • the vision software system includes two parts: robot
  • the mold recognition system 7 is installed above the entrance of the work support 3, when the mold passes through the entrance, the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to In the control system, the corresponding mold clamping program is called out by the control system, and there is a mechanical arm to perform the handling action.
  • the mold positioning system is installed in front of the robot arm of the mold clamping robot, and the positioning accuracy is not greater than ⁇ 0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold. Take pictures of the screw material tray to realize the grasping of different types of screws and avoid the possibility of the material tray being out of material.
  • the camera includes a 3D camera and a first camera, the 3D camera and the first camera are arranged above the mold clamping robot, and the 3D camera is used to determine the depth of the recognized object. Whether there are screws in the mold holes and whether the screws are locked in place.
  • the first camera is used for calibration to associate the mold clamping robot with the phase coordinate system; the first camera is set with parameters such as resolution, frame rate, and exposure to adjust the camera The camera accuracy.
  • the senor is arranged on the side of the mold clamping robot, the sensor transmits the position information of the mold to the mold clamping robot, and the mold clamping robot controls the mold through the mold clamping robot positioning system.
  • the system's built-in algorithm calculates the actual handling position's coordinate system and the mold coordinate system deviation information in the system, and adjusts the system coordinate system in time to keep it consistent with the actual position coordinate system to ensure the accuracy of the grasping position.
  • the mold-clamping robot vision application software serves as a communication medium between the host computer vision software and the robot control system to convert position information into program data that the robot can read and write.
  • the host computer vision processing software includes a processor for data analysis and processing, an acquisition module, a signal input module, a camera signal input module, an image acquisition module, a motor drive module, and a motor drive Module, and a communication module;
  • the acquisition module collects the motor rotation characteristic signal and transmits it to the processor, the signal input module and the camera position signal input module receive the mold position signal and the camera position signal and transmit to the processor, the image acquisition
  • the module collects the image signal taken by the camera and transmits it to the processor.
  • the processor analyzes and processes the signal and sends instructions to the motor drive module and the motor drive module so that the motor drive module and the motor drive module control the motor and the operation of the motor respectively.
  • the screw locking positioning system is used to grab the screw from the screw placement mechanism and put it into the screw hole of the mold.
  • the robot program determines which type of screw fastening head should be selected.
  • the robot program depends on the different mold types sent by the control system. Instructions to execute the corresponding screw grabbing and screw locking.
  • the mold positioning system is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately locate the screw hole position on the mold, ensuring that the screw is missed and screwed to the greatest extent. .
  • a mold clamping robot system The mold includes an upper mold, a middle mold, and a lower mold that are sequentially arranged; the work support is provided with a work support entrance, and the work support entrance is provided with a mold recognition system, and the mold
  • the identification system scans the identification code on the mold, the mold identification system is electrically connected to the control system, and the mold identification system transmits the identification code information on the mold to the control system, and the control system calls out the operating program of the mold corresponding to the identification code
  • the mold clamping robot is provided with a mold positioning system to position the mold.
  • the mold clamping robot is used to position the mold through the mold positioning system, and combines with the mold model in the control system to accurately grasp the mold Put the middle part of the mold on the lower part, the control system controls the work platform to move out, put the material in the mold, the work platform moves to the mold clamping position, and the mold clamping robot grabs the mold upper mold part to close the mold.
  • the mold positioning system includes a mold clamping robot positioning system and a screw locking positioning system, and the screw locking positioning is used to grab a screw from a screw placement mechanism and place it into a screw hole of the mold.
  • the mold identification system is installed above the entrance of the work support.
  • the model of the mold can be quickly identified through the identification code on the mold, and the marking signal is provided to the control system, and the control system calls out the corresponding The mold clamping program, and there is a robot arm to perform the handling action.
  • the mold-closing robot program determines which type of screw fastening head should be selected by itself, and the mold-closing robot program executes the corresponding instructions according to the different mold model instructions sent by the control system. The screw grabbing and locking the screw.
