Plate storage device and warehouse-in and warehouse-out method thereof

Abstract

The invention relates to the technical field of warehousing, in particular to a plate warehousing device and a warehousing-in and warehousing-out method thereof.The plate warehousing device comprises a photographing mechanism, a material taking and placing mechanism, a weighing mechanism, a material receiving mechanism, a material storing mechanism, a discharging mechanism and a control processor; the receiving mechanism is used for receiving to-be-put-in-storage target plates produced by a production line; the material taking and placing mechanism is used for taking and placing target plates so that the target plates can flow among the material receiving mechanism, the material storing mechanism, the weighing mechanism and the discharging mechanism. And the material storage mechanism is used for storing the target plates which are put in storage. Through cooperative use of the photographing mechanism, the material taking and placing mechanism, the weighing mechanism, the material receiving mechanism, the material storing mechanism, the discharging mechanism and the control processor, warehousing and ex-warehouse operation of target plates can be automatically completed, and the sizes of the target plates needing to be warehoused are automatically measured by combining weighing and photographing measurement technologies; therefore, during subsequent deep processing of the artificial stone plate, the target plate with the corresponding size can be quickly selected for warehouse-out.

Description

Technical Field

[0001] The invention relates to the technical field of storage, in particular to a plate storage device and a storage-in / out method thereof. Background Art

[0002] Artificial stone slabs need to be stored in warehouses after production. In order to facilitate the subsequent deep processing of artificial stone slabs, it is necessary to obtain the size information of the artificial stone slabs for registration when the artificial stone slabs are put into warehouses, so that when they are shipped out, artificial stone slabs of corresponding sizes can be quickly selected for shipping out for processing.

[0003] At present, when artificial stone slabs are put into storage, the size of the artificial stone slabs is generally measured manually with the help of a tape measure, and then the artificial stone slabs produced by the production line are placed on the shelves by manually operating a forklift, and the measured size is recorded on the corresponding shelf. When the artificial stone slabs are shipped out of the warehouse, the shelves with artificial stone slabs of corresponding sizes are manually found, and then the artificial stone slabs are taken away from the shelves by manually operating a forklift and transported to the next workstation for subsequent deep processing. This operation method is time-consuming and labor-intensive, and will result in low production and processing efficiency of artificial stone slabs. Summary of the invention

[0004] In view of the above defects, the purpose of the present invention is to propose a plate storage device and a storage method thereof to solve the problem that the existing storage and unloading operation mode of artificial stone plates is time-consuming and labor-intensive, resulting in low production and processing efficiency of artificial stone plates.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A plate storage device comprises a photographing mechanism, a material taking and placing mechanism, a weighing mechanism, a material receiving mechanism, a material storing mechanism, a material discharging mechanism and a control processor;

[0007] The material receiving mechanism is used to receive target plates produced by the production line and waiting to be stored;

[0008] The material taking and placing mechanism is used to take and place the target plate, so that the target plate can flow between the material receiving mechanism, the material storing mechanism, the weighing mechanism and the material discharging mechanism;

[0009] The storage mechanism is used to store the target plates in the warehouse;

[0010] The weighing mechanism is provided with a plate-carrying surface, the plate-carrying surface is used to store the target plate to be stored in the warehouse, and the weighing mechanism is used to obtain the weight of the target plate to be stored in the plate-carrying surface;

[0011] The camera end of the camera mechanism is arranged toward the board-carrying surface, and the camera mechanism is used to capture a board surface image of a first surface of a target board stored in the weighing mechanism;

[0012] The discharging mechanism is used to receive the target plate to be discharged from the warehouse taken out by the picking and releasing mechanism;

[0013] The control processor is communicatively connected with the photographing mechanism, the material picking and placing mechanism and the weighing mechanism. The control processor is used to receive the weight of the target plate and the surface image information of the first side of the target plate, and calculate the size parameters of the target plate according to the weight of the target plate and the surface image information of the target plate.

[0014] Preferably, the material receiving mechanism is a fixed material stacking rack, and the material discharging mechanism is a rotating material stacking rack.

[0015] Preferably, the picking and placing mechanism is a suction cup manipulator, and a visual recognition mechanism is installed at the picking end of the suction cup manipulator, and the visual recognition mechanism is used to identify whether the adsorption surface of the target plate at the picking end of the suction cup manipulator is the first surface of the target plate, so that the picking and placing mechanism is placed on the first surface of the target plate of the weighing mechanism facing the photographic end of the photographic mechanism.

[0016] Preferably, the storage mechanism includes a plurality of shelves and shelf running tracks;

[0017] A plurality of the shelves are movably arranged on the shelf travel track, and the shelf travel track is used to guide the movement of the plurality of shelves;

[0018] Along the guide direction of the shelf running track, a positioning piece is installed at one end of the shelf, and a locking piece is rotatably installed at the other end of the shelf, and the locking piece of one of the two adjacent shelves is hooked to the positioning piece of the other shelf;

[0019] A walking jacking assembly is provided under some of the shelves, and the walking jacking assembly can move along the walking track of the shelf. The walking jacking assembly is used to drive the locking piece of the shelf to rotate so that the locking piece of the shelf is disengaged from the positioning piece hooked with the locking piece.

