A pendant automatic hanging rack control system

Abstract

The present application relates to a kind of automatic hanging rack control system of hanging piece, for the front process of surface treatment technology, including hanging piece transport unit, hanging rack positioning unit, hang rack unit, hanging piece sorting unit, visual detection unit, and control unit;Above-mentioned control unit controls hanging piece hang rack process step as follows: S1, the hanging piece transport unit is opened to set speed and transports hanging piece to the area of hanging piece sorting unit;S2, the hanging piece sorting unit is automatically taken hanging piece from the hanging piece transport unit, and places hanging piece on the hang rack unit;S3, control the visual detection unit takes still image, plans the motion path of hanging piece hang rack and calculates the control algorithm of hanging piece hang rack;S4, control the hang rack unit drives hanging piece movement, hangs on the hanging rack of hanging rack positioning unit.There is beneficial effect to improve the production efficiency of surface treatment front process, and automatically install hanging piece product to hanging rack.

Description

[Technical Field]

[0001] This invention relates to the field of automatic control technology, and specifically to an automatic hanging rack control system for hanging items. [Background Technology]

[0002] In manufacturing, surface treatment technologies (such as electroplating, painting, spraying, and heat treatment) can significantly improve the surface quality or appearance of products. For products made of different materials that are numerous, small in size, and lightweight, as many components (products) as possible are typically mounted on racks before surface treatment to increase the quantity of products treated per batch and improve production efficiency. Surface treatment technology consists of two parts: the pre-processing stage (mounting the products on racks) and the post-processing stage (surface treatment).

[0003] Currently, while the downstream processes of product surface treatment have automated production lines, the upstream processes—specifically, the installation of components onto the mounting brackets—remain entirely manual. These upstream processes require significant manpower, have low production efficiency, and represent the majority of a company's labor costs. Therefore, improving the automation level of upstream surface treatment processes is a key technology for enhancing a company's core competitiveness and an essential path to improving production efficiency.

[0004] Furthermore, the high-intensity, repetitive surface treatment processes in the initial stages easily lead to operator fatigue, resulting in a series of safety and management problems such as work-related injuries, errors, emotional distress, and reduced working hours. Taking the electroplating industry as an example: in the initial stage of installing small, cylindrical electroplating hangers onto racks, the manual efficiency is approximately 10 pieces / minute. Considering operator fatigue and preparation time, the actual efficiency is less than 600 pieces / hour. However, the efficiency of the subsequent electroplating process, namely the automated hanger electroplating line, is very high. This necessitates a large number of personnel in the initial stages to meet the production pace of the subsequent stages. Labor costs account for approximately 40% of the total costs in electroplating plants, leaving very limited room for profit improvement.

[0005] A preliminary search of the Chinese patent database using the keywords "hanger AND rack" revealed no patent literature related to automatic hanging device for hangers. Therefore, this invention improves the automatic hanging control system for hangers. [Summary of the Invention]

[0006] The purpose of this invention is to provide a control system that improves the production efficiency of the pre-surface treatment process and automatically installs the hanger products onto the hanger.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is an automatic hanging rack control system for hangers, used in the pre-process of surface treatment technology. It includes a hanger transport unit for cyclically conveying and recovering hangers, a rack positioning unit for fixing racks and determining rack positions, an upper rack unit for hanging hangers onto the racks, a hanger sorting unit for automatically clamping hangers onto the upper rack unit, a vision detection unit for capturing images of the racks and upper rack unit and locating their positions, and a control unit for controlling the hanger transport unit, rack positioning unit, upper rack unit, hanger sorting unit, and vision detection unit to complete the hanging of hangers. The control unit for the hanging process; the aforementioned hanging item conveying unit is installed close to the aforementioned hanging rack positioning unit; the aforementioned hanging item sorting unit, upper hanging rack unit, vision inspection unit, and control unit are installed on the aforementioned hanging rack positioning unit, forming an automated hanging item hanging rack production line; the aforementioned hanging rack is installed on the aforementioned hanging rack positioning unit, and the aforementioned upper hanging rack unit is installed near the hanging rack positioning unit so that the hanging items can be hung on the hanging rack nearby; the aforementioned hanging item sorting unit is precisely positioned relative to the upper hanging rack unit and the hanging item conveying unit so that the aforementioned hanging item sorting unit can pick up the hanging items from the aforementioned hanging item conveying unit and place them on the aforementioned upper hanging rack unit; the aforementioned control unit controls the hanging item hanging rack process steps as follows:

[0008] S1. Activate the hanging item transport unit to transport the hanging item to the hanging item sorting unit area at a set speed;

[0009] S2. The hanging item sorting unit automatically picks up the hanging item from the hanging item transport unit and places the hanging item on the upper hanging frame unit;

[0010] S3. Control the visual detection unit to capture static images of the hanger, including the hanger positioning unit and the upper hanger unit, and plan the motion path of the upper hanger of the hanger based on the captured static image information and calculate the control algorithm of the upper hanger of the hanger.

[0011] S4. Control the upper bracket unit to drive the hanging part to move, so that the hanging part is hung on the bracket on the bracket positioning unit according to the planned upper bracket movement path and the calculated upper bracket control algorithm.

[0012] Preferably, in the above-mentioned automatic hanging rack control system for hanging items, the hanging item conveying unit includes hanging items, a feeding machine, a conveyor belt, and a recycling machine. The hanging items are conveyed by the conveyor belt after passing through the feeding machine. Hang items that are not picked up by the hanging item sorting unit at the end of the conveyor belt enter the recycling machine and return to the feeding machine, forming a closed-loop process of hanging item conveying. The hanging item conveying speed is set and adjusted by the control unit according to the actual production cycle.

