A multifunctional composite robot system

Abstract

The present invention relates to the field of automation equipment design, and specifically to a multifunctional composite robot system. The present invention is realized by the following technical scheme: a multifunctional composite robot system, comprising a composite robot for moving upper materials onto bottom materials, the composite robot comprising a body and a grasping device mounted on the body, the grasping device comprising a connecting frame and a plurality of cotton piercing devices connected to the connecting frame, the cotton piercing device comprising a driving rod and a needle pierced out under the drive of the driving rod; the body comprises a body rotating seat and a multi-joint mechanical arm that can rotate in the horizontal direction under the drive of the body rotating seat, the end of the multi-joint mechanical arm is connected to a grasping device, and also comprises a visual capture device for shooting image pictures. The purpose of the present invention is to provide a multifunctional composite robot system that automatically grasps and transports materials, and corrects the deviation of materials, and also comprises a detection function.

Description

Technical Field

[0001] The invention relates to the field of automation equipment design, and in particular to a multifunctional composite robot system. Background Art

[0002] Composite pads are commonly used products in people's lives. According to different uses, there are pillows, mattresses, and seat cushions. In industry, there are also many products such as cushion pads and elastic pads. Among various composite pads, such as a multifunctional composite mattress published in the Chinese patent document with authorization announcement number CN201185778Y, there are multiple cushion layers with different functions, such as a far-infrared heat storage combination layer, a moisture-dissipating heat storage combination layer, an anti-mite functional layer, an isolation layer, a filling layer, a far-infrared functional layer, etc. In the production process of these composite pads, each layer needs to be stacked layer by layer, and the position and angle of the stacking layers must be correct in the stacking process.

[0003] In the prior art, the operation of stacking composite layers is often done manually. On the one hand, the labor intensity is high. On the other hand, the operation of correcting the sheets based on the personal experience of the workers is prone to inaccurate alignment, uneven local paving, and the like. Summary of the invention

[0004] The purpose of the present invention is to provide a multifunctional composite robot system that automatically grabs and transports materials, corrects the deviation of materials, and also includes a detection function.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions: a multifunctional composite robot system, comprising a base material conveying device for conveying a base material of a composite pad and an upper material conveying device for conveying an upper material of a composite pad; it also comprises a composite robot for moving the upper material to the base material, the composite robot comprising a body and a grasping device installed on the body, the grasping device comprising a connecting frame and a plurality of cotton quilling devices connected to the connecting frame, the cotton quilling devices comprising a driving rod and a needle pierced by the driving rod; the body comprises a body rotating seat and a multi-joint robotic arm that can rotate in the horizontal direction driven by the body rotating seat, the end of the multi-joint robotic arm is connected to a grasping device, and it also comprises a visual capture device for shooting images.

[0006] As a preferred embodiment of the present invention, it also includes a gluing machine for gluing the base material.

[0007] As a preferred embodiment of the present invention, the upper material conveying device includes a plurality of conveying rollers, the bottom material conveying device includes a conveyor belt, and the transmission directions of the upper material conveying device and the bottom material conveying device are perpendicular.

[0008] As a preferred embodiment of the present invention, a broken needle detector for detecting whether there are broken needles on the upper material and / or the bottom material is provided on the conveying path of the bottom material.

[0009] As a preferred embodiment of the present invention, the broken needle detector is a metal detection sensor.

[0010] As a preferred embodiment of the present invention, it also includes an electronic fence, which includes a plurality of sensors, and the plurality of sensors surround the working area where the composite robot is located.

[0011] As a preferred embodiment of the present invention, the visual capture device includes a coarse vision device installed on the ground and a fine vision device installed on the grasping device, and the coarse vision device includes a multi-link detachable frame standing on the ground and a camera installed on the multi-link detachable frame.

[0012] As a preferred embodiment of the present invention, each set of the cotton pricking device comprises two cotton pricking units, and the two cotton pricking units are staggered and tilted in a manner that the distance between them gradually increases along the direction in which the needles pierce.

[0013] As a preferred embodiment of the present invention, the cotton piercing device further includes a guide needle seat connected to the connecting frame, the guide needle seat includes a guide path for the needle to pass through, the end of the driving rod is connected to a limiting block, the needle is installed on the limiting block, and the guide needle seat includes a conflicting inclined surface for conflicting with the limiting block.

[0014] In summary, the present invention has the following beneficial effects:

[0015] 1. It has a high degree of automation, replacing manual operation positions such as porters and stackers, and uses stacking robots to operate the entire process.