  • the mold positioning system is installed in front of the robot arm of the mold clamping robot, and is mainly used to check whether there is an empty material position in the screw placement mechanism and to accurately position the screw holes on the mold to ensure that the screw is missed to the greatest extent. And leaked screw.
  • the torque detection system in the tightening device will formulate certain rules to regard the abnormal torque value generated during the tightening process as a wrong screw, so as to avoid the occurrence of the wrong screw.
  • the mold clamping robot system is further provided with a screw fastening head placement platform 8 installed on the left side of the mold clamping robot.
  • the positioning accuracy of the mold positioning system is not greater than ⁇ 0.05mm, which can accurately identify the position, shape, and hole position of each component of the mold, and realize the grabbing of different types of screws and avoiding the tray by taking pictures of the screw tray. Unexpected possibility.
  • the conveying device includes a first conveying track platform and a second conveying track platform. After the screws are tightened, the working platform is moved to the hoisting position, the mold is lifted away, and the work on the first conveying track platform is completed , The screw locking robot and the mold clamping robot rotate to the second transmission track platform for operation.
  • the robot arm of the mold clamping robot can automatically return to the origin under the automatic operation state, and avoid the collision of the tooling and fixture caused by manually moving the robot arm; the vision system can locate by taking pictures and send the position offset information to the machine The arm automatically corrects the carrying position, grasping screw position and tightening screw position.
