Plate inspection and classification system based on robotic arm application

Abstract

The present invention provides a plate inspection and classification system based on the application of a robotic arm, which includes a flap mechanism for flipping plates, a robotic arm arranged on one side of the flap mechanism, a plate suction rack arranged on the movable end of the robotic arm, a plurality of plate stacking racks arranged around the robotic arm, and a control device; the control device is electrically connected to the flap mechanism, the robotic arm, and the plate suction rack. It also includes a material preparation table, a loading table arranged at the exit end of the material preparation table and located on one side of the flap mechanism, an automatic loading mechanism arranged above the loading table, a guide rail, and a discharging device arranged on the guide rail and movable along the guide rail; the control device is connected to the material preparation table, the loading table, the automatic loading mechanism, and the discharging device. The present invention is novel and unique in design, highly practical, and highly automated. It uses a flap mechanism to flip the plates so that the staff can inspect the plate surface, and then the plates are automatically placed on the plate stacking rack according to the plate inspection level through the robotic arm and the plate suction rack, thereby realizing automatic flipping and automatic classification.

Description

Technical Field

[0001] The present invention relates to the technical field of plate processing equipment, and in particular to a plate inspection and classification system based on the application of a robot arm. Background Art

[0002] Decorative boards mainly include blockboards, plywood, decorative panels, etc., which are mainly used in furniture, doors and windows, etc. In actual processing, decorative boards are generally processed and formed through processes such as dusting, hot pressing, scraping and trimming, drying boards, and board inspection. In the board inspection work, the board needs to be turned over, and the staff will conduct an appearance inspection on the two surfaces of the board to visually check whether there are scratches, scratches and other damages on the surface of the board. In order to reduce the workload of the staff, a board turning mechanism will be used to turn the board over for surface inspection. After the staff has inspected the board, they need to classify it according to the board inspection standards such as superior products and inferior products. Generally, the boards are manually transported and stacked. However, this inspection and classification method has high labor intensity, high manpower investment, and unsatisfactory work efficiency.

[0003] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a plate inspection and classification system based on the application of a robotic arm, which has a novel and unique design, strong practicality, a high degree of automation, can automatically flip and classify plates, and has high work efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A plate inspection and classification system based on the application of a robotic arm comprises a flipping mechanism for flipping plates, a robotic arm arranged on one side of the flipping mechanism, a plate suction rack arranged at the movable end of the robotic arm, a plurality of plate stacking racks arranged around the robotic arm, and a control device; the control device is electrically connected to the flipping mechanism, the robotic arm, and the plate suction rack.

[0007] In the plate inspection and classification system based on the application of the robot arm, the plate turning mechanism includes a frame, a plurality of belt conveying components for conveying plates arranged horizontally side by side and at intervals on the frame, two rotating shafts arranged horizontally side by side and rotatable, a turning rod arranged below the belt conveying component and used for turning the plate, a driving mechanism for driving the turning rod to swing, and at least two supporting members for supporting the plate and arranged side by side below the belt conveying component;

[0008] Each of the rotating shafts is fixedly connected to at least two of the turning rods located between adjacent belt conveying components;

[0009] The two rotating shafts are arranged perpendicular to the conveying direction of the belt conveying component;

[0010] The support members are respectively arranged at both ends of the rotating shaft; each rotating shaft is correspondingly provided with a cam for driving the support members to move vertically synchronously.

[0011] In the plate inspection and classification system based on the application of a robotic arm, the driving mechanism is a telescopic cylinder hinged to the frame; the telescopic cylinder is arranged below the flip rod and hinged to the flip rod.

[0012] In the plate inspection and classification system based on the application of a robotic arm, the belt conveying component includes a supporting square rod fixed to a frame, an active roller and a driven roller rotatably arranged at both ends of the supporting square rod, a conveying belt wound around the active roller and the driven roller, and a driving device for driving the active roller to rotate.

[0013] In the plate inspection and classification system based on the application of the robot arm, two limit blocks slidably connected to the two side surfaces of the support member are fixedly provided corresponding to the side surfaces of the supporting square rod; and the rotating shaft is rotatably installed on the supporting square rod.

