CN-121799905-B - Automatic product tray arranging control system and method for continuous production line

CN121799905BCN 121799905 BCN121799905 BCN 121799905BCN-121799905-B

Abstract

The invention discloses an automatic product swaying control system and method for a continuous production line, which are used for solving the problems of poor gesture recognition, insufficient universality and low efficiency of a swaying tray of a metal part in the prior art and can meet the requirements of automatic, high-precision and high-adaptability swaying tray operation after punching, shearing and bending molding of a precision part in the continuous production line.

Inventors

LI HUIPING
KE FEI
ZHOU XITAO
LIU WEI

Assignees

广东誉品实业有限公司

Dates

Publication Date: 20260508
Application Date: 20260310

Claims (9)

1. A continuous production line product automatic swaying control method is characterized in that a continuous production line product automatic swaying control system is adopted, and comprises a visual imaging module, a data preprocessing module, a gesture detection and judgment module, a motion control module, an execution driving module, a swaying positioning module and a man-machine interaction module, wherein the modules realize data interaction and cooperative control through an industrial Ethernet; The visual imaging module is used for shooting and collecting all real-time attitude images of the products in the product identification area and outputting original images to the data preprocessing module; The data preprocessing module is used for enhancing, denoising and contour extraction of original images of all real-time postures of products, and outputting standardized images of all real-time postures of products and contour feature data of parts to the posture detection and judgment module; the gesture detection and judgment module is used for internally arranging a standard gesture template library, and comparing and judging whether each product real-time gesture in the product identification area meets the requirement of a wobble plate according to the standardized images of all the product real-time gestures and the comparison result between the profile characteristic data of the part and the standard gesture threshold value; The motion control module is used for receiving the judging information, generating a manipulator grabbing path, a suction nozzle adsorption control instruction, a rotation correction instruction and a wobble plate path instruction according to the judging information, and outputting the manipulator grabbing path, the suction nozzle adsorption control instruction, the rotation correction instruction and the wobble plate path instruction to the execution driving module; The execution driving module is used for driving the mechanical arm, the vacuum adsorption assembly and the rotary driving mechanism to act and executing the actions of grabbing, adsorbing, rotary correcting and swaying; The wobble plate positioning module is used for acquiring and recording tray position information and wobble plate part distribution data in real time and outputting positioning calibration signals to the motion control module; The man-machine interaction module is used for the demonstration of a wobble plate, parameter setting, state monitoring and abnormal alarming, and supports standard attitude template updating and algorithm parameter debugging; The automatic product tray arranging control method of the continuous production line comprises the following operation steps: Teaching of a wobble plate, and presetting a standard gesture threshold and a product identification area; acquiring a real-time attitude image of a current product; judging whether the real-time gesture of the current product meets the requirement of the swing disc according to the comparison of the standard gesture threshold; Grabbing a product meeting the requirements of the wobble plate, and rotating to an angle meeting the requirements of the wobble plate; sequentially placing and arranging the trays according to the planned path.
2. The method for controlling an automatic product wobble plate in a continuous production line according to claim 1, wherein the wobble plate teaching, the preset standard posture threshold value and the product identification area comprise the following operation contents: setting a standard placing angle of a product in a material tray by an operator through manual teaching, and storing the standard placing angle as a reference posture; The front standard posture gray level image threshold meeting the requirement of the swaying disc and the similarity range between the product meeting the requirement of the swaying disc and the front standard posture gray level image threshold are preset.
3. The method for automatically arranging a tray on a continuous production line according to claim 1, wherein the step of acquiring the current product real-time attitude image comprises the following operations: when the product is conveyed to the product identification area through the conveying belt, a gray level image of the current real-time posture of the product is obtained through the visual imaging device.
4. The method for automatically listing products on a continuous production line according to claim 1, wherein the step of comparing the real-time gestures of the current product according to the standard gesture threshold to determine whether the real-time gestures of the current product meet the listing requirements comprises the following operations: Comparing and judging the gray level image based on the real-time gesture of the current product with a preset front standard gesture gray level image threshold value; If the similarity between the gray level image of the real-time gesture of the current product and the preset front standard gesture gray level image threshold value is in the similarity range between the product meeting the requirement of the wobble plate and the front standard gesture gray level image threshold value, judging that the current product is the product meeting the requirement of the wobble plate, and grabbing; and if the similarity between the gray level image of the real-time gesture of the current product and the preset front standard gesture gray level image threshold value is not in the similarity range between the product meeting the requirement of the wobble plate and the front standard gesture gray level image threshold value, discarding the product.
5. The method for automatically controlling the swaying of the continuous production line product according to claim 1, wherein the steps of grabbing the product meeting the swaying requirement and rotating the product to an angle meeting the swaying requirement comprise the following operations: the current product meeting the requirements of the swinging disc is absorbed and grabbed through the suction nozzle assembly; Extracting a contour according to a gray level image of the real-time posture of the current product, and calculating a real-time angle between the real-time posture of the current product and a reference posture taught by the wobble plate; the suction nozzle drives the current product to rapidly rotate and correct to the reference gesture according to the real-time angle of the current product, so that the current product is rotated to an angle meeting the requirement of the swinging plate.
6. The automatic product wobble plate control method of a continuous production line according to claim 1, further comprising the following operation contents: If a plurality of products to be identified and grabbed are simultaneously arranged in the product identification area, acquiring real-time attitude images of all the products in the product identification area simultaneously, and respectively identifying and comparing to judge whether the real-time attitude of each product meets the requirement of tray arrangement; If a plurality of products meeting the requirement of the swaying disc exist in the product identification area at the same time, all the products meeting the requirement of the swaying disc are simultaneously grabbed; respectively calculating real-time angles between the real-time gesture of each product and the reference gesture taught by the wobble plate, and respectively rotating and correcting the real-time angles to the angles conforming to the requirements of the wobble plate; and sequentially placing and arranging all the grabbed products to a material tray according to the planned path.
7. The automatic product wobble plate control method of a continuous production line according to claim 2, further comprising the following operation contents: And in the preset standard gesture threshold values, gray contrast threshold values at two sides of the product are also preset.
8. The method for automatically arranging the trays in the continuous production line according to claim 1, wherein the steps of arranging the trays in sequence according to the planned path comprise the following operations: under the conditions of safety height constraint, vertical alignment constraint and adsorption pressure maintaining constraint, traversing the material slots in the tray according to the planned path from the recognition area to the tray of the suction nozzle and the planned path of the placement position of the suction nozzle in the tray, so that products meeting the requirements of tray placement are sequentially placed and arranged in the tray.
9. An automatic product swaying disc control device of a continuous production line is used for implementing the automatic product swaying disc control method of the continuous production line according to any one of claims 1-8, and is characterized by comprising a main control center, a display assembly, a product conveying belt, a visual imaging assembly, a manipulator assembly and a material disc conveying assembly; the display component is used for displaying a human-computer interaction interface and real-time running information of the system; the product conveying belt is used for continuously conveying products output by the continuous production line, and a product identification area is arranged on the product conveying belt; the visual imaging assembly is arranged above the product identification area and comprises an industrial black-and-white camera, a rectangular multispectral light source and a lens adjusting assembly, wherein the lens adjusting assembly is arranged in the middle of the multispectral light source in a penetrating way, and the industrial black-and-white camera is arranged above the multispectral light source and connected with the lens adjusting assembly; The manipulator assembly is used for adsorbing and grabbing products meeting the requirements of the swinging plate, and sequentially placing and arranging the products to the material plate according to a planned path after rotating to an angle meeting the requirements of the swinging plate; the tray conveying assembly is used for conveying empty trays to a tray arranging position and conveying full trays to a material taking position in the next working procedure; the main control center is used for controlling the product conveying belt, the visual imaging assembly, the manipulator assembly and the material tray conveying assembly in a linkage mode.

