Fully automatic replacement and handling system for hacksaw blades based on machine vision

Abstract

The present invention relates to the field of saw blade replacement and transportation technology, in particular to a fully automatic replacement and transportation system for steel saw blades based on machine vision, comprising a workshop and a transport track, wherein the workshop has a saw blade spindle, and one end of the transport track is located in the workshop; the transport track comprises a transport section and a fixed section, a robot and a placement component for placing saw blades are arranged on the transport track, and a clamping claw component for grabbing saw blades is arranged on the robot; the clamping claw component comprises a mounting plate connected to the robot, and the four corners of the front side of the mounting plate are fixed with fixed claws, and the front end of the fixed claw is fixed with a magnet seat for adsorbing saw blades; a gear component for driving the chuck to rotate is arranged in front of the mounting plate. The present invention can realize the rotation of the chuck, the removal of the old saw blade and the installation of the new saw blade, thereby reducing labor costs and improving efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of saw blade replacement and transportation, in particular to a full-automatic replacement and transportation system for steel saw blades based on machine vision. Background Art

[0002] Saw blade is a general term for thin circular cutting tools used to cut solid materials. Saw blades can be divided into diamond saw blades for stone cutting, high-speed steel saw blades for metal material cutting, and used for solid wood, furniture, artificial boards, aluminum alloys and aluminum profiles. The patent number is CN213135294U, a metal saw blade clamping mechanism, which discloses the use of a hydraulic nut to clamp the saw blade and fix it on the saw blade spindle.

[0003] like Figure 1 and Figure 2 When it is necessary to tighten and fix the saw blade, first, the oil nozzle 700 on the hydraulic nut 600 is pressurized by the high-pressure oil pump, and the high-pressure oil drives the top ring in the hydraulic nut 600 to move inward, thereby squeezing the chuck 500, and then squeezing the saw blade 300, so that the inner side surface of the saw blade 300 is squeezed on the fixed flange on the spindle 100; at this time, the locking nut 800 moves inward with the chuck 500, so that a gap is generated between the outer side surface of the locking nut 800 and the inner side surface of the hydraulic nut 600, and at this time, the locking nut 800 is rotated and moved outward, so that the outer side surface of the locking nut 800 is close to the inner side surface of the hydraulic nut 600; then the input of high-pressure oil is canceled, and the self-locking function of the thread between the locking nut 800 and the chuck 500 replaces the high-pressure oil output, and at this time, the saw blade 300 is tightly clamped by the fixed flange and the chuck 500, so that the saw blade 300 is tightened and fixed.

[0004] When it is necessary to loosen the saw blade 300, the oil nozzle 700 on the hydraulic nut 600 is pressurized by the high-pressure oil pump, and the high-pressure oil drives the top ring in the hydraulic nut 600 to move inward, thereby squeezing the chuck 500. At this time, the locking nut 800 is rotated and moved inward, so that the outer side of the locking nut 800 is separated from the inner side of the hydraulic nut 600; then the input of high-pressure oil is canceled, so that the chuck 500 relaxes the squeezing of the saw blade 300, thereby achieving the effect of loosening the saw blade.

[0005] When replacing a saw blade, the saw blade needs to be loosened first, and then the chuck 500 is rotated so that the protrusion 200 on the chuck 500 overlaps with the opening 400 on the old saw blade 300, so that the old saw blade 300 can be separated from the saw blade spindle 100. The existing method is to manually rotate the chuck 500, then manually remove the old saw blade 300 from the saw blade spindle 100, and then transport the old saw blade 300 to a recycling station by a crane; then the new saw blade 300 is inserted into the saw blade spindle 100 for installation and fixation. This method results in high labor costs and low efficiency. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a fully automatic replacement and handling system for steel saw blades based on machine vision, which can realize rotating the chuck, removing the old saw blade and installing the new saw blade, reducing labor costs and improving efficiency.

[0007] The present invention is implemented by the following technical scheme: a fully automatic replacement and handling system for steel saw blades based on machine vision, comprising a workshop and a transport track, wherein a saw blade spindle is provided in the workshop, and one end of the transport track is located in the workshop; the transport track comprises a transport section and a fixed section, a robot and a placement component for placing saw blades are arranged on the transport track, and a clamping claw component for grabbing saw blades is arranged on the robot;

[0008] The clamping jaw assembly includes a mounting plate connected to the robot, the four corners of the front side of the mounting plate are fixed with fixed claws, the front end of the fixed claws is fixed with a magnet seat for adsorbing the saw blade; the front of the mounting plate is provided with a gear component for driving the chuck to rotate;

[0009] The placement assembly includes a placement box, and the left and right sides of the placement box are fixed with hanging blocks for hanging saw blades; a mounting box is arranged below the placement box, and a driving assembly for driving the placement box to rotate is arranged in the mounting box;

[0010] A fixing rod is fixed between the two fixing claws, and a recognition camera is fixed on one of the fixing rods via a mounting seat and a strip light source is fixed via a mounting sheet metal.

