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

Abstract

The present application relates to warehouse technology field, especially a kind of plate storage device and its in and out of storehouse method, including camera mechanism, take and place mechanism, weighing mechanism, material receiving mechanism, material storage mechanism, discharging mechanism and control processor;The material receiving mechanism is used to receive the target plate to be warehoused that production line is finished production;The take and place mechanism is used to take and place target plate, so that target plate is transferred between the material receiving mechanism, material storage mechanism, weighing mechanism and discharging mechanism;The material storage mechanism is used to store the target plate warehoused.The present application can automatically complete the warehousing and the operation of target plate in and out of storehouse by the cooperation of camera mechanism, take and place mechanism, weighing mechanism, material receiving mechanism, material storage mechanism, discharging mechanism and control processor, and the size of target plate needing warehousing is automatically measured in combination with weighing and photographing measurement technology, so that corresponding size target plate can be quickly selected for in and out of storehouse when subsequent deep processing of artificial stone plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehousing, in particular to a plate warehousing device and an in-out warehouse method thereof. BACKGROUND

[0002] After artificial stone plates are produced, they need to be stored in a warehouse. In order to facilitate subsequent deep processing of the artificial stone plates, when the artificial stone plates are stored in the warehouse, the size information of the artificial stone plates needs to be obtained for registration, so that when the artificial stone plates are taken out of the warehouse, the corresponding size of the artificial stone plates can be quickly selected for taking out of the warehouse for processing.

[0003] At present, when the artificial stone plates are stored in the warehouse, the size of the artificial stone plates is generally measured by manual assistance with a tape measure, and then the artificial stone plates produced by the production line are placed on the shelves by manual operation of a forklift, and the measured size is recorded on the corresponding shelves. When the artificial stone plates are taken out of the warehouse, the shelves where the artificial stone plates of the corresponding size are placed are found by manual searching, and then the artificial stone plates are taken from the shelves by manual operation of a forklift and transported to the next work station for subsequent deep processing. This operation method is time-consuming and labor-intensive, which can cause low production and processing efficiency of the artificial stone plates. SUMMARY

[0004] In view of the above defects, the present application aims to provide a plate warehousing device and an in-out warehouse method thereof, which can solve the problem of low production and processing efficiency of artificial stone plates caused by the time-consuming and labor-intensive operation method of in-out warehouse of the artificial stone plates.

[0005] To achieve this goal, the present application adopts the following technical scheme:

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

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

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

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

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

[0011] The photographing end of the photographing mechanism is arranged towards the loading plate surface, and the photographing mechanism is used to shoot a plate surface image of the first face of the target plates stored in the weighing mechanism.

[0012] The discharging mechanism is used for receiving the target plate taken out by the taking and placing mechanism and to be discharged;

[0013] The control processor is in communication connection with the photographing mechanism, the taking and placing mechanism and the weighing mechanism, the control processor is used for receiving the weight of the target plate and the plate surface image information of the first surface of the target plate, and calculating the size parameter of the target plate according to the weight of the target plate and the plate surface image information of the target plate.

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

[0015] Preferably, the taking and placing mechanism is a suction cup manipulator, a visual recognition mechanism is installed at the taking end of the suction cup manipulator, the visual recognition mechanism is used for identifying whether the adsorption surface of the target plate at the taking end of the suction cup manipulator is the first surface of the target plate, so that the first surface of the target plate of the taking and placing mechanism placed on the weighing mechanism is opposite to the photographing end of the photographing mechanism.

[0016] Preferably, the storage mechanism comprises a plurality of shelves and a shelf walking track;

[0017] The plurality of shelves are movably arranged on the shelf walking track, and the shelf walking track is used for guiding the movement of the plurality of shelves;

[0018] Along the guiding direction of the shelf walking track, one end of the shelf is provided with a positioning piece, and the other end of the shelf is rotatably provided with a locking piece, and the locking piece of one of the two adjacent shelves is hooked to the positioning piece of the other shelf.

[0019] A walking and jacking assembly is arranged below the plurality of shelves, the walking and jacking assembly is movable along the shelf walking track, and the walking and jacking assembly is used for driving the locking piece of the shelf to rotate, so that the locking piece of the shelf is separated from the positioning piece hooked with the locking piece.

