Intelligent feeding and discharging robot for plate cutting and method thereof

Abstract

The invention relates to the technical field of plate machining, in particular to an intelligent feeding and discharging robot for plate cutting and a method thereof.The intelligent feeding and discharging robot for plate cutting comprises a storage mechanism, a lifting mechanism, a grabbing mechanism, a transferring mechanism, a discharging trolley and a laser cutting machine; the vertical warehouse is provided with a reserved transfer layer used for storing a whole stack of materials, a lifting machine is installed on the support, a base is connected to the lifting machine, a tray used for bearing plates is connected to the base in a clamped mode, a limiting rod is fixedly connected to the outer side of the tray, and the lifting machine is used for storing the whole stack of materials into the vertical warehouse layer by layer. The grabbing mechanism is used for achieving the automatic feeding and discharging function of the plate laser cutting machine, the transferring mechanism is used for achieving operation of the plate vertical warehouse, and the laser cutting machine is used for cutting the plates. Full-process automation is achieved, manual intervention is reduced, the labor cost is reduced, and manual operation errors are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet processing, and specifically to an intelligent loading and unloading robot for sheet cutting and its method. Background Art

[0002] In the field of modern industrial manufacturing, sheet cutting is a key process in industries such as metal processing, furniture manufacturing, and architectural decoration. With the popularization of laser cutting technology, the automation level of sheet cutting equipment has been continuously improved, but there are still problems with low efficiency in the loading and unloading process. Although existing vertical warehouses can achieve automated storage of whole stacks of sheets, they lack a dedicated transfer layer design, resulting in the need for whole pallets of materials to be directly connected to the loading and unloading mechanism. This causes the elevator to frequently shuttle between the storage layer and the processing area, and at the same time, the one-time handling of the whole stack of materials requires the loading and unloading mechanism to frequently adjust the grasping position, resulting in an extended loading time for a single sheet of material, seriously affecting the coordination efficiency of the warehousing and loading and unloading processes. In addition, some high-end laser cutters equipped with double workbenches are limited by the motion accuracy and control logic of traditional grasping mechanisms and are difficult to achieve seamless switching between the two workbenches. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides an intelligent loading and unloading robot for sheet cutting and its method, which has the advantages of fully automatic loading and unloading and solves the problem of low efficiency of manual handling.

[0004] To solve the above technical problems, the present invention provides the following technical solutions: An intelligent loading and unloading robot for sheet cutting includes a storage mechanism, a lifting mechanism, a grasping mechanism, a transfer mechanism, a blanking cart, and a laser cutter. The storage mechanism includes a vertical warehouse, which is a multi-layer structure. The vertical warehouse is provided with a reserved transfer layer for storing whole stacks of materials. The lifting mechanism includes a bracket, on which an elevator is installed. A base is connected to the elevator, and a tray for carrying sheets is clamped on the base. A limiting rod is fixedly connected to the outside of the tray. The elevator is used to store whole stacks of materials layer by layer into the vertical warehouse and to pull out whole pallets of sheet materials from the vertical warehouse. The grasping mechanism is used to realize the automatic loading and unloading function of the sheet laser cutter. The transfer mechanism is used to transfer the sheets between the vertical warehouse. The blanking cart is used to receive the cut sheets and transfer them to the sorting material position. The laser cutter is used to cut the sheets.

[0005] Preferably, the grasping mechanism includes a support frame, on which a slideway is provided. A sliding seat is slidably connected to the slideway. An electric telescopic machine is installed on the sliding seat, and a hoisting machine is installed at the free end of the electric telescopic machine. A vacuum suction cup on the hoisting machine is used to grasp the sheets.

[0006] Preferably, the transfer mechanism includes a slide rail, a transfer cart, and a plurality of pulleys installed at the bottom of the transfer cart. The transfer cart moves on the slide rail through the pulleys, and a limiting block for restricting the position of the board is fixedly connected to the transfer cart.

[0007] Preferably, for the sliding of the sliding seat of the grasping mechanism on the slideway, the electric telescoping machine can drive the suction cup to perform a lifting motion. The vacuum suction cup sucks a single board by generating a vacuum, realizing the grasping and handling of the board.

[0008] Preferably, the grasping mechanism further includes a detection mechanism for detecting whether the sucked board is a single board, ensuring that each time a single board is transported to the laser cutting machine table.

[0009] Preferably, the transfer cart of the transfer mechanism moves on the slide rail through the pulleys, and can transport the material to the material taking position of the loading and unloading mechanism.

[0010] Preferably, the transfer layer of the vertical warehouse is used to cooperate with the elevator, the material transfer cart, and the single board handling mechanism to realize the internal transfer of the board in the vertical warehouse.

[0011] Preferably, the laser cutting machine is provided with an upper table and a lower table. The grasping mechanism can place the boards required for cutting on the upper table and the lower table of the laser cutting machine respectively. After the material on one table is cut, the grasping mechanism can timely remove the cut board from the table and transport it to the unloading cart.