[0011] Preferably, the gear component comprises a mounting ring fixed on the fixed claw via a support frame, a driven gear is arranged inside the mounting ring, and the driven gear is driven by a fourth motor; the inner part of the driven gear penetrates the mounting ring and extends with a clamping convex portion, the clamping convex portion is clamped between two convex blocks on the chuck, so that the driven gear can drive the chuck to rotate when it rotates;

[0012] The fourth motor is fixed on one of the fixing claws, and the output shaft of the fourth motor passes through the mounting ring and is fixed with a driving gear meshing with the driven gear.

[0013] Preferably, the driving assembly includes a first motor fixed in the installation box via a first fixing plate, the output shaft of the first motor is connected to a reducer, the output shaft of the reducer penetrates the top of the installation box and is fixedly connected to the bottom of the placement box.

[0014] Preferably, a baffle plate for blocking the saw blade is provided on the hanging block, and a limiting protrusion is provided on the top of the baffle plate to facilitate limiting the saw blade on the hanging block; a moving component for driving the baffle plate to move is provided in the placement box.

[0015] Preferably, the moving assembly includes a third telescopic cylinder fixed on a mounting plate in the placement box, a push rod of the third telescopic cylinder is connected to a telescopic shaft via a floating joint, and a distal end of the telescopic shaft penetrates the placement box and the hanging block and is fixedly connected to the baffle.

[0016] Preferably, the workshop has an entrance and exit, and the track passes through the entrance and exit; the entrance and exit are divided into a left entrance and exit and a right entrance and exit by a partition, and the track is located at the right entrance and exit; a second folding door is provided on the right entrance and exit, and is located on the right side of the partition when the second folding door is folded; a first folding door is provided on the left entrance and exit, and is located on the left side of the partition when the first folding door is folded.

[0017] Preferably, the second folding door comprises a second fixed door fixed to the right end of the front side of the partition, a second sliding door B is arranged in front of the second fixed door, a second fixing pin B is fixed to the left end of the rear side of the second sliding door B, and a second sliding groove C for sliding of the second fixing pin B is provided on the front side of the second fixed door;

[0018] A second sliding door A is arranged in front of the second sliding door B, a second fixing pin A is fixed to the left end of the rear side of the second sliding door A, and a second sliding groove B is provided on the front side of the second sliding door B for the second fixing pin A to slide; the second sliding door A is driven by a second driving member.

[0019] Preferably, the first folding door comprises a first fixed door fixed to the left end of the front side of the partition, a first sliding door B is arranged in front of the first fixed door, a first fixing pin B is fixed to the right end of the rear side of the first sliding door B, and a first sliding groove C for sliding of the first fixing pin B is provided on the front side of the first fixed door;

[0020] A first sliding door A is arranged in front of the first sliding door B, a first fixing pin A is fixed to the right end of the rear side surface of the first sliding door A, and a first sliding groove B is provided on the front side surface of the first sliding door B for sliding of the first fixing pin A; the first sliding door A is driven by a first driving member, and the first driving member and the second driving member have the same structure.

[0021] Preferably, a support rod is fixed to the front side of the workshop above the entrance and exit; the second driving member includes a mounting frame fixed to the top of the support rod, and a first telescopic cylinder is fixed on the mounting frame; a first moving frame is fixed to the end of the push rod of the first telescopic cylinder, a second telescopic cylinder is fixed to the middle of the first moving frame, a second moving frame is fixed to the second telescopic cylinder, a linear guide rail is fixed to the mounting frame, and two sliders on the linear guide rail are fixedly connected to the first moving frame and the second moving frame respectively; the push rod of the second telescopic cylinder is fixedly connected to the second sliding door A via a third moving frame.

[0022] Preferably, a method of use is also included, the method is as follows:

[0023] Step 1: Loosen the old saw blade through the hydraulic nut;

[0024] Step 2: The position of the saw blade spindle is identified by taking a photo with the identification camera, and then the robot drives the gear component on the clamping jaw assembly to move to the chuck to rotate the chuck so that the protrusion on the chuck overlaps with the opening on the old saw blade;

[0025] Step 3: Use the recognition camera to identify the position of the positioning hole on the old saw blade, and then the robot drives the positioning shaft on the clamping jaw assembly to extend into the positioning hole;

[0026] Step 4: The old saw blade is adsorbed by the magnet seat, and then the robot drives the clamp assembly to remove the old saw blade, and the robot is transported to the placement assembly through the transport track, and the old saw blade is hung on the hanging block of the placement assembly by the robot;

[0027] Step 5: The placement box is driven to rotate by the driving assembly so that the new saw blade is rotated in front of the robot;

[0028] Step 6: Remove the new saw blade through the clamp assembly, transport the robot back to the saw blade spindle through the transport track, and hang the new saw blade on the saw blade spindle;

[0029] Step 7. Finally, drive the chuck to rotate through the clamping jaw assembly, offset the protrusion on the chuck with the opening on the new saw blade, and then press and fix the new saw blade with the hydraulic nut to complete the replacement of the saw blade.

