Upper hanging module applied to corrugated plate

Abstract

The invention relates to the field of corrugated plate hanging, in particular to a module applied to corrugated plate hanging. Comprising a robot control mechanism and a loop chain line side position mechanism. The robot control mechanism comprises a robot body, a camera shooting assembly and a suction cup assembly. The camera shooting assembly and the suction cup assembly are both installed at the control end of the robot body and used for adsorbing and fixing the corrugated plate in the feeding frame and hanging the corrugated plate on the clamped and positioned hanging frame assembly. The loop chain line side position mechanism comprises a gantry support, a movable clamping jaw assembly, a detecting and positioning assembly and a hanging frame assembly. The movable clamping jaw assembly and the detection positioning assembly are both installed on the gantry support, the hanging frame assembly is located over the gantry support and moves in the linear direction, the detection positioning assembly is used for detecting the position of the hanging frame assembly, and the movable clamping jaw assembly is used for clamping and positioning the hanging frame assembly according to a detection result. The hanging action can be completely completed by the robot under the condition that manual participation is not used, and the production efficiency of a production line is improved.

Description

Technical Field

[0001] The invention relates to the field of corrugated plate hanging, in particular to a module used for corrugated plate hanging. Background Art

[0002] In the field of corrugated board, only 4 holes of Φ12-Φ30mm can be used for hanging. Because the holes are small and the powder is harmful to human body, it is required that the hook of the corrugated board can be aligned with the holes and be handled with care. Limited by the use of corrugated board, only 4 holes can be opened on the corrugated board for hanging. Therefore, it is considered to use a suction cup to suck the board for hanging.

[0003] The commonly used method on the market is for experienced employees to pick up the corrugated sheets and then insert them into the hooks on the line. The traditional hanging method requires manual work between the feeding frame and the chain line, which will cause physical strain on the workers. It not only consumes a lot of manpower, but also has unstable production. In addition, the traditional hanging method cannot track and analyze the corrugated sheets sorted by size, lacks traceability, and cannot retain data records that can be repeatedly queried. Summary of the invention

[0004] Based on this, it is necessary to provide a hanging module for corrugated boards to address the above-mentioned technical problems. The hanging action can be completed completely by robots without human intervention, which can effectively improve the impact of the corrugated board workshop environment on human health, reduce labor costs and energy consumption, and improve production line production efficiency.

[0005] The present invention provides a hanging module applied to a corrugated plate, the module comprising:

[0006] The robot manipulation mechanism comprises a robot body, a camera assembly and a suction cup assembly; the camera assembly and the suction cup assembly are both mounted on the manipulation end of the robot body, and are used to adsorb and fix the corrugated plate in the feeding frame, and hang the corrugated plate on the clamped and positioned hanger assembly;

[0007] The chain line side positioning mechanism includes a gantry support, a movable clamping jaw assembly, a detection and positioning assembly and the hanger assembly; the movable clamping jaw assembly and the detection and positioning assembly are both installed on the gantry support, the hanger assembly is located directly above the gantry support and moves in a linear direction, the detection and positioning assembly is used to detect the position of the hanger assembly, and the movable clamping jaw assembly is used to clamp and position the hanger assembly according to the detection result.

[0008] In one embodiment, the suction cup assembly includes a transverse suction cup and a longitudinal suction cup, and the transverse suction cup and the longitudinal suction cup are respectively used to adsorb two types of corrugated plates with different wave peak arrangements. The camera assembly is located above the transverse suction cup and the longitudinal suction cup, and is used to observe the center position of the positioning hole on the corrugated plate in real time.

[0009] In one embodiment, the movable clamping jaw assembly includes a linear moving mechanism and a clamping cylinder; the linear moving mechanism is arranged on the gantry bracket, and two clamping cylinders are arranged, and the two clamping cylinders are installed at the moving end of the linear moving mechanism.

[0010] In one embodiment, the detection and positioning assembly includes a mounting frame and a detection sensor; the mounting frame is arranged on the gantry bracket, and two detection sensors are arranged on the mounting frame at intervals along the moving direction of the linear moving mechanism.

[0011] In one embodiment, the hanger assembly includes a serrated hanger, a hook and a fixed plate; the serrated hanger is located above the gantry bracket and moves along the moving direction of the linear moving mechanism, two hooks are provided, one end of the two hooks are both hung on the serrated hanger, and the two hooks are connected by the fixed plate.

