A fully automatic intelligent trimming machine

Abstract

The invention discloses a fully automatic intelligent trimming machine, comprising a combined frame, a lifting and loading mechanism, a transfer and unloading mechanism, a negative pressure transition placement table, a 3D laser contour sensor, a motion controller, a four-axis transfer and feeding mechanism, a trimming module and a material unloading table. The lifting and loading mechanism is arranged on one side of the combined frame, the transfer and unloading mechanism is arranged on the upper outer side of the lifting and loading mechanism, the negative pressure transition placement table is arranged in the middle of the combined frame, the 3D laser contour sensor is arranged directly above the negative pressure transition placement table, the material unloading table is arranged on the other side of the combined frame, the trimming module is arranged on the outer side of the material unloading table, and the four-axis transfer and feeding mechanism is arranged above the trimming module and is connected with the motion controller signal; loading, unloading and feeding are all automatically completed with high integration, the controller sends instructions for precise positioning and trimming after sensor detection, the intelligent automation degree is high, the trimming efficiency is high, the labor intensity is low, the labor cost is low, there is no need to hold the hand, the safety hazard is small, the product consistency is good, and the yield rate is high.

Description

Technical Field

[0001] The invention belongs to the field of automation equipment, and in particular relates to a fully automatic intelligent trimming machine which has the advantages of simple operation, high intelligent automation, good product consistency and high yield rate. Background Art

[0002] Since the size of leather is different from the required size, it needs to be trimmed to correct the size and contour. At present, leather trimming is done manually by hand using a trimming machine. This manual hand-held method can meet certain production and use requirements, but it also has major defects. Manual hand-held trimming has low efficiency, high labor intensity, high labor costs, easy to hurt hands, and great safety hazards. The trimming accuracy depends solely on the worker's experience, the product consistency is poor, the yield rate is not high, and it cannot effectively meet the needs of mass production.

[0003] The technical problem to be solved by the present invention is to provide a fully automatic intelligent trimming machine with high integration, high degree of intelligence and automation, high trimming efficiency, low labor intensity, low labor cost, low safety hazard without the need for hand-held, sensor detection and precise positioning, good product consistency and high yield rate. Summary of the invention

[0004] In order to solve the problems of low efficiency, high labor intensity, high labor cost, easy to hurt hands, great safety hazards, trimming accuracy relying only on workers' experience, poor product consistency, low yield rate, and inability to effectively meet mass production needs in the above-mentioned prior art manual handheld trimming, the present invention adopts the following technical solution:

[0005] The present invention provides a fully automatic intelligent trimming machine, comprising a combined frame, a lifting and loading mechanism, a transfer and unloading mechanism, a negative pressure transition placement table, a 3D laser profile sensor, a motion controller, a four-axis transfer and feeding mechanism, a trimming module and a material unloading table, wherein the lifting and loading mechanism is arranged on one side of the combined frame, the transfer and unloading mechanism is arranged above the outer side of the lifting and loading mechanism, the negative pressure transition placement table is arranged in the middle of the combined frame, the 3D laser profile sensor is arranged directly above the negative pressure transition placement table and is connected to the motion controller signal, the motion controller is arranged on the combined frame, the material unloading table is arranged on the other side of the combined frame, the trimming module is arranged outside the material unloading table, and the four-axis transfer and feeding mechanism is arranged above the trimming module and is connected to the motion controller signal.

[0006] Preferably, the jacking and feeding mechanism includes a jacking motor, a jacking screw, a screw seat, a connecting plate, a discharge plate, a limit plate, a plurality of limit rods and a jacking frame, the jacking motor is arranged at the bottom of the jacking frame, the bottom end of the jacking screw is transmission-connected to the jacking motor, the screw seat transmission sleeve is arranged on the jacking screw, the connecting plate is hung on the screw seat, the discharge plate is arranged directly above the connecting plate through two discharge supporting rods, the limit plate is arranged at the top of the jacking frame and a jacking clearance groove is arranged in the middle, the jacking clearance groove is completely matched with the discharge plate, and the plurality of limit rods are inserted on the limit plate and located at the outer circle of the jacking clearance groove.

