CN109335672B - High-precision material taking and discharging process control and intelligent analysis method - Google Patents
High-precision material taking and discharging process control and intelligent analysis method Download PDFInfo
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- CN109335672B CN109335672B CN201811163215.XA CN201811163215A CN109335672B CN 109335672 B CN109335672 B CN 109335672B CN 201811163215 A CN201811163215 A CN 201811163215A CN 109335672 B CN109335672 B CN 109335672B
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- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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Abstract
The invention aims to provide a high-precision material taking and placing process control and intelligent analysis method which can effectively shorten the material taking and placing cycle time of a material taking and placing machine, reduce the equipment cost and enable a material taking and placing mechanism to be simpler. The method comprises the following steps: the method comprises the following steps of (1) photographing incoming materials of a product, sucking the product in vacuum, moving the product up and down, horizontally moving the product and releasing the product; the seven actions of picking and placing the product in the automatic loading and unloading machine are respectively subjected to process control and statistical analysis in the steps, so that the precision distribution of each fine action can be quantitatively reflected, and quantitative data reference is provided for the optimization of a tolerance chain consisting of seven action sequences. The invention is applied to the field of automatic control.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a process control and intelligent analysis method for taking and discharging materials with high precision.
Background
In an automatic loading and unloading machine, seven basic actions are needed for picking and placing a product. Seven detailed taking and placing actions in the automatic feeding and discharging process of the product are taken as follows: 1) the DUT is positioned in the Tray, and a gap is reserved in the recess of the Tray for the DUT generally, so that the fluctuation range of product positioning is increased; 2) the XYZ axes are moved to a material taking position, and the suction nozzle is positioned above a product DUT; 3) the nozzle remains in contact with the product (or at a distance from the product), picking up the product; 4) after picking up the product, the suction nozzle moves up to a safe height; 5) XY accelerated translation to a discharging position; 6) the suction nozzle moves downwards to the discharging height; 7) and breaking vacuum by the suction nozzle to release the product to the positioning groove, completing a product taking and placing cycle, and moving the suction nozzle to the next product position in the Tray disc to perform the next cycle operation. In the unloading board in current automation, for guaranteeing the design accuracy, every action needs two sets of camera modules of integration, and one set of camera module of bowing is used for getting the accurate position discernment to the product before the material, and one set of camera module of facing upward is used for picking up the position discernment on the suction nozzle behind the product. The product pick-up and release positions can only be accurately positioned after the calibration coordinates of the two sets of cameras are acquired simultaneously. But adding a camera module results in higher overall cost. In addition, the camera module needs to additionally add two camera calibration actions in the automatic loading and unloading action process, namely, the camera module needs to be moved to a camera position for stopping and wait for the completion of photographing analysis, so that the whole cycle time is increased. When a plurality of products are taken and placed synchronously, each product needs to be photographed independently, and the time is further increased. This greatly reduces the efficiency of picking and placing material and increases the time cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a high-precision material taking and placing process control and intelligent analysis method which can effectively shorten the material taking and placing cycle time of a material taking and placing machine, reduce the equipment cost and enable a material taking and placing mechanism to be simpler.