[0020] Preferably, the locking member comprises a main body and a limiting portion extending from one end of the main body;

[0021] The positioning member is installed at one end of the bottom end of the side wall of the shelf, and the locking member is installed at the other end of the bottom end of the side wall of the shelf;

[0022] The main body is rotatably connected to the shelf, the limiting portion is folded relative to one end of the main body, a hooking portion is formed at the connection between the limiting portion and the main body, and the hooking portion is hooked to the positioning member.

[0023] Preferably, the walking jacking assembly includes a walking trolley and a trolley walking track, the trolley walking track and the shelf walking track are arranged side by side, the walking trolley is movably arranged on the trolley walking track, and the trolley walking track is used to guide the movement of the walking trolley;

[0024] The traveling trolley is equipped with a linear electric cylinder.

[0025] Preferably, the weighing mechanism includes a base plate, a plurality of supporting feet are installed at the bottom end of the base plate, a weighing sensor is provided between each supporting foot and the base plate, a plurality of first support rods are provided at the top end of the base plate, the plurality of first support rods are respectively extended upwardly at an angle and form the inclined carrier surface, a supporting member is provided on one side of the plurality of first support rods, and the supporting member is used to support the middle part of the first support rod.

[0026] Preferably, the supporting member is composed of a plurality of second supporting rods and a bracket, one end of the plurality of second supporting rods is connected to the corresponding first supporting rod, one end of the plurality of second supporting rods away from the first supporting rod is connected to the bracket, and the bottom end of the bracket is fixedly mounted on the top end of the bottom plate;

[0027] A plurality of the first support rods are arranged in parallel and at equal intervals, and a plurality of the second support rods are arranged in parallel and at equal intervals.

[0028] A method for loading and unloading the plate storage device described above comprises the following steps:

[0029] Initialization settings:

[0030] Get the number of shots at n known shooting distances h n The length ratio R of the known plate surface length and the corresponding n plate surface image pixel lengths n , get the value of n known shooting distances h n The width ratio R′ of the known plate width and the corresponding n plate image pixel widths n , where n≥2;

[0031] The nth known shooting distance h n and the corresponding nth length ratio R n and the nth width ratio R′ n Make associations;

[0032] Plate storage identification:

[0033] S1, placing the target plate to be stored after being produced by the production line at the material receiving mechanism;

[0034] S2, when the target plate is put into storage, the material taking and unloading mechanism takes out the target plate to be put into storage placed at the material receiving mechanism, and places the plate on the plate loading surface of the weighing mechanism according to the recognition information of the visual recognition mechanism, so that the first surface of the target plate placed on the weighing mechanism faces the camera end of the camera mechanism;

[0035] S3, obtaining the weight M of the target plate placed on the weighing mechanism through the weighing mechanism;

[0036] S4, obtaining the installation distance H1 from the camera mechanism to the carrier surface, matching a known shooting distance equal to the installation distance H1, and obtaining the length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 模糊 , the associated width ratio R′ n Defined as R′ 模糊 ;

[0037] S5, obtaining a surface image of the first surface of the target plate, obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the surface image, and obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the pixel width w1 and R′ of the surface of the target plate. 模糊 The rough width W1 of the target plate is calculated, based on the pixel length l1 and R 模糊 Calculate the rough length L1 of the target plate;

[0038] S6, calculating the rough thickness D1 of the plate according to the preset density ρ, the calculation formula is D1 = M / (W1×L1×ρ);

[0039] S7, comparing the calculated rough thickness D1 of the plate with several preset standard thicknesses, and taking the closest standard thickness as the final thickness D2 of the plate;

[0040] S8, determining the shooting distance H2 from the camera to the first surface of the target plate according to the final thickness D2, the calculation formula is H2 = H1-D2;

[0041] S9, matching a known shooting distance equal to the shooting distance H2, and obtaining a length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 精确 , the associated width ratio R′ n Defined as R′ 精确 , according to the pixel width w1 and R′ of the target plate 精确 Calculate the exact width W2 of the target plate, based on the pixel length l1 and R精确 Calculate the exact length L2 of the target plate;

[0042] S10, after calculating the precise width W2 and precise length L2 of the target plate, the material taking and unloading mechanism takes the target plate from the loading surface of the weighing mechanism and places it on the shelf of the storage mechanism for storage, and at the same time associates the size information of the target plate with the corresponding shelf and uploads the associated information to the cloud for storage;

[0043] S11, repeating steps S2-S10 until all the target plates to be stored at the receiving mechanism are placed on the shelves of the storage mechanism for storage;

[0044] Plate out of warehouse:

[0045] A1, obtain the size of the plate to be processed, match the associated information stored in the cloud according to the size of the plate to be processed, and obtain the corresponding shelf information according to the matched associated information;

[0046] A2, the material picking and unloading mechanism takes out the target plate stored in the corresponding shelf according to the information of the shelf obtained, and places the target plate at the unloading mechanism, and then the worker takes the target plate at the unloading mechanism and sends it to the next workstation for processing.