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

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

[0022] The main body portion is rotatably connected with the shelf, the limiting portion is arranged at one end of the main body portion, the limiting portion and the main body portion form a hooking portion at the connection position, and the hooking portion is hooked to the positioning piece.

[0023] Preferably, the traveling lifting assembly includes a traveling trolley and a trolley traveling track. The trolley traveling track is arranged side by side with the shelf traveling track. The traveling trolley is movably arranged on the trolley traveling track, and the trolley traveling track is used to guide the movement of the traveling trolley.

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

[0025] Preferably, the weighing mechanism includes a base plate, a plurality of legs are mounted on the bottom end of the base plate, a weighing sensor is provided between each leg and the base plate, a plurality of first support rods are provided on the top end of the base plate, the plurality of first support rods are respectively inclined upward and form an inclined carrier plate surface, and a support member is provided on one side of each of the plurality of first support rods, the support member being used to support the middle part of the first support rod.

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

[0027] The first support rods are arranged in parallel and at equal intervals, and the second support rods are arranged in parallel and at equal intervals.

[0028] An inbound / outbound method for the aforementioned sheet metal storage device includes the following steps:

[0029] Initialization settings:

[0030] Obtain the distance h from n known shooting points. n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n Obtain the distance h at n known shooting distances. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n where n≥2;

[0031] The nth known shooting distance h n The ratio R of the corresponding nth length n and the nth width ratio R′ n To establish a connection;

[0032] Board material receiving identification:

[0033] S1, place the target board material that has been produced on the production line and is ready to be put into the warehouse at the receiving mechanism;

[0034] S2, when the target board is put into storage, the picking and placing mechanism takes out the target board to be put into storage placed at the receiving mechanism, and places the board on the carrier plate of the weighing mechanism according to the recognition information of the vision recognition mechanism, so that the first side of the target board placed on the weighing mechanism faces the camera end of the photographing mechanism.

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

[0036] S4, obtain the mounting distance H1 from the camera mechanism to the carrier surface, match the known shooting distance equal to the mounting distance H1, and obtain the associated length ratio R of the matched known shooting distance. n and width ratio R′ n The length ratio R of the association n Defined as R 模糊 The associated width ratio R′ n Defined as R′ 模糊 ;

[0037] S5, obtain the first surface image of the target board, and obtain the pixel width w1 and pixel length l1 of the target board surface based on the surface image. 模糊 The approximate width W1 of the target board is calculated based on the pixel length l1 and R of the target board surface. 模糊 The approximate length L1 of the target plate is calculated;

[0038] S6. Calculate the approximate thickness D1 of the board based on the preset density ρ. The calculation formula is D1=M / (W1×L1×ρ).

[0039] S7. Compare the calculated rough thickness D1 of the board with several preset standard thicknesses, and take the closest standard thickness as the final thickness D2 of the board.

[0040] S8. Determine the shooting distance H2 from the camera mechanism to the first surface of the target plate based on the final thickness D2. The calculation formula is H2 = H1 - D2.

[0041] S9, Match known shooting distances equal to shooting distance H2, and obtain the length ratio R associated with the matched known shooting distances. n and width ratio R′ n The length ratio R of the association n Defined as R 精确 The associated width ratio R′ n Defined as R′ 精确 Based on the pixel width w1 and R′ of the target board surface 精确 The precise width W2 of the target board is calculated based on the pixel length l1 and R of the target board surface.精确 The precise length L2 of the target plate is calculated;

[0042] S10, after the precise width W2 and the precise length L2 of the target plate are calculated, the taking and placing mechanism takes the target plate from the loading plate of the weighing mechanism and places it on the shelf of the storage mechanism for storage, and meanwhile, the size information of the target plate is associated with the corresponding shelf and the associated information is uploaded to the cloud storage;

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

[0044] Plate delivery:

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

[0046] A2, the taking and placing mechanism takes out the target plate stored in the corresponding shelf according to the obtained information of the shelf, and places the target plate at the delivery mechanism, and then the worker takes away the target plate at the delivery mechanism and sends it to the next work station for processing.

[0047] Preferably, in the step S5, the calculation formula of the rough width W1 is W1=w1×R' 模糊 , and the calculation formula of the rough length L1 is L1=l1×R 模糊 ; in the step S9, the calculation formula of the precise width W2 is W2=w1×R' 精确 , and the calculation formula of the precise length L2 is L2=l1×R 精确 .