The technical scheme adopted by the method is that the method is applied to a vacuum chuck type material taking and placing machine table, a transparent glass plate is arranged on the material taking and placing machine table, an upward shooting camera is arranged at each action position corresponding to material taking and placing under the transparent glass plate, and a movable downward shooting camera is arranged above a material receiving tray of a product, and the method comprises the following steps:
(1) the incoming material photographing process of the product: photographing each product in the material tray through the movable overhead camera to obtain position coordinates of all the products, deviation from the center position of a material tray groove and angle deviation of edges, so that distribution information of the position and deflection state of the product in the initial material taking state is obtained;
(2) and (3) a vacuum product sucking process: placing the product above the transparent glass for sucking action, and acquiring picture information of the product position in real time by the upward camera, and acquiring central position change information and angle change information of the product before and after sucking;
(3) the ascending and descending movement process of the product: the upward shooting camera performs upward shooting on the product before rising and after rising in place, and before and after falling in place, so as to obtain picture information of the product position in real time, compare the product position deviation before rising and after rising in place, before falling and after falling in place, judge the influence degree of the movement speed, acceleration or impact of the vacuum chuck on the product positioning precision according to the position deviation, and feed back the information to the machine table controller;
(4) the horizontal moving process of the product: the upward shooting camera performs upward shooting on the product before translation and after translation, obtains picture information of the product position in real time, compares the product position deviation before translation and after translation of the product, judges the influence degree of the motion speed, acceleration or impact of the vacuum chuck on the product positioning precision according to the position deviation, and adjusts the negative pressure value of the inner cavity of the vacuum chuck to control the suction force, so that the friction coefficient between the plane of the vacuum chuck and the surface of the product is increased, and the friction force between the plane of the vacuum chuck and the surface of the product is increased;
(5) and (3) product release process: the upward shooting camera performs upward shooting on the release process of the product, obtains picture information of the position of the product in real time, and releases the product after detecting that the product descends to the notch position of the positioning groove in the material tray, so that the product completely falls into the set material tray area.
Further, after the step (5), the method further comprises the following steps: through the steps (1) - (5), the positioning accuracy of seven basic actions in the material taking and placing process and factors possibly causing deviation are detected, a large amount of test data describing the accuracy are obtained, a CPK analysis method is utilized, the production process is analyzed, the high-priority management and control factors are found out, the source of poor positioning is found out, and the CPK efficiency is optimized; through the repeatability data of GRR test, all factors which have stable influence on process control are confirmed, then principal component analysis is carried out on the stochastic parameters to obtain the priority arrangement of all the influence factors, then the correlation among the parameters is obtained through quantitative detection data of all action links or different factor test data of one action link, and finally, independent principal factors are confirmed to provide a basis for subsequent influence elimination.
The invention has the beneficial effects that: the invention only carries out precision analysis on the mechanical action process of taking and placing, finds out the factors causing deviation in all automatic action links, provides an analysis and control method, and can quantitatively analyze and clear precision distribution in fine action and the influence of detail factors on the CPK under the condition of not introducing a camera module; in the pick-and-place action sequence, the seven steps of the simple mechanical type are the most basic and necessary actions. The camera shooting process is cancelled, namely, redundant action sequences are cancelled, so that the cycle time is saved; all process control methods can carry out quantitative statistical analysis on each automatic action in a specific process, the statistical analysis result in an action chain can be used as a reference basis for process control, and more valuable information can be intelligently mined aiming at batch high-frequency motion data analysis; the process control method can acquire the precision distribution of each automatic action through the quantitative capture and experiment of the fine actions, introduce possible factors of system deviation, further acquire accumulated data through batch experiments, and accurately describe the precision of the action process by utilizing a statistical analysis method; the intelligent analysis is carried out on the batch accumulated data, the quantitative management and control of the relationship between the process parameters and the CPK are facilitated, the key factors influenced by the CPK can be reduced by carrying out principal component analysis and correlation analysis simultaneously, and the mutual correlation among the parameters is positioned; the invention cancels a plurality of camera modules in the traditional feeding and discharging machine, thus reducing the hardware cost, simultaneously reducing the action sequence, reducing the cycle time and improving the action efficiency.
Drawings
FIG. 1 is a simplified flow chart of an automatic product loading and unloading process;
FIG. 2 is a diagram showing the distribution state of products in the tray before material taking in step (1);
fig. 3 is a simple schematic diagram of the movement locus of the material taking and placing.
Detailed Description
As shown in fig. 1 to 3, the process of the present invention is as follows:
the quantitative process control method is a quantitative process control method by carrying out deep quantitative detection and analysis on seven standard material taking and placing steps in a universal feeding and discharging machine, wherein the most important thing is to construct a quantitative detection device aiming at each action.
The position state of the product in the feeding state is the initial deviation of the whole feeding and discharging process. The position states of the products in the material tray have various possibilities, each product in the material tray is photographed and calculated through the movable overhead camera, the position coordinates of all the products, the deviation from the center position of the groove and the angle deviation of the edge are obtained, and therefore the position and deflection state distribution of the products in the initial material taking state can be obtained.