[0014] In the plate inspection and classification system based on the application of a robotic arm, the flipping mechanism is also provided with two sets of positioning mechanisms which are arranged on the outside of the belt conveying component and are used for centering the plates; at least two baffles and a position detector connected to a control device are arranged on the rear side of the flipping mechanism; the positioning mechanism is arranged on the front side of the baffle; the positioning mechanism includes a positioning wheel and a positioning rod which is rotatably connected to the positioning wheel and is vertically arranged; the positioning rod can move in a horizontal direction perpendicular to the conveying direction of the belt conveying component.

[0015] In the plate inspection and classification system based on the application of a robot arm, the support member is provided with a square hole abutting against the cams of the two rotating shafts; and the top surface of the support member is horizontal.

[0016] In the plate inspection and classification system based on the application of the robot arm, the top surface of the flip rod is provided with a plurality of support blocks in contact with the surface of the plate.

[0017] The plate inspection and classification system based on the application of a robotic arm also includes a material preparation table, a loading table located at the exit end of the material preparation table and on one side of the plate flipping mechanism, and an automatic loading mechanism located above the loading table; the control device is electrically connected to the material preparation table, the loading table and the automatic loading mechanism.

[0018] The plate inspection and classification system based on the robot arm application also includes a guide rail and a discharging device arranged on the guide rail and movable along the guide rail; the discharging device is arranged on one side of the robot arm; and the control device is electrically connected to the discharging device.

[0019] Beneficial effects:

[0020] The present invention provides a plate inspection and classification system based on the application of a robotic arm, which has a novel and unique design, strong practicability, a high degree of automation, can automatically turn over and classify plates, and has high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A structural stereogram of the plate inspection and classification system based on the robot arm application provided by the present invention, as well as the material preparation table and automatic plate loading mechanism.

[0022] Figure 2 A top view of the plate inspection and classification system and material preparation table based on the application of the robotic arm provided by the present invention.

[0023] Figure 3 A structural stereogram of a plate inspection and classification system based on a robotic arm provided by the present invention.

[0024] Figure 4 A structural stereogram of the plate flipping mechanism in the plate inspection and classification system based on the robot arm application provided by the present invention.

[0025] Figure 5 for Figure 4 A schematic structural diagram of the belt conveying component in the provided flap mechanism.

[0026] Figure 6 for Figure 4 A schematic structural diagram of a flip rod in the provided flap mechanism.

[0027] Figure 7 for Figure 4 A schematic structural diagram of a support member in the provided flap mechanism.

[0028] Figure 8 for Figure 4 A structural stereogram of the positioning mechanism in the provided flap mechanism. DETAILED DESCRIPTION

[0029] The present invention provides a plate inspection and classification system based on the application of a robotic arm. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0030] See also Figure 3The present invention provides a plate inspection and classification system based on the application of a robotic arm, including a flipping mechanism 100 for flipping a plate 3, a robotic arm 400 arranged on one side of the flipping mechanism 100, a plate suction rack 500 arranged at the movable end of the robotic arm 400, a plurality of plate stacking racks 600 arranged around the robotic arm 400, and a control device (not shown in the figure); the control device is electrically connected to the flipping mechanism 100, the robotic arm 400, and the plate suction rack 500.

[0031] When the plate is placed on the flip mechanism 100, the staff inspects the upper surface of the plate beside the flip mechanism 100, and then inputs a command to the control device to let the control device control the flip mechanism 100 to perform an automatic flip operation, so that the staff can inspect the other surface of the plate.

[0032] After the plate inspection is completed, the staff classifies the plate according to the plate inspection standards. A plurality of plate stacking racks 600 are arranged around the robot arm 400. In this embodiment, four plate stacking racks are arranged to provide classified stacking positions for Class A, Class B, Class C, and Class D plates. If the plate belongs to Class A (high-quality) plate, the control device controls the robot arm 400 to work with the plate suction rack 500, so that the plate suction rack 500 uses vacuum adsorption technology to suck up the plate on the flipping mechanism and place it on the corresponding plate stacking rack 600, so as to realize plate classification, greatly reduce manpower input, speed up work efficiency, and stack the plates neatly.

[0033] Of course, three plate stacking racks can also be set up to stack high-quality, medium-quality, and low-quality plates.

[0034] The control device can be a PLC control system, which is used to coordinate and control the operation of the mechanical arm, the plate suction frame, and the plate turning mechanism.

