| CPC B24D 18/009 (2013.01) [G06T 7/0004 (2013.01); G06T 7/80 (2017.01); G06T 2207/30124 (2013.01); G06T 2207/30164 (2013.01)] | 6 Claims |
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1. An integrated system for cutting, picking and inspection of a grinding wheel mesh piece, is mounted on a grinding wheel mesh piece production line, wherein the production line comprises a cutting section conveying platform and a picking section conveying platform which are arranged in sequence along a conveying direction, a cutting device is mounted above the cutting section conveying platform, a picking device is mounted above the picking section conveying platform; wherein the integrated system comprises a visual inspection system, a conveying system, a cutting system, and a picking system;
the vision inspection system comprises a visual inspection system industrial control computer, a vision inspection system PLC, a line scanning camera, a camera controller, an image acquisition card, an LED light source, and a light source controller, wherein the line scanning camera and the LED light source are mounted in front of the cutting section conveying platform of the grinding wheel mesh piece production line; the visual inspection system industrial control computer is provided with built-in template grid software and visual defect recognition software; the visual inspection system industrial control computer communicates with the visual inspection system PLC, a control signal output end of the visual inspection system PLC accesses the camera controller and the light source controller, the camera controller and the light source controller respectively control turn-on and turn-off of the line scanning camera and the LED light source, and the image acquisition card connected to the line scanning camera accesses the visual inspection system industrial control computer through an image transmission bus;
the conveying system comprises a conveying system industrial control computer, a conveying system PLC, a cutting section conveying motor, a cutting section holding and feeding motor, a cutting section holding cylinder, a picking section conveying motor, a picking section holding and feeding motor, and a picking section holding cylinder, wherein the cutting section conveying motor, the cutting section holding and feeding motor, the picking section conveying motor, and the picking section holding and feeding motor are respectively equipped with independent servo drivers and rotary encoders; cylinder solenoid valves are disposed on control air circuits of the cutting section holding cylinder and the picking section holding cylinder; the cutting section conveying motor, the cutting section holding and feeding motor, the cutting section holding cylinder, the picking section conveying motor, the picking section holding and feeding motor, and the picking section holding cylinder are all mounted on the cutting device;
the conveying system industrial control computer communicates with the conveying system PLC, a control signal output end of the conveying system PLC accesses the servo drivers of the cutting section conveying motor, the cutting section holding and feeding motor, the picking section conveying motor, and the picking section holding and feeding motor as well as the cylinder solenoid valves of the cutting section holding cylinder and the picking section holding cylinder, wherein output signals of the rotary encoders of the cutting section conveying motor, the cutting section holding and feeding motor, the picking section conveying motor, and the picking section holding and feeding motor access the conveying system PLC;
the cutting system comprises a cutting system industrial control computer, a motion controller of a multi-blade cutting system, a tool holder X-axis drive motor, a tool holder Y-axis drive motor, a tool holder Z-axis drive motor, a cutter rotary motor, a location adjustment motor, and a cutter vibration motor, wherein the tool holder X-axis drive motor, the tool holder Y-axis drive motor, the tool holder Z-axis drive motor, the cutter rotary motor, and the location adjustment motor are all equipped with independent servo drivers and rotary encoders, respectively, and the cutter vibration motor is equipped with a servo driver; the tool holder X-axis drive motor, the tool holder Y-axis drive motor, the tool holder Z-axis drive motor, the cutter rotary motor, the location adjustment motor and the cutter vibration motor are mounted on the cutting device;
the cutting system industrial control computer communicates with the motion controller of the multi-blade cutting system, a control signal output end of the motion controller of the multi-blade cutting system accesses the servo drivers of the tool holder X-axis drive motor, the tool holder Y-axis drive motor, the tool holder Z-axis drive motor, the cutter rotary motor, the location adjustment motor and the cutter vibration motor; output signals of the rotary encoders of the tool holder X-axis drive motor, the tool holder Y-axis drive motor, the tool holder Z-axis drive motor, the cutter rotary motor and the location adjustment motor access the motion controller of the multi-blade cutting system;
the picking system comprises a robot picking system PLC, a first link arm drive motor, a second link arm drive motor, a third link arm drive motor, and an end effector drive cylinder, wherein the first link arm drive motor, the second link arm drive motor, and the third link arm drive motor are all equipped with servo controllers and rotary encoders, and an end effector solenoid valve is disposed on a control air circuit of the end effector driving cylinder; the first link arm drive motor, the second link arm drive motor, the third link arm drive motor, and the end effector drive cylinder are mounted on the picking device;
a control signal output end of the robot picking system PLC accesses the servo controllers of the first link arm drive motor, the second link arm drive motor, and the third link arm drive motor, as well as the end effector solenoid valve of the end effector drive cylinder; output signals of the rotary encoders of the first link arm drive motor, the second link arm drive motor, and the third link arm drive motor access the robot picking system PLC;
an output signal of the visual inspection system industrial control computer accesses the motion controller of the multi-blade cutting system and the robot picking system PLC, an output signal of the conveying system PLC accesses the visual inspection system PLC, the conveying system PLC, the motion controller of the multi-blade cutting system, and the robot picking system PLC communicate with each other.
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