The process of sucking the product by the suction nozzle is that the stroke of the inner cavity of the suction nozzle is vacuum, so that the air flow in the micro-gap between the suction nozzle and the product is prompted to act to generate suction force to suck the product to the end face of the suction nozzle. This process is related to the size of the micro-gap and to the distribution of the air flow within the micro-gap, both of which may cause the action of sucking the product to introduce variations. The product is placed above the transparent glass for sucking action, the lower part of the glass obtains the picture of the product position in real time through the upward shooting camera, and the central position change and the angle change of the product before and after sucking are analyzed.
The nozzle raising and lowering movements may cause an impact in the Z-axis direction of the product, and thus both movement steps may introduce a positional deviation of the product due to the impact. When the up-and-down movement drive uses a motor, the up-and-down movement of the suction nozzle can effectively control the acceleration and deceleration process of the suction nozzle, but when the up-and-down movement drive is a cylinder type element, the characteristics of instant stop and instant start of the up-and-down movement drive can bring larger impulse which can cause a product to slightly jump on the end face of the suction nozzle. When a product is subjected to unpredictable Z-axis impulse, small position jump introduces uncontrollable factors, and the product randomly generates position deviation in any direction and even drops directly under the action of suction force. By performing upward shooting analysis before and after the product acts, the influence of the movement speed, acceleration or impact on the positioning precision of the product can be judged by comparing the product position deviation before and after the action.
The nozzle moves or rotates with acceleration along the XY axis, the product may be deflected due to acceleration or centrifugal force, and thus the translational motion may introduce a positional deviation of the product due to the velocity or acceleration of the motion. The suction can be controlled by controlling the negative pressure value of the inner cavity of the suction nozzle, so that the friction coefficient between the end surface of the suction nozzle and the surface of a product is further regulated, and the friction is an important guarantee for overcoming the acceleration and the centrifugal force, namely an important parameter for controlling the product position deviation precision in the translation process. By performing upward shooting analysis before and after the product acts, the influence of the movement speed, acceleration or impact on the positioning precision of the product can be judged by comparing the product position deviation before and after the action.
When the product is released, the inner cavity of the suction nozzle generates a certain blowing flow to ensure that the vacuum environment of the inner cavity of the suction nozzle is completely and quickly destroyed and prevent the product from being positioned inaccurately because the product still receives partial residual suction force. The product release process inevitably causes position change due to the action of the blowing flow, so that the height direction of the product is ensured to be within the positioning groove in the release process.
Through the quantitative detection method of the process control, the positioning accuracy of seven basic actions in the material taking and placing process and factors possibly causing deviation are detected. According to the detection of the automatic action of taking and placing the materials, a large amount of test data describing the precision can be obtained, and the adoption of a visual measurement method can ensure that the measurement precision is far lower than the motion deviation. The CPK analysis method is utilized to analyze the production process, and high-priority management and control factors are found out, so that the method is beneficial to positioning the source of bad conditions and optimizing the CPK efficiency. The process variation and the product average value are determined by product designers, production process designers, dispatching technicians and the like in multiple links. Through the repeatability data of GRR test, all factors which have stable influence on process control are confirmed, and then principal component analysis is carried out on the randomness parameters, so that the priority arrangement of all the influence factors can be obtained. The degree of correlation of each parameter is researched through quantitative detection data of all links or different factor test data of actions of a certain link, and independent main factors are confirmed.
The invention respectively carries out process control and statistical analysis on seven actions of picking and placing products in the automatic feeding and discharging machine table, so that the precision distribution of each fine action can be quantitatively reflected, and quantitative data reference is provided for the optimization of a tolerance chain consisting of seven action sequences. Meanwhile, the data acquisition and action monitoring method and platform adopted for each slight action can be popularized to other automatic action analysis as a general detection solution. Therefore, the process control and intelligent analysis method provided by the invention has popularization and universality.
The invention is applied to the field of automatic control.