[0047] Preferably, in step S5, the calculation formula of the rough width W1 is W1=w1×R′ 模糊 , the calculation formula of the rough length L1 is L1=l1×R 模糊 In step S9, the calculation formula of the precise width W2 is W2 = w1 × R' 精确 The exact length L2 is calculated as L2 = l1 × R 精确 .

[0048] The technical solution provided by the present invention may include the following beneficial effects:

[0049] This solution can automatically complete the storage and outbound operations of the target plates through the coordinated use of a photographic mechanism, a material loading and unloading mechanism, a weighing mechanism, a material receiving mechanism, a material storage mechanism, a material discharging mechanism and a control processor, and automatically measure the size of the target plates that need to be stored in the warehouse by combining weighing and photographic measurement technology, so that the target plates of the corresponding size can be quickly selected for outbound storage during the subsequent deep processing of the artificial stone plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0051] Figure 2 It is a state diagram of one embodiment of the material taking and placing mechanism of the present invention placing a plate on a weighing mechanism;

[0052] Figure 3 It is a state diagram of another embodiment of the material taking and placing mechanism of the present invention placing the plate on the weighing mechanism;

[0053] Figure 4 It is a structural side view of the photographing mechanism and the weighing mechanism of the present invention;

[0054] Figure 5 It is a structural schematic diagram of the weighing mechanism of the present invention;

[0055] Figure 6 It is a structural schematic diagram of the material storage mechanism of the present invention;

[0056] Figure 7 It is a structural schematic diagram of the walking jacking assembly of the present invention;

[0057] Figure 8 It is a schematic diagram of a state in which the walking jacking assembly of the present invention drives the hook to disengage from the positioning pin.

[0058] Among them: 1. Camera mechanism; 2. Material taking and placing mechanism; 3. Weighing mechanism; 31. Bottom plate; 32. First support rod; 33. Second support rod; 34. Bracket; 35. Support leg; 4. Material receiving mechanism; 5. Material storage mechanism; 51. Shelf; 511. Positioning piece; 512. Locking piece; 5121. Main body; 5122. Limiting part; 5123. Hooking part; 52. Shelf walking track; 53. Walking lifting assembly; 531. Walking trolley; 532. Linear electric cylinder; 6. Material discharging mechanism. DETAILED DESCRIPTION

[0059] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0060] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] The following is combined with Figures 1 to 8 The technical solution of the present invention is further illustrated by specific implementation methods.

[0063] like Figure 1-8 As shown, a plate storage device includes a camera mechanism 1, a material taking and placing mechanism 2, a weighing mechanism 3, a material receiving mechanism 4, a material storing mechanism 5, a material discharging mechanism 6 and a control processor;

[0064] The material receiving mechanism 4 is used to receive the target plates produced by the production line and ready for storage;

[0065] The material taking and placing mechanism 2 is used to take and place the target plate, so that the target plate flows between the material receiving mechanism 4, the material storing mechanism 5, the weighing mechanism 3 and the material discharging mechanism 6;

[0066] The storage mechanism 5 is used to store the target plates in the warehouse;

[0067] The weighing mechanism 3 is provided with a plate-carrying surface, and the plate-carrying surface is used to store the target plate to be stored in the warehouse, and the weighing mechanism 3 is used to obtain the weight of the target plate to be stored in the plate-carrying surface;

[0068] The camera end of the camera mechanism 1 is arranged toward the board-carrying surface, and the camera mechanism 1 is used to capture a board surface image of a first surface of a target board stored in the weighing mechanism 3;

[0069] The discharging mechanism 6 is used to receive the target plate to be discharged from the storage taken out by the taking and releasing mechanism 2;

[0070] The control processor is communicatively connected with the photographing mechanism 1, the material picking and placing mechanism 2 and the weighing mechanism 3. The control processor is used to receive the weight of the target plate and the surface image information of the first side of the target plate, and calculate the size parameters of the target plate according to the weight of the target plate and the surface image information of the target plate.

[0071] This solution can automatically complete the storage and outbound operations of the target plates through the coordinated use of the photographing mechanism 1, the material taking and releasing mechanism 2, the weighing mechanism 3, the material receiving mechanism 4, the material storing mechanism 5, the material discharging mechanism 6 and the control processor, and automatically measure the size of the target plates that need to be stored in the warehouse by combining the weighing and photographing measurement technology, so that the target plates of the corresponding size can be quickly selected for outbound storage during the subsequent deep processing of the artificial stone plates.

[0072] It is worth noting that the present invention combines weighing and photographic measurement techniques to calculate the thickness information of the plate, and selects the closest standard thickness as the rough thickness based on the calculated plate thickness, then corrects the shooting distance based on the rough thickness, and then calculates the size information of the plate based on the corrected shooting distance, so that the measured plate size is more accurate, and the size information of the plate can be automatically measured without manual work, which is more efficient.