Description

Automatic product tray arranging control system and method for continuous production line Technical Field The invention belongs to the technical field of industrial automation testing, and particularly discloses an automatic product swaying control system and method for a continuous production line. Background The metal parts in the intelligent equipment are usually precision parts with high precision requirements, the metal coiled materials are generally processed and manufactured through an automatic continuous production line, so that interference of human instability factors in manual operation is reduced, particularly in a swinging disc sequence transferring link, a traditional manual swinging disc mode depends on visual judgment and manual adjustment of operators, the efficiency is low, the requirement of mass production cannot be met, the labor intensity is high, gesture judgment errors and swinging disc confusion are easily caused by the influence of human factors, meanwhile, scratches are easily caused when grabbing metal parts with smooth surfaces, the product quality is influenced, the traditional mechanical swinging disc equipment is lack of effective gesture detection and correction capability, the swinging disc is grabbed by adopting fixed tracks, only parts with single gesture can be adapted, the parts with random gestures on a conveying belt cannot be identified and adjusted, the universality is poor, and the efficiency is low. Therefore, a computer system and a method integrating high-precision visual detection, intelligent gesture judgment, precise rotation correction and cooperative motion control are needed, the problems of poor gesture recognition, insufficient generality and low efficiency of a metal part swinging disc in the prior art are solved, and automatic, high-precision and high-adaptability swinging disc operation of the metal part after punching shear bending forming is realized. Disclosure of Invention In order to solve the problems in the prior art, the invention aims to provide an automatic swaying control system and method for a continuous production line product, which aim to solve the problems of poor swaying gesture recognition, insufficient generality and low efficiency of metal parts in the prior art and can meet the requirements of automatic, high-precision and high-adaptability swaying operation of precise parts after punching, shearing, bending and forming in the continuous production line. The technical scheme adopted by the invention is as follows: the first technical scheme provides an automatic swaying control method for continuous production line products, which comprises the following operation steps: Teaching of a wobble plate, and presetting a standard gesture threshold and a product identification area; acquiring a real-time attitude image of a current product; judging whether the real-time gesture of the current product meets the requirement of the swing disc according to the comparison of the standard gesture threshold; Grabbing a product meeting the requirements of the wobble plate, and rotating to an angle meeting the requirements of the wobble plate; sequentially placing and arranging the trays according to the planned path. In some embodiments, the wobble teaching, the preset standard posture threshold and the product identification area comprise the following operation contents: Setting a standard placing angle of a part product in a material tray through manual teaching by an operator, and storing the standard placing angle as a reference posture; The front standard posture gray level image threshold meeting the requirement of the swaying disc and the similarity range between the product meeting the requirement of the swaying disc and the front standard posture gray level image threshold are preset. In some embodiments, the acquiring the current product real-time pose image includes the following operations: when the product is conveyed to the product identification area through the conveying belt, a gray level image of the current real-time posture of the product is obtained through the visual imaging device. In some embodiments, the determining whether the real-time pose of the current product meets the wobble plate requirement according to the standard pose threshold comparison includes the following operations: Comparing and judging the gray level image based on the real-time gesture of the current product with a preset front standard gesture gray level image threshold value; If the similarity between the gray level image of the real-time gesture of the current product and the preset front standard gesture gray level image threshold value is in the similarity range between the product meeting the requirement of the wobble plate and the front standard gesture gray level image threshold value, judging that the current product is the product meeting the requirement of the wobble plate, and grabbing; and if the similarity between the gray level ima