[0012] In one embodiment, a first clamp and a second clamp are respectively provided on both sides of the clamping cylinder, and the first clamp and the second clamp are used to limit the two sides of the hook. A positioning screw is provided on the hook to provide a reference for the camera assembly to determine the position of the hook.

[0013] In one embodiment, a guide plate is fixed to a side of the gantry bracket facing the robot body, and the guide plate is used to limit the side of the hook away from the robot body.

[0014] In one embodiment, the top end of the hook is configured as a U-shaped opening for being hung on the sawtooth hanger, and the bottom end of the hook is configured as a curved end, and the curved end is curved toward a side away from the guide plate.

[0015] The above-mentioned module is applied to the corrugated plate hanging module. The robot body identifies the corrugated plate in the loading frame through the camera assembly arranged thereon. Since the corrugated plate is provided with multiple positioning holes, when the robot body adsorbs the corrugated plate through the suction cup assembly, the camera assembly thereon will also photograph and locate the positioning holes on the corrugated plate. Then the hanging bracket assembly will continuously move and pass above the gantry bracket. When the detection and positioning assembly detects the hanging bracket assembly for the first time, the mobile clamping claw assembly moves with the hanging bracket assembly. When the detection and positioning assembly detects the hanging bracket assembly for the second time, the mobile clamping claw assembly clamps and fixes the hook on the hanging bracket assembly. At the same time, the robot body drives the corrugated plate to follow the mobile clamping claw assembly to move, and determines the position of the hook on the hanging bracket assembly through the camera assembly, thereby hanging the corrugated plate on the hook of the hanging bracket assembly. When the camera assembly identifies and locates the corrugated board and the rack assembly, the positioning algorithm used is converted from three-dimensional to two-dimensional. Through the above-mentioned manipulation method, the hanging action can be completed completely by the robot without human intervention, which can effectively improve the impact of the corrugated board workshop environment on human health, reduce labor costs and energy consumption, and improve production line production efficiency. At the same time, the use of robots for automatic hanging can realize the automated production of the corrugated board hanging station in the workshop. The hanging effect is real and objective, the camera photo data records can be retained, and the historical hanging records can be queried and traced. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the overall structure of the corrugated plate hanging module provided by the present invention;

[0018] Figure 2 A schematic diagram of the partial structure of the corrugated plate hanging module provided by the present invention;

[0019] Figure 3 A schematic diagram of the structure of the clamping cylinder provided by the present invention;

[0020] Figure 4 One of the structural schematic diagrams of the rack assembly provided by the present invention;

[0021] Figure 5 The second structural schematic diagram of the rack assembly provided by the present invention;

[0022] Figure 6 This is a schematic structural diagram of the hook provided by the present invention.

[0023] Reference numerals:

[0024] 110. Robot body; 120. Camera assembly; 131. Horizontal suction cup; 132. Longitudinal suction cup; 210. Gantry bracket; 220. Moving jaw assembly; 221. Linear moving mechanism; 222. Clamping cylinder; 2221. First jaw; 2222. Second jaw; 230. Detection and positioning assembly; 231. Mounting frame; 232. Detection sensor; 240. Guide plate; 300. Hanger assembly; 310. Sawtooth hanger; 320. Hook; 321. Bending end; 322. U-shaped mouth; 330. Fixing plate; 340. Positioning screw; 400. Loading frame; 500. Corrugated plate; 510. Positioning hole. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Combine the following Figures 1 to 6 The present invention is described as an application of a hanging module on a corrugated plate.

[0027] In one embodiment, a module for hanging a corrugated plate includes a robot manipulation mechanism and a chain line side positioning mechanism; the robot manipulation mechanism includes a robot body 110, a camera assembly 120 and a suction cup assembly; the camera assembly 120 and the suction cup assembly are both installed at the manipulation end of the robot body 110, and are used to adsorb and fix the corrugated plate 500 in the loading frame 400, and hang the corrugated plate 500 on the clamped and positioned hanger assembly 300; the chain line side positioning mechanism includes a gantry bracket 210, a mobile clamping jaw assembly 220, a detection and positioning assembly 230 and a hanger assembly 300; the mobile clamping jaw assembly 220 and the detection and positioning assembly 230 are both installed on the gantry bracket 210, the hanger assembly 300 is located directly above the gantry bracket 210 and moves in a linear direction, the detection and positioning assembly 230 is used to detect the position of the hanger assembly 300, and the mobile clamping jaw assembly 220 is used to clamp and position the hanger assembly 300 according to the detection result.