[0073] like Figure 1 As shown, the material receiving mechanism 4 is a fixed material stacking rack, and the material discharging mechanism 6 is a rotating material stacking rack.

[0074] Specifically, the target plates to be stored after being produced on the production line can be placed on a fixed stacking rack by a forklift. Since the picking and placing mechanism 2 is a suction cup manipulator, it can be adjusted at multiple angles. Therefore, there is no need to adjust the angle of the placed target plates to adapt to the picking and placing mechanism 2. The target plates with measured sizes are placed on the rotating stacking rack by the picking and placing mechanism 2. The angle of the placed target plates can be adjusted through the rotating stacking rack to facilitate workers to take out the target plates from the warehouse by forklift.

[0075] like Figure 2-3 As shown, the picking and placing mechanism 2 is a suction cup manipulator, and a visual recognition mechanism is installed at the picking end of the suction cup manipulator. The visual recognition mechanism is used to identify whether the adsorption surface of the target plate at the picking end of the suction cup manipulator is the first surface of the target plate, so that the picking and placing mechanism 2 is placed on the first surface of the target plate of the weighing mechanism 3 facing the photographic end of the photographic mechanism 1.

[0076] Specifically, the material taking and placing mechanism 2 is a suction cup manipulator, which takes the plate by adsorption, and the plate taking is convenient and fast.

[0077] More specifically, the first side of the target plate is the front side of the target plate, and the front side of the target plate contains a pattern or color. After the material picking and unloading mechanism 2 takes out the target plate from the material receiving mechanism 4, the adsorption surface of the target plate at the material picking end of the material picking and unloading mechanism 2 is identified by the visual recognition mechanism. If it is the first side of the target plate, it can be identified by the following method: Figure 2 Place the target plate on the weighing mechanism 3 in the following manner. If it is not the first side of the target plate, Figure 3The target plate is placed on the weighing mechanism 3 in such a manner that the first surface of the target plate faces the photographing end of the photographing mechanism 1 .

[0078] Furthermore, after the size recognition is completed, relevant information such as the target board's precise width W2, precise length L2, production batch number, serial number, front surface pattern or color will be uploaded to the cloud for storage, and can be retrieved by scanning the code during the production and deep processing of the board.

[0079] like Figure 6-8 As shown, the storage mechanism 5 includes a plurality of shelves 51 and a shelf running track 52;

[0080] The plurality of shelves 51 are movably arranged on the shelf travel track 52, and the shelf travel track 52 is used to guide the movement of the plurality of shelves 51;

[0081] Along the guide direction of the shelf walking track 52, a positioning piece 511 is installed at one end of the shelf 51, and a locking piece 512 is rotatably installed at the other end of the shelf 51, and the locking piece 512 of one of the two adjacent shelves 51 is hooked to the positioning piece 511 of the other shelf 51;

[0082] A walking lifting assembly 53 is provided under some of the shelves 51, and the walking lifting assembly 53 can move along the shelf walking track 52. The walking lifting assembly 53 is used to drive the locking piece 512 of the shelf 51 to rotate so that the locking piece 512 of the shelf 51 is disengaged from the positioning piece 511 hooked with the locking piece 512.

[0083] Specifically, the present solution can connect two adjacent shelves 51 together by hooking the locking piece 512 with the positioning piece 511, so that multiple shelves 51 can be transferred at the same time during transfer, thereby improving the efficiency of transferring the shelves 51, and the locking piece 512 can be driven to rotate by the walking jacking assembly 53 to disengage the locking piece 512 from the positioning piece 511, so as to separate the two connected shelves 51, thereby transferring a single shelf 51.

[0084] like Figure 7-8 As shown, the locking member 512 includes a main body 5121 and a limiting portion 5122 extending from one end of the main body 5121;

[0085] The positioning member 511 is installed at one end of the bottom end of the side wall of the shelf 51, and the locking member 512 is installed at the other end of the bottom end of the side wall of the shelf 51;

[0086] The main body 5121 is rotatably connected to the shelf 51 , the limiting portion 5122 is folded relative to one end of the main body 5121 , a hooking portion 5123 is formed at the connection between the limiting portion 5122 and the main body 5121 , and the hooking portion 5123 is hooked to the positioning member 511 .

[0087] It is understandable that the main body 5121 drives the limiting portion 5122 to rotate, thereby driving the hooking portion 5123 formed by the main body 5121 and the limiting portion 5122 to move, so that the hooking portion 5123 hooks the positioning member 511 .

[0088] It is worth mentioning that when the target plate is put into or taken out of the warehouse, it is necessary to separate two adjacent shelves 51. When separating two adjacent shelves 51, the walking and lifting assembly 53 is driven to move to one of the shelves 51, and the locking piece 512 of the shelf 51 is driven to rotate by driving the walking and lifting assembly 53, so that the locking piece 512 of the shelf 51 and the positioning piece 511 of the other shelf 51 hooked by the locking piece 512 are disengaged, and then the other shelf 51 is moved to separate the other shelf 51 from the shelf 51, and the gap between the two separated shelves 51 can be used for the picking end of the picking and unloading mechanism 2 to pass through, and then the picking and unloading mechanism 2 can place the target plate on the other shelf 51 or take the target plate off the other shelf 51 to complete the operation of putting the target plate into or out of the warehouse.