[0035] The robot arm 400 may be the RMD160 palletizing robot produced by Guangzhou CNC Equipment Co., Ltd., which is widely used in tasks such as palletizing and handling in the fields of packaging, beverages, chemicals, and food. A six-axis robot arm may also be used. The plate suction frame 500 is composed of a frame fixedly connected to the movable end of the robot arm 400 and a plurality of vacuum suction cups arranged on the frame, such as a vacuum suction cup device disclosed in patent application number 201811012518.1. Since the plate flipping mechanism 100 will transport the plate to a fixed position after the staff completes the plate inspection, it is convenient for the robot arm 400 to drive the plate suction frame 500 to vacuum adsorb the plate moved to the fixed position.

[0036] When the robot arm is stacking the plates, the X and Y coordinate values ​​will be kept unchanged, and then the height will be adjusted according to the number of plates stacked on the plate stacking rack, so that each plate can be stacked neatly.

[0037] A support leg is provided at the bottom of the plate stacking rack 600, so that after the plates are stacked, a forklift can use its fork to lift the plate stacking rack and transport the sorted plates.

[0038] Furthermore, if Figure 1 , Figure 2 As shown, the plate inspection and classification system also includes a material preparation table 200, a loading table 900 arranged at the exit end of the material preparation table 200 and located on one side of the flip mechanism 100, and an automatic loading mechanism 300 arranged above the loading table 900; the control device is electrically connected to the material preparation table 200, the loading table 900 and the automatic loading mechanism 300.

[0039] The material preparation table 200 and the loading table 300 are both roller conveyors, and are provided with position detectors such as proximity switches at the exits of the material preparation table and the loading table to detect when the plate has moved into position and send a signal to the control device, which controls the roller conveyor to work or stop conveying, so that the plate stops on the loading table or the material preparation table. The material preparation table 200 can be docked with other conveying mechanisms to allow the plate to be transferred to the material preparation table through other conveying mechanisms, waiting for the plate inspection process to be processed. Of course, the material preparation table can also transfer plates with a forklift, and its structure is like the feed table in the patent application number 201811340445.9, "A decorative panel production line using intelligent RGV".

[0040] After being processed by hot pressing and other processes, the plates are transported to the preparation table 200. If the loading table is in an empty state (that is, there are no plates), the control device controls the preparation table to work and transport the stacked plates to the loading table; then the automatic loading mechanism 300 adsorbs the plates on the loading table and transfers them to the flip mechanism 100 under the operation of the control device.

[0041] The automatic plate loading mechanism 300 includes a plate loading frame with a suction cup, a driving mechanism for driving the plate loading frame to move vertically, and a driving device for driving the plate loading frame to move horizontally, and can vacuum-absorb the plates stacked on the loading platform 900 and move them to the plate turning mechanism 100. The automatic plate loading mechanism can adopt the automatic plate loading device in the patent application No. 201420798336.2, "A one-time forming plate production line capable of automatic loading and unloading".

[0042] Of course, the automatic loading mechanism 300 can directly place the plate on the flipping position of the flipping mechanism 100. After the staff has inspected the upper surface of the plate, the flipping mechanism 100 can be controlled to work and directly flip the plate.

[0043] By setting up an automatic loading mechanism, a material preparation table and a loading table, it is beneficial to form a mechanical automated production line with a hot press, a drying line, etc., which reduces labor intensity, reduces manpower input, and greatly improves work efficiency.

[0044] Furthermore, if Figure 1 , Figure 2 , Figure 3 As shown, the plate inspection and classification system further includes a guide rail 800, a discharging device 700 disposed on the guide rail 800 and movable along the guide rail 800; the discharging device 700 is disposed on one side of the robot arm 400; and the control device is electrically connected to the discharging device 700. The discharging device 700 is a roller conveyor, and a roller shaft and rollers disposed at both ends of the roller shaft and slidably connected to the guide rail 800 are disposed below the discharging device 700, and a motor for driving the roller to rotate. When the motor is working, the roller shaft is driven to rotate through a chain, and then the discharging device is driven by the roller to move along the guide rail 800 with the plate.

[0045] After the plate inspection and classification are completed, the robot arm can be controlled to transfer the classified plates to the discharging device, and the discharging device transports the plates to the next process or to the warehouse. Of course, rollers and guide rails can also be set under the plate stacking rack 600. When the plate stacking rack is full of plates, the plate stacking rack moves along the guide rails to transport the classified plates out.