[0007] Preferably, the loading and unloading mechanism includes a unloading mounting frame, a horizontal unloading cylinder, a horizontal unloading guide rail, a vertical unloading cylinder, a vertical unloading guide rail, an L-shaped connecting frame, and a first vacuum suction plate. The vertical unloading guide rail is slidably arranged on the horizontal unloading guide rail through a horizontal slider. The horizontal unloading cylinder is arranged on one side of the unloading mounting frame and the gas rod is connected to the horizontal slider. The first vacuum suction plate is arranged at the bottom of the horizontal end of the L-shaped connecting frame. The outer side of the vertical end of the L-shaped connecting frame is slidably arranged on the vertical unloading guide rail through a vertical slider, and the inner side is connected to the gas rod of the vertical unloading cylinder. The vertical unloading cylinder is arranged on the top of the vertical unloading guide rail.

[0008] Preferably, a horizontally movable slide is provided at the bottom of the negative pressure transition placement table.

[0009] Preferably, the four-axis transfer and feeding mechanism includes a pair of X-axis linear modules, a Y-axis linear module, a Z-axis linear module, a rotating motor, a rotating connecting shaft and a second vacuum suction plate. The pair of X-axis linear modules are horizontally symmetrically arranged on the combined frame through two groups of support columns. The two ends of the Y-axis linear module are slidably arranged on a pair of X-axis linear modules through X-axis sliders. The Z-axis linear module is slidably arranged on the Y-axis linear module through the Y-axis slider. The rotating motor is placed on the motor seat and the motor seat is slidably arranged on the Z-axis linear module through the Z-axis slider. The top of the rotating connecting shaft is transmission-connected to the rotating motor, and the bottom is connected to the second vacuum suction plate.

[0010] The beneficial effects of the present invention are: loading, unloading and feeding are all completed automatically with high integration, and the controller sends instructions for precise positioning and trimming after sensor detection, with a high degree of intelligence and automation, high trimming efficiency, low labor intensity, low labor cost, no need for hand-held operation, low safety hazards, good product consistency and high yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The figure is a schematic structural diagram of an embodiment of the present invention.

[0012] Figure 2 It is a schematic diagram of the combined structure of the jacking and loading mechanism and the transferring and unloading mechanism in the present invention.

[0013] Figure 3 It is a schematic diagram of the partial structure of the four-axis transfer and feeding mechanism in the present invention. DETAILED DESCRIPTION

[0014] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0015] See also Figure 1 , a fully automatic intelligent trimming machine, comprising a combined frame 1, a lifting and loading mechanism 2, a transfer and unloading mechanism 3, a negative pressure transition placement table 4, a 3D laser profile sensor 5, a motion controller 6, a four-axis transfer and feeding mechanism 7, a trimming module 8 and a discharge table 9, wherein the lifting and loading mechanism 2 is arranged on one side of the combined frame 1, the transfer and unloading mechanism 3 is arranged above the outer side of the lifting and loading mechanism 2, the negative pressure transition placement table 4 is arranged in the middle of the combined frame 1, the 3D laser profile sensor 5 is arranged directly above the negative pressure transition placement table 4 and is connected to the motion controller 6 signal, the motion controller 6 is arranged on the combined frame 1, the discharge table 9 is arranged on the other side of the combined frame 1, the trimming module 8 is arranged outside the discharge table 9, the four-axis transfer and feeding mechanism 7 is arranged above the trimming module 8 and is connected to the motion controller 6 signal, during operation, the leather materials are lifted upward one by one through the lifting and loading mechanism, and then put The leather is moved and placed on the negative pressure transition placement table. The transfer and placement mechanism takes a product, and the lifting mechanism lifts it up a distance of the leather thickness. After the negative pressure placement table sucks the product, it triggers the servo motor of the bottom horizontal moving slide to move it to the collection area. The negative pressure platform transmits the current coordinate information to the 3D laser contour sensor in real time. The 3D laser contour sensor transmits the data to the motion controller with a coordinate position algorithm. After scanning the entire product, the algorithm software in the motion controller will analyze and process the data sent back by the 3D laser contour sensor to form the product edge contour coordinates. The contour coordinates will be sent to the motion controller, and the motion controller will send instructions to the four-axis transfer and feeding mechanism to grab the product and perform contour edge trimming to ensure that the processing size of the product meets the use requirements. This solves the problem of excessive processing errors due to the uncontrollable deformation of the material itself. The following is a detailed description of the important mechanisms.