[0028] Specifically, the robot body 110 identifies the corrugated plate 500 in the feeding frame 400 through the camera assembly 120 arranged thereon. Since the corrugated plate 500 is provided with a plurality of positioning holes 510, when the robot body 110 adsorbs the corrugated plate 500 through the suction cup assembly, the camera assembly 120 thereon also photographs and positions the positioning holes 510 on the corrugated plate 500. Subsequently, the hanger assembly 300 continuously moves and passes over the gantry bracket 210. When the detection positioning assembly 230 detects the first When the detection and positioning assembly 230 detects the hanger assembly 300 for the second time, the mobile clamping assembly 220 clamps and fixes the hook 320 on the hanger assembly 300. At the same time, the robot body 110 drives the corrugated plate 500 to move with the mobile clamping assembly 220, and determines the position of the hook 320 on the hanger assembly 300 through the camera assembly 120, so as to hang the corrugated plate 500 on the hook 320 of the hanger assembly 300.

[0029] The above is applied to the corrugated plate hanging module. The robot body 110 identifies the corrugated plate 500 in the loading frame 400 through the camera assembly 120 arranged thereon. Since the corrugated plate 500 is provided with a plurality of positioning holes 510, when the robot body 110 adsorbs the corrugated plate 500 through the suction cup assembly, the camera assembly 120 thereon will also take pictures and locate the positioning holes 510 on the corrugated plate 500. Then the hanging rack assembly 300 will continuously move and pass above the gantry bracket 210. When the detection positioning assembly 230 is first When the rack assembly 300 is detected once, the mobile clamp assembly 220 moves with the rack assembly 300. When the detection and positioning assembly 230 detects the rack assembly 300 for the second time, the mobile clamp assembly 220 clamps and fixes the hook 320 on the rack assembly 300. At the same time, the robot body 110 drives the corrugated plate 500 to move with the mobile clamp assembly 220, and determines the position of the hook 320 on the rack assembly 300 through the camera assembly 120, so as to hang the corrugated plate 500 on the hook 320 of the rack assembly 300. When the camera assembly 120 identifies and locates the corrugated plate 500 and the rack assembly 300, the positioning algorithm used is converted from three-dimensional to two-dimensional. Through the above-mentioned operation method, the hanging action can be completely completed by the robot without human intervention, which can effectively improve the impact of the corrugated plate 500 workshop environment on human health, reduce labor costs and energy consumption, and improve production line production efficiency. At the same time, the use of robots for automatic hanging can realize the automated production of the corrugated plate 500 hanging station in the workshop. The hanging effect is real and objective, the camera photo data records can be retained, and the historical hanging records can be queried and traced.

[0030] The focus of this embodiment is to automatically, efficiently and stably complete production scheduling and production execution for key links in the workshop, thereby improving product quality, production operation efficiency and management innovation level.

[0031] The camera assembly 120 has a fill light function, which can ensure that a clear image of the positioning hole 510 on the corrugated plate 500 can be taken even when the surrounding light is not strong during taking pictures.

[0032] In one embodiment, the suction cup assembly includes a transverse suction cup 131 and a longitudinal suction cup 132, and the transverse suction cup 131 and the longitudinal suction cup 132 are respectively used to adsorb two types of corrugated plates 500 with different wave peak arrangements. The camera assembly 120 is located above the transverse suction cup 131 and the longitudinal suction cup 132, and is used to observe the center position of the positioning hole 510 on the corrugated plate 500 in real time.

[0033] Specifically, since the corrugated plates 500 are arranged in pairs AB, the wave crests of the A corrugated plates 500 and the B corrugated plates 500 are arranged in different ways, so the longitudinal suction cup 132 is more reliable in sucking the A corrugated plates 500, and the transverse suction cup 131 is more reliable in sucking the B corrugated plates 500. By using two sponge suction cups with different arrangement directions, one is arranged transversely and the other is arranged longitudinally, it is ensured that the corrugated plates 500 arranged in pairs can be stably sucked.