[0048] The technical scheme provided by the present application can include the following beneficial effects:

[0049] The present application can automatically complete the storage and delivery of the target plate by the cooperation of the photographing mechanism, the taking and placing mechanism, the weighing mechanism, the receiving mechanism, the storage mechanism, the delivery mechanism and the control processor, and the size of the target plate to be stored can be automatically measured by combining the weighing and photographing measurement technology, so that the corresponding size of the target plate can be quickly selected for delivery during the subsequent deep processing of the artificial stone plate. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0052] Figure 3 is another embodiment of the placing and taking mechanism of the present application, which places the plate to the weighing mechanism;

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

[0054] Figure 5 is a structural schematic view of the weighing mechanism of the present application;

[0055] Figure 6 is a structural schematic view of the storing mechanism of the present application;

[0056] Figure 7 is a structural schematic view of the walking and jacking assembly of the present application;

[0057] Figure 8 is a state schematic view of the walking and jacking assembly driving the hook to be separated from the positioning pin of the present application.

[0058] Wherein: 1, photographing mechanism; 2, taking and placing mechanism; 3, weighing mechanism; 31, bottom plate; 32, first support rod; 33, second support rod; 34, bracket; 35, supporting leg; 4, receiving mechanism; 5, storing mechanism; 51, shelf; 511, positioning member; 512, locking member; 5121, main body part; 5122, limiting part; 5123, hooking part; 52, shelf walking track; 53, walking and jacking assembly; 531, walking trolley; 532, linear electric cylinder; 6, discharging mechanism. DETAILED DESCRIPTION

[0059] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only, which are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0060] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features, which are used to distinguish the described features, and have no order or priority.

[0061] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] The technical scheme of the present application will be further illustrated below in conjunction with the accompanying drawings Figures 1 to 8 and specific embodiments.

[0063] As Figures 1-8 shown, a plate storage device comprises a photographing mechanism 1, a taking and placing mechanism 2, a weighing mechanism 3, a receiving mechanism 4, a storage mechanism 5, a discharging mechanism 6 and a control processor;

[0064] The receiving mechanism 4 is used for receiving target plates produced by a production line and ready to be stored in a warehouse;

[0065] The taking and placing mechanism 2 is used for taking and placing target plates, so that the target plates can be transferred between the receiving mechanism 4, the storage mechanism 5, the weighing mechanism 3 and the discharging mechanism 6;

[0066] The storage mechanism 5 is used for storing target plates to be stored in a warehouse;

[0067] The weighing mechanism 3 is provided with a loading plate surface, the loading plate surface is used for storing target plates to be stored in a warehouse, and the weighing mechanism 3 is used for obtaining the weight of the target plates to be stored in the warehouse stored on the loading plate surface;

[0068] The photographing end of the photographing mechanism 1 is arranged towards the loading plate surface, and the photographing mechanism 1 is used for shooting the plate surface image of the first surface of the target plates stored in the weighing mechanism 3;

[0069] The discharging mechanism 6 is used for receiving target plates to be discharged from the warehouse taken out by the taking and placing mechanism 2;

[0070] The control processor is in communication connection with the photographing mechanism 1, the taking and placing mechanism 2 and the weighing mechanism 3, the control processor is used for receiving the weight of the target plates and the plate surface image information of the first surface of the target plates, and calculating the size parameters of the target plates according to the weight of the target plates and the plate surface image information of the target plates.

[0071] The scheme can automatically complete the warehousing and delivery operation of the target plate through the cooperation of the photographing mechanism 1, the taking and placing mechanism 2, the weighing mechanism 3, the receiving mechanism 4, the storage mechanism 5, the delivery mechanism 6 and the control processor, and automatically measures the size of the target plate to be warehoused in combination with the weighing and photographing measurement technology, so that the corresponding size of the target plate can be quickly selected for delivery during the subsequent deep processing of the artificial stone plate.

[0072] It is worth noting that the thickness information of the plate is calculated in combination with the weighing and photographing measurement technology, the closest standard thickness is selected as the rough thickness according to the calculated plate thickness, then the shooting distance is corrected through the rough thickness, and then the size information of the plate is calculated according to the corrected shooting distance, so that the measured size of the plate is more accurate, and the size information of the plate can be automatically measured without manual operation, and the efficiency is higher.

[0073] As shown in Figure 1 , the receiving mechanism 4 is a fixed stacking rack, and the delivery mechanism 6 is a rotary stacking rack.