[0016] 2. It adopts the technical solution of stereoscopic vision, which saves the alignment mechanism of traditional technology and can automatically adapt to boring machines of different sizes and specifications.

[0017] 3. High safety. If a person illegally enters the robot's working area, the laser protection fence around the palletizing robot will be triggered and the robot will stop moving immediately. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of embodiment 1;

[0019] Figure 2 yes Figure 1 A schematic diagram of a workstation in the

[0020] Figure 3 is a schematic diagram of a stacking robot;

[0021] Figure 4 yes Figure 3 A schematic diagram of a gripping device in FIG.

[0022] Figure 5 It is a schematic diagram of the central light source;

[0023] Figure 6 is a schematic diagram of the peripheral vision apparatus;

[0024] Figure 7 It is a schematic diagram of the thorn cotton unit.

[0025] In the figure: 1. grabbing device, 11. rotating assembly, 12. connecting frame, 121. outer frame, 122. partition frame, 123. middle oblique plate, 124. central fixing block, 2. central light source, 21. light source bracket, 22. light mixing board, 23. circuit board, 211. mounting part, 212. transition part, 213. sharp angle bending part, 214. through hole, 24. LED lamp, 3. edge vision device, 31. vision mounting frame, 32. camera, supplementary light source, 33. aluminum shell, 331. main part of aluminum shell, 332. heat dissipation part, 34. front pressure plate, 35. glass, 4. cotton piercing device, 41. cotton piercing unit, 411. driving rod, 412 , limit block, 413, guide needle seat, 4131, interference slope, 4132, guide way, 414, needle, 5, visual capture device, 51, coarse visual device, 511, multi-link detachable frame, 512, camera, 52, fine visual device, 6, body, 61, body rotating seat, 62, multi-joint robotic arm, 621, fixed arm, 622, rotating arm one, 623, rotating arm two, 624, rotating arm three, 7, robot seat, 71, upper support plate, 72, inclined diffusion plate, 73, flow hole, 81, bottom material conveying device, 82, upper material conveying device, 83, gluing machine, 84, broken needle detector, 9, electronic fence. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0027] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0028] Embodiment 1, as Figure 1As shown, the entire workshop is provided with an upper material conveying device 82 and a bottom material conveying device 81. The specific materials of the bottom material and the upper material are not limited in this article, and can be components such as mats, sponges, and blankets. When the bottom material is transmitted on the bottom material conveying device 81, the surface will pass through the gluing machine 83 for gluing. The gluing machine 83 can adopt a mature product in the prior art, which often includes a roller and a lifting structure. The roller coated with glue is used to contact the upper surface of the bottom material to complete the gluing.

[0029] Figure 1 In the embodiment, the entire workshop can be divided into multiple workstations, each of which is equipped with a stacking robot, which automatically places the upper material on the upper material conveying device 82 on the bottom material on the bottom material conveying device 81. The upper material conveying device 82 often adopts a conveying solution of multiple rollers, while the bottom material conveying device 81 can be a conveyor belt, providing a flatter, more stable, and less undulating pasting environment and visual capture environment.

[0030] like Figure 2 and Figure 3 As shown, each workstation includes a stacking robot, which is mounted on a robot seat 7. The robot seat 7 includes four inclined diffusion plates 72, which gradually diffuse outward from top to bottom. Each inclined diffusion plate 72 is provided with a flow hole 73, and such a design ensures firmness, deformation damping and heat dissipation.

[0031] The specific structure of the stacking robot includes a body 6 and a grasping device 1 connected thereto. The body 6 includes a body rotating seat 61 and a multi-joint robotic arm 62 connected thereto. Driven by the body rotating seat 61, the multi-joint robotic arm 62 can rotate in the horizontal direction. The body rotating seat 61 can include conventional structures in the prior art such as a rotating disk and a motor. In this case, the multi-section robotic arm 62 adopts a multi-section articulated design. Specifically, a fixed arm 621 is connected to the body rotating seat 61, and then a rotating arm 1 622, a rotating arm 2 623 and a rotating arm 3 624 are successively articulated. These three sections of the rotating arms can rotate in the vertical direction when driven by a driving component such as a motor. The multi-section articulated design and the design of the body rotating seat 61 make the position of the grasping device 1 flexible and adjustable.