[0034] It should be noted that, at this position, the camera assembly 120 takes pictures in a three-dimensional manner to determine the position of the positioning hole 510, so that the corrugated plate 500 can be adsorbed and moved without being arranged neatly.

[0035] In one embodiment, the movable clamping jaw assembly 220 includes a linear moving mechanism 221 and a clamping cylinder 222 ; the linear moving mechanism 221 is disposed on the gantry bracket 210 , and two clamping cylinders 222 are disposed, and both clamping cylinders 222 are installed at the moving end of the linear moving mechanism 221 .

[0036] Specifically, the linear moving component adopts a servo motor to drive the ball screw, linear guide positioning, and slider movement. In this way, the moving position and accuracy can be accurate to 0.01mm. The clamping cylinder 222 is installed at the end position of the chain movement, and the position of the clamping cylinder 222 is adjusted by the extension and contraction of the chain. The first clamping jaw 2221 and the second clamping jaw 2222 are respectively provided on both sides of the clamping cylinder 222, and the first clamping jaw 2221 and the second clamping jaw 2222 are used to limit the two sides of the hook 320. A guide plate 240 is fixed to the side of the gantry bracket 210 facing the robot body 110, and the guide plate 240 is used to limit the side of the hook 320 away from the robot body 110.

[0037] It should be noted that after the hook 320 passes through the guide plate 240, the freedom of the hook 320 in the X direction can be limited. The hook 320 sags under the action of its own gravity to limit the freedom in the Y direction. When the first clamp 2221 and the second clamp 2222 clamp and fix the two sides of the hook 320, the Z direction freedom, X rotational freedom, and Y rotational freedom of the hook 320 are limited.

[0038] In one embodiment, the detection and positioning assembly 230 includes a mounting frame 231 and a detection sensor 232 ; the mounting frame 231 is disposed on the gantry bracket 210 , and two detection sensors 232 are disposed on the mounting frame 231 at intervals along the moving direction of the linear moving mechanism 221 .

[0039] The rack assembly 300 includes a sawtooth rack 310, a hook 320 and a fixing plate 330; the sawtooth rack 310 is located above the gantry bracket 210 and moves along the moving direction of the linear moving mechanism 221. Two hooks 320 are provided, one end of each of the two hooks 320 is hung on the sawtooth rack 310, and the two hooks 320 are connected through the fixing plate 330. Among them, a positioning screw 340 is provided on the hook 320, which is used to provide a reference for the camera assembly 120 to determine the position of the hook 320.

[0040] The two hooks 320 are formed into a whole by the fixing plate 330 , so that the relative distance between the two hooks 320 remains unchanged, ensuring that the ends of the hooks 320 can be just inserted into the positioning holes 510 on the corrugated plate 500 .

[0041] Adjust the distance between the fixing plate 330 and the end of the hook 320 on all hooks 320 to be consistent. When the camera assembly 120 (camera) captures the positioning screw 340, the position is determined by the straight line formed by the two points, and then the distance between the fixing plate 330 on the hook 320 and the end of the hook 320 is added to calculate the position of the end of the hook 320 (such as the bent end 321 below).

[0042] Specifically, when the hook 320 is driven by the sawtooth hanger 310 and moves to the guide plate 240, the hook 320 moves from right to left (in Figure 5As a reference, the robot body 110 moves along the guide plate 240. When the first detection sensor 232 detects the hook 320, a signal is sent. At this time, the linear moving mechanism 221 receives the signal and starts to move. When the second detection sensor 232 detects the hook 320, a signal is sent. At this time, the first clamping claw 2221 and the second clamping claw 2222 of the two clamping cylinders 222 clamp the two hooks 320 respectively. At this time, the linear moving mechanism 221 moves forward at a uniform speed along the linear moving mechanism 221 with the clamped hooks 320, and provides the moving speed at this time to the robot body 110, so that the robot body 110 and the linear moving mechanism 221 keep moving at the same frequency speed. At this time, the camera assembly 120 on the top of the robot body 110 will take a picture of the positioning screw 340 on the hook 320 to determine the position of the hook 320, and then the corrugated plate 500 is inserted into the hook 320. The suction cup assembly on the robot body 110 is released, and the control end of the robot body 110 retreats, leaving the corrugated plate 500 on the two hooks 320.