[0016] Among them, the specific process of the coordinate position algorithm is:

[0017] 1. Calibrate the 3D laser profile sensor to find out the coordinate system correspondence between the plane of the scanning platform and the negative pressure platform;

[0018] 2. Control the movement of the scanning platform and trigger the 3D laser profile sensor to collect point cloud data at fixed position intervals through the servo encoder signal;

[0019] 3. Synthesize the collected discrete point cloud data into a whole point cloud data;

[0020] 4. Remove the platform-related data from the point cloud data based on the height difference between the product and the platform, and only retain the product’s point cloud data;

[0021] 5. Filter the product point cloud to remove the point cloud data that causes interference;

[0022] 6. Extract the product's outline and rotation center position through algorithms;

[0023] 7. Calculate the distance from the rotation center to the edge of the product and the tangent direction of the product edge;

[0024] 8. According to the distance and tangent direction, calculate the rotation angle and position of the machine to control the operation of the machine.

[0025] like Figure 2 As shown, the jacking and feeding mechanism 2 includes a jacking motor 21, a jacking screw 22, a screw seat 23, a connecting plate 24, a discharge plate 25, a limit plate 26, a plurality of limit rods 27 and a jacking frame 28. The jacking motor is arranged at the bottom of the jacking frame, the bottom end of the jacking screw is transmission-connected to the jacking motor, the screw seat transmission sleeve is arranged on the jacking screw, the connecting plate is hung on the screw seat, the discharge plate is arranged directly above the connecting plate through two discharge supporting rods, the limit plate is arranged at the top of the jacking frame and a jacking clearance groove is arranged in the middle, the jacking clearance groove is completely matched with the discharge plate, the plurality of limit rods are inserted on the limit plate and located at the outer circle of the jacking clearance groove, the jacking motor drives the screw to rotate to drive the screw seat and the discharge plate to move upward as a whole to complete the jacking and feeding, the limit rod effectively limits the leather material to ensure the stability of the product and facilitate subsequent loading and transfer.

[0026] Figure 2 It also involves a material transfer and unloading mechanism, which includes a material unloading mounting frame 31, a material unloading horizontal cylinder 32, a material unloading horizontal guide rail 33, a material unloading vertical cylinder 34, a material unloading vertical guide rail 35, an L-shaped connecting frame 36, and a first vacuum suction plate 37. The material unloading vertical guide rail is slidably arranged on the material unloading horizontal guide rail through a horizontal slider, the material unloading horizontal cylinder is arranged on one side of the material unloading mounting frame and the gas rod is connected to the horizontal slider, the first vacuum suction plate is arranged at the bottom of the horizontal end of the L-shaped connecting frame, the outer side of the vertical end of the L-shaped connecting frame is slidably arranged on the material unloading vertical guide rail through a vertical slider, and the inner side is connected to the material unloading vertical cylinder gas rod, the material unloading vertical cylinder is arranged at the top of the material unloading vertical guide rail, and the vacuum suction plate is driven horizontally and vertically lifted and lowered by the horizontal cylinder and the vertical cylinder respectively, to ensure the smooth transfer of leather materials.

[0027] Among them, a horizontal moving slide is provided at the bottom of the negative pressure transition placement table 4, and a horizontal moving slide automatic servo motor is driven. After the negative pressure transition placement table absorbs the product, the servo motor is triggered to move it to the collection area. The negative pressure platform transmits the current coordinate information to the 3D laser contour sensor in real time.

[0028] like Figure 3 As shown, the four-axis transfer and feeding mechanism 7 includes a pair of X-axis linear modules 71, a Y-axis linear module 72, a Z-axis linear module 73, a rotary motor 74, a rotary connecting shaft 75 and a second vacuum suction plate 76. The pair of X-axis linear modules are horizontally symmetrically arranged on the combined frame through two groups of support columns. The two ends of the Y-axis linear module are slidably arranged on a pair of X-axis linear modules through X-axis sliders. The Z-axis linear module is slidably arranged on the Y-axis linear module through the Y-axis slider. The rotary motor is placed on the motor seat and the motor seat is slidably arranged on the Z-axis linear module through the Z-axis slider. The top of the rotary connecting shaft is transmission-connected with the rotary motor and the bottom is connected to the second vacuum suction plate. The leather is driven to perform XYZ-axis and rotational motions through the three linear modules and the rotary motor. The four-axis motion ensures that the trimming is carried out normally, and the trimming module can achieve precise trimming. The motion of the three linear modules and the rotary motor is completed through the instructions sent by the motion controller, which ensures precise motion, good consistency of the trimmed products and high yield rate.