[0089] Specifically, when the target plate is put into the warehouse, the picking and unloading mechanism 2 takes out the target plate to be put into the warehouse placed at the weighing mechanism 3, and places the target plate on another separated shelf 51, and then drives the shelf 51 to move, so that the shelf 51 is tightly fitted with the shelf 51 hooked before the shelf 51 is separated, and then drives the locking piece 512 of the shelf 51 hooked before the shelf 51 is separated to rotate through the walking jacking component 53, so that the locking piece 512 of the shelf 51 hooked before the shelf 51 is separated and the positioning piece 511 of the shelf 51 are hooked together; when the target plate is taken out of the warehouse, the picking and unloading mechanism 2 takes out the target plate placed on another separated shelf 51, and places the target plate at the unloading mechanism 6.

[0090] like Figure 7-8 As shown, the walking jacking assembly 53 includes a walking trolley 531 and a trolley walking track, the trolley walking track is arranged side by side with the shelf walking track 52, the walking trolley 531 is movably arranged on the trolley walking track, and the trolley walking track is used to guide the movement of the walking trolley 531;

[0091] The traveling carriage 531 is equipped with a linear electric cylinder 532 .

[0092] Specifically, the linear electric cylinder 532 is driven to move by the walking trolley 531, so that the telescopic end of the linear electric cylinder 532 is close to the other end of the main body 5121, and then the other end of the main body 5121 is lifted up by the telescopic end of the linear electric cylinder 532, thereby driving the main body 5121 to rotate, so that the limiting part 5122 at one end of the main body 5121 is gradually lifted until the limiting part 5122 is separated from the positioning part 511, and the connection between the two adjacent shelves 51 is unlocked, and the two shelves 51 can be moved separately.

[0093] It is worth mentioning that moving parts are provided at the ends of some of the shelves 51. When it is necessary to take the plates on the middle shelf 51, the middle shelf 51 can be separated from the adjacent shelves 51, and then the end shelves 51 can be driven to move by the moving parts. Since the middle shelf 51 and the end shelves 51 are still connected to each other, the middle shelf 51 can be driven to move, so that there is enough gap between the middle shelf 51 and the adjacent shelves to facilitate the material picking end of the material picking and placing mechanism 2 to pick up and place the plates on the middle shelf 51.

[0094] like Figure 5 As shown, the weighing mechanism 3 includes a base plate 31, a plurality of supporting feet 35 are installed at the bottom end of the base plate 31, a weighing sensor is provided between each supporting foot 35 and the base plate 31, a plurality of first support rods 32 are provided at the top end of the base plate 31, and the plurality of first support rods 32 are respectively extended upwardly at an angle to form the inclined carrier surface, and a supporting member is provided on one side of the plurality of first support rods 32, and the supporting member is used to support the middle part of the first support rod 32.

[0095] Specifically, when the target plate is stored in the weighing mechanism 3 , the target plate is placed obliquely on the top of the bottom plate 31 and close to the plate-carrying surface formed by the first support rods 32 , so that the target plate can be stably placed on the top of the bottom plate 31 .

[0096] like Figure 5 As shown, the support member is composed of a plurality of second support rods 33 and a bracket 34, one end of the plurality of second support rods 33 is connected to the corresponding first support rod 32, one end of the plurality of second support rods 33 away from the first support rod 32 is connected to the bracket 34, and the bottom end of the bracket 34 is fixedly mounted on the top end of the bottom plate 31;

[0097] A plurality of the first support rods 32 are arranged in parallel and at equal intervals, and a plurality of the second support rods 33 are arranged in parallel and at equal intervals.

[0098] Specifically, by supporting the plurality of first support rods 32 through the plurality of second support rods 33 and the brackets 34 , the board-carrying surface can have a stronger bearing capacity to adapt to boards of different models.

[0099] Furthermore, a plurality of first support rods 32 are arranged in parallel and at equal intervals, and a plurality of second support rods 33 are arranged in parallel and at equal intervals, so that equal gaps can be left between adjacent first support rods 32 and adjacent second support rods 33, so that when the material picking and placing mechanism 2 places the plate, the material picking end of the material picking and placing mechanism 2 places the target plate on the weighing mechanism 3 through the gap.

[0100] Preferably, the number of the legs 35 is three, and the three legs 35 are distributed in a triangular shape at the bottom end of the base plate 31. The three legs 35 are distributed in a triangular shape at the bottom end of the base plate 31, so that the weighing mechanism 3 has good stability and is not prone to tipping.