[0046] In the prior art, when the plate is turned over, the conveying belt of some plate turning mechanisms is stretched or even cut off due to the downward pressure exerted by the corners of the plate, thereby shortening the service life of the plate turning mechanism. Therefore, the present invention also makes structural improvements to the structure of the turning mechanism.

[0047] like Figure 4 , Figure 6 , Figure 7 As shown, the flipping mechanism 100 includes a frame 1, a plurality of belt conveying components 2 for conveying plates 3 arranged horizontally side by side and at intervals on the frame 1, a rotating shaft 46 and a rotating shaft 56 arranged horizontally side by side and rotatable, a flipping rod 4 and a flipping rod 5 arranged below the belt conveying component 2 and used for flipping the plates 3, a driving mechanism for driving the flipping rod 4 and the flipping rod 5 to swing clockwise and counterclockwise, and at least two supporting members 6 for supporting the plates 3 and arranged side by side below the belt conveying component 2.

[0048] The rotating shaft 45 is fixedly connected to at least two of the flipping rods 4 located between adjacent belt conveying components 2; the rotating shaft 55 is fixedly connected to at least two of the flipping rods 5 located between adjacent belt conveying components 2. In this embodiment, three flipping rods are arranged on the rotating shaft 45, and three flipping rods are arranged on the rotating shaft 55.

[0049] The rotating shaft 45 and the rotating shaft 55 are both arranged horizontally and perpendicular to the conveying direction of the belt conveying component 2 .

[0050] The support members 6 are respectively arranged at both ends of the rotating shaft 45 and the rotating shaft 55; the rotating shaft 45 is correspondingly fixed with a cam 46 for driving the two support members 6 to move vertically synchronously. Similarly, the rotating shaft 55 is correspondingly fixed with a cam 56 for driving the two support members 6 to move vertically synchronously.

[0051] Taking the conveying direction of the belt conveyor as the front-to-back direction, the loading platform 900 and the discharging device 700 can be arranged on the left or right side of the flip mechanism 100, and the robot arm 400 can be arranged on the rear side of the flip mechanism. When the plate is conveyed to the rear side of the flip mechanism by the belt conveyor, it is convenient for the robot arm to transfer the plate to the plate stacking rack.

[0052] like Figure 4 , Figure 6 As shown, specifically, the driving mechanism is a telescopic cylinder 43 and a telescopic cylinder 53 hinged to the frame 1; the telescopic cylinder 43 is arranged below the flip rod 4 and hinged to the flip rod 4. The telescopic cylinder 53 is arranged below the flip rod 5 and hinged to the flip rod 5.

[0053] In this embodiment, the cylinder body of the telescopic cylinder 43 is hinged with a mounting seat 44, which is fixed to the frame 1 by bolts, and the bottom surface of the flip rod 4 is fixed with a connecting portion by bolts or welding, and the piston rod of the telescopic cylinder 43 is hinged with the connecting portion. Similarly, the cylinder body of the telescopic cylinder 53 is hinged with a mounting seat 54, which is fixed to the frame 1 by bolts, and the bottom surface of the flip rod 5 is fixed with a connecting portion by bolts or welding, and the piston rod of the telescopic cylinder 53 is hinged with the connecting portion.

[0054] The right end of the flip rod 4 is fixed to the rotating shaft 45, and when the telescopic cylinder 43 works, the flip rod 4 can rotate around the rotating shaft 45. Similarly, the left end of the flip rod 5 is fixed to the rotating shaft 55, and when the telescopic cylinder 53 works, the flip rod 5 can rotate around the rotating shaft 55.

[0055] like Figure 1 , Figure 4 , Figure 5 , Figure 8 As shown, the flap mechanism 100 is also provided with two sets of positioning mechanisms 8 located outside the belt conveyor component 2 and used for centering the plate; at least two baffles 11 and a position detector (not shown in the figure) are provided on the rear side of the flap mechanism 100, and the front side of the baffle 11 is provided with a buffer pad 12 that can contact the rear side of the plate 3; the positioning mechanism 8 is located on the front side of the baffle 11.