[0030] Beneficial effects of the present invention:

[0031] (1) The present invention provides an embodiment, which can realize the rotation of the chuck and the removal of the saw blade from the main shaft through the clamping claw assembly, and can drive the driven gear to rotate through the fourth motor, so as to facilitate the subsequent rotation of the chuck; the inner part of the driven gear penetrates the installation ring and extends with a positioning protrusion, which is clamped between two protrusions on the chuck, so that when the driven gear rotates, it can drive the chuck to rotate, which is convenient for installing the saw blade on the main shaft or removing the saw blade from the main shaft. When the robot hangs the old saw blade on the hanging block, the driving assembly drives the placement box to rotate, and rotates the new saw blade on the hanging block on the other side to the front of the robot, and then the robot removes the new saw blade and carries it back to the saw blade main shaft for installation, thereby improving the replacement efficiency.

[0032] (2) In one embodiment of the present invention, the positioning hole on the saw blade can be identified by the recognition camera, so that the positioning shaft can be accurately inserted into the positioning hole. The bar light source can be used to provide fill light when the recognition camera is working, so that the recognition camera can work better.

[0033] (3) In one embodiment of the present invention, the entrance and exit are divided into a left entrance and a right entrance by a partition, and the track is located at the right entrance and exit; the left entrance and exit is used for workers to enter and exit the workshop, and the right entrance and exit is used for the track to drive the robot to enter and exit the workshop, so that when the robot is transported by the track, the workers can be prevented from getting close to the track during the process of entering and exiting the workshop. A second folding door is provided on the right entrance and exit for opening and closing the right entrance and exit, and a first folding door is provided on the left entrance and exit for opening and closing the left entrance and exit.

[0034] The present invention can realize rotating the chuck, taking out the old saw blade and installing the new saw blade, thereby reducing labor costs and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic diagram of a chuck in an open state in the background art;

[0036] Figure 2 is a schematic diagram of a chuck in a closed state in the background art;

[0037] Figure 3 It is a schematic diagram of the structure of the present invention;

[0038] Figure 4 It is a schematic diagram of the structure of the saw blade spindle;

[0039] Figure 5 It is a schematic diagram of the structure of the robot and the placed components;

[0040] Figure 6 It is a schematic diagram of the structure of the saw blade;

[0041] Figure 7 is a schematic diagram of the structure of the gripper assembly;

[0042] Figure 8 It is a schematic diagram of the structure of the gripper assembly from another perspective;

[0043] Fig. 9 It is the internal structure diagram of the installation ring;

[0044] Fig.10 It is a structural diagram of the magnet seat;

[0045] Fig.11 It is a schematic diagram of the structure where components are placed;

[0046] Fig.12 is a schematic structural diagram of a first embodiment of a drive assembly;

[0047] Fig.13 is a schematic structural diagram of a second embodiment of a drive assembly;

[0048] Fig.14 is a top view of a second embodiment of a drive assembly;

[0049] Fig.15 is a schematic structural diagram of a first embodiment of a mobile assembly;

[0050] Fig.16 is a schematic top view of a first embodiment of a moving assembly;

[0051] Fig.17 is a schematic top view of a second embodiment of a moving assembly;

[0052] Fig.18 It is a schematic diagram of the structure of the baffle;

[0053] Fig.19 It is a schematic diagram of the structure of the partition;

[0054] Fig. 20 is a schematic diagram of the structure of a first folding door and a second folding door;

[0055] Fig.21 is a schematic structural diagram of the second fixing pin B;

[0056] Fig. 22 is a schematic diagram of the structure of the second chute C;

[0057] Fig.23 is a schematic structural diagram of a first fixing pin B;

[0058] Fig.24 is a schematic diagram of the structure of the first chute C;

[0059] Fig.25 is a schematic structural diagram of a second driving member;

[0060] Fig.26 It is a schematic diagram of the experimental results of template matching. DETAILED DESCRIPTION

[0061] The present invention will be further described below in conjunction with the accompanying drawings.

[0062] like Figures 3 to 25The present invention provides an embodiment: a fully automatic replacement and handling system for steel saw blades based on machine vision, including a workshop 8 and a transport track for transporting a robot 700. The workshop 8 has a saw blade spindle 100. One end of the transport track is located in the workshop. The transport track is provided with a robot 700 and a placement component 1000 for placing the saw blade. The transport track includes a transport section 91 and a fixed section 92. The robot 700 is arranged on the transport section 91, and the placement component 1000 is arranged on the fixed section 92, so that the robot 700 can be driven to transport back and forth between the saw blade spindle 100 and the placement component 1000, so as to facilitate the replacement and handling of the saw blade 300. The robot 700 is provided with a clamping claw assembly 600 for grabbing the saw blade 300, and the clamping claw assembly 600 can realize the rotation of the chuck and the removal of the saw blade 300 from the spindle.