  • this article can provide demonstrations of parameters containing specific values, but these parameters do not need to be exactly equal to the corresponding values, but can be approximated to the corresponding values within acceptable error tolerances or design constraints.
  • the directional terms mentioned in the embodiments such as “up”, “down”, “front”, “rear”, “left”, “right”, etc., are only directions with reference to the drawings, and are not used to limit the application protected range.
  • the steps are specifically described or must occur sequentially, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design.
  • the above-mentioned embodiments can be mixed and matched with each other or mixed and matched with other embodiments based on considerations of design and reliability, that is, the technical features in different embodiments can be freely combined to form more embodiments.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种合模机器人系统，模具包括依次设置的模具上模、模具中模、模具下模；作业支架设置有作业支架入口，作业支架入口设置有模具识别系统，模具识别系统扫描模具上的识别码，模具识别系统与控制系统电连接，由模具识别系统向控制系统传递模具上的识别码信息，控制系统调出对应此识别码对应模具的操作程序，合模机器人设置有模具定位系统定位模具，工作平台移动到合模位置后，合模机器人通过模具定位系统用于定位模具，并结合控制系统中模具的模型，准确抓取模具的中模部分，放到下模部分上，控制系统控制工作平台移出，在模具中放入材料，工作平台移动到合模位置，合模机器人抓取模具上模部分将模具合上。

Description

一种合模机器人系统 技术领域
本发明涉及机器人技术领域，尤其涉及一种合模机器人系统。
 背景技术
目前，中国工业机器人取得了长足的发展，尤其是20世纪90年代以来，中国工业机器人行业的产量一直保持在年增长20%以上。自动化技术正在向智能化、网络化和集成化方向发展，我国也己经成为世界最大的自动化设备消费市场。工业机器人的普及不单单是市场的需要，更是国家的战略国策。中国相继提出了《中国制造2025》以及工业4.0时代，将机器人作为重点发展领域，机器人产业已经上升到国家战略层面。
 技术问题
在中小型企业开始用机器人代替人工时，一个关键的制约因素出现了，目前国内市面上的人才并不具备能够操作机器人的知识和实践能力，由中国机械工业联合会统计数据表明，中国当前机器人应用人才缺口20万，并且以每年20%~30%的速度持续递增。
因此本发明提出一种机器人系统，来满足日益增长的工业市场的需求。
 技术解决方案
为克服现有技术中存在的问题，本发明提供了一种合模机器人系统。
一种合模机器人系统，包括模具、工作平台、作业支架、螺丝放置机构、模具识别系统、合模机器人、控制系统；所述模具以及螺丝放置机构设置于工作平台上方，所述工作平台下方设置有传输装置，所述工作平台位于合模机器人的前方，所述控制系统位于合模机器人的后方靠近一侧处，所述模具包括依次设置的模具上模、模具中模、模具下模；所述作业支架设置有作业支架入口，所述作业支架入口设置有模具识别系统，所述模具识别系统扫描模具上的识别码，所述模具识别系统与控制系统电连接，由模具识别系统向控制系统传递模具上的识别码信息，所述控制系统调出对应此识别码对应模具的操作程序，所述合模机器人设置有模具定位系统定位模具，所述工作平台移动到合模位置后，合模机器人通过模具定位系统用于定位模具，并结合控制系统中模具的模型，准确抓取模具的中模部分，放到下模部分上，控制系统控制工作平台移出，在模具中放入材料，工作平台移动到合模位置，合模机器人抓取模具上模部分将模具合上。