[0074] Specifically, the target plate to be warehoused produced by the production line can be placed on the fixed stacking rack by a forklift, since the taking and placing mechanism 2 is a suction cup manipulator, it can be adjusted at multiple angles, so it is not necessary to adjust the angle of the placed target plate to adapt to the taking and placing mechanism 2, the target plate whose size is measured is placed on the rotary stacking rack by the taking and placing mechanism 2, and the angle of the placed target plate can be adjusted by the rotary stacking rack, so as to facilitate workers to take out the target plate for delivery by a forklift.

[0075] As shown in Figures 2-3 , the taking and placing mechanism 2 is a suction cup manipulator, a visual recognition mechanism is installed at the taking 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 taking end of the suction cup manipulator is the first surface of the target plate, so that the first surface of the target plate placed on the weighing mechanism 3 faces the photographing end of the photographing mechanism 1.

[0076] Specifically, the taking and placing mechanism 2 is a suction cup manipulator, and the plate is taken by adsorption.

[0077] More specifically, the first surface of the target plate is the front surface of the target plate, and the front surface of the target plate contains patterns or colors, when the taking and placing mechanism 2 takes out the target plate from the receiving mechanism 4, the visual recognition mechanism identifies the adsorption surface of the target plate at the taking end of the taking and placing mechanism 2, if it is the first surface of the target plate, the target plate can be placed on the weighing mechanism 3 in the manner as shown in Figure 2 , if it is not the first surface of the target plate, the target plate can be placed on the weighing mechanism 3 in the manner as shown in Figure 3The target plate is placed on the weighing mechanism 3 in a manner such that the first face of the target plate faces the photographing end of the photographing mechanism 1.

[0078] Further, after the size recognition is completed, the accurate width W2, the accurate length L2, the production batch number, the number, the pattern or color of the front face and other related information of the target plate are uploaded to the cloud storage, and can be called through scanning in the production and deep processing of the plate.

[0079] As shown in Figures 6-8 The storage mechanism 5 includes a plurality of shelves 51 and shelf walking tracks 52.

[0080] The plurality of shelves 51 are movably arranged on the shelf walking tracks 52, and the shelf walking tracks 52 are used to guide the movement of the plurality of shelves 51.

[0081] Along the guide direction of the shelf walking tracks 52, one end of the shelf 51 is provided with a positioning piece 511, and the other end of the shelf 51 is rotatably provided with a locking piece 512. 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 and jacking assembly 53 is arranged below the plurality of shelves 51, and the walking and jacking assembly 53 is movable along the shelf walking tracks 52. The walking and jacking 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 separated from the positioning piece 511 to which the locking piece 512 is hooked.

[0083] Specifically, the two adjacent shelves 51 are connected together by the hooking of the locking piece 512 and the positioning piece 511, so that a plurality of shelves 51 can be transferred at the same time during the transfer, thereby improving the efficiency of transferring the shelves 51. The locking piece 512 is driven to rotate by the walking and jacking assembly 53 to separate the two connected shelves 51, so that the single shelf 51 is transferred.

[0084] As shown in Figures 7-8 The locking piece 512 includes a main body part 5121 and a limiting part 5122 extending from one end of the main body part 5121.

[0085] The positioning piece 511 is arranged at one end of the bottom end of the side wall of the shelf 51, and the locking piece 512 is arranged at the other end of the bottom end of the side wall of the shelf 51.

[0086] The main body part 5121 is rotationally connected with the shelf 51, the limiting part 5122 is foldedly arranged at one end of the main body part 5121, the connecting part between the limiting part 5122 and the main body part 5121 forms a hooking part 5123, and the hooking part 5123 is hooked with the positioning part 511.

[0087] It can be understood that the limiting part 5122 is driven to rotate by the main body part 5121, so as to drive the hooking part 5123 formed by the main body part 5121 and the limiting part 5122 to move, so that the hooking part 5123 hooks the positioning part 511.

[0088] It is worth noting that when the target plate is stored and taken out, the two adjacent shelves 51 need to be separated, when the two adjacent shelves 51 are separated, the walking and jacking assembly 53 is driven to move to one of the shelves 51, the locking part 512 of the shelf 51 is driven to rotate by the walking and jacking assembly 53, so that the locking part 512 of the shelf 51 and the positioning part 511 of the other shelf 51 hooked by the locking part 512 are separated, then the other shelf 51 is moved, so that the other shelf 51 is separated from the shelf 51, the gap between the two separated shelves 51 can be passed through by the material taking and placing mechanism 2, then the material taking and placing mechanism 2 can place the target plate on the other shelf 51 or take the target plate from the other shelf 51, so as to complete the storage and taking out of the target plate.