[0013] Preferably, in the above-mentioned automatic hanging rack control system, the hanging rack positioning unit includes a body, a hanging rack, a positioning mold, a clamping device, a base plate, and a top plate; the hanging rack is installed on the positioning mold, which is used to position the hanging rack; the clamping device clamps the hanging rack to ensure the stability of the hanging rack process; the positioning mold is installed on the base plate, which is installed at the bottom of the body; the top plate is installed at the top of the body; the body is installed close to the conveyor belt, leaving working space for the hanging rack sorting unit to clamp the hanging rack; a spring clip is fixed on the hanging rack, and the spring clip holds the hanging rack in place by elastic deformation.

[0014] Preferably, in the above-mentioned automatic hanging rack control system for hanging items, the hanging rack unit includes a hanging item positioning block, a hanging mechanism, and a fixing plate; the hanging item positioning block and the hanging mechanism are mounted on the fixing plate, and the fixing plate is mounted on the base plate; the hanging item positioning block is a replaceable structure made according to hanging items of different shapes and sizes, used to place the hanging items; the hanging mechanism is used to push the hanging item placed in the hanging item positioning block to a spring clip on the hanging rack, and the spring clip locks the hanging item in place through elastic deformation to realize the hanging of the hanging item on the rack.

[0015] Preferably, in the above-mentioned automatic hanging rack control system for hanging items, the hanging item sorting unit includes a sorting robot, a gripping module, a vision positioning module, and a motion platform; the sorting robot is mounted on the motion platform, and the gripping module and the vision positioning module are mounted on the end of the sorting robot; the sorting robot is used to realize linear motion in the three-dimensional X, Y, and Z axes and rotational motion in the Z axis direction; the gripping module is used to realize the opening and closing motion of gripping the hanging items; the vision positioning module is used to realize image recognition and position positioning of the hanging items; and the motion platform is used to extend the movement range of the sorting robot in the two-dimensional X and Y axes; the sorting robot automatically controls the gripping module to grip the hanging items from the conveyor belt and move the hanging items to place them in the hanging item positioning block through linear motion in the X, Y, and Z axes and rotational motion in the Z axis direction.

[0016] Preferably, in the above-described automatic hanging rack control system for hangers, the visual detection unit includes a 3D camera and positioning markers; the 3D camera is mounted on the top plate and is used to capture static images of the hanger mounted on the positioning mold on the bottom plate, the hanger in the hanging positioning block, and the hanging mechanism; the positioning markers are mounted on the bottom plate and the positioning mold and are used to provide reference points for the static images, so that the control unit can identify the static images to construct position models of the hanger and hanger, plan the motion path of the hanging rack on the hanger, and calculate the control algorithm for the hanging rack on the hanger.

[0017] Preferably, in the above-mentioned automatic hanging rack control system for hangers, the control unit includes a main control board, a motion control module, and a pneumatic control module; the feeding machine is electrically connected to the main control board to realize the feeding control of hangers; the recycling machine is electrically connected to the main control board to realize the recycling control of hangers; the conveyor belt is electrically connected to the motion control module to realize the transport speed control of hangers; the sorting robot is electrically connected to the main control board to realize the identification and positioning of hangers by the vision positioning module and the gripping of hangers by the gripping module; the hanging mechanism is connected to the pneumatic control module to realize the automatic hanging of hangers; and the 3D camera is electrically connected to the main control board to realize image recognition and precise visual positioning of hangers, hangers in the hanging positioning block, and hanging mechanism in the machine body.

[0018] Preferably, in the above-mentioned automatic hanging rack control system, the steps of the control unit controlling the hanging rack process are as follows:

[0019] SS1. Start the feeding machine and the conveyor belt transports the hanging parts to the working area of ​​the sorting robot at a set speed;

[0020] SS2. The visual positioning module of the sorting robot visually identifies the position and posture of the hanging parts on the conveyor belt. The sorting robot adjusts the posture of the gripping module according to the position and posture of the hanging parts on the conveyor belt and grips the hanging parts on the conveyor belt. The sorting robot carries the gripped hanging parts to the top of the upper hanging frame unit, adjusts the posture of the gripping module and places the hanging parts in the hanging part positioning block.

[0021] SS3. Control the 3D camera to capture static images of the hanger containing positioning marks, the hanger in the hanger positioning block, and the upper hanging mechanism, and visually identify whether there are defects in the spring clips on the hanger; based on the captured static image information, plan the motion path of the hanger on the hanger, and calculate the control algorithm of the hanger on the hanger for hangers with defect-free spring clips.

[0022] SS4. Based on the planned movement path of the hanging bracket and the calculated hanging bracket control algorithm, the hanging mechanism is controlled to push the hanging part in the hanging positioning block to move and lock the spring clip on the hanging bracket, thereby realizing the hanging of the hanging part.

[0023] Preferably, in the above-mentioned automatic hanging rack control system for hanging items, the base plate consists of two parallel base plates, the positioning mold consists of two pieces respectively placed at the center of the base plates, the positioning mold has a plurality of hanging racks with two forks arranged on both sides, the forks of the hanging racks are provided with spring clips, and a plurality of hanging rack units are placed on the base plate and arranged on both sides of the positioning mold; the motion platform is set between the two parallel base plates, and the sorting robot is placed on the motion platform; during the hanging item hanging process controlled by the control unit, the hanging rack units are fixed to the base plates, the hanging racks with hanging items flow out of the area with the fixed hanging rack units along with the positioning mold, and at the same time, empty hanging racks flow into the area with the fixed hanging rack units along with the positioning mold.

[0024] Preferably, in the above-mentioned automatic hanging control system for hangers, the hanger is a small bushing product, and the hanging process is a pre-plating process for the small bushing product.