优选地，在上述合模机器人系统中，所述模具定位系统包括合模机器人定位系统和螺丝锁紧定位系统，所述螺丝锁紧定位用于从螺丝放置机构中抓取螺丝并将其放入模具的螺丝孔位中。
优选地，在上述合模机器人系统中，所述模具识别系统安装在作业支架入口上方处，当模具通过入口时，可以通过模具上的识别码快速识别模具的型号，将标记信号提供给控制系统，由控制系统调出相对应的合模程序，并有机械臂去执行搬运动作。
优选地，在上述合模机器人系统中，当模具识别系统扫描到模具的识别码后，由合模机器人程序自行决定应选取何型号的螺丝紧固头，合模机器人程序中根据控制系统发过来的不同模具型号指令去执行相应的螺丝抓取和锁螺丝。
优选地，在上述合模机器人系统中，所述模具定位系统安装于合模机器人的机械臂前方，主要用于检查螺丝放置机构中是否有空料位和对模具上螺丝孔位进行精确定位，最大程度上确保了螺丝漏抓和漏拧 。
优选地，在上述合模机器人系统中，所述拧紧装置中的扭力检测系统会制定一定的规则，将拧紧过程中产生的的异常扭力值视为错拧，避免了错拧情况的发生。
优选地，在上述合模机器人系统中，所述合模机器人系统还设置有螺丝紧固头放置平台，所述螺丝紧固头放置平台安装于合模机器人的左侧边。
优选地，在上述合模机器人系统中，所述模具定位系统的定位精度不大于±0.05mm，可以精确识别模具各组成部分的位置，形状，孔位，通过对取螺丝料盘拍照实现不同型号螺丝的抓取以及规避料盘无料的可能性。
优选地，在上述合模机器人系统中，所述传输装置包括第一条传送轨道平台和第二条传送轨道平台，在锁紧螺丝后，工作平台移动到吊装位置，将模具吊走，第一条传送轨道平台上的作业完成，所述锁螺丝机器人和合模机器人转动到第二条传动轨道平台，进行操作。
优选地，在上述合模机器人系统中，所述合模机器人机械臂外部自动运行状态下，可实现自动回原点，避免手动移动机械臂可能会造成工装夹具的碰撞；视觉系统可通过拍照定位，将位置偏移信息发送给机械臂，自动修正搬运位置、抓取螺丝位置和拧紧螺丝位置。
 有益效果
与现有技术相比，本发明的有益效果是：1、本发明中工作平台移动到合模位置，合模机器人抓取模具上模部分将模具合上；锁螺丝机器人工装夹具上安装有模具定位系统，主要用于从螺丝放置机构中抓取螺丝并将其放入模具的螺丝孔位中；当模具识别系统扫描到模具的识别码后，由机器人程序自行决定应选取何型号的螺丝紧固头，机器人程序中根据控制系统发过来的不同模具型号指令去执行相应的螺丝抓取和锁螺丝，进一步实现了机器人的智能化作业。2、本发明中模具定位系统主要用于检查螺丝放置机构中是否有空料位和对模具上螺丝孔位进行精确定位，最大程度上确保了螺丝漏抓和漏拧；另一方面，拧紧装置中的扭力检测系统会制定一定的规则，将拧紧过程中产生的的异常扭力值视为错拧，避免了错拧情况的发生。3、本发明模具定位系统安装在机器人头部，定位精度不大于±0.05mm，可以精确识别模具各组成部分的位置，形状，孔位，通过对取螺丝料盘拍照实现不同型号螺丝的抓取以及规避料盘无料的可能性。4、本发明通过对模具搬运位置的识别，由系统内置算法计算出实际搬运位置的坐标系和系统内模具坐标系偏差信息，及时调整系统坐标系保持与实际位置坐标系一致，以确保抓取位置的准确。
 附图说明
图1是本发明的结构示意图。
 本发明的实施方式
以下结合附图和实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
实施例1：
如图1所示，一种合模机器人系统，包括模具1、螺丝放置机构4、工作平台2、合模机器人5、控制系统、模具识别系统7和模具定位系统，所述模具以及螺丝放置机构设置于工作平台上方，所述工作平台下方设置有传输装置6，所述工作平台位于合模机器人的前方，所述控制系统位于合模机器人的后方靠近一侧处，所述模具定位系统分成合模机器人定位系统和螺丝锁紧定位系统，所述模具识别系统为视觉识别系统，合模机器人定位系统和螺丝锁紧定位系统均通过视觉识别系统来具体实现；所述视觉系统主要有视觉硬件系统和视觉软件系统两部分构成，所述视觉硬件系统包括相机、视觉光源、传感器，所述视觉硬件系统对模具型号和孔位位置、形状的识别拍照，引导合模机器人的机械臂完成模具搬运、螺丝抓取和螺丝拧紧动作；所述视觉软件系统包括机器人视觉处理软件和机器人视觉应用软件两部分。
优选地，在上述合模机器人系统中，所述模具识别系统7安装在作业支架3入口上方处，当模具通过入口时，可以通过模具上的识别码快速识别模具的型号，将标记信号提供给控制系统，由控制系统调出相对应的合模程序，并有机械臂去执行搬运动作。