[0063] The clamping jaw assembly 600 includes a mounting plate 601 connected to the robot 700, and fixing claws 602 are fixed to the four corners of the front side of the mounting plate 601. A magnet seat 603 for adsorbing the saw blade 300 is fixed to the front end of the fixing claw 602; a gear component 604 for driving the chuck to rotate is arranged in front of the mounting plate 601.

[0064] The placement assembly 1000 includes a placement box 1, and the left and right sides of the placement box 1 are fixed with hanging blocks 2 for hanging saw blades 300. The hanging block 2 on one side is used to hang new saw blades 300, and the hanging block 2 on the other side is used to hang the old saw blade 300 removed from the main shaft of the saw blade 300 by the robot 700. An installation box 3 is arranged below the placement box 1, and a driving assembly for driving the placement box 1 to rotate is arranged in the installation box 3. The driving assembly can drive the placement box 1 to rotate, which is convenient for the subsequent handling of the robot 700. When the robot 700 hangs the old saw blade 300 on the hanging block 2, the driving assembly drives the placement box 1 to rotate, and rotates the new saw blade 300 on the hanging block 2 on the other side to the front of the robot 700, and then the robot 700 drives the clamping claw assembly 600 to remove the new saw blade 300 and carry it back to the main shaft of the saw blade 300 for installation, thereby improving the replacement efficiency.

[0065] The gear component 604 includes a mounting ring 6042 fixed on the fixed claw 602 via a support frame 6041, and a driven gear 6043 is arranged inside the mounting ring 6042. The driven gear 6043 is driven by a fourth motor 6044, and the fourth motor 6044 can drive the driven gear 6043 to rotate, which is convenient for the subsequent rotation of the chuck; the inner part of the driven gear 6043 penetrates the mounting ring 6042 and extends with a locking protrusion 6045, and the locking protrusion 6045 is clamped between two protrusions on the chuck, so that when the driven gear 6043 rotates, it can drive the chuck to rotate, which is convenient for installing the saw blade 300 on the main shaft or removing the saw blade 300 from the main shaft.

[0066] The fourth motor 6044 is fixed on one of the fixed claws 602. The output shaft of the fourth motor 6044 passes through the mounting ring 6042 and is fixed with a driving gear 6046 meshing with the driven gear 6043. The fourth motor 6044 can drive the driving gear 6046 to rotate, thereby driving the driven gear 6043 to rotate, and further driving the chuck to rotate.

[0067] In one embodiment of the present invention, a fixing rod 608 is fixed between two fixing claws 602, and a recognition camera 6010 is fixed to one of the fixing rods 608 via a mounting seat 609 and a strip light source 6012 is fixed to one of the fixing rods 608 via a mounting seat 609. The recognition camera 6010 may be of the model MV-CH500, but is not limited thereto. The recognition camera 6010 can recognize the positioning hole 301 on the saw blade 300, so that the positioning shaft 605 can be accurately inserted into the positioning hole 301. The strip light source 6012 may be of the model MV-LLDS, but is not limited thereto. The strip light source 6012 can provide fill light when the recognition camera 6010 is working, so that the recognition camera 6010 can work better.

[0068] In one embodiment of the present invention, the driving assembly includes a first motor 42 fixed in the installation box 3 via a first fixing plate 41, and the output shaft of the first motor 42 is connected to a reducer 43, and the model of the reducer 43 may be BX-320C, but is not limited thereto, and the reducer 43 can be driven to start by the first motor 42, thereby driving the placement box 1 to rotate. The output shaft of the reducer 43 penetrates the top of the installation box 3 and is fixedly connected to the bottom of the placement box 1.

[0069] In one embodiment of the present invention, a baffle plate 5 for blocking the saw blade 300 is provided on the hanging block 2. The top of the baffle plate 5 has a limiting protrusion 51, which is conducive to limiting the saw blade 300 on the hanging block 2. The top of the limiting protrusion 51 is higher than the bottom of the hanging block 2, so that the saw blade 300 can be squeezed and limited on the placement box 1 by the limiting protrusion 51; the placement box 1 is provided with a moving assembly for driving the baffle plate 5 to move. When the saw blade 300 is suspended on the hanging block 2, the baffle plate 5 is driven by the moving assembly to move in a direction close to the saw blade 300, so that the saw blade 300 can be squeezed and limited on the placement box 1, and the saw blade 300 is prevented from falling off the hanging block 2 when the placement box 1 rotates. When the saw blade 300 needs to be removed from the hanging block 2, the baffle plate 5 is driven by the moving assembly to move in a direction away from the saw blade 300, releasing the squeezing of the saw blade 300, and the saw blade 300 is removed by the robot 700.