[0025] This invention offers the following advantages: It proposes an automated and intelligent technical solution for the pre-process of surface treatment technology – the hanging of components onto the rack – significantly reducing labor costs and improving production efficiency. Simultaneously, it possesses multi-task processing capabilities, including speed control, shape recognition, accurate clamping, automatic hanging of components, precise positioning and clamping of the rack, visual positioning and defect identification of spring clips, and path planning and control algorithms for hanging components onto the rack. The invention employs a combination of machine vision, artificial intelligence, and robotics, enabling it to adapt more broadly to different application scenarios and varying working conditions within the same application scenario. Furthermore, the sorting robot is mounted on a motion platform, expanding its range of motion. [Attached Image Description]

[0026] Figure 1 This is a schematic diagram of an automatic hanging rack control system for hanging items.

[0027] Figure 2 This is a diagram illustrating the steps of an automatic hanging rack control system for hanging accessories.

[0028] Figure 3 This is a schematic diagram of the structure of a hanging automatic hanging rack control system for hanging items, specifically a hanging item transport unit.

[0029] Figure 4 This is a schematic diagram of the hanger positioning unit structure of an automatic hanger-mounting control system for hanging accessories.

[0030] Figure 5 This is a schematic diagram of the structure of the hanging rack unit in an automatic hanging rack control system for hanging items.

[0031] Figure 6 This is a schematic diagram of the structure of a hanging item sorting unit in an automatic hanging rack control system.

[0032] Figure 7 This is a schematic diagram of the visual inspection unit structure of an automatic hanging rack control system for hanging items.

[0033] Figure 8 This is a schematic diagram of a control unit module for an automatic hanging rack control system for accessories.

[0034] Figure 9 This is a schematic diagram of an automatic hanging rack control system and an automatic hanging rack production line.

[0035] The reference numerals and components involved in the attached drawings are as follows: 1. Hanging part conveying unit, 11. Hanging part, 12. Feeder, 13. Conveyor belt, 14. Recycling machine, 2. Hanging frame positioning unit, 21. Machine body, 22. Hanging frame, 221. Spring clip, 23. Positioning mold, 24. Clamping device, 25. Base plate, 26. Top plate, 3. Hanging part sorting unit, 31. Sorting robot, 32. Gripping module, 33. Vision positioning module, 34. Motion platform, 4. Upper hanging frame unit, 41. Hanging part positioning block, 42. Upper hanging mechanism, 43. Fixing plate, 5. Vision inspection unit, 51. 3D camera, 52. Positioning mark, 6. Control unit, 61. Main control board, 62. Motion control module, 63. Pneumatic control module.

Detailed Implementation Methods

[0036] The present invention will now be further described with reference to the embodiments and the accompanying drawings.

[0037] Example 1

[0038] This embodiment implements an automatic hanging rack control system for hanging items.

[0039] Appendix Figure 1 This is a schematic diagram of an automatic hanging rack control system for accessories. (See attached diagram) Figure 1As shown, this embodiment discloses an automatic hanging rack control system for a pre-process of surface treatment technology. It includes a hanging rack transport unit 1 for cyclically conveying and recovering hanging racks 11; a hanging rack positioning unit 2 for fixing and determining the position of the hanging rack 22; an hanging rack unit 4 for hanging the hanging rack 11 onto the hanging rack 22; a hanging rack sorting unit 3 for automatically clamping the hanging rack 11 onto the hanging rack unit 4; a vision detection unit 5 for capturing images of the hanging rack 22 and the hanging rack unit 4 and positioning their positions; and a control unit 5 for controlling the hanging rack transport unit 1, hanging rack positioning unit 2, hanging rack unit 4, hanging rack sorting unit 3, and vision detection unit 5 to complete the process. The control unit 6 is used for the process of hanging item 11 on the hanging rack 22; the hanging item transport unit 1 is installed close to the hanging rack positioning unit 2, the hanging item sorting unit 3, the hanging rack unit 4, the vision inspection unit 5 and the control unit 6 are installed on the hanging rack positioning unit 2, forming an automatic production line for hanging item on the hanging rack; the hanging rack 22 is installed on the hanging rack positioning unit 2, and the hanging rack unit 4 is installed near the hanging rack positioning unit 2 so that the hanging item 11 can be hung on the hanging rack 22 nearby. The hanging item sorting unit 4 is precisely positioned relative to the hanging rack unit 4 and the hanging item transport unit 1 so that the hanging item sorting unit 4 can pick up the hanging item 11 from the hanging item transport unit 1 and put it on the hanging rack unit 4.

[0040] Appendix Figure 2 This is a flowchart illustrating the process of automatically mounting accessories onto a rack in a control system. (See attached diagram.) Figure 2 As shown in the figure, in this embodiment, an automatic hanging rack control system for hanging items is provided. The steps of the control unit 6 controlling the hanging item 11 to be hung on the rack 22 are as follows:

[0041] S1. Start the hanging item transport unit 1 to transport the hanging item 11 to the area of ​​the hanging item sorting unit 3 at a set speed;

[0042] S2. The hanging item sorting unit 3 automatically picks up the hanging item 11 from the hanging item transport unit 1 and places the hanging item 11 on the upper hanging frame unit 4.

[0043] S3. Control the visual detection unit 5 to capture static images of the hanging bracket 22 including the hanging bracket positioning unit 2 and the upper hanging bracket unit 4, and plan the motion path of the upper hanging bracket 22 of the hanging piece 11 and calculate the control algorithm of the upper hanging bracket 22 of the hanging piece 11 based on the captured static image information.

[0044] S4. Control the upper hanging frame unit 1 to drive the hanging part 11 to move, so that the hanging part 11 is hung on the hanging frame 22 on the hanging frame positioning unit 2 according to the planned movement path of the hanging part 11 upper hanging frame 22 and the calculated control algorithm of the hanging part 11 upper hanging frame 22.

[0045] Example 2

[0046] This embodiment implements an automatic hanging rack control system for hanging items. This embodiment is a specific implementation based on Embodiment 1.