优选地，在上述合模机器人系统中，所述模具定位系统安装于合模机器人的机械臂前方，定位精度不大于±0.05mm，可以精确识别模具各组成部分的位置，形状，孔位，通过对取螺丝料盘拍照实现不同型号螺丝的抓取以及规避料盘无料的可能性。
优选地，在上述合模机器人系统中，所述相机包括3D相机和第一相机，所述3D相机和第一相机设置于合模机器人上方，所述3D相机用于对识别物体的深度，判断模具孔位是否有螺丝，螺丝是否锁紧到位。
优选地，在上述合模机器人系统中，所述第一相机用于校准，将合模机器人和相坐标系关联；所述第一相机设置有分辨率、帧率以及曝光度等参数来调节相机的拍照精度。
优选地，在上述合模机器人系统中，所述传感器设置于合模机器人的侧边，所述传感器将模具的位置信息传输给合模机器人，所述合模机器人通过合模机器人定位系统对模具搬运位置的识别，由系统内置算法计算出实际搬运位置的坐标系和系统内模具坐标系偏差信息，及时调整系统坐标系保持与实际位置坐标系一致，以确保抓取位置的准确。
优选地，在上述合模机器人系统中，所述合模机器人视觉应用软件作为上位机视觉软件和机器人控制系统通信媒介，将位置信息转化成机器人能读写的程序数据。
优选地，在上述合模机器人系统中，所述上位机视觉处理软件包括用于数据分析处理的处理器、采集模块、信号输入模块、摄像头信号输入模块、图像采集模块、电机驱动模块、马达驱动模块、以及通讯模块；所述采集模块采集电机转动特征信号并传输至处理器，所述信号输入模块以及相机位置信号输入模块接收模具位置信号以及摄像头位置信号并传输至处理器，所述图像采集模块采集相机拍摄图像信号并传输至处理器，所述处理器将信号分析处理后发送指令给电机驱动模块以及马达驱动模块，使电机驱动模块以及马达驱动模块分别控制电机以及马达运作。
优选地，在上述合模机器人系统中，所述螺丝锁紧定位系统用于从螺丝放置机构中抓取螺丝并将其放入模具的螺丝孔位中。
优选地，在上述合模机器人系统中，当模具识别系统扫描到模具的识别码后，由机器人程序自行决定应选取何型号的螺丝紧固头，机器人程序中根据控制系统发过来的不同模具型号指令去执行相应的螺丝抓取和锁螺丝，模具定位系统主要用于检查螺丝放置机构中是否有空料位和对模具上螺丝孔位进行精确定位，最大程度上确保了螺丝漏抓和漏拧。
实施例二：
一种合模机器人系统，所述模具包括依次设置的模具上模、模具中模、模具下模；所述作业支架设置有作业支架入口，所述作业支架入口设置有模具识别系统，所述模具识别系统扫描模具上的识别码，所述模具识别系统与控制系统电连接，由模具识别系统向控制系统传递模具上的识别码信息，所述控制系统调出对应此识别码对应模具的操作程序，所述合模机器人设置有模具定位系统定位模具，所述工作平台移动到合模位置后，合模机器人通过模具定位系统用于定位模具，并结合控制系统中模具的模型，准确抓取模具的中模部分，放到下模部分上，控制系统控制工作平台移出，在模具中放入材料，工作平台移动到合模位置，合模机器人抓取模具上模部分将模具合上。
优选地，所述模具定位系统包括合模机器人定位系统和螺丝锁紧定位系统，所述螺丝锁紧定位用于从螺丝放置机构中抓取螺丝并将其放入模具的螺丝孔位中。
优选地，所述模具识别系统安装在作业支架入口上方处，当模具通过入口时，可以通过模具上的识别码快速识别模具的型号，将标记信号提供给控制系统，由控制系统调出相对应的合模程序，并有机械臂去执行搬运动作。
优选地，当模具识别系统扫描到模具的识别码后，由合模机器人程序自行决定应选取何型号的螺丝紧固头，合模机器人程序中根据控制系统发过来的不同模具型号指令去执行相应的螺丝抓取和锁螺丝。
优选地，所述模具定位系统安装于合模机器人的机械臂前方，主要用于检查螺丝放置机构中是否有空料位和对模具上螺丝孔位进行精确定位，最大程度上确保了螺丝漏抓和漏拧 。
优选地，所述拧紧装置中的扭力检测系统会制定一定的规则，将拧紧过程中产生的的异常扭力值视为错拧，避免了错拧情况的发生。
优选地，所述合模机器人系统还设置有螺丝紧固头放置平台8，所述螺丝紧固头放置平台安装于合模机器人的左侧边。
优选地，所述模具定位系统的定位精度不大于±0.05mm，可以精确识别模具各组成部分的位置，形状，孔位，通过对取螺丝料盘拍照实现不同型号螺丝的抓取以及规避料盘无料的可能性。
优选地，所述传输装置包括第一条传送轨道平台和第二条传送轨道平台，在锁紧螺丝后，工作平台移动到吊装位置，将模具吊走，第一条传送轨道平台上的作业完成，所述锁螺丝机器人和合模机器人转动到第二条传动轨道平台，进行操作。
优选地，所述合模机器人机械臂外部自动运行状态下，可实现自动回原点，避免手动移动机械臂可能会造成工装夹具的碰撞；视觉系统可通过拍照定位，将位置偏移信息发送给机械臂，自动修正搬运位置、抓取螺丝位置和拧紧螺丝位置。