[0089] Specifically, when the target plate is stored, the material taking and placing mechanism 2 takes out the target plate to be stored placed at the weighing mechanism 3, and places the target plate on the other shelf 51 after separation, then the shelf 51 is driven to move, so that the shelf 51 is tightly attached to the shelf 51 before separation, and then the locking part 512 of the shelf 51 before separation is driven to rotate by the walking and jacking assembly 53, so that the locking part 512 of the shelf 51 before separation and the positioning part 511 of the shelf 51 are hooked together; when the target plate is taken out, the material taking and placing mechanism 2 takes out the target plate placed on the other shelf 51 after separation, and places the target plate at the discharging mechanism 6.

[0090] As shown in Figures 7-8 The walking and 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 for guiding the movement of the walking trolley 531.

[0091] The walking trolley 531 is provided with a linear electric cylinder 532.

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

[0093] It is worth noting that the ends of several of the shelves 51 are provided with moving parts. When it is necessary to take the boards on the middle shelf 51, the middle shelf 51 can be separated from the adjacent shelves 51, and then the moving parts drive the end shelves 51 to move. Since the middle shelf 51 and the end shelf 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 allow the taking end of the taking and placing mechanism 2 to pass through to take and place the boards on the middle shelf 51.

[0094] As shown in Figure 5 , the weighing mechanism 3 comprises a bottom plate 31, the bottom end of the bottom plate 31 is provided with a plurality of supporting legs 35, each of the supporting legs 35 is provided with a weighing sensor between the supporting leg 35 and the bottom plate 31, the top end of the bottom plate 31 is provided with a plurality of first supporting rods 32, the plurality of first supporting rods 32 are respectively inclined upwardly and extend to form an inclined loading plate surface, and one side of each of the plurality of first supporting rods 32 is provided with a supporting member for supporting the middle part of the first supporting rod 32.

[0095] Specifically, when the target board is stored in the weighing mechanism 3, the target board is placed obliquely on the top end of the bottom plate 31 and abuts against the loading plate surface formed by the plurality of first supporting rods 32, so that the target board can be stably placed on the top end of the bottom plate 31.

[0096] As shown in Figure 5 , the supporting member is composed of a plurality of second supporting rods 33 and a bracket 34, one end of each of the plurality of second supporting rods 33 is connected to the corresponding first supporting rod 32, the end of each of the plurality of second supporting rods 33 away from the first supporting rod 32 is connected with the bracket 34, and the bottom end of the bracket 34 is fixedly installed on the top end of the bottom plate 31.

[0097] The plurality of first supporting rods 32 are parallel and equally spaced, and the plurality of second supporting rods 33 are parallel and equally spaced.

[0098] Specifically, the plurality of first supporting rods 32 are supported by the plurality of second supporting rods 33 and the bracket 34, so that the loading plate surface has strong carrying capacity to adapt to different types of boards.

[0099] Furthermore, the parallel and equally spaced arrangement of several first support rods 32 and the parallel and equally spaced arrangement of several second support rods 33 allows for equidistant gaps between adjacent first support rods 32 and adjacent second support rods 33, facilitating the material handling end of the material handling mechanism 2 to pass through the gap and place the target plate onto the weighing mechanism 3 when the material handling mechanism 2 is dispensing the plate.

[0100] Preferably, the number of the support legs 35 is three, and the three support legs 35 are distributed in a triangle at the bottom end of the base plate 31. The distribution of the three support legs 35 in a triangle at the bottom end of the base plate 31 can make the weighing mechanism 3 have good stability and is not easy to tip over.

[0101] like Figures 1-8 As shown, an inbound / outbound method applied to the aforementioned sheet metal storage device includes the following steps:

[0102] Initialization settings:

[0103] Obtain the distance h from n known shooting points. n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n Obtain the distance h at n known shooting distances. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n where n≥2;

[0104] The nth known shooting distance h n The ratio R of the corresponding nth length n and the nth width ratio R′ n To establish a connection;

[0105] Board material receiving identification:

[0106] S1, Place the target board material that has been produced on the production line and is ready to be put into the warehouse at receiving mechanism 4;

[0107] S2, when the target board is put into storage, the material handling mechanism 2 takes out the target board to be put into storage placed at the receiving mechanism 4, and places the board on the carrier surface of the weighing mechanism 3 according to the recognition information of the visual recognition mechanism, so that the first side of the target board placed on the weighing mechanism 3 faces the camera end of the photographing mechanism 1.