[0047] Appendix Figure 3 This is a schematic diagram of the structure of a hanging device automatic hanging rack control system for hanging devices, specifically a hanging device transport unit. (See attached diagram.) Figure 3 As shown, this embodiment is an automatic hanging rack control system for hanging items. The hanging item transportation unit 1 in the above embodiment 1 specifically includes hanging items 11, a feeding machine 12, a conveyor belt 13, and a recycling machine 14. The hanging items 11 are transported by the conveyor belt 13 after passing through the feeding machine 12. Hanging items 11 that are not picked up by the hanging item sorting unit 3 at the end of the conveyor belt 13 enter the recycling machine 14 and return to the feeding machine 12, forming a closed-loop process for the transportation of hanging items 11. The transportation speed of the hanging items 11 is set and adjusted by the control unit 6 according to the actual production rhythm.

[0048] Appendix Figure 4 This is a schematic diagram of the hanger positioning unit structure of an automatic hanger-mounting control system for accessories. (See attached diagram.) Figure 4 As shown, this embodiment provides an automatic hanging rack control system for hanging items. The hanging rack positioning unit 1 of embodiment 1 specifically includes a body 21, a hanging rack 22, a positioning mold 23, a clamping device 24, a base plate 25, and a top plate 26. The hanging rack 22 is mounted on the positioning mold 23, which is used to position the hanging rack 11. The clamping device 24 clamps the hanging rack 22 to ensure the stability of the hanging item 11 during the hanging process. The positioning mold 23 is mounted on the base plate 25, which is mounted at the bottom of the body 21. The top plate 26 is mounted on the top of the body 21. The body 21 is installed near the conveyor belt 13, providing working space for the hanging item sorting unit 3 to clamp the hanging item 11. A spring clip 221 is fixed on the hanging rack 22, and the spring clip 221 clamps the hanging item 11 through elastic deformation.

[0049] Appendix Figure 5 This is a schematic diagram of the hanging rack unit structure of an automatic hanging rack control system for accessories. (See attached diagram) Figure 5 As shown, this embodiment provides an automatic hanging rack control system for hanging items. The hanging rack unit 4 in the above embodiment 1 specifically includes a hanging item positioning block 41, an hanging mechanism 42, and a fixing plate 43. The hanging item positioning block 41 and the hanging mechanism 42 are mounted on the fixing plate 43, and the fixing plate 43 is mounted on the base plate 26. The hanging item positioning block 41 is a replaceable structure made according to hanging items 11 of different shapes and sizes, used to place the hanging items 11. The hanging mechanism 42 is used to push the hanging item 11 placed in the hanging item positioning block 41 to the spring clip 221 on the hanging rack 22. The spring clip 221 locks the hanging item 11 in place by elastic deformation, thus enabling the hanging item 11 to be hung on the hanging rack 22.

[0050] Appendix Figure 6This is a schematic diagram of the hanging item sorting unit structure of an automatic hanging item loading and unloading control system. (See attached diagram) Figure 6 As shown, this embodiment provides an automatic hanging rack control system for hanging items. The hanging item sorting unit 3 in Embodiment 1 specifically includes a sorting robot 31, a gripping module 32, a visual positioning module 33, and a motion platform 34. The sorting robot 31 is mounted on the motion platform 34, and the gripping module 32 and visual positioning module 33 are mounted at the end of the sorting robot 31. The sorting robot 31 is used to achieve linear motion in the three-dimensional X, Y, and Z axes and rotational motion in the Z-axis direction. The gripping module 32 is used to achieve the opening and closing motion of gripping the hanging item 11. The visual positioning module 33 is used to achieve image recognition and position positioning of the hanging item 11. The motion platform 34 is used to extend the movement range of the sorting robot 31 in the two-dimensional X and Y axes. The sorting robot 31 automatically controls the gripping module 32 to grip the hanging item 11 from the conveyor belt 13 and move the hanging item 11 to place it in the hanging item positioning block 41 through linear motion in the X, Y, and Z axes and rotational motion in the Z-axis direction.

[0051] Appendix Figure 7 This is a schematic diagram of the visual inspection unit structure of an automatic hanging rack control system for accessories. (See attached diagram) Figure 7 As shown, this embodiment provides an automatic hanging rack control system for hanging items. The visual detection unit 5 in embodiment 1 specifically includes a 3D camera 51 and a positioning mark 52. The 3D camera 51 is mounted on the top plate 25 and is used to capture static images of the hanging rack 22 mounted on the positioning mold 23 on the bottom plate 25, the hanging item 11 in the hanging item positioning block 41, and the hanging mechanism 42. The positioning mark 52 is mounted on the bottom plate 25 and the positioning mold 23 and is used to provide reference points for the static images so that the control unit 6 can identify the static images to construct position models of the hanging rack 22 and the hanging item 11, plan the motion path of the hanging rack 22 on the hanging item 11, and calculate the control algorithm for the hanging rack 22 on the hanging item 11.

[0052] Appendix Figure 8 This is a schematic diagram of a control unit module for an automatic hanging rack control system for accessories. (See attached diagram) Figure 8As shown, this embodiment provides an automatic hanging rack control system for hanging items. The control unit 6 in Embodiment 1 specifically includes a main control board 61, a motion control module 62, and a pneumatic control module 63. The feeding machine 12 is electrically connected to the main control board 61 to control the feeding of hanging items 11. The recycling machine 14 is electrically connected to the main control board 61 to control the recycling of hanging items 11. The conveyor belt 13 is electrically connected to the motion control module 62 to control the conveying speed of hanging items 11. The sorting robot 31 is electrically connected to the main control board 61 to enable the visual positioning module 33 to identify and position the hanging items 11, and the gripping module 32 to grip the hanging items 11. The hanging mechanism 42 is connected to the pneumatic control module 63 to automatically hang the hanging items 11 on the rack 22. The 3D camera 51 is electrically connected to the main control board 61 to enable image recognition and precise visual positioning of the hanging rack 22, the hanging items 11 in the hanging item positioning block 41, and the hanging mechanism 42 within the machine body 21.