[0056] The positioning mechanism 8 includes a positioning wheel 81, a positioning rod 82 which is rotatably connected to the positioning wheel 81 and vertically arranged; the positioning rod 82 can move in a horizontal direction perpendicular to the conveying direction of the belt conveying component 2. Specifically, the bottom of the positioning rod 82 is fixed to a slide seat 84; the flap mechanism 100 is provided with a positioning telescopic cylinder 85, the piston rod of which is connected to the slide seat 84, and the slide seat 84 is slidably connected to the slide rail 83.

[0057] After the plate inspection is completed, the plate 3 moves backward under the operation of the belt conveyor 2 until the rear side of the plate 3 contacts the front side of the buffer pad 12. At this moment, the position detector such as the photoelectric proximity switch detects that the plate has moved into position, and sends a signal to the control device, which controls the belt conveyor 2 to stop working and stop the plate from moving. Then the positioning mechanism 8 starts to work, the piston rod of the positioning telescopic cylinder 85 retracts, driving the slide 84 to move horizontally along the slide rail 83, driving the positioning wheel 81 from the outside of the belt conveyor 2 to the middle, and pushing the plate to be positioned and centered, so that the robot arm 400 drives the plate suction rack 500 to absorb the plate and accurately place the plate on the plate stacking rack 600, so that the plate can be stacked neatly.

[0058] like Figure 4 , Figure 5 As shown, specifically, the belt conveying component 2 includes a supporting square rod 21 fixed to the frame 1, a driving roller 23 and a driven roller 22 rotatably arranged at both ends of the supporting square rod 21 through a bearing seat, a conveying belt (not shown in the figure) wound around the driving roller 23 and the driven roller 22, and a driving device for driving the driving roller 23 to rotate. In this embodiment, four belt conveying components 2 are fixedly connected to the frame 1 by welding or bolting, and are evenly spaced.

[0059] Specifically, the driving device is a driving motor 26 fixed to the frame 1 and located below the supporting square rod 21. The driving rollers 23 are fixedly connected to a transmission shaft 24, and the driving motor 26 is connected to the transmission shaft 24 by power.

[0060] In this embodiment, a driven pulley 25 is provided at one end of the transmission shaft 24, and correspondingly, a driving pulley 27 is provided at the output shaft of the driving motor 26, and at least one transmission belt (not shown in the figure) is provided between the driving pulley 27 and the driven pulley 25. When the driving motor 26 is working, the transmission shaft 24 rotates through the power transmission of the driving pulley, the transmission belt and the driven pulley, thereby driving the driving roller to rotate at the same time, so that the conveyor belt conveys the plate.

[0061] like Figure 4 , Figure 6As shown, specifically, the rotating shaft 46 and the rotating shaft 56 are rotatably mounted on the supporting square rod 21 through the bearing seat. In this embodiment, all the supporting square rods 21 are provided with openings suitable for the rotating shaft 46 and the rotating shaft 56 to pass through, and the outer side surfaces of the supporting square rods 21 located on both sides of the frame 1 are respectively fixed with two bearing seats rotatably connected to the rotating shaft 46 and the rotating shaft 56 by bolts.

[0062] like Figure 6 , Figure 7 As shown, specifically, the side surfaces of the supporting square rod 21 are fixedly provided with stop blocks 71 and 72 which are slidably connected to the two side surfaces of the supporting member 6. By providing the stop blocks 71 and 72, the supporting member 6 moves along the height direction of the stop blocks 71 and 72 under the action of the cam 46 or the cam 56, and does not move horizontally.

[0063] In this embodiment, the cross-section of the limit block 71 and the limit block 72 is L-shaped and is fixed to the inner side of the supporting square rod 21 by welding. The inner wall surface of the limit block 71 and the limit block 72 contacts the side surface and the surface of the supporting member 6 and can slide relative to each other.

[0064] like Figure 6 , Figure 7 As shown, specifically, the support member 6 is respectively provided with a square hole 61 abutting against the cam 46 of the rotating shaft 45 and a square hole 62 abutting against the cam 56 of the rotating shaft 55; the top surface of the support member 6 is horizontal to support the corners of the plate when flipping.

[0065] In this embodiment, the support member 6 is a square plate, and two support members 6 are provided, which are respectively provided on the inner side surfaces of the support square rods 21 located on both sides of the frame 1. Of course, more than three support members can be provided on the side surfaces of the support square rods as needed.

