20 come for years, the inaugurator of machine vision people be in all the time forecast it when can appear is OK to when can appear the manipulator from spare parts of choose of the random in spare parts box. Use the manipulator with machine oriented vision that is to say, certain part is inside box of a spare parts or the position inside container, the capture in the spare parts that piles up at random from one pile next a certain spare parts. Inchoate development the people of this one technology thinks, as a result of random " spare parts choose " the flexibility that the system has height, because this is met the manufactory is managing very big fee, the worker also does not need to assemble and unassemble again the spare parts box that comes from a supplier. On treatment product line, it is OK that costly tool clamping apparatus, tool reachs what be a target with the spare parts to enter glassware by randomization " spare parts of the choose in box " systematic place is replaced. Regrettablly, go up century at the beginning of 80 time, this is thought feasible technology must face brutal reality. Develop in the lab " choose " system cannot the actual application of translate into factory. People discovers occasionally you can come up against partial part to overlap, illuminative change also can be affected " choose " working schedule. The computer at that time also encountered an obstacle in respect of processing mass data, make the problem complications. Finally, be forced to study not quite complex 2 dimension manipulator is oriented first plan, collect from athletic conveyer belt namely take onefold part, this is opposite for more general. And general random " choose " applied plan did not come true from beginning to end, till today this remains a challenge of industrial group. Nevertheless, more and more evidence show with the machine the vision is oriented manipulator now " choose " more and more adjacent and actual. Manipulator agency, included Fanuc company, Motman company and Staubli company to be rolled out " choose " system. Abundant cropland automobile factory has machined what 5 manipulator used on the line in its engine spare parts " choose " system, the system uses the manipulator of ABB company, deserve to have three-dimensional image technology, this technology is offerred by Braintech company. Someone says the spare parts is executed in the round random " choose " plan is highbrow, like bedspring or geometrical appearance complex part shoulds not be in inchoate use " choose " plan. Contrary, agency pays close attention to the part that identifies easily simplier with geometrical appearance more, include among them cylindrical or circular spare parts. The system of abundant field company is belonged to only " half random " or " half limitation " of the gender " choose " system, it is that is to say in these systems, the spare parts is not all can aleatoric capture, the spare parts is distributinging loose in box. Video is oriented " choose " application is in TRW company, reach a plant from the supplier when cast of rotor of apply the brake when, the spare parts piles up together, mutual between separate without what thing, when shipping, move easily. TRW company relied on artificial operation in the past, add takeup assistance to assemble and unassemble cast. Below certain circumstance, the factory still uses the system of spare parts choose that is not video equipment. Every catch system of choose of blame video spare parts a spare parts needs 20 seconds, but alternate ceaselessly in wooden case as a result of the spare parts, because,perhaps meet capture error, and must collect from inside wooden case with 20 seconds again take different part. Blame video system perhaps to low batch product line the effect is very good, because of cast catch put time to be every 60 seconds. But on the new product line that is in a factory, the part that its allow is caught put cycle to be 15 seconds, must not use to video directs then " choose " system. JMP company provided two systems for TRW company. The Fanuc710ib-45 manipulator that every system configured to be offerred by Fanuc company contains the camera of VisionPro software with, this machine is offerred by Cognex company, still deserve to have the Reliabot software that comes from Shafi company, controlling manipulator by its / the oriented function of the communication between video and manipulator. Manufacturing manager Mr KenMcLaughlin of JMP company says, of Cognex company photograph installation resembling a head to be on manipulator arm, can use at deciding the X of the spare parts and Y coordinate, still contain on manipulator arm infra-red (IR) sensor, the some in be being used at seeking spare parts case piles the height of spare parts layer. When operator puts the spare parts case of pile cast the system, touch starting button, manipulator begins to raise a height, photograph shoot picture like the head, include to decide all piling up the X-Y position of the spare parts, decide the height of each caboodle spare parts with IR sensor next, decision clip takes order later. If discover the height of the spare parts is abnormal, it can continue to explore, till the standard of its level and other pile spare parts is uniform. Because Nextpage used video oriented system, although the spare parts piles up box tilted 20 degrees, manipulator still but capture spare parts. Pass special design suffer move implement with join along with motive compose, the front that assures partial part and angle agree with the clip of the spare parts is taken. The part that is taken by clip is put to transport by manipulator, convey to machine a system to go up next, whole process is finished inside time of 12 seconds cycle, satisfied the 15 seconds requirement of TRW company. In the process that develops TRW system, be called it according to the view of Mr Mclaughlin " 2. 