[0053] Preferably, in the above-mentioned automatic hanging rack control system for hanging items, the steps of the control unit 6 controlling the hanging item 11 to be hung on the rack 22 are as follows:

[0054] SS1. Start the feeding machine 12 and the conveyor belt 13 transports the hanging part 11 to the working area of ​​the sorting robot 31 at a set speed;

[0055] SS2, the visual positioning module 33 of the sorting robot 31 visually identifies the position and posture of the hanging piece 11 on the conveyor belt 13. The sorting robot 31 adjusts the posture of the gripping module 32 according to the position and posture of the hanging piece 11 on the conveyor belt 13 and grips the hanging piece 11 on the conveyor belt 13. The sorting robot 31 carries the gripped hanging piece 11 to the upper hanging frame unit 4, adjusts the posture of the gripping module 32 and places the hanging piece 11 in the hanging piece positioning block 41.

[0056] SS3, control the 3D camera 51 to capture static images of the hanger 11 including the positioning mark 52, the hanger 11 in the hanger positioning block 41, and the upper hanging mechanism 42, and visually identify whether the spring clip 221 on the hanger 22 has defects; based on the captured static image information, plan the movement path of the hanger 22 on the hanger 11, and calculate the control algorithm of the hanger 22 on the hanger 11 for the hanger 22 without defective spring clip 221;

[0057] SS4. According to the planned movement path of the hanging bracket 22 on the hanging part 11 and the calculated control algorithm of the hanging bracket 22 on the hanging part 11, the hanging mechanism 42 is controlled to push the hanging part 11 in the hanging part positioning block 41 to move and lock the spring clip 221 on the hanging bracket 22 to realize the hanging bracket 22 on the hanging part 11.

[0058] Appendix Figure 9This is a schematic diagram of an automated production line for hanging components, based on an automatic hanging rack control system. (See attached diagram.) Figure 9 As shown, this embodiment discloses an automatic hanging rack control system for hanging items. The base plate 25 consists of two parallel base plates 25. The positioning mold 23 consists of two pieces placed at the center of the base plate 25. Several hanging racks 22 with two forks are arranged on the positioning mold 23. Spring clips 221 are provided on the forks of the hanging racks 22. Several hanging rack units 4 are placed on the base plate 25 and arranged on both sides of the positioning mold 23. The motion platform 34 is set between the two parallel base plates 25. The sorting robot 31 is placed on the motion platform 34. During the process of the control unit 6 controlling the hanging item 11 to hang on the hanging rack 22, the hanging rack units 4 are fixed to the base plate 25. The hanging rack 22 with the hanging item 11 is hung out of the area where the hanging rack unit 4 is fixed with the positioning mold 23. At the same time, the empty hanging rack 22 is flowed into the area where the hanging rack unit 4 is fixed with the positioning mold 23.

[0059] Preferably, in the above-mentioned automatic hanging control system for hangers, the hanger 11 is a small bushing product, and the process of hanging the hanger 11 onto the hanging rack 22 is a pre-plating process for the small bushing product.

[0060] Example 3

[0061] This embodiment implements an automatic hanging rack control system for hanging items.

[0062] To improve the production efficiency of the upstream process of surface treatment technology and solve the problem of manual installation of the hanger 11 onto the hanger 22, this embodiment provides an automatic hanger mounting control system. This system employs automation and intelligent technology to install the product requiring surface treatment, i.e., the hanger 11, onto the hanger 22. It achieves speed control, shape recognition, accurate clamping, and automatic mounting of the hanger 11; precise positioning and clamping of the hanger 22; visual positioning and defect identification of the spring clip 221; and multi-task processing functions including path planning and control algorithms for the hanger 11 onto the hanger 22.

[0063] Appendix Figure 1 This is a schematic diagram of an automatic hanging rack control system for accessories. (See attached diagram) Figure 1 As shown, this embodiment of an automatic racking control system for hanging items includes: a hanging item transport unit 1, a racking positioning unit 2, a hanging item sorting unit 3, a racking unit 4, a vision inspection unit 5, and a control unit 6. By combining machine vision, robotics, automation, and artificial intelligence technologies, the system enables the automatic racking of hanging items 11 onto racks 22.

[0064] Appendix Figure 3 This is a schematic diagram of the structure of a hanging device automatic hanging rack control system for hanging devices, specifically a hanging device transport unit. (See attached diagram.) Figure 3As shown, the automatic hanging rack control system of this embodiment includes a hanging component 1, a hanging component 11, a feeding machine 12, a conveyor belt 13, and a recycling machine 14. The hanging component 11 passes through the feeding machine 12 and is transported by the conveyor belt 13. At the end of the conveyor belt 13, the remaining hanging components 11 enter the recycling machine 14 and return to the feeding machine 12, forming a closed-loop process for the transport of the hanging component 11. The transport speed of the hanging component 11 in this process is set and adjusted by the control unit 6 according to the actual production cycle.

[0065] Appendix Figure 4 This is a schematic diagram of the hanger positioning unit structure of an automatic hanger-mounting control system for accessories. (See attached diagram.) Figure 4 As shown, the hanging rack positioning unit 2 of the automatic hanging rack control system of this embodiment includes a body 21, a hanging rack 22, a positioning mold 23, a clamping device 24, a base plate 25, and a top plate 26. The hanging rack 22 and the clamping device 24 are installed on the positioning mold 23, the positioning mold 23 positions the hanging rack 22, and the clamping device 24 clamps the hanging rack 22. The positioning mold 23 is installed on the base plate 25, and the base plate 25 is installed on the bottom of the body 21. The top plate 26 is installed on the top of the body 21. The body 21 is installed close to the conveyor belt 13, leaving working space for the hanging item sorting unit 3 to pick up the hanging item 11. A spring clip 221 is fixed on the hanging rack 22, which clamps the hanging item 11 through elastic deformation. The hanging rack 22 is installed on the positioning mold 23, and the clamping device 24 clamps the hanging rack 22 to ensure the stability of the hanging item 11 during the hanging rack 22 process. The positioning mold 23 is installed on the base plate 25 at the bottom of the body 21.