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

[0109] S4, obtain the mounting distance H1 of the photographing mechanism 1 to the plate surface, match a known shooting distance equal to the mounting distance H1, and obtain the associated length ratio R matched with the known shooting distance n and the width ratio R' n The associated length ratio R n is defined as R 模糊 The associated width ratio R' n is defined as R' 模糊 ;

[0110] S5, obtain the plate surface image of the first surface of the target plate, obtain the pixel width w1 and the pixel length l1 of the plate surface of the target plate according to the plate surface image, and calculate the rough width W1 of the target plate according to the pixel width w1 of the plate surface of the target plate and R' 模糊 and the rough length L1 of the target plate calculated according to the pixel length l1 of the plate surface of the target plate and R 模糊 ;

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

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

[0113] S8, determine the shooting distance H2 of the photographing mechanism 1 to the first surface of the target plate according to the final thickness D2, and the calculation formula is H2=H1-D2;

[0114] S9, match a known shooting distance equal to the shooting distance H2, and obtain the associated length ratio R n and the width ratio R' n of the known shooting distance matched; n The associated length ratio R 精确 is defined as R n The associated width ratio R' 精确 is defined as R' 精确 , and the accurate width W2 of the target plate is calculated according to the pixel width w1 of the plate surface of the target plate and R' 精确 and the accurate length L2 of the target plate calculated according to the pixel length l1 of the plate surface of the target plate and R ;

[0115] S10, after calculating the accurate width W2 and the accurate length L2 of the target plate, the unloading mechanism 2 takes the target plate from the loading plate 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, the size information of the target plate is associated with the corresponding shelf 51 and the associated information is uploaded to the cloud storage;

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

[0117] Plate delivery:

[0118] A1, obtaining the size of the plate to be processed, matching the associated information stored in the cloud according to 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 obtained information of the shelf 51, and places the target plate at the material delivery mechanism 6, and then the worker takes away the target plate at the material delivery mechanism 6 and sends it to the next work station for processing.

[0120] As Figures 1-8 shown, in the step S5, the calculation formula of the rough width W1 is W1=w1xR' 模糊 , and the calculation formula of the rough length L1 is L1=l1xR 模糊 ; in the step S9, the calculation formula of the accurate width W2 is W2=w1xR' 精确 , and the calculation formula of the accurate length L2 is L2=l1xR 精确 .

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

[0122] Further, the shooting distance H2 of the photographing mechanism 1 to the first surface of the target plate is calculated according to the determined final thickness D2, which can be adjusted and corrected to eliminate the error of the plate thickness on the size measurement of the shooting image, and further improve the measurement accuracy.

[0123] Further, in order to avoid the influence of the distortion of the camera lens on the imaging effect, the photographed plate surface image needs to be corrected and pretreated after shooting, so that the pixel width and pixel length of the obtained plate surface image are more accurate, thereby improving the accuracy of the plate size measurement.

[0124] It is worth noting that obtaining the distance h from n known shooting distances... n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n And obtain the shooting distance h at n known points. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n The steps are as follows:

[0125] Input the dimensions of the known board material, including the known width W. 3n and a known length L 3n ;

[0126] Obtain the known material at the current known shooting distance h. n The image of the board surface is used to extract the pixel width w of the known board surface. 2n and pixel length l 2n ;

[0127] Calculate the current known shooting distance h n 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] Understandably, by using n known shooting distances h n Take photos of the known board material at n known shooting distances h to obtain the known board material at n known shooting distances h. n The image of the board surface at the location is obtained, and the board surface image at n known shooting distances h is extracted based on the image. n The pixel width w of the board surface 2n and pixel length l 2n Thus, the known material at n known shooting distances h can be calculated. n Length ratio R at the location n and width ratio R′ n .