至此，已经结合附图对本实施例进行了详细描述。依据以上描述，本领域技术人员应当对本申请有了清楚的认识。
需要说明的是，在附图或说明书正文中，未绘示或描述的实现方式，均为所属技术领域中普通技术人员所知的形式，并未进行详细说明。此外，上述对各元件和方法的定义并不仅限于实施例中提到的各种具体结构、形状或方式。
还需要说明的是，本文可提供包含特定值的参数的示范，但这些参数无需确切等于相应的值，而是可在可接受的误差容限或设计约束内近似于相应值。实施例中提到的方向用语，例如“上”、“下”、“前”、“后”、“左”、“右”等，仅是参考附图的方向，并非用来限制本申请的保护范围。此外，除非特别描述或必须依序发生的步骤，上述步骤的顺序并无限制于以上所列，且可根据所需设计而变化或重新安排。并且上述实施例可基于设计及可靠度的考虑，彼此混合搭配使用或与其他实施例混合搭配使用，即不同实施例中的技术特征可以自由组合形成更多的实施例。
上述说明示出并描述了本发明的优选实施例，如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。

Claims (10)

  1. 一种合模机器人系统，其特征在于：包括模具（1）、工作平台（2）、作业支架（3）、螺丝放置机构（4）、模具识别系统、合模机器人（5）、控制系统；所述模具以及螺丝放置机构设置于工作平台上方，所述工作平台下方设置有传输装置（6），所述工作平台位于合模机器人的前方，所述控制系统位于合模机器人的后方靠近一侧处，所述模具包括依次设置的模具上模、模具中模、模具下模；所述作业支架设置有作业支架入口，所述作业支架入口设置有模具识别系统（7），所述模具识别系统扫描模具上的识别码，所述模具识别系统与控制系统电连接，由模具识别系统向控制系统传递模具上的识别码信息，所述控制系统调出对应此识别码对应模具的操作程序，所述合模机器人设置有模具定位系统定位模具，所述工作平台移动到合模位置后，合模机器人通过模具定位系统用于定位模具，并结合控制系统中模具的模型，准确抓取模具的中模部分，放到下模部分上，控制系统控制工作平台移出，在模具中放入材料，工作平台移动到合模位置，合模机器人抓取模具上模部分将模具合上。
  2. 根据权利要求1所述一种合模机器人系统，其特征在于：所述模具定位系统包括合模机器人定位系统和螺丝锁紧定位系统，所述螺丝锁紧定位用于从螺丝放置机构中抓取螺丝并将其放入模具的螺丝孔位中。
  3. 根据权利要求1所述一种合模机器人系统，其特征在于：所述模具识别系统安装在作业支架入口上方处，当模具通过入口时，可以通过模具上的识别码快速识别模具的型号，将标记信号提供给控制系统，由控制系统调出相对应的合模程序，并有机械臂去执行搬运动作。
  4. 根据权利要求3所述一种合模机器人系统，其特征在于：当模具识别系统扫描到模具的识别码后，由合模机器人程序自行决定应选取何型号的螺丝紧固头，合模机器人程序中根据控制系统发过来的不同模具型号指令去执行相应的螺丝抓取和锁螺丝。
  5. 根据权利要求1所述一种合模机器人系统，其特征在于：所述模具定位系统安装于合模机器人的机械臂前方，主要用于检查螺丝放置机构中是否有空料位和对模具上螺丝孔位进行精确定位，最大程度上确保了螺丝漏抓和漏拧。
  6. 根据权利要求1所述一种合模机器人系统，其特征在于：所述拧紧装置中的扭力检测系统会制定一定的规则，将拧紧过程中产生的的异常扭力值视为错拧，避免了错拧情况的发生。
  7. 根据权利要求1所述一种合模机器人系统，其特征在于：所述合模机器人系统还设置有螺丝紧固头放置平台（8），所述螺丝紧固头放置平台安装于合模机器人的左侧边。
  8. 在根据权利要求1所述一种合模机器人系统，其特征在于：所述模具定位系统的定位精度不大于±0.05mm，可以精确识别模具各组成部分的位置，形状，孔位，通过对取螺丝料盘拍照实现不同型号螺丝的抓取以及规避料盘无料的可能性。
  9. 根据权利要求1所述一种合模机器人系统，其特征在于：所述传输装置包括第一条传送轨道平台和第二条传送轨道平台，在锁紧螺丝后，工作平台移动到吊装位置，将模具吊走，第一条传送轨道平台上的作业完成，所述锁螺丝机器人和合模机器人转动到第二条传动轨道平台，进行操作。
  10. 根据权利要求1所述一种合模机器人系统，其特征在于：所述合模机器人机械臂外部自动运行状态下，可实现自动回原点，避免手动移动机械臂可能会造成工装夹具的碰撞；视觉系统可通过拍照定位，将位置偏移信息发送给机械臂，自动修正搬运位置、抓取螺丝位置和拧紧螺丝位置。
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