[0066] Appendix Figure 6 This is a schematic diagram of the hanging item sorting unit structure of an automatic hanging item loading and unloading control system. (See attached diagram) Figure 6 As shown, in this embodiment, an automatic hanging rack control system for hanging items includes a hanging item sorting unit 3 comprising a sorting robot 31, a gripping module 32, a vision module 33, and a motion platform 34. The sorting robot 31 is mounted on the motion platform 34, and the gripping module 32 and the vision positioning module 33 are mounted on the end of the sorting robot 31. The sorting robot 31 performs linear motion along the X, Y, and Z axes and rotational motion along the Z axis. The gripping module 32 performs opening and closing motions to grip the hanging item 11, and the vision positioning module 33 positions the hanging item 11 in terms of position and shape. The sorting robot 31 is mounted on the motion platform 34, which extends the range of motion of the sorting robot 31 along the X and Y axes. The gripping module 32 and the vision positioning module 33 are mounted on the end of the sorting robot 31. The vision positioning module 33 positions the hanging item 11 in terms of position and shape. The sorting robot 31 controls the gripping module 32 to grip the hanging item 11 through linear motion along the X, Y, and Z axes and rotational motion along the Z axis.

[0067] Appendix Figure 5 This is a schematic diagram of the hanging rack unit structure of an automatic hanging rack control system for accessories. (See attached diagram) Figure 5As shown, the automatic hanging rack control system of this embodiment includes a hanging rack unit 4 comprising a hanging rack positioning block 41, a hanging mechanism 42, and a fixing plate 43. The hanging rack positioning block 41 and the hanging mechanism 42 are mounted on the fixing plate 43, which is mounted on the base plate 25. The hanging rack positioning block 41 is a replaceable structure. The hanging item 11 moves from the conveyor belt 13 to the hanging rack positioning block 41, and the hanging mechanism 42 pushes the hanging item 11 to the rack 22 for fixation. The hanging rack positioning block 41 is a replaceable structure and is made according to hanging items of different shapes and sizes. After the hanging item 11 is picked up from the conveyor belt 13 by the sorting robot 31, it moves to the hanging rack positioning block 41. The hanging mechanism pushes the hanging item 11 to the spring clip 221 of the rack 22 for fixation.

[0068] Appendix Figure 7 This is a schematic diagram of the visual inspection unit structure of an automatic hanging rack control system for accessories. (See attached diagram) Figure 7 As shown, the visual inspection unit 5 of the automatic hanging rack control system for hanging items in this embodiment includes several 3D cameras 51 and several positioning marks 52; the 3D cameras 51 are installed at different positions on the top plate 26 to capture images of the hanging rack 22 and the hanging item 11 installed on the positioning mold 23 on the bottom plate 25; the positioning marks 52 are installed on the bottom plate 25 and the positioning mold 23 to provide reference points for the images, construct position models of the hanging rack 22 and the hanging item 11, and the control unit technology intelligently calculates the conditions for the hanging item 11 to be hung on the hanging rack 22.

[0069] Appendix Figure 8 This is a schematic diagram of a control unit module for an automatic hanging rack control system for accessories. (See attached diagram) Figure 8As shown, the control unit 6 of the automatic hanging rack control system for hanging parts in this embodiment includes a main control board 61, a motion control module 62, and a pneumatic control module 63; the feeding machine 12 is electrically connected to the main control board 61 to realize the feeding control of the hanging parts 11; the recycling machine 14 is electrically connected to the main control board 61 to realize the recycling control of the hanging parts 11; the conveyor belt 13 is electrically connected to the motion control module 62 to realize the conveying speed control of the hanging parts 11; the sorting robot 31 is electrically connected to the main control board 61 to realize the functions of the vision module 33 in recognizing and locating the hanging parts 11 and the clamping module 32 in clamping the hanging parts 11; the hanging mechanism 42 is connected to the pneumatic control module 63 to realize the function of automatically hanging the hanging parts 11 onto the hanging rack 22; the 3D camera 51 is electrically connected to the main control board 61 to realize the precise visual positioning of the hanging parts 11, the hanging rack 22, and the hanging mechanism 42 in the machine body 21. The main control board 61 controls the feeding speed of the hanging parts 11 of the feeding machine 12 and the recycling speed of the hanging parts 11 of the recycling machine 14. The motion control module 62 controls the movement speed of the hanging parts 11 on the conveyor belt 13. The main control board 61 controls the sorting robot 31 to realize the identification, positioning and gripping of the hanging parts 11. The pneumatic control module 63 controls the hanging mechanism 42 to realize the automatic hanging of the hanging parts 11 onto the hanging frame 22. The main control board 61 controls the 3D camera 51 to realize the precise visual positioning of the hanging parts 11, the hanging frame 22 and the hanging mechanism 42 in the machine body 21.

[0070] The workflow of an automatic hanging rack control system for hangers in this embodiment is as follows: The hanger 22 is installed on the positioning mold 23 and fixed by the clamping device 24; a 3D camera 51 captures static images of the hanger 22, hanger positioning block 41, and hanging mechanism 42, including positioning marks 52; machine vision identifies whether the spring clips on the hanger 22 have defects such as deformation or missing parts; the control unit 6 plans the movement path of the hanger 11 based on the imported image information and formulates a control algorithm for the hanger 11 to be hung on the rack 22 for the spring clips 221 that meet the requirements; the control unit 6 starts the feeding machine 12. The conveyor belt 13 transports the hanging item 11 to the hanging item sorting unit 3 area at a set speed; the vision module 33 of the sorting robot 31 visually recognizes the position and posture of the hanging item 11, adjusts the posture of the gripping module 32, and grips the hanging item 11; the sorting robot 31 carries the hanging item 11 to the upper rack unit 4, adjusts the posture of the gripping module 32, and places the hanging item 11 on the hanging item positioning block 41; the upper hanging mechanism 42 pushes the hanging item 11 to move and locks the spring clip of the rack 22, completing the hanging item 11 onto the rack 22; the hanging item 11 that is not gripped enters the recycling machine 14 and returns to the feeding machine 13.