[0101] like Figure 1-8 As shown, a method for loading and unloading the plate storage device described above includes the following steps:

[0102] Initialization settings:

[0103] Get the number of shots at n known shooting distances h n The length ratio R of the known plate surface length and the corresponding n plate surface image pixel lengths n , get the value of n known shooting distances h n The width ratio R′ of the known plate width and the corresponding n plate image pixel widths n , where n≥2;

[0104] The nth known shooting distance h n and the corresponding nth length ratio R n and the nth width ratio R′ n Make associations;

[0105] Plate storage identification:

[0106] S1, placing the target plate to be stored after being produced by the production line at the receiving mechanism 4;

[0107] S2, when the target plate is put into storage, the material taking and placing mechanism 2 takes out the target plate to be put into storage placed at the material receiving mechanism 4, and places the plate on the plate loading surface of the weighing mechanism 3 according to the recognition information of the visual recognition mechanism, so that the first surface of the target plate placed on the weighing mechanism 3 faces the camera end of the camera mechanism 1;

[0108] S3, obtaining the weight M of the target plate placed on the weighing mechanism 3 through the weighing mechanism 3;

[0109] S4, obtaining the installation distance H1 from the camera mechanism 1 to the carrier surface, matching a known shooting distance equal to the installation distance H1, and obtaining the length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 模糊 , the associated width ratio R′ n Defined as R′ 模糊 ;

[0110] S5, obtaining a surface image of the first surface of the target plate, obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the surface image, and obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the pixel width w1 and R′ of the surface of the target plate. 模糊 The rough width W1 of the target plate is calculated, based on the pixel length l1 and R 模糊 Calculate the rough length L1 of the target plate;

[0111] S6, calculating the rough thickness D1 of the plate according to the preset density ρ, the calculation formula is D1 = M / (W1×L1×ρ);

[0112] S7, comparing the calculated rough thickness D1 of the plate with several preset standard thicknesses, and taking the closest standard thickness as the final thickness D2 of the plate;

[0113] S8, determining the shooting distance H2 from the camera 1 to the first surface of the target plate according to the final thickness D2, the calculation formula is H2 = H1-D2;

[0114] S9, matching a known shooting distance equal to the shooting distance H2, and obtaining a length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 精确 , the associated width ratio R′ n Defined as R′ 精确 , according to the pixel width w1 and R′ of the target plate 精确 Calculate the exact width W2 of the target plate, based on the pixel length l1 and R 精确 Calculate the exact length L2 of the target plate;

[0115] S10, after calculating the precise width W2 and precise length L2 of the target plate, the material taking and unloading mechanism 2 takes the target plate from the plate loading surface of the weighing mechanism 3 and places it on the shelf 51 of the storage mechanism 5 for storage, and at the same time associates the size information of the target plate with the corresponding shelf 51 and uploads the associated information to the cloud for storage;

[0116] S11, repeating steps S2-S10 until all the target plates to be stored at the receiving mechanism 4 are placed on the shelf 51 of the storage mechanism 5 for storage;

[0117] Plate out of warehouse:

[0118] A1, obtaining the size of the plate to be processed, matching the associated information stored in the cloud with the size of the plate to be processed, and obtaining the information of the corresponding shelf 51 according to the matched associated information;

[0119] A2, the material taking and placing mechanism 2 takes out the target plate stored in the corresponding shelf 51 according to the information of the shelf 51 obtained, and places the target plate at the unloading mechanism 6, and then the worker takes the target plate at the unloading mechanism 6 and sends it to the next workstation for processing.

[0120] like Figure 1-8 As shown, in step S5, the calculation formula of the rough width W1 is W1=w1×R′ 模糊 , the calculation formula of the rough length L1 is L1=l1×R 模糊 In step S9, the calculation formula of the precise width W2 is W2 = w1 × R' 精确 The exact length L2 is calculated as L2 = l1 × R 精确 .

[0121] Specifically, the calculated rough thickness D1 is compared with several approximate standard thicknesses, and the closest standard thickness is taken as the final thickness D2 of the plate. This is because the rough thickness D1 obtained based on the rough width W1 and the rough length L1 has an error, but the artificial stone plate is pressed according to a preset thickness, so it is necessary to compare the rough thickness D1 with several approximate standard thicknesses, and take the closest standard thickness as the final thickness D2 of the plate to reduce the calculation error. However, the actual size of the artificial stone plate after it is manufactured is affected by various environmental or production factors, resulting in differences from the production requirements. Therefore, the size of the artificial stone plate needs to be measured before deep processing of the plate.

[0122] Furthermore, the shooting distance H2 from the camera 1 to the first surface of the target plate is calculated based on the determined final thickness D2, and the shooting distance can be adjusted and corrected to eliminate the error caused by the plate thickness in the size measurement of the captured image, thereby further improving the measurement accuracy.

[0123] Furthermore, in order to avoid the influence of the distortion of the camera lens on the imaging effect, the captured board image needs to be preprocessed such as distortion correction after shooting, so that the pixel width and pixel length of the acquired board image are more accurate, thereby improving the accuracy of the board size measurement.

