Application of Omron automatic gluing robot

Process introduction

Since the implementation of the [plastic restriction order] in 2007, plastic packaging has been greatly restricted. Subsequently, all kinds of metal cans represented by beer cans, tea cans, and oil cans are increasing, and metal packaging has begun to usher in a period of rapid development.

Metal cans are divided into two parts: the lid and the body, and the lid is made by the process of cutting, stamping, crimping and gluing of the raw material of metal plate. At present, due to the rising labor costs, the demand for "machine substitution" is imminent, and how to introduce machines at a lower cost, and to achieve the three characteristics of soft, accurate and fast, is an urgent topic to be solved in the metal packaging industry.

Application of Omron automatic gluing robot

　　Metal lid gluing robot equipment

　　problem

1. Affected by multiple factors such as mechanical error, robot error, skew amplitude of the glue head and process error, it is difficult to meet the requirements of the accuracy of the gluing track.

2. The purchase of complete sets of parallel robots is costly, and the teaching process is cumbersome, relying on the sensibility and experience of skilled technicians.

　　solution

　　1. Optimize the detection algorithm, accurately locate the starting point coordinates, and achieve high-precision trajectory control

The metal cover is stamped and formed, the process accuracy is ± 0.05mm, and the accuracy of the robot trajectory following can reach 0.01mm under the optimization of the robot algorithm, which has met the requirements. Therefore, the gluing of the surrounding edges can be adjusted according to the starting point position and inclination angle of the visual positioning.

Because the angle of inclination of the rectangular lid is easy to obtain, the key to positioning is the detection of the starting point. After dozens of experiments, it was found that the starting point of the trajectory that is most suitable for the robot's action mode is the position of the intersection of the arc edge and the straight edge in the upper right corner to the inside of the cover.

　　However, due to the fact that the mechanical error, robot error, skew amplitude of the discharging head and the process error of each equipment are all different in the actual situation, the starting point position will still change and need to be fine-tuned. By optimizing the detection algorithm, the equipment can accurately quantify the starting point coordinates, simplify the fine-tuning of the trajectory, and reduce the difficulty of operation, so that even inexperienced operators can control the trajectory accuracy within ±0.2mm.

　　2. With the help of EtherCAT communication command control function, the new product can be fully automatically taught

First of all, Omron only realizes the motion control of gluing through the controller + servo, and only needs to build a simple mechanical structure, without spending a lot of money to purchase parallel robots.

Secondly, the PLC sends a "scene copy" command to Vision through EtherCAT communication, and Vision will add a new scene based on the template scene at the specified location, and the template scene has an IF branch for switching between program running mode and teaching mode.

Then, the data writing instructions that continue to communicate via EtherCAT write the necessary data such as length, width, and dimensions are written to the designated unit for the new visual scene and stored as a reference for automatic setting of the measurement area and limit range.

　　Finally, the visual execution teaching is controlled by the communication command, that is, the measurement is triggered after switching branches, and the new scene program will run in the teaching mode, and the graphics setting of the processing unit in the teaching branch can refresh the model area of the shape search III. to realize the model registration under the current image, and the measurement program of the new product is also taught.

　　Control system

Machinery Automation Controllers NJ/NX Series

AC Servo System 1S Series

Image processing system FH series

　　Deliver value

1. Accuracy:

Accurate to ±0.2mm dynamic gluing trajectory accuracy

It realizes the high-precision positioning of the gluing trajectory accurate to ±0.2mm within the field of view of 210×280mm, which is compatible with the gluing of metal covers of different sizes and corner radii, and is easy to fine-tune.

2. Saving man-hours:

The new product testing program within 2 minutes is fully automatic

The functions of automatic generation of new scenes, automatic writing of parameter data, automatic login of search models, automatic generation of measurement areas and other functions have been realized, and the teaching process time of new products is compressed to less than 2min, of which the simplest three operations are completed manually, and the rest of the scene addition, data calculation and model registration are automatically completed by the equipment.

　　【Management】

■ In the context of the rapid development of metal packaging, quickly respond to market changes, replace traditional labor through automatic high-speed gluing, greatly improve the accuracy of gluing trajectory, reduce labor costs, and help build the top competitiveness in the industry.

　　【Management】

■ The automatic teaching function of the system supports simple fine-tuning, even for inexperienced operators, the trajectory accuracy can be controlled within ±0.2mm, which alleviates the dependence on skilled technicians, reduces labor costs, and reduces the generation of non-conforming products.

■ By replacing labor with automatic gluing equipment, gluing trajectory data and equipment operation data can be collected, stored and analyzed to achieve more macro and efficient production management.

　　【Engineer Layer】

■ OMRON mechanical automation controller NJ/NX series, built-in function blocks implemented by various algorithms, only need to write the most basic parameters to achieve, simple debugging, short development cycle.

■ Fully automatic gluing, compatible with metal cover gluing of different sizes and corner radii, and the trajectory accuracy is controlled within ±0.2mm.

　　Article source: Omron Industrial Automation Information Account

Application of Omron automatic gluing robot

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