[0071] As one possible process, this embodiment describes an automatic hanger control system for small bushing products, applied to the pre-plating process of hanging the hangers. The process flow is as follows:

[0072] (a) The hanging part conveying unit 1 is installed close to the hanging frame positioning unit 2, the hanging part sorting unit 3, the hanging frame unit 4, the vision inspection unit 5 and the control unit 6 are installed on the hanging frame positioning unit 2, forming an automatic production line for hanging parts on the hanging frame.

[0073] (ii) On the body 21 of the hanging frame positioning unit 2, the hanging frame 22 is installed on the positioning mold 23 and fixed to the positioning mold 23 by the clamping device 24; the precise positions of the hanging item sorting unit 3 and the upper hanging frame unit 4 relative to the hanging frame positioning unit 2 are adjusted respectively.

[0074] (III) According to the algorithm, the control unit 6 operates the 3D camera 51 to capture static images of the hanger 22, the hanging block 41, and the hanging mechanism 42 containing the positioning mark 52, and identifies whether the spring clip 221 on the hanger 22 is deformed, missing, or otherwise defective; the control unit 6 plans the movement path of the hanging part 11 according to the imported image information, and does not plan the movement path of the hanger 22 on the hanging part 11 for the defective spring clip 221.

[0075] (iv) According to the algorithm, the control unit 6 starts the feeding machine 12 to run, and the conveyor belt 13 transports the hanging part 11 to the area of ​​the hanging part sorting unit 3 at a set speed; controls the sorting robot 31 to move above the conveyor belt 13, the vision positioning module 33 installed on the sorting robot 31 identifies the position and posture of the hanging part 11, adjusts the posture of the gripping module 32 and grips the hanging part 11; the motion platform 34 drives the sorting robot 31 to carry the hanging part 11 to the upper hanging frame unit 4, adjusts the posture of the gripping module 32 and releases the hanging part 11 to place it on the hanging part positioning block 41.

[0076] (v) According to the algorithm, the control unit 6 controls the hanging mechanism 42 to push the hanging part 11 to move and lock the spring clip 221 of the hanging frame 22. The spring clip 221 locks the hanging part 11 through elastic deformation, thus completing the automatic locking of the hanging part 11 and realizing the function of the hanging part 11 on the hanging frame 22. The hanging part 11 that is not clamped enters the recycling machine 14 and returns to the feeding machine 12.

[0077] The technical features and innovations of the automatic hanging rack control system for hangers in this embodiment are as follows: 1. For the pre-process of surface treatment technology, the hanging of hanger 11 onto hanging rack 22, an automated and intelligent technical solution is proposed, which greatly reduces production labor and improves production efficiency; 2. An innovative method is proposed to elastically fix hanger 11 on hanging rack 22 using spring clips 221, providing technical support for the automated process of hanging hanger 11 onto hanging rack 22; 3. The design of replaceable hanger positioning blocks 41 can meet the needs of hangers of different shapes and sizes, with greater product adaptability and production flexibility; 4. A solution combining machine vision, artificial intelligence, and robotics is adopted, which can be more widely adapted to different application scenarios and different working conditions in the same application scenario; 5. The sorting robot 31 is placed on the motion platform 34, which expands the movement range of the sorting robot 31.

[0078] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in any computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0079] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements and additions without departing from the principle of the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention.

Claims

1. An automatic hanging rack control system for accessories, characterized in that: The aforementioned automatic hanger-mounting control system is used in the pre-process of surface treatment technology. It includes a hanger transport unit for cyclically conveying and recovering hangers, a hanger positioning unit for fixing hangers and determining hanger positions, an upper hanger unit for hanging hangers onto the hangers, a hanger sorting unit for automatically clamping hangers onto the upper hanger unit, a vision inspection unit for capturing images of the hangers and upper hanger unit and locating their positions, and a control unit for controlling the hanger transport unit, hanger positioning unit, upper hanger unit, hanger sorting unit, and vision inspection unit to complete the hanger-mounting process. The hanging item conveying unit is installed close to the hanging rack positioning unit. The hanging item sorting unit, the upper hanging rack unit, the vision inspection unit, and the control unit are installed on the hanging rack positioning unit, forming an automated hanging item hanging rack production line. The hanging rack is installed on the hanging rack positioning unit, and the upper hanging rack unit is installed near the hanging rack positioning unit so that the hanging items can be hung on the rack nearby. The hanging item sorting unit is precisely positioned relative to the upper hanging rack unit and the hanging item conveying unit so that the hanging item sorting unit can pick up the hanging items from the hanging item conveying unit and place them on the upper hanging rack unit. The control unit controls the hanging item hanging rack process as follows: S1. Activate the hanging item transport unit to transport the hanging item to the hanging item sorting unit area at a set speed; S2. The hanging item sorting unit automatically picks up the hanging item from the hanging item transport unit and places the hanging item on the upper hanging frame unit; S3. Control the visual detection unit to capture static images of the hanger, including the hanger positioning unit and the upper hanger unit, and plan the motion path of the upper hanger of the hanger based on the captured static image information and calculate the control algorithm of the upper hanger of the hanger. S4. Control the upper bracket unit to drive the hanging part to move, so that the hanging part is hung on the bracket on the bracket positioning unit according to the planned upper bracket movement path and the calculated upper bracket control algorithm. The hanging rack positioning unit includes a body, a hanging rack, a positioning mold, a clamping device, a base plate, and a top plate. The hanging rack is mounted on the positioning mold, which is used to position the hanging rack. The clamping device clamps the hanging rack to ensure the stability of the hanging process. The positioning mold is mounted on the base plate, which is mounted on the bottom of the body. The top plate is mounted on the top of the body. The body is installed close to the conveyor belt, leaving working space for the hanging item sorting unit to clamp the hanging items. A spring clip is fixed on the hanging rack, and the spring clip holds the hanging item by elastic deformation. The upper hanging unit includes a hanging component positioning block, an upper hanging mechanism, and a fixing plate; the hanging component positioning block and the upper hanging mechanism are mounted on the fixing plate, and the fixing plate is mounted on the base plate; the hanging component positioning block is a replaceable structure made according to hanging components of different shapes and sizes, used to place hanging components; the upper hanging mechanism is used to push the hanging component placed in the hanging component positioning block to a spring clip on the hanging frame, and the spring clip locks the hanging component in place through elastic deformation to realize the hanging of the hanging component on the hanging frame.