[0124] It is worth noting that obtaining the n The length ratio R of the known plate surface length and the corresponding n plate surface image pixel lengths n and obtain the value of n known shooting distances h n The width ratio R′ of the known plate width and the corresponding n plate image pixel widths n The steps are:

[0125] Enter the known plate dimensions, including the known width W 3n and the known length L 3n ;

[0126] Get the known plate at the current known shooting distance h n The pixel width w of the known plate surface is extracted from the plate surface image 2n and pixel length l 2n ;

[0127] Calculate the current known shooting distance h n The length ratio R n and width ratio R′ n , the calculation formula is Rn=L 3n / l 2n , R′n=W 3n / w 2n .

[0128] It can be understood that by using n known shooting distances h n Take a photo of the known plate at n known shooting distances h to obtain the known plate n The board surface image at n known shooting distances h is extracted based on the board surface image. n The pixel width w of the board at 2n and pixel length l 2n , thus calculating the known plate at n known shooting distances h n The length ratio R n and width ratio R′ n .

[0129] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A plate storage device, characterized in that: It comprises a photographing mechanism (1), a material taking and placing mechanism (2), a weighing mechanism (3), a material receiving mechanism (4), a material storing mechanism (5), a material discharging mechanism (6) and a control processor; The material receiving mechanism (4) is used to receive target plates produced by the production line and waiting to be stored; The material taking and placing mechanism (2) is used to take and place the target plate, so that the target plate can flow between the material receiving mechanism (4), the material storing mechanism (5), the weighing mechanism (3) and the material discharging mechanism (6); The material storage mechanism (5) is used to store the target plates in the warehouse; The weighing mechanism (3) is provided with a plate-carrying surface, the plate-carrying surface is used to store the target plate to be stored in the warehouse, and the weighing mechanism (3) is used to obtain the weight of the target plate to be stored in the warehouse on the plate-carrying surface; The photographing end of the photographing mechanism (1) is arranged toward the board-carrying surface, and the photographing mechanism (1) is used to photograph a board surface image of a first surface of a target board stored in the weighing mechanism (3); The discharging mechanism (6) is used to receive the target plate to be discharged from the warehouse taken out by the taking and releasing mechanism (2); The control processor is in communication connection with the photographing mechanism (1), the material taking and placing mechanism (2) and the weighing mechanism (3), and is used to receive the weight of the target plate and the surface image information of the first surface of the target plate, and calculate the size parameters of the target plate according to the weight of the target plate and the surface image information of the target plate.

2. A sheet material storage device according to claim 1, characterized in that: The material receiving mechanism (4) is a fixed material stacking rack, and the material discharging mechanism (6) is a rotary material stacking rack.

3. A sheet material storage device according to claim 1, characterized in that: The material picking and placing mechanism (2) is a suction cup manipulator, and a visual recognition mechanism is installed at the material picking end of the suction cup manipulator. The visual recognition mechanism is used to identify whether the adsorption surface of the target plate at the material picking end of the suction cup manipulator is the first surface of the target plate, so that the first surface of the target plate placed by the material picking and placing mechanism (2) on the weighing mechanism (3) is arranged opposite to the camera end of the camera mechanism (1).

4. A sheet material storage device according to claim 1, characterized in that: The material storage mechanism (5) comprises a plurality of shelves (51) and shelf running tracks (52); A plurality of the shelves (51) are movably arranged on the shelf travel track (52), and the shelf travel track (52) is used to guide the movement of the plurality of shelves (51); Along the guide direction of the shelf walking track (52), a positioning piece (511) is installed at one end of the shelf (51), and a locking piece (512) is rotatably installed at the other end of the shelf (51), and the locking piece (512) of one of the two adjacent shelves (51) is hooked to the positioning piece (511) of the other shelf (51); A walking lifting assembly (53) is provided below a plurality of the shelves (51), and the walking lifting assembly (53) can move along the shelf walking track (52). The walking lifting assembly (53) is used to drive the locking piece (512) of the shelf (51) to rotate so as to disengage the locking piece (512) of the shelf (51) from the positioning piece (511) hooked with the locking piece (512).

5. A sheet material storage device according to claim 4, characterized in that: The locking member (512) comprises a main body (5121) and a limiting portion (5122) formed by extending from one end of the main body (5121); The positioning member (511) is installed at one end of the bottom end of the side wall of the shelf (51), and the locking member (512) is installed at the other end of the bottom end of the side wall of the shelf (51); The main body (5121) is rotatably connected to the shelf (51), the limiting portion (5122) is folded relative to one end of the main body (5121), and a hooking portion (5123) is formed at the connection between the limiting portion (5122) and the main body (5121), and the hooking portion (5123) is hooked to the positioning member (511).

6. A sheet material storage device according to claim 4, characterized in that: The walking lifting assembly (53) comprises a walking trolley (531) and a trolley walking track, wherein the trolley walking track and the shelf walking track (52) are arranged side by side, and the walking trolley (531) is movably arranged on the trolley walking track, and the trolley walking track is used to guide the movement of the walking trolley (531); The traveling trolley (531) is equipped with a linear electric cylinder (532).