[0032] like Figure 4 As shown, the gripping device 1 includes a rotating assembly 11 that is rotatably connected to the end of the multi-joint mechanical arm 62. The rotating assembly 11 may include conventional components such as a rotating bearing, a rotating shaft, and a rotating motor. The rotating assembly 11 is connected to a central fixed block 124. The entire connection frame 12 includes an external outer frame 121 and a partition frame 112 connected to the outer frame 121. The partition frame 112 divides the middle area of ​​the entire outer frame 121 into a plurality of square grid patterns. A middle oblique plate 123 is provided in the middle of the four sides of the outer frame 121.

[0033] A plurality of cotton piercing devices 4 are connected to the grabbing device 1, such as Figure 7 As shown. Each cotton piercing device 4 is provided with two sets of cotton piercing units 41, which are arranged obliquely facing each other. Each set of cotton piercing units 41 includes an independent driving rod 411, such as a gas rod. A limit block 412 is provided at the end of the driving rod 411, and a specified number of needles 414 are provided on the limit block 412. For example, in this case, each limit block 412 is provided with two needles.

[0034] Under such an inclined and staggered arrangement, when the upper layer of the mat needs to be forked, the gas rod is driven and the needle 414 is extended. The two sets of needles are inclined to pierce downward and outward, which can penetrate the upper layer of the mat and make the mat not easy to slip off, and the fixation is good.

[0035] In order to ensure the directionality of the needle extension and to prevent the needle from penetrating too deeply and damaging the upper pad, the technical solution is provided with a limit structure. Specifically, it includes a guide needle seat 413, which can be fixed to the connection frame 12 by bolts and other fixings. A guide path 4132 is provided on the guide needle seat 413, and its direction is preset and inclined. The needle 414 walks in the guide path 4132, which plays a role in guiding the direction of the needle. On both sides of the guide needle seat 413, there are conflicting inclined surfaces 4131, which are used to conflict with the lower surface of the limit block 412 to prevent the limit block 412 from descending too much and the needle 414 from piercing too much.

[0036] like Figure 4 As shown, a plurality of cotton quilling devices 4 are arranged on the entire connection frame 12. The number and arrangement positions of the cotton quilling devices 4 can be specifically adjusted according to the size, size, thickness, weight, etc. of the pad used by the manufacturer.

[0037] Both the movement of the multi-joint mechanical arm 62 and the movement of each cotton needle holder 4 are controlled by the robot control cabinet through the wireless network. The data source of these control signals comes from the visual recognition technology.

[0038] Specifically, it includes a visual capture device 5, which is composed of two parts, namely a rough visual device 51 and a fine visual device 52. The rough visual device 51 is used to capture the images of the upper material and the bottom material, and it does not move. Figure 2 The multi-link detachable frame 511 is shown, and the specific position of the end camera 512 in the horizontal direction and the height direction can be adjusted conveniently by disassembling the connecting rods. When the coarse vision device 51 identifies the position of the upper material and the bottom material, it transmits the corresponding signal to the robot control cabinet. The robot control software installed in the robot control cabinet calculates the movement data of the multi-joint robot arm 62 through a preset software algorithm.

[0039] The precision vision device 52 is different in that it is not directly fixed on the ground by a bracket, but is installed on the grasping device 1 and follows the movement of the grasping device 1 to capture specific images.

[0040] Specifically, Figure 4 As shown in FIG. 1 , edge vision devices 3 are installed at the four corners of the connection frame 12. The edge vision device 3 is the fine vision device 52 mentioned above. Figure 6 As shown, it includes a visual mounting frame 31 connected to the connection frame 12 and a camera 32 connected to the visual mounting frame 31. It also includes a supplementary light source to increase the brightness and clarity of the captured image. The supplementary light source includes an aluminum shell 33, and the aluminum shell 33 includes an aluminum shell main part 331 and a heat dissipation part 332 thereon. Glass 35 and a front pressure plate 34 are also provided under the aluminum shell 33.

[0041] like Figure 4 and Figure 5 As shown, in order to further improve the brightness of the working environment and provide a good light foundation for visual recognition. The central light source 2 is arranged in the middle of the connecting frame 12, that is, it is installed on the central fixed block 124. The central light source 2 includes a light source bracket 21, and an LED lamp 24 is installed on the light source bracket 21. A light mixing plate 22 is provided on the side of the light source bracket 21 facing the LED lamp, and a circuit board 23 is provided on the opposite side. The light source bracket 21 adopts a bent hollow design. Specifically, it includes a mounting portion 211 and an acute-angle bending portion 213. The acute-angle bending portion 213 can be connected to the connecting frame 12, and the LED lamp 24 is installed on the mounting portion 211. The angle between the planes where the two parts are located after extension is an acute angle, generally between 60°-75°. The two parts are connected in the middle by a transition portion 212, and a plurality of through holes 214 are provided on the transition portion 212.