2. The automatic hanging rack control system for hanging items according to claim 1, characterized in that: The hanging component transport unit includes hanging components, a loading machine, a conveyor belt, and a recycling machine. The hanging components are transported by the conveyor belt after passing through the loading machine. Hanging components that are not picked up by the hanging component sorting unit at the end of the conveyor belt enter the recycling machine and then return to the loading machine, forming a closed-loop process of hanging component transport. The hanging component transport speed is set and adjusted by the control unit according to the actual production cycle.

3. The automatic hanging rack control system for hanging items according to claim 2, characterized in that: The hanging item sorting unit includes a sorting robot, a gripping module, a vision positioning module, and a motion platform. The sorting robot is mounted on the motion platform, and the gripping module and vision positioning module are mounted on the end of the sorting robot. The sorting robot is used to achieve linear motion in the three-dimensional X, Y, and Z axes and rotational motion in the Z axis direction. The gripping module is used to achieve opening and closing motion for gripping the hanging items. The vision positioning module is used to achieve image recognition and position positioning of the hanging items. The motion platform is used to extend the movement range of the sorting robot in the two-dimensional X and Y axes. The sorting robot automatically controls the gripping module to grip the hanging items from the conveyor belt and move the hanging items to place them in the hanging item positioning block through linear motion in the X, Y, and Z axes and rotational motion in the Z axis direction.

4. The automatic hanging rack control system for hanging items according to claim 3, characterized in that: The visual inspection unit includes a 3D camera and positioning markers. The 3D camera is mounted on the top plate and is used to capture static images of the hanger, the hanger in the positioning block, and the upper hanging mechanism mounted on the positioning mold on the bottom plate. The positioning markers are mounted on the bottom plate and the positioning mold and are used to provide reference points for the static images, so that the control unit can identify the static images to construct position models of the hanger and hanger, plan the motion path of the hanger on the hanger, and calculate the control algorithm of the hanger on the hanger.

5. The automatic hanging rack control system for hanging items according to claim 4, characterized in that: The control unit includes a main control board, a motion control module, and a pneumatic control module; the feeding machine is electrically connected to the main control board to control the feeding of the hanging parts; the recycling machine is electrically connected to the main control board to control the recycling of the hanging parts; the conveyor belt is electrically connected to the motion control module to control the conveying speed of the hanging parts; the sorting robot is electrically connected to the main control board to enable the visual positioning module to identify and locate the hanging parts, and the gripping module to grip the hanging parts; the hanging mechanism is connected to the pneumatic control module to enable the automatic hanging of the hanging parts onto the hanging frame; the 3D camera is electrically connected to the main control board to enable image recognition and precise visual positioning of the hanging frame, the hanging parts in the hanging part positioning block, and the hanging mechanism in the machine body.

6. The automatic hanging rack control system for hanging items according to claim 5, characterized in that... The control unit controls the process of attaching the hanger to the rack as follows: SS1. Start the feeding machine and the conveyor belt transports the hanging parts to the working area of ​​the sorting robot at a set speed; SS2. The visual positioning module of the sorting robot visually identifies the position and posture of the hanging parts on the conveyor belt. The sorting robot adjusts the posture of the gripping module according to the position and posture of the hanging parts on the conveyor belt and grips the hanging parts on the conveyor belt. The sorting robot carries the gripped hanging parts to the top of the upper hanging frame unit, adjusts the posture of the gripping module and places the hanging parts in the hanging part positioning block. SS3. Control the 3D camera to capture static images of the hanger containing positioning marks, the hanger in the hanger positioning block, and the upper hanging mechanism, and visually identify whether there are defects in the spring clips on the hanger; based on the captured static image information, plan the motion path of the hanger on the hanger, and calculate the control algorithm of the hanger on the hanger for hangers with defect-free spring clips. SS4. Based on the planned movement path of the hanging bracket and the calculated hanging bracket control algorithm, the hanging mechanism is controlled to push the hanging part in the hanging positioning block to move and lock the spring clip on the hanging bracket, thereby realizing the hanging of the hanging part.

7. The automatic hanging rack control system for hanging items according to claim 6, characterized in that: The base plate consists of two parallel base plates. The positioning mold consists of two pieces placed at the center of the base plates. Several bifurcated hangers are arranged on the positioning mold. Spring clips are provided at the bifurcated ends of the hangers. Several upper hanger units are placed on the base plate and arranged on both sides of the positioning mold. The motion platform is set between the two parallel base plates. The sorting robot is placed on the motion platform. During the process of the control unit controlling the hanger to hang the item, the upper hanger unit is fixed to the base plate. The hanger with the item hangs out of the area with the upper hanger unit fixed with the positioning mold, while the empty hanger flows into the area with the upper hanger unit fixed with the positioning mold.

8. The automatic hanging rack control system for hanging items according to claim 7, characterized in that: The hanger is a small bushing product, and the process of attaching the hanger to the bracket is a pre-plating process for the small bushing product.

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