[0070] In one embodiment of the present invention, the moving assembly includes a third telescopic cylinder 61 fixed on the mounting plate 11 in the placement box 1, which is used to drive the baffle plate 5 to move. The push rod of the third telescopic cylinder 61 is connected to a telescopic shaft via a floating joint 62. The push rod of the third telescopic cylinder 61 can be stably telescoped through the floating joint 62, and the telescopic shaft is used to connect the baffle plate 5; the end of the telescopic shaft penetrates the placement box 1 and the hanging block 2 and is fixedly connected to the baffle plate 5. The floating joint 62 can be driven to move by the telescopic gas rod, thereby driving the telescopic shaft to move, and then driving the baffle plate 5 to move.

[0071] In one embodiment of the present invention, the workshop 8 has an entrance and an exit, and the track passes through the entrance and an exit. The entrance and an exit are divided into a left entrance and an exit 8032 and a right entrance and an exit 8031 ​​through a partition 803, and the track is located at the right entrance and an exit 8031; the left entrance and an exit 8032 is used for workers to enter and exit the workshop 8, and the right entrance and an exit 8031 ​​is used for the track to drive the robot 100 to enter and exit the workshop 8, so that when the robot is transported by the track, the workers are prevented from getting close to the track during the process of entering and exiting the workshop 8. The right entrance and an exit 8031 ​​is provided with a second folding door 804, which is used to open and close the right entrance and an exit 8031, and the second folding door 804 is located on the right side of the partition 803 when it is retracted. The left entrance and an exit 8032 is provided with a first folding door 805, which is used to open and close the left entrance and an exit 8032, and the first folding door 805 is located on the left side of the partition 803 when it is retracted.

[0072] The second folding door 804 includes a second fixed door 8041 fixed to the right end of the front side of the partition 803, a second sliding door B8042 is arranged in front of the second fixed door 8041, a second fixing pin B80421 is fixed to the left end of the rear side of the second sliding door B8042, and the front side of the second fixed door 8041 has a second sliding groove C80411 for the sliding of the second fixing pin B80421, so that the second fixing pin B80421 slides in the second sliding groove C80411 when the second sliding door B8042 moves.

[0073] A second sliding door A8043 is arranged in front of the second sliding door B8042, a second fixing pin A is fixed to the left end of the rear side of the second sliding door A8043, and a second sliding groove B is provided on the front side of the second sliding door B8042 for the second fixing pin A to slide, so that when the second sliding door A8043 moves, the second fixing pin A slides in the second sliding groove B. The second sliding door A8043 is driven by a second driving member, and the second sliding door A8043 can be driven to move left and right by the second driving member.

[0074] When the right entrance and exit 8031 ​​needs to be closed, the second driving member drives the second sliding door A8043 to move to the right, thereby driving the second fixed pin A to slide to the right in the second slide groove B. When the second fixed pin A moves to the right side wall of the second slide groove B, the second fixed pin A continues to move, thereby driving the second sliding door B8042 to move to the right, thereby driving the second fixed pin B80421 to slide to the right in the second slide groove C80411. When the second fixed pin B80421 moves to the right side wall of the second slide groove C80411, the second sliding door A8043 and the second sliding door B8042 are both opened, so that the right entrance and exit 8031 ​​can be closed.

[0075] The first folding door 805 includes a first fixed door 8051 fixed at the left end of the front side of the partition 803, a first sliding door B8052 is arranged in front of the first fixed door 8051, a first fixing pin B80521 is fixed to the right end of the rear side of the first sliding door B8052, and the front side of the first fixed door 8051 has a first sliding groove C80511 for the sliding of the first fixing pin B80521, so that the first fixing pin B80521 slides in the first sliding groove C80511 when the first sliding door B8052 moves.

[0076] A first sliding door A8053 is arranged in front of the first sliding door B8052, a first fixing pin A is fixed to the right end of the rear side of the first sliding door A8053, and a first sliding groove B is provided on the front side of the first sliding door B8052 for the first fixing pin A to slide, so that when the first sliding door A8053 moves, the first fixing pin A slides in the first sliding groove B. The first sliding door A8053 is driven by a first driving member, and can be driven to move left and right by a driving member. The first driving member has the same structure as the second driving member.

[0077] When the right entrance and exit 8031 ​​needs to be closed, the second driving member drives the second sliding door A8043 to move to the right, thereby driving the second fixed pin A to slide to the right in the second slide groove B. When the second fixed pin A moves to the right side wall of the second slide groove B, the second fixed pin A continues to move, thereby driving the second sliding door B8042 to move to the right, thereby driving the second fixed pin B80421 to slide to the right in the second slide groove C80411. When the second fixed pin B80421 moves to the right side wall of the second slide groove C80411, the second sliding door A8043 and the second sliding door B8042 are both opened, so that the right entrance and exit 8031 ​​can be closed.