7. The plate storage device according to claim 1, characterized in that: The weighing mechanism (3) comprises a base plate (31), a plurality of legs (35) are installed at the bottom end of the base plate (31), a weighing sensor is arranged between each of the legs (35) and the base plate (31), a plurality of first support rods (32) are arranged at the top end of the base plate (31), the plurality of first support rods (32) are respectively extended upwardly in an inclined manner and form an inclined carrier surface, a support member is arranged on one side of the plurality of first support rods (32), and the support member is used to support the middle part of the first support rod (32).

8. A sheet material storage device according to claim 7, characterized in that: The supporting member is composed of a plurality of second supporting rods (33) and a bracket (34), one end of the plurality of second supporting rods (33) is connected to the corresponding first supporting rod (32), one end of the plurality of second supporting rods (33) away from the first supporting rod (32) is connected to the bracket (34), and the bottom end of the bracket (34) is fixedly mounted on the top end of the bottom plate (31); A plurality of the first support rods (32) are arranged in parallel and at equal intervals, and a plurality of the second support rods (33) are arranged in parallel and at equal intervals.

9. A method for loading and unloading a sheet material storage device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Initialization settings: Get the number of shots at n known shooting distances h n The length ratio R of the known plate surface length and the corresponding n plate surface image pixel lengths n , get the value of n known shooting distances h n The width ratio R′ of the known plate width and the corresponding n plate image pixel widths n , where n≥2; The nth known shooting distance h n and the corresponding nth length ratio R n and the nth width ratio R′ n Make associations; Plate storage identification: S1, placing the target plate to be stored after being produced by the production line at the material receiving mechanism (4); S2, when the target plate is put into storage, the material taking and unloading mechanism (2) takes out the target plate to be put into storage placed at the material receiving mechanism (4), and places the plate on the plate loading surface of the weighing mechanism (3) according to the recognition information of the visual recognition mechanism, so that the first surface of the target plate placed on the weighing mechanism (3) faces the camera end of the camera mechanism (1); S3, obtaining the weight M of the target plate placed on the weighing mechanism (3) through the weighing mechanism (3); S4, obtaining the installation distance H1 from the camera mechanism (1) to the carrier surface, matching a known shooting distance equal to the installation distance H1, and obtaining the length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 模糊 , the associated width ratio R′ n Defined as R′ 模糊 ; S5, obtaining a surface image of the first surface of the target plate, obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the surface image, and obtaining a pixel width w1 and a pixel length l1 of the surface of the target plate according to the pixel width w1 and R′ of the surface of the target plate. 模糊 The rough width W1 of the target plate is calculated, based on the pixel length l1 and R 模糊 Calculate the rough length L1 of the target plate; S6, calculating the rough thickness D1 of the plate according to the preset density ρ, the calculation formula is D1 = M / (W1×L1×ρ); S7, comparing the calculated rough thickness D1 of the plate with several preset standard thicknesses, and taking the closest standard thickness as the final thickness D2 of the plate; S8, determining the shooting distance H2 from the camera mechanism (1) to the plate surface of the target plate according to the final thickness D2, the calculation formula is H2 = H1-D2; S9, matching a known shooting distance equal to the shooting distance H2, and obtaining a length ratio R associated with the matched known shooting distance n and width ratio R′ n , the associated length ratio R n Defined as R 精确 , the associated width ratio R′ n Defined as R′ 精确 , according to the pixel width w1 and R′ of the target plate 精确 Calculate the exact width W2 of the target plate, based on the pixel length l1 and R 精确 Calculate the exact length L2 of the target plate; S10, after calculating the precise width W2 and precise length L2 of the target plate, the material taking and unloading mechanism (2) takes the target plate from the plate-carrying surface of the weighing mechanism (3) and places it on the shelf (51) of the storage mechanism (5) for storage, and at the same time associates the size information of the target plate with the corresponding shelf (51) and uploads the associated information to the cloud for storage; S11, repeating steps S2-S10 until all the target plates to be stored at the receiving mechanism (4) are placed on the shelf (51) of the storage mechanism (5) for storage; Plate out of warehouse: A1, obtaining the size of the plate to be processed, matching the associated information stored in the cloud with the size of the plate to be processed, and obtaining the information of the corresponding shelf (51) according to the matched associated information; A2, the material taking and placing mechanism (2) takes out the target plate stored on the corresponding shelf (51) according to the information of the shelf (51) obtained, and places the target plate on the unloading mechanism (6), and then the worker takes the target plate on the unloading mechanism (6) and sends it to the next workstation for processing.

10. A method for loading and unloading a sheet material storage device according to claim 9, characterized in that: In step S5, the calculation formula of the rough width W1 is W1=w1×R′ 模糊 , the calculation formula of the rough length L1 is L1=l1×R 模糊 In step S9, the calculation formula of the precise width W2 is W2 = w1 × R' 精确 The exact length L2 is calculated as L2 = l1 × R 精确 .

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