Claims (2)
1. A high-precision material taking and placing process control and analysis method is characterized in that the method is applied to a vacuum chuck type material taking and placing machine table, a transparent glass plate is arranged on the material taking and placing machine table, an upward shooting camera is arranged below the transparent glass plate corresponding to each action position for taking and placing materials, and a movable downward shooting camera is arranged above a material receiving tray of a product, and the method comprises the following steps:
(1) the incoming material photographing process of the product: photographing each product in the incoming material tray through the movable overhead camera to obtain position coordinates of all the products, deviation from the center position of the material tray groove and angle deviation from the edge of the material tray groove, so that the position and deflection state distribution information of the product in the initial material taking state is obtained;
(2) and (3) a vacuum product sucking process: placing the product above the transparent glass for sucking action, and acquiring picture information of the product position in real time by the upward camera, and acquiring central position change information and angle change information of the product before and after sucking;
(3) the ascending and descending movement process of the product: the upward shooting camera performs upward shooting on the product before rising and after rising in place, and before and after falling in place, so as to obtain picture information of the product position in real time, compare the product position deviation before rising and after rising in place, before falling and after falling in place, judge the influence degree of the movement speed, acceleration or impact of the vacuum chuck on the product positioning precision according to the position deviation, and feed back the information to the machine table controller;
(4) the horizontal moving process of the product: the upward shooting camera performs upward shooting on the product before translation and after translation, obtains picture information of the product position in real time, compares the product position deviation before translation and after translation of the product, judges the influence degree of the motion speed, acceleration or impact of the vacuum chuck on the product positioning precision according to the position deviation, and adjusts the negative pressure value of the inner cavity of the vacuum chuck to control the suction force, so that the friction coefficient between the plane of the vacuum chuck and the surface of the product is increased, and the friction force between the plane of the vacuum chuck and the surface of the product is increased;
(5) and (3) product release process: the upward shooting camera performs upward shooting on the release process of the product, acquires picture information of the position of the product in real time, and releases the product after detecting that the product descends to the notch position of the positioning groove in the discharging tray, so that the product completely falls into the set discharging tray area.
2. The process control and analysis method for taking and placing materials with high precision as claimed in claim 1, characterized by further comprising the following steps after the step (5):
through the steps (1) - (5), the positioning accuracy of seven basic actions in the material taking and placing process and the factors causing deviation are detected, a large amount of test data describing the accuracy are obtained, a CPK analysis method is utilized, the production process is analyzed, the high-priority management and control factors are found out, the source of poor positioning is found out, and the CPK efficiency is optimized; confirming all factors which have stable influence on process control through repeatability data of GRR test, performing principal component analysis on the stochastic parameters to obtain priority arrangement of all influence factors, obtaining correlation among the parameters through quantitative detection data of all action links or test data of different factors of one action link, and finally confirming independent principal factors to provide basis for subsequent influence elimination; the seven basic actions of taking and placing are sequentially positioning a product in the tray, horizontally moving the suction nozzle to be positioned above the product, picking up the product by the suction nozzle, upwards moving the suction nozzle, horizontally moving the suction nozzle to a placing position, downwards moving the suction nozzle and breaking vacuum of the suction nozzle to release the product.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811163215.XA CN109335672B (en) | 2018-09-30 | 2018-09-30 | High-precision material taking and discharging process control and intelligent analysis method |
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| CN201811163215.XA CN109335672B (en) | 2018-09-30 | 2018-09-30 | High-precision material taking and discharging process control and intelligent analysis method |
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| CN109335672B true CN109335672B (en) | 2020-09-18 |
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| CN112010021B (en) * | 2019-05-31 | 2022-04-12 | 宁波舜宇光电信息有限公司 | Workpiece conveying system, workpiece positioning system and positioning method thereof |
| CN112867386B (en) * | 2019-11-27 | 2022-10-21 | 苏州旭创科技有限公司 | Automatic chip mounting device, suction nozzle thereof and automatic chip mounting method |
| CN118106808A (en) * | 2024-04-23 | 2024-05-31 | 深圳市腾阁机电实业有限公司 | Feeding control method of numerical control lathe and numerical control lathe thereof |
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