[0078] A support rod 806 is fixed on the front side of the workshop 8 above the inlet and outlet for mounting a second driving member; the second driving member includes a mounting frame 8071 fixed on the top of the support rod 806, and the rear side of the mounting frame 8071 is fixed on the workshop 8; a first telescopic cylinder 8072 is fixed on the mounting frame 8071 for driving the first moving frame 8073 to move; the first moving frame 8073 is fixed to the end of the push rod of the first telescopic cylinder 8072, and a second telescopic cylinder 8074 is fixed in the middle of the first moving frame 8073 for It drives the second movable frame 8075 to move. The second movable frame 8075 is fixed on the second telescopic cylinder 8074. The linear guide 8076 is fixed on the mounting frame 8071. The two sliders on the linear guide 8076 are respectively fixedly connected to the first movable frame 8073 and the second movable frame 8075. The sliders slide on the linear guide 8076, which can play a role of limiting and guiding when the second telescopic cylinder 8074 moves. The push rod of the second telescopic cylinder 8074 is fixedly connected to the second sliding door A8043 via the third movable frame 8077.

[0079] When the right entrance and exit 8031 ​​needs to be closed, the third movable frame 8077 is first moved to the right by the second telescopic cylinder 8074, thereby driving the second sliding door A8043 to move to the right, and then the second telescopic cylinder 8074 is driven to move to the right by the first telescopic cylinder 8072, thereby driving the second sliding door A8043 and the second sliding door B8042 to move to the right, thereby closing the right entrance and exit 8031.

[0080] In one embodiment of the present invention, a ball 6047 is installed on the inner wall of the mounting ring 6042 to facilitate the rotation of the driven gear 6043, and can play a role in assisting the rotation when the driven gear 6043 rotates.

[0081] In one embodiment of the present invention, a positioning shaft 605 is fixed to the middle of the front side surface of the magnet seat 603, and the saw blade 300 has a positioning hole 301 that matches the positioning shaft 605. The magnet on the magnet seat 603 is an electromagnet. The positioning shaft 605 is inserted into the positioning hole 301 on the saw blade 300, and then the electromagnet is energized so that the magnetic seat adsorbs the saw blade 300, making it easier for the clamp assembly 600 to drive the saw blade 300 to move.

[0082] The rear side surface of the magnet seat 603 is connected to the fixing claw 602 via springs 606 . When the magnet seat 603 touches the saw blade 300 , the spring 606 can avoid uneven adsorption of the saw blade 300 due to angle problems.

[0083] In one embodiment of the present invention, a guide shaft 607 is fixed on the fixing claw 602 inside the spring 606, and a guide groove for the sliding of the guide shaft 607 is provided on the magnet seat 603. The guide shaft 607 cooperates with the guide groove to play a limiting guiding role when the spring 606 is compressed.

[0084] In one embodiment of the present invention, a proximity switch is fixed to the fixed claw 602 via a fixed frame. There are four proximity switches, which are respectively arranged on the fixed claw 602 corresponding to the magnet seat 603, so that the adsorption state of the magnet seat 603 to the saw blade 300 can be monitored in real time.

[0085] In one embodiment of the present invention, baffles 7 are fixed to the left and right sides of the placement box 1. The baffles 7 can play a blocking role when the baffle plate 5 squeezes the saw blade 300, thereby preventing the saw blade 300 from being squeezed and deformed, and the hanging block 2 penetrates the baffle 7.

[0086] In one embodiment of the present invention, the driving assembly includes a rotating shaft 44 disposed in the installation box 3, and the upper and lower ends of the rotating shaft 44 are connected to the bearings of the installation box 3 to facilitate the rotation of the rotating shaft 44; the upper end of the rotating shaft 44 penetrates the top of the installation box 3 and is fixedly connected to the bottom of the placement box 1; a worm wheel 45 is sleeved on the rotating shaft 44 located in the installation box 3, and the worm wheel 45 is driven by a worm 46, so that the rotation of the worm 46 can drive the worm wheel 45 to rotate, thereby driving the rotating shaft 44 to rotate; a second fixed plate 47 is fixed in the installation box 3, and a second motor 48 for driving the worm 46 to rotate is fixed on the second fixed plate 47. Starting the second motor 48 can drive the worm 46 to rotate, thereby driving the worm wheel 45 to rotate, thereby driving the rotating shaft 44 to rotate, and then driving the placement box 1 to rotate.

[0087] In one embodiment of the present invention, the moving assembly includes a third motor 63 fixed on the mounting plate 11 in the placement box 1, a screw rod 64 is connected to the output end of the third motor 63, a moving sleeve 65 is installed on the screw rod 64, and the screw rod 64 rotates to drive the moving sleeve 65 to move; the end of the moving sleeve 65 penetrates the placement box 1 and the hanging block 2 and is fixedly connected to the baffle 5. The third motor 63 can drive the screw rod 64 to rotate, thereby driving the moving sleeve 65 to move, and then driving the baffle 5 to move.