5 dimension video " system, it can find the X of a spare parts, Y and Z coordinate, at the same time use end ministry suffers move implement, compensate the change such as spare parts scroll, pitch and deflexion in order to make. And three-dimensional system introduces two camera, work with stereo mode, the freedom that it can be in 6 degrees determines the position of the spare parts inside limits. If be the part with complex form, if raise canal or gear-box spare parts to need to use " half random " plan, special unit needs inside spare parts box, those who make the spare parts keeps certain is directional. But circle or cylindrical the spare parts with a kind of relatively simple appearance, be like rotor of apply the brake, no matter use half random or completely random pattern,can collect take. Of Fanuc " choose " the technology relies on a fixed installation at upper part of spare parts box photograph like the head, it is OK like the head to be photographed through this find " roughly the position " , differentiate and arrange 15 to wait for what clip takes to await options. Its software is passed match algorithm, need the part that see from inside many direction and angle and database collect extraction spare parts sample to undertake comparative, find need to place extraction part next. Install the sensor of a Fanuc on manipulator, be used at each spare partses " nicety locates " . Photograph the title that seeks X and Y coordinate position and part above all like the head, at the same time with photograph the laser that becomes certain installation angle like the head to offer Z coordinate, deflexion and pitch according to triangulation technology. Manipulator moves by " locate roughly " differentiate give the first part, check next; If what it sees, manipulator takes these 10 with respect to clip, if not be, manipulator moves to go up to the 2nd spare parts again. Because a variety of reasons may cause a system to miss place to want to collect extraction part, those who miss is more, the system searchs the time that spare parts place spends to grow more. Carry pair of system parts ceaselessly after delicate adjustment, fanuc system catchs the average job cycle that puts spare parts place to need to already dropped from 22 seconds of 2002 randomly. Achievement is affirmative, but... Motoman company already was in with Shafi company " choose " applied respect of the technology formed strategic concern, about this one technology, people had awaited for a long time, but " choose " the technology is not potion all-purpose fine medicine, also not be all ultimate goals that use a field. People should realise it is significant to certain application domain, but not certain to other applied spheres. Shafi company also has the same feeling. Be in for example certain " choose " applied domain, catch reliably put an operation to need two courses. You need to take the part from inside box, be put down next or place afresh case, perhaps have other operations, anyhow is to use manipulator to put spare parts critically to buy of eye scalar potential. Be in a factory, what people place cares is whether collect it take, whether can be every other X second make it accurate inside time perch. Manipulator random " choose " periodic time depends on the technological process of manipulator, and inside specific applied domain, manipulator needs mobile space. To make " choose " the system is practical, must make photograph be in like the head 2 or finish inside the time of 3 seconds affirm. simple to geometrical appearance spare parts, shafi company had achieved a goal, time is reduced 4 to 6 seconds, because they used faster processor,basically be, algorithm also is improved somewhat. Cong Mou is planted degree, "Choose " whether does plan score a success, the key depends on the different geometry appearance of the spare parts and applied requirement, shafi company develops " choose " the camera that the system relies on fixed installation, camera that installs on manipulator and the lighting installation of those use laser. Another technology involves the three-dimensional seat that gets a part, namely with very rapid rate, absorb a spare parts 2 to 3 image, every image uses different illume, so that hand is firm its are three-dimensional the position. When be being held off when the one part of the spare parts especially, use this one technology particularly effective. If some kind applies a domain to allow, still had better adopt the camera plan of fixed installation. After a spare parts is chosen to take, photograph will move to be gotten on by the spare parts of capture to the next like the head, at the same time manipulator is caught put another part. And if be to install the shift on manipulator to photograph,resemble a head may encountering the risk that is collided, if come up against spare parts box or other spare parts, and of fixed installation photograph need not worry about like the head this problem. CNC Milling
CNC Machining