[0043] In one embodiment, the top end of the hook 320 is configured as a U-shaped opening 322 for being hung on the sawtooth hanger 310 , and the bottom end of the hook 320 is configured as a bent end 321 , which is bent toward a side away from the guide plate 240 .

[0044] Specifically, after the first clamping jaw 2221 and the second clamping jaw 2222 limit the Z direction freedom, X rotational freedom, and Y rotational freedom of the hook 320 , the remaining Z rotational freedom is limited by the U-shaped opening 322 at the top of the hook 320 .

[0045] Among them, the curved part adopts a chamfer design with a size of 1.5mm and an angle of 30 degrees. This setting method allows a guide when the positioning hole 510 of the corrugated plate 500 is inserted into the hook 320. At the same time, the curved part of the hook 320 is bent upward. Therefore, when the hook 320 is inserted into the positioning hole 510 of the corrugated plate 500, the robot body 110 can manipulate the suction cup assembly to stop adsorbing the corrugated plate 500, and the corrugated plate 500 slides down to the bottom under its own gravity and the guiding action of the curved part.

[0046] When the corrugated plate 500 is hung on the hook 320, the camera assembly 120 will capture and locate the curved portion of the hook 320 to determine whether the corrugated plate 500 is completely hung. When there is only one hook 320 in the positioning hole 510 of the corrugated plate 500, the robot body 110 drives the corrugated plate 500 to withdraw from the hook 320 and wait for the subsequent second group of hooks 320 to be hung.

[0047] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A module for hanging on corrugated board, characterized in that: The modules include: The robot manipulation mechanism comprises a robot body, a camera assembly and a suction cup assembly; the camera assembly and the suction cup assembly are both mounted on the manipulation end of the robot body, and are used to adsorb and fix the corrugated plate in the feeding frame, and hang the corrugated plate on the clamped and positioned hanger assembly; The chain line side positioning mechanism includes a gantry support, a movable clamping jaw assembly, a detection and positioning assembly and the hanger assembly; the movable clamping jaw assembly and the detection and positioning assembly are both installed on the gantry support, the hanger assembly is located directly above the gantry support and moves in a linear direction, the detection and positioning assembly is used to detect the position of the hanger assembly, and the movable clamping jaw assembly is used to clamp and position the hanger assembly according to the detection result.

2. The module for hanging on corrugated board according to claim 1, characterized in that: The suction cup assembly includes a transverse suction cup and a longitudinal suction cup, and the transverse suction cup and the longitudinal suction cup are respectively used to adsorb two types of corrugated plates with different wave peak arrangements. The camera assembly is located above the transverse suction cup and the longitudinal suction cup, and is used to observe the center position of the positioning hole on the corrugated plate in real time.

3. The module for hanging on corrugated board according to claim 2 is characterized in that: The movable clamping jaw assembly comprises a linear moving mechanism and a clamping cylinder; the linear moving mechanism is arranged on the gantry bracket, and two clamping cylinders are arranged, and the two clamping cylinders are both installed at the moving end of the linear moving mechanism.

4. The hanging module applied to corrugated board according to claim 3 is characterized in that: The detection and positioning assembly includes a mounting frame and a detection sensor; the mounting frame is arranged on the gantry bracket, and two detection sensors are arranged on the mounting frame at intervals along the moving direction of the linear moving mechanism.

5. The hanging module applied to corrugated board according to claim 4 is characterized in that: The hanger assembly includes a serrated hanger, a hook and a fixed plate; the serrated hanger is located above the gantry bracket and moves along the moving direction of the linear moving mechanism, two hooks are provided, one end of the two hooks are both hung on the serrated hanger, and the two hooks are connected by the fixed plate.

6. The module for hanging on corrugated board according to claim 5, characterized in that: The first clamp and the second clamp are respectively provided on both sides of the clamping cylinder. The first clamp and the second clamp are used to limit the two sides of the hook. The hook is provided with a positioning screw to provide a reference for the camera assembly to determine the position of the hook.

7. The hanging module applied to corrugated board according to claim 6, characterized in that: A guide plate is fixed on a side of the gantry bracket facing the robot body, and the guide plate is used to limit the side of the hook away from the robot body.

8. The hanging module applied to corrugated board according to claim 7, characterized in that: The top end of the hook is configured as a U-shaped opening for being hung on the sawtooth hanger, and the bottom end of the hook is configured as a curved end, and the curved end is curved toward a side away from the guide plate.

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