[0088] In one embodiment of the present invention, a limiting block (not shown) is fixed on the top of the second sliding door A8043 and the second sliding door B8042, and the bottom of the support rod 806 has a limiting groove (not shown) for the sliding of the limiting block. The limiting block cooperates with the limiting groove to play a limiting guide role when the second sliding door A8043 or the second sliding door B8042 moves.

[0089] In one embodiment of the present invention, guide wheels (not shown) are fixed to the bottom of the first sliding door A8053 and the first sliding door B8052 to facilitate the sliding of the first sliding door A8053 and the first sliding door B8052.

[0090] In one embodiment of the present invention, a guardrail 808 is provided on the left side of the track. When the robot is transported on the track, the guardrail 808 can be used to block the worker from getting close to the track when the worker enters the workshop 8.

[0091] In one embodiment of the present invention, a method of use is also included, and the method is as follows:

[0092] Step 1: Loosen the old saw blade through the hydraulic nut;

[0093] Step 2: The position of the saw blade spindle is identified by taking a photo with the identification camera, and then the robot drives the gear component on the clamping jaw assembly to move to the chuck to rotate the chuck so that the protrusion on the chuck overlaps with the opening on the old saw blade;

[0094] Step 3: Use the recognition camera to identify the position of the positioning hole on the old saw blade, and then the robot drives the positioning shaft on the clamping jaw assembly to extend into the positioning hole;

[0095] Step 4: The old saw blade is adsorbed by the magnet seat, and then the robot drives the clamp assembly to remove the old saw blade, and the robot is transported to the placement assembly through the transport track, and the old saw blade is hung on the hanging block of the placement assembly by the robot;

[0096] Step 5: The placement box is driven to rotate by the driving assembly so that the new saw blade is rotated in front of the robot;

[0097] Step 6: Remove the new saw blade through the clamp assembly, transport the robot back to the saw blade spindle through the transport track, and hang the new saw blade on the saw blade spindle;

[0098] Step 7. Finally, drive the chuck to rotate through the clamping jaw assembly, offset the protrusion on the chuck with the opening on the new saw blade, and then press and fix the new saw blade with the hydraulic nut to complete the replacement of the saw blade.

[0099] like Fig.26 In one embodiment of the present invention, the center position of the saw blade spindle is determined by detecting the position of the center of the black circle on the saw blade spindle by a recognition camera, so as to provide an accurate reference position for the subsequent robot to disassemble and assemble the saw blade. The specific detection steps are as follows:

[0100] Step S1: The recognition camera captures a test image of the saw blade spindle;

[0101] Step S2: preprocessing the test image, retaining edges and removing noise through a guided filtering algorithm, and enhancing the contrast of the test image by setting an image grayscale threshold and increasing the image grayscale value to enhance the brightness;

[0102] Step S3: obtaining a reference image of the saw blade spindle, performing grayscale processing on it, and setting a three-level pyramid level as an image standard template according to the degree of influence of the saw blade on-site working environment on the image;

[0103] Step S4: obtaining a test image of the saw blade spindle, performing grayscale processing on the test image, and matching the image with a standard template using a least squares algorithm;

[0104] Step S5: pre-calculating the integral image through a shape template matching algorithm based on normalized cross-correlation technology to evaluate the similarity between images, compare the subtle differences between the template image and the actual scene image, analyze the matching results, and output the center coordinates and rotation angle of the axis feature of the saw blade spindle;

[0105] The step S3 is further specifically as follows:

[0106] Step S31: for the reference image of the saw blade spindle, circle the area containing the black center, perform grayscale processing on the image, and establish a region of interest ROI;

[0107] Step S32: cropping the region of interest ROI to obtain an image template of the axis feature;

[0108] Step S33: creating an image pyramid structure of an image template to form an image standard template of the main axis feature.

[0109] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A fully automatic replacement and handling system for hacksaw blades based on machine vision, comprising a workshop and a transport track, wherein the workshop has a saw blade spindle, and one end of the transport track is located in the workshop; the transport track comprises a transport section and a fixed section, and is characterized in that: A robot and a placement component for placing a saw blade are arranged on the transport track, and a clamping claw component for grabbing the saw blade is arranged on the robot; The clamping jaw assembly includes a mounting plate connected to the robot, the four corners of the front side of the mounting plate are fixed with fixed claws, the front end of the fixed claws is fixed with a magnet seat for adsorbing the saw blade; the front of the mounting plate is provided with a gear component for driving the chuck to rotate; The placement assembly includes a placement box, and the left and right sides of the placement box are fixed with hanging blocks for hanging saw blades; a mounting box is arranged below the placement box, and a driving assembly for driving the placement box to rotate is arranged in the mounting box; A fixing rod is fixed between the two fixing claws, and a recognition camera is fixed to one of the fixing rods via a mounting seat and a strip light source is fixed to one of the fixing rods via a mounting sheet metal; The gear component comprises a mounting ring fixed on the fixed claw via a support frame, a driven gear is arranged inside the mounting ring, and the driven gear is driven by a fourth motor; the inner part of the driven gear penetrates the mounting ring and extends with a clamping convex part, and the clamping convex part is clamped between two convex blocks on the chuck, so that the chuck can be driven to rotate when the driven gear rotates; The fourth motor is fixed on one of the fixing claws, and the output shaft of the fourth motor passes through the mounting ring and is fixed with a driving gear meshing with the driven gear; The workshop has an entrance and exit, and the track passes through the entrance and exit; the entrance and exit are divided into a left entrance and a right entrance and exit by a partition, and the track is located at the right entrance and exit; a second folding door is provided on the right entrance and exit, and the second folding door is located on the right side of the partition when the second folding door is folded; a first folding door is provided on the left entrance and exit, and the first folding door is located on the left side of the partition when the first folding door is folded.

2. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 1 is characterized in that: The driving assembly includes a first motor fixed in the installation box via a first fixing plate, the output shaft of the first motor is connected to a reducer, the output shaft of the reducer penetrates the top of the installation box and is fixedly connected to the bottom of the placement box.

3. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 1 is characterized in that: The hanging block is provided with a baffle plate for blocking the saw blade, and the top of the baffle plate is provided with a limiting convex portion to facilitate limiting the saw blade on the hanging block; the placement box is provided with a moving component for driving the baffle plate to move.

4. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 3 is characterized in that: The moving assembly includes a third telescopic cylinder fixed on a mounting plate in the placement box, a push rod of the third telescopic cylinder is connected to a telescopic shaft via a floating joint, and a distal end of the telescopic shaft penetrates the placement box and the hanging block and is fixedly connected to the baffle.

5. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 1 is characterized in that: The second folding door comprises a second fixed door fixed to the right end of the front side of the partition, a second sliding door B is arranged in front of the second fixed door, a second fixing pin B is fixed to the left end of the rear side of the second sliding door B, and a second sliding groove C for sliding of the second fixing pin B is provided on the front side of the second fixed door; A second sliding door A is arranged in front of the second sliding door B, a second fixing pin A is fixed to the left end of the rear side of the second sliding door A, and a second sliding groove B is provided on the front side of the second sliding door B for the second fixing pin A to slide; the second sliding door A is driven by a second driving member.

6. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 5 is characterized in that: The first folding door comprises a first fixed door fixed to the left end of the front side of the partition, a first sliding door B is arranged in front of the first fixed door, a first fixing pin B is fixed to the right end of the rear side of the first sliding door B, and a first sliding groove C for sliding of the first fixing pin B is provided on the front side of the first fixed door; A first sliding door A is arranged in front of the first sliding door B, a first fixing pin A is fixed to the right end of the rear side surface of the first sliding door A, and a first sliding groove B is provided on the front side surface of the first sliding door B for sliding of the first fixing pin A; the first sliding door A is driven by a first driving member, and the first driving member and the second driving member have the same structure.

7. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 5 is characterized in that: A support rod is fixed on the front side of the workshop above the entrance and exit; the second driving member includes a mounting frame fixed to the top of the support rod, and a first telescopic cylinder is fixed on the mounting frame; a first moving frame is fixed to the end of the push rod of the first telescopic cylinder, a second telescopic cylinder is fixed to the middle of the first moving frame, and a second moving frame is fixed to the second telescopic cylinder, a linear guide is fixed on the mounting frame, and two sliders on the linear guide are respectively fixedly connected to the first moving frame and the second moving frame; the push rod of the second telescopic cylinder is fixedly connected to the second sliding door A via a third moving frame.

8. The fully automatic replacement and handling system for hacksaw blades based on machine vision according to claim 1 is characterized in that: Also included is a method of use, which is as follows: Step 1: Loosen the old saw blade through the hydraulic nut; Step 2: The position of the saw blade spindle is identified by taking a photo with the identification camera, and then the robot drives the gear component on the clamping jaw assembly to move to the chuck to rotate the chuck so that the protrusion on the chuck overlaps with the opening on the old saw blade; Step 3: Use the recognition camera to identify the position of the positioning hole on the old saw blade, and then the robot drives the positioning shaft on the clamping jaw assembly to extend into the positioning hole; Step 4: The old saw blade is adsorbed by the magnet seat, and then the robot drives the clamp assembly to remove the old saw blade, and the robot is transported to the placement assembly through the transport track, and the old saw blade is hung on the hanging block of the placement assembly by the robot; Step 5: The placement box is driven to rotate by the driving assembly so that the new saw blade is rotated in front of the robot; Step 6: Remove the new saw blade through the clamp assembly, transport the robot back to the saw blade spindle through the transport track, and hang the new saw blade on the saw blade spindle; Step 7. Finally, drive the chuck to rotate through the clamping jaw assembly, offset the protrusion on the chuck with the opening on the new saw blade, and then press and fix the new saw blade with the hydraulic nut to complete the replacement of the saw blade.

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