[0129] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A sheet storage device, characterized by: The device comprises a photographing mechanism (1), a taking and placing mechanism (2), a weighing mechanism (3), a receiving mechanism (4), a storing mechanism (5), a discharging mechanism (6) and a control processor. The receiving mechanism (4) is used for receiving the target plate finished by the production line and ready to be put into the warehouse. The taking and placing mechanism (2) is used for taking and placing the target plate, so that the target plate flows between the receiving mechanism (4), the storing mechanism (5), the weighing mechanism (3) and the discharging mechanism (6). The storing mechanism (5) is used for storing the target plate put into the warehouse. The weighing mechanism (3) is provided with a loading plate surface used for storing the target plate ready to be put into the warehouse, and is used for obtaining the weight of the target plate ready to be put into the warehouse stored on the loading plate surface. The photographing end of the photographing mechanism (1) is arranged towards the loading plate surface, and the photographing mechanism (1) is used for shooting the plate surface image of the first surface of the target plate stored in the weighing mechanism (3). The discharging mechanism (6) is used for receiving the target plate taken out by the taking and placing mechanism (2) and ready to be discharged. The control processor is in communication connection with the photographing mechanism (1), the taking and placing mechanism (2) and the weighing mechanism (3), is used for receiving the weight of the target plate and the plate surface image information of the first surface of the target plate, and calculating the size parameter of the target plate according to the weight of the target plate and the plate surface image information of the target plate. The taking and placing mechanism (2) is a suction cup manipulator, a visual recognition mechanism is installed on the taking end of the suction cup manipulator, the visual recognition mechanism is used for identifying whether the adsorption surface of the target plate on the taking end of the suction cup manipulator is the first surface of the target plate, so that the first surface of the target plate placed on the weighing mechanism (3) is arranged opposite to the photographing end of the photographing mechanism (1).

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

3. A sheet storage device according to claim 1, wherein: The storing mechanism (5) comprises a plurality of shelves (51) and a shelf walking track (52). The plurality of shelves (51) are movably arranged on the shelf walking track (52), and the shelf walking track (52) is used for guiding the movement of the plurality of shelves (51). Along the guiding direction of the shelf walking track (52), one end of the shelf (51) is provided with a positioning piece (511), and the other end of the shelf (51) is rotatably provided with a locking piece (512), 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 and jacking assembly (53) is arranged below the plurality of shelves (51), the walking and jacking assembly (53) is movable along the shelf walking track (52), and the walking and jacking assembly (53) is used for driving the locking piece (512) of the shelf (51) to rotate, so that the locking piece (512) of the shelf (51) is separated from the positioning piece (511) hooked with the locking piece (512).

4. A sheet storage device according to claim 3, wherein: The locking piece (512) comprises a main body (5121) and a limiting portion (5122) extending from one end of the main body (5121); The positioning piece (511) is installed at one end of the bottom end of the side wall of the goods shelf (51), and the locking piece (512) is installed at the other end of the bottom end of the side wall of the goods shelf (51); The main body (5121) is rotationally connected with the goods shelf (51), one end of the limiting portion (5122) is arranged in a folded manner relative to 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 on the positioning piece (511).

5. A sheet storage device according to claim 3, wherein: The walking and jacking assembly (53) comprises a walking trolley (531) and a trolley walking track, the trolley walking track is arranged side by side with the goods shelf walking track (52), the walking trolley (531) is movably arranged on the trolley walking track, and the trolley walking track is used for guiding the movement of the walking trolley (531). The walking trolley (531) is provided with a linear electric cylinder (532).

6. A sheet storage device according to claim 1, wherein: The weighing mechanism (3) comprises a bottom plate (31), a plurality of supporting legs (35) are installed at the bottom end of the bottom plate (31), a weighing sensor is arranged between each supporting leg (35) and the bottom plate (31), a plurality of first supporting rods (32) are arranged at the top end of the bottom plate (31), the plurality of first supporting rods (32) are respectively arranged in an inclined upward extending manner, and form an inclined loading plate surface, and a supporting member is arranged on one side of each of the plurality of first supporting rods (32), and the supporting member is used for supporting the middle part of the first supporting rod (32).

7. A sheet storage apparatus according to claim 6, wherein: The supporting member is composed of a plurality of second supporting rods (33) and a bracket (34), one end of each of the plurality of second supporting rods (33) is connected with the corresponding first supporting rod (32), one end of each of the plurality of second supporting rods (33) away from the first supporting rod (32) is connected with the bracket (34), and the bottom end of the bracket (34) is fixedly installed at the top end of the bottom plate (31). The plurality of first supporting rods (32) are arranged in parallel and at equal intervals, and the plurality of second supporting rods (33) are arranged in parallel and at equal intervals.