[0029] The beneficial effects of the present invention are: loading, unloading and feeding are all completed automatically with high integration, and the controller sends instructions for precise positioning and trimming after sensor detection, with a high degree of intelligence and automation, high trimming efficiency, low labor intensity, low labor cost, no need for hand-held operation, low safety hazards, good product consistency and high yield rate.

[0030] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A fully automatic intelligent trimming machine, characterized by: The invention comprises a combined frame (1), a lifting and loading mechanism (2), a loading and unloading mechanism (3), a negative pressure transition placement platform (4), a 3D laser profile sensor (5), a motion controller (6), a four-axis loading and unloading mechanism (7), a trimming module (8) and a material unloading platform (9), wherein the lifting and loading mechanism (2) is arranged on one side of the combined frame (1), the loading and unloading mechanism (3) is arranged above the outer side of the lifting and loading mechanism (2), the negative pressure transition placement platform (4) is arranged in the middle of the combined frame (1), the 3D laser profile sensor (5) is arranged directly above the negative pressure transition placement platform (4) and is in signal communication with the motion controller (6), the motion controller (6) is arranged on the combined frame (1), and the material unloading platform (9) is arranged on the combined frame (1). ) on the other side, the trimming module (8) is arranged outside the unloading platform (9), the four-axis transfer feeding mechanism (7) is arranged above the trimming module (8) and is in signal communication with the motion controller (6), the lifting and feeding mechanism (2) comprises a lifting motor (21), a lifting screw rod (22), a screw rod seat (23), a connecting plate (24), a discharge plate (25), a limit plate (26), a plurality of limit rods (27) and a lifting frame (28), the lifting motor (21) is arranged at the bottom of the lifting frame (28), the bottom end of the lifting screw rod (22) is transmission-connected to the lifting motor (21), the screw rod seat (23) is transmission-sleeved on the lifting screw rod (22), the connecting plate (24) is hung on the screw rod seat (23), the discharge plate (25) is ) is arranged directly above the connecting plate (24) through two material discharge supporting rods (29); the limiting plate (26) is arranged on the top of the lifting frame (28) and a lifting clearance groove (210) is arranged in the middle; the lifting clearance groove (210) is completely matched with the material discharge plate (25); the plurality of limiting rods (27) are inserted on the limiting plate (26) and are located at the outer circle of the lifting clearance groove (210); the material transfer and discharge mechanism (3) comprises a material discharge mounting frame (31), a material discharge horizontal cylinder (32), a material discharge horizontal guide rail (33), a material discharge vertical cylinder (34), a material discharge vertical guide rail (35), an L-shaped connecting frame (36), and a first vacuum suction plate (37); the material discharge vertical guide rail (35) is slidably arranged on the material discharge horizontal guide rail through a horizontal slider (38) The material discharging horizontal cylinder (32) is arranged on one side of the material discharging mounting frame (31) and the gas rod is connected to the horizontal slider (38). The first vacuum suction plate (37) is arranged at the bottom of the horizontal end of the L-shaped connecting frame (36). The vertical end of the L-shaped connecting frame (36) is slidably arranged on the material discharging vertical guide rail (35) through a vertical slider (39) on the outer side and is connected to the gas rod of the material discharging vertical cylinder (34) on the inner side. The material discharging vertical cylinder (34) is arranged on the top of the material discharging vertical guide rail (35). The four-axis transfer and feeding mechanism (7) includes a pair of X-axis linear modules (71), a Y-axis linear module (72), a Z-axis linear module (73), a rotary motor (74), a rotary connecting shaft (75) and a second vacuum suction plate (76).The pair of X-axis linear modules (71) are horizontally symmetrically arranged on the combined frame (1) through two groups of support columns (77); both ends of the Y-axis linear module (72) are slidably arranged on the pair of X-axis linear modules (71) through X-axis sliders (78); the Z-axis linear module (73) is slidably arranged on the Y-axis linear module (72) through the Y-axis slider (79); the rotary motor (74) is placed on the motor seat and the motor seat is slidably arranged on the Z-axis linear module (73) through the Z-axis slider (710); the top of the rotary connecting shaft (75) is transmission-connected to the rotary motor (74) and the bottom is connected to the second vacuum suction plate (76).

2. The fully automatic intelligent trimming machine according to claim 1, characterized in that: A horizontal movable slide is provided at the bottom of the negative pressure transition placement platform (4).

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