[0042] There are many reasons and benefits for such a setting. On the one hand, it increases the distance between the mounting portion 211 and the LED lamp 24 and the connecting frame 12, so that it has a better light radiation space and optimizes the lighting angle. On the other hand, it is conducive to the heat dissipation of the circuit board. Finally, the design of the through hole not only enhances air convection and heat dissipation, but also prevents the dust flying from the conveying mat from gathering on the light source bracket 21.

[0043] In this case, the stacking robot grabs the upper material through the coarse vision device 51 and places it on the bottom material. The bottom material has glue and a certain degree of stickiness. Subsequently, the fine vision device 52 and the coarse vision device 51 find that a certain position is uneven. For example, the lower right corner of the upper material is uneven, and the grabbing device 1 approaches the upper material again. At this time, only the needle on the cotton piercing device 4 at the lower right corner of the entire connecting frame 12 is pierced to grab the material in this part, and then the stacking robot pulls and corrects this part through the action to improve the flatness of the upper material.

[0044] like Figure 1 As shown, an electronic fence 9 is provided around each workstation. The electronic fence 9 may include a plurality of photoelectric sensors. When a worker breaks into the work area, the photoelectric sensor will immediately capture the worker's presence, thereby generating a signal to be sent to the robot control cabinet, and the stacking robot will stop working to avoid causing harm to the worker.

Claims

1. A multifunctional composite robot system, characterized in that: The invention comprises a bottom material conveying device (81) for conveying a bottom material of a composite pad and an upper material conveying device (82) for conveying an upper material of a composite pad; and further comprises a composite robot for moving the upper material onto the bottom material, the composite robot comprising a body (6) and a grasping device (1) mounted on the body (6), the grasping device (1) comprising a connecting frame (12) and a plurality of cotton quilling devices (4) connected to the connecting frame (12), the cotton quilling devices (4) comprising a driving rod (411) and a gripping device (112) mounted on the driving rod (411). The machine body (6) comprises a machine body rotating seat (61) and a multi-joint mechanical arm (62) that can rotate in the horizontal direction under the drive of the machine body rotating seat (61), the multi-joint mechanical arm (62) is connected to a gripping device (1) at the end, and also comprises a visual capture device (5) for shooting an image, and also comprises a gluing machine (83) for gluing the base material, the upper material conveying device (82) comprises a plurality of conveying rollers, the base material conveying device (81) comprises a conveyor belt, the upper material conveying device (82) and the base material conveying device (81) have a transmission direction perpendicular to each other, and the conveyor belt provides a flat and stable base material during transportation. The basic environment of the present invention is as follows: each set of the cotton piercing device (4) comprises two cotton piercing units (41), the two cotton piercing units (41) are arranged in a staggered and inclined manner, and the inclination manner is such that the distance between them gradually increases according to the direction in which the needle (414) pierces out; the cotton piercing device (4) further comprises a guide needle seat (413) connected to the connecting frame (12), the guide needle seat (413) comprises a guide path (4132) for the needle (414) to pass through, the end of the driving rod (411) is connected to a limit block (412), the needle (414) is mounted on the limit block (412), and the guide needle seat (413) comprises a contact inclined surface (4131) for contacting the limit block (412).

2. A multifunctional compound robot system according to claim 1, characterized in that: A broken needle detector (84) is provided on the conveying path of the bottom material for detecting whether there are broken needles on the upper material and / or the bottom material.

3. A multifunctional compound robot system according to claim 2, characterized in that: The broken needle detector (84) is a metal detection sensor.

4. A multifunctional compound robot system according to claim 1, characterized in that: It also comprises an electronic fence (9), wherein the electronic fence (9) comprises a plurality of sensors, and the plurality of sensors surround a working area where the composite robot is located.

5. The multifunctional compound robot system according to claim 1, characterized in that: The visual capture device (5) comprises a coarse vision device (51) mounted on the ground and a fine vision device (52) mounted on the grasping device (1); the coarse vision device (51) comprises a multi-link detachable frame (511) standing on the ground and a camera (512) mounted on the multi-link detachable frame (511).

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