[0066] like Figure 4 , Figure 6 As shown, specifically, a plurality of support blocks 42 in contact with the surface of the plate are provided on the top surface of the flip rod 4. A plurality of support blocks 52 in contact with the surface of the plate are provided on the top surface of the flip rod 5. Specifically, the support blocks 42 and 52 are both truncated cone-shaped and are evenly arranged along the length direction of the flip rod 4 and the flip rod 5, respectively. The support blocks 42 and 52 are made of rubber material. The flip rod 4 fixedly connected to the rotating shaft 45 and the flip rod 5 fixedly connected to the rotating shaft 55 are symmetrically arranged with respect to the vertical plane, and the flip rod 4 fixedly connected to the rotating shaft 45 and the flip rod 5 fixedly connected to the rotating shaft 55 are coplanar in one-to-one correspondence.

[0067] In this embodiment, the middle of the support block 42 and the support block 52, which are made of rubber and are in the shape of a truncated cone, are respectively provided with connection holes suitable for screw connection with the flip rod 4 and the flip rod 5. The flip rod 4 is a square rod 41, and the flip rod 5 is a square rod 51. Of course, other shapes of rods such as round rods can also be used.

[0068] like Figure 4 , Figure 6 and Figure 7 As shown, the working principle of the present invention is as follows: Assume that the direction in which the sheet moves from the flip rod 4 to the flip rod 5 is the conveying direction. When the sheet moves under the conveying of the belt conveyor 2 and reaches above the flip rod 4, the telescopic cylinder 53 is activated to drive the flip rod 5 to rotate counterclockwise. At this moment, the support member 6 moves upward due to the action of the cam 56, lifting the sheet away from the conveying belt, and then the telescopic cylinder 43 is activated to drive the flip rod 4 to rotate clockwise, thereby causing the support block 42 on the flip rod 4 and the support block 52 on the flip rod 5 to contact the two surfaces of the sheet respectively. Subsequently, the flip rod 5 swings clockwise under the action of the telescopic cylinder 53, and the flip rod 4 continues to rotate clockwise, slowly turning up the sheet, and then firmly clamping the sheet for turning.

[0069] When the rotating shaft 45 and the rotating shaft 55 rotate, the cam 46 and the cam 56 rotate accordingly, and contact the inner wall surface of the square hole 61 and the inner wall surface of the square hole 62 of the support member 6, thereby driving the support member 6 to move from below the conveyor belt of the belt conveyor component 2 to above the conveyor belt, providing support for the bottom (the lowest corner) of the plate being turned over, avoiding the conveyor belt from exerting downward pressure on the conveyor belt so as to cause the conveyor belt to be cut, thereby extending the service life of the conveyor belt.

[0070] When the turning rod 5 swings to the bottom of the conveying belt, the conveying belt supports the plate, and then the turning rod 4 rotates counterclockwise to allow the belt conveying component 2 to continue conveying the plate.

[0071] When the flip rod 4 and the flip rod 5 are under the conveyor belt, the support member 6 is under the conveyor belt. When the flip rod 4 or the flip rod 5 rotates clockwise or counterclockwise to make the flip rod higher than the conveying plane of the conveyor belt, the top surface of the support member 6 is always higher than the conveying plane of the conveyor belt, lifting the plate, and the two support members 6 located on both sides of the frame 1 always rise and fall synchronously.

[0072] In addition, in order to realize automatic control, when the automatic board loading mechanism 300 does not place the board at the flipping position of the flipping mechanism 100, a position detector such as a photoelectric proximity switch can be arranged below the conveyor belt between the rotating shaft 55 and the rotating shaft 45, and the photoelectric proximity switch is connected to the control device. The control device is electrically connected to the telescopic cylinder 43, the telescopic cylinder 53, and the belt conveyor component 2 respectively.

[0073] When the photoelectric proximity switch detects that the plate has moved into place, the control device controls the belt conveyor component 2 to stop working according to the signal of the photoelectric proximity switch, and controls the telescopic cylinder 53 and the telescopic cylinder 43 to work, so that the flip rod 4 and the flip rod 5 clamp the plate for safe and stable flipping.

[0074] The operation of the telescopic cylinder 43 and the telescopic cylinder 53 is completely and accurately controlled by the control device. When the telescopic cylinder 43 and the telescopic cylinder 53 return to their original positions, the belt conveying component 2 continues to convey the plate under the control of the control device.

[0075] In summary, the present invention provides a plate inspection and classification system based on the application of a robotic arm, which has a novel and unique design, strong practicality, a high degree of automation, can automatically flip and classify plates, and has high work efficiency.