8. A method for loading and unloading the plate storage device according to any one of claims 1 to 7, characterized by, The method comprises the following steps: Initialization setting: acquire the length ratio R of the plate surface length of the known plate material at n known shooting distances h n and the corresponding n plate surface image pixel lengths n acquire the width ratio R' of the plate surface width of the known plate material at n known shooting distances h n and the corresponding n plate surface image pixel widths n wherein n≥2; associating the n-th known shooting distance h n with a corresponding n-th length proportion R n and a n-th width proportion R´ n ; Plate warehousing identification: S1, the target plate to be warehoused produced by the production line is placed at the material receiving mechanism (4); S2, when the target plate is warehoused, the material taking and placing mechanism (2) takes out the target plate to be warehoused placed at the material receiving mechanism (4), and places the plate on the loading plate surface of the weighing mechanism (3) according to the identification information of the visual identification mechanism, so that the first surface of the target plate placed on the weighing mechanism (3) faces the photographing end of the photographing mechanism (1); S3, the weight M of the target plate placed on the weighing mechanism (3) is obtained through the weighing mechanism (3); S4, acquiring the installation distance H1 of the camera (1) to the plate surface, matching the known shooting distance equal to the installation distance H1, and acquiring the associated length ratio R of the matched known shooting distance n and the width ratio R´ n , the associated length ratio R n is defined as R 模糊 , the associated width ratio R´ n is defined as R´ 模糊 ; S5, acquiring a board surface image of the first surface of the target board, acquiring a pixel width w1 and a pixel length l1 of the board surface of the target board according to the board surface image, acquiring a pixel width w2 and a pixel length l2 of the second surface of the target board according to the board surface image, and calculating a rough width W1 and a rough length L1 of the target board according to the pixel width w1 and the pixel length l1 of the board surface of the target board and the pixel width w2 and the pixel length l2 of the second surface of the target board. 模糊 calculating the rough width W1 of the target board according to the pixel length l1 of the board surface of the target board and R 模糊 calculating the rough length L1 of the target board. S6, the rough thickness D1 of the plate is calculated according to the preset density p, and the calculation formula is D1=M / (W1×L1×p). S7, compare the calculated rough thickness D1 of the plate with several preset standard thicknesses, and take the closest standard thickness as the final thickness D2 of the plate; S8, determine the shooting distance H2 of the camera mechanism (1) to the plate surface of the target plate according to the final thickness D2, and the calculation formula is H2=H1-D2; S9, matching a known shooting distance equal to the shooting distance H2, obtaining the associated length ratio R of the matched known shooting distance n and the width ratio R´ n , the associated length ratio R n is defined as R 精确 , the associated width ratio R´ n is defined as R´ 精确 , the accurate width W2 of the target plate is calculated according to the pixel width w1 of the plate surface of the target plate and R´ 精确 , the accurate length L2 of the target plate is calculated according to the pixel length l1 of the plate surface of the target plate and R 精确 ; S10, after calculating the accurate width W2 and accurate length L2 of the target plate, the taking and placing mechanism (2) takes the target plate from the loading plate surface of the weighing mechanism (3) and places it on the shelf (51) of the storage mechanism (5) for storage, at the same time, the size information of the target plate is associated with the corresponding shelf (51) and the associated information is uploaded to the cloud storage; S11, repeat steps S2-S10 until all the target plates to be stored in the storage mechanism (5) are placed on the shelf (51) for storage; Plate delivery: 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 information of the corresponding shelf (51) according to the matched associated information; A2, the taking and placing mechanism (2) takes out the target plate stored in the corresponding shelf (51) according to the information of the shelf (51), and places the target plate at the discharging mechanism (6), then the worker takes away the target plate at the discharging mechanism (6) and sends it to the next workstation for processing.

9. The storage and retrieval method of claim 8, wherein: In the step S5, the calculation formula of the rough width W1 is W1 = w1 x R' 模糊 , and the calculation formula of the rough length L1 is L1 = l1 x R 模糊 ; in the step S9, the calculation formula of the accurate width W2 is W2 = w1 x R' 精确 , and the calculation formula of the accurate length L2 is L2 = l1 x R 精确 .

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