[0076] In addition, the present invention is also practical, stable and has a long service life, and can effectively prevent the conveying belt of the belt conveying component from being cut off by the corners of the plate when turning over.

[0077] The present invention uses a flip rod to clamp the two surfaces of the plate so that the plate can be flipped quickly and stably to protect the plate from damage. At the same time, when the flip rod swings, the cam on the rotating shaft will drive the support member to move upward to support the bottom (corner) of the plate, thereby preventing the conveyor belt of the belt conveying component from being cut due to the downward pressure exerted by the corner of the plate when the plate is flipped, effectively protecting the conveyor belt and extending its service life.

[0078] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the claims attached to the present invention.

Claims

1. A plate inspection and classification system based on the application of a robotic arm, characterized in that: The invention comprises a plate flipping mechanism for flipping plates, a mechanical arm arranged at one side of the plate flipping mechanism, a plate suction rack arranged at the movable end of the mechanical arm, a plurality of plate stacking racks arranged around the mechanical arm, and a control device; the control device is electrically connected with the plate flipping mechanism, the mechanical arm, and the plate suction rack; the plate flipping mechanism comprises a frame, a plurality of belt conveying components for conveying plates arranged horizontally side by side and at intervals on the frame, two rotating shafts arranged horizontally side by side and rotatable, a flipping rod arranged below the belt conveying component and used for flipping plates, a driving mechanism for driving the flipping rod to swing, and at least two supporting members for supporting plates and arranged side by side below the belt conveying component; Each of the rotating shafts is fixedly connected to at least two of the turning rods located between adjacent belt conveying components, and the top surfaces of the turning rods are provided with a plurality of support blocks in contact with the surface of the plate; The two rotating shafts are arranged perpendicular to the conveying direction of the belt conveying component; The support members are respectively arranged at both ends of the rotating shaft; each rotating shaft is correspondingly provided with a cam for driving the support members to move vertically synchronously; The support member is provided with a square hole that abuts against the cams of the two rotating shafts. When the two rotating shafts rotate, the two cams rotate accordingly and contact the inner wall surfaces of the corresponding square holes of the support member, thereby driving the support member to move from below the conveyor belt of the belt conveyor component to above the conveyor belt.

2. The plate inspection and classification system based on the robot arm application according to claim 1 is characterized in that: The driving mechanism is a telescopic cylinder hinged to the frame; the telescopic cylinder is arranged below the flip rod and hinged to the flip rod.

3. The plate inspection and classification system based on the application of a robotic arm according to claim 1, characterized in that: The belt conveying component comprises a supporting square rod fixed to a frame, an active roller and a driven roller rotatably arranged at two ends of the supporting square rod, a conveying belt wound around the active roller and the driven roller, and a driving device for driving the active roller to rotate.

4. The plate inspection and classification system based on the application of a robot arm according to claim 3 is characterized in that: Two limit blocks slidably connected to the two side surfaces of the support member are fixedly provided correspondingly on the side surfaces of the support square rod; and the rotating shaft can be rotatably installed on the support square rod.

5. The plate inspection and classification system based on the robot arm application according to claim 1 is characterized in that: The flap mechanism is also provided with two sets of positioning mechanisms which are arranged on the outside of the belt conveying component and are used for centering the plates; at least two baffles and a position detector connected to the control device are arranged on the rear side of the flap mechanism; the positioning mechanism is arranged on the front side of the baffle; the positioning mechanism includes a positioning wheel, a positioning rod which is rotatably connected to the positioning wheel and is vertically arranged; the positioning rod can move in a horizontal direction perpendicular to the conveying direction of the belt conveying component.

6. The plate inspection and classification system based on the robot arm application according to claim 1 is characterized in that: It also includes a material preparation table, a loading table arranged at the exit end of the material preparation table and located on one side of the flip mechanism, and an automatic loading mechanism arranged above the loading table; the control device is electrically connected to the material preparation table, the loading table and the automatic loading mechanism.

7. The plate inspection and classification system based on the application of a robot arm according to any one of claims 1 to 6, characterized in that: It also includes a guide rail, and a discharging device which is arranged on the guide rail and can move along the guide rail; the discharging device is arranged on one side of the robot arm; and the control device is electrically connected to the discharging device.

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