[0012] An intelligent loading and unloading method for board cutting includes the following steps: S1. Store the original boards in the vertical warehouse. The warehouse is a multi-layer structure, and each layer fixedly stores one type of board and adapts to all board specifications within the specified size range. The whole stack of materials is lifted layer by layer to the corresponding layer of the vertical warehouse by a fixed elevator, and the pallet is positioned by a limiting rod to complete the automatic warehousing of the whole stack of materials; S2. According to the cutting task requirements, the elevator extracts the whole pallet of materials from the corresponding layer in the vertical warehouse, vertically descends along the bracket to the transfer layer. The transfer cart moves to the lower part of the elevator through the slide rail, receives the pallet material, and transports the whole pallet of materials along the slide rail to the preset material taking position of the loading and unloading mechanism, and is positioned and fixed by the limiting block; S3. The grasping mechanism opens the fork and descends as a whole to the height where the suction cup can contact the board. A vacuum is generated through a vacuum generator to adsorb a single board, and the laser cutting machine synchronously cuts the board on the upper table or the lower table, and the other table can continue to be loaded; S4. After the platform board is cut, the grasping mechanism moves to the platform, opens the fork, descends as a whole to the limit height, closes the fork to lift the board, avoiding damage to the cut piece caused by vacuum adsorption, transports the cut board to the blanking cart, and the blanking cart is transported along the preset path to the sorting material position to complete the sorting of the board and enter the next cycle.

[0013] By means of the above technical solutions, the present invention provides an intelligent loading and unloading robot and method for board cutting, which at least has the following beneficial effects: 1. The intelligent loading and unloading robot and method for board cutting realize full-process automation from board storage, transportation, loading and unloading to sorting after cutting, reduce manual intervention, lower labor costs, and avoid human operation errors.

[0014] 2. The intelligent loading and unloading robot and method for board cutting are provided with an upper table and a lower table on the laser cutting machine, and the grasping mechanism can load and unload materials for both tables simultaneously, realizing simultaneous feeding, cutting, and unloading, reducing the idle time of the equipment, and greatly improving the production capacity per unit time.

[0015] 3. The intelligent loading and unloading robot and method for board cutting are equipped with a vacuum chuck and multiple detection mechanisms, and only suck a single board using the principle of vacuum negative pressure, eliminating the risk of multiple stacked materials and avoiding cutting misalignment or equipment damage.

[0016] 4. The intelligent loading and unloading robot and method for board cutting have the sliding seat of the grasping mechanism sliding along the slideway and the electric telescopic machine adjusting the height, which can accurately position according to the position of the board and the table of the laser cutting machine, avoiding collisions.

[0017] 5. The intelligent loading and unloading robot and method for board cutting can store one type of board on each layer of the vertical warehouse, be compatible with multiple board types, and meet the diverse production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application: Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the loading and unloading mechanism of the present invention; Figure 3 It is a structural schematic diagram of the lifting mechanism of the present invention; Figure 4 It is a structural schematic diagram of the storage mechanism of the present invention; Figure 5 It is a structural schematic diagram of the transportation mechanism of the present invention.

[0019] Reference numerals: 1. Storage mechanism; 11. Vertical warehouse; 2. Lifting mechanism; 21. Bracket; 22. Lifter; 23. Base; 24. Pallet; 25. Limit rod; 3. Grasping mechanism; 31. Support frame; 32. Slide; 33. Slide seat; 34. Electric telescopic machine; 35. Hoisting machine; 36. Vacuum suction cup; 4. Transfer mechanism; 41. Slide rail; 42. Transfer vehicle; 43. Pulley; 44. Limit block; 5. Unloading vehicle; 6. Laser cutting machine. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The following describes an intelligent loading and unloading robot and method for plate cutting provided by some embodiments of the present invention in conjunction with the accompanying drawings.

[0022] Embodiment 1: Combination Figures 1-5 As shown, the intelligent loading and unloading robot for plate cutting provided by the present invention comprises a storage mechanism 1, a lifting mechanism 2, a gripping mechanism 3, a transfer mechanism 4, a material unloading vehicle 5 and a laser cutting machine 6. The storage mechanism 1 comprises a vertical warehouse 11. The vertical warehouse 11 is a multi-layer structure. The vertical warehouse 11 is provided with a transfer layer for storing a whole stack of materials and a reserved layer. The lifting mechanism 2 comprises a bracket 21. A lift 22 is mounted on the bracket 21. A base 23 is connected to the lift 22. A pallet 24 for carrying a plate is clamped on the base 23. The outer side of the pallet 24 is fixedly connected to the The limit rod 25 and the elevator 22 are used to store the whole stack of materials layer by layer into the vertical warehouse 11, and to pull the whole pallet of sheet materials out of the vertical warehouse 11. The grabbing mechanism 3 is used to realize the automatic loading and unloading function of the sheet laser cutting machine 6. The transfer mechanism 4 is used to realize the operation of the sheet vertical warehouse 1111. The unloading vehicle 5 is used to receive the cut sheets and transfer them to the sorting material position. The laser cutting machine 6 is used to cut the sheets. The full process automation shortens the material turnover time. The double-table parallel cutting and multi-mechanism collaborative operation greatly improve the production capacity per unit time.

[0023] Specifically, the grasping mechanism 3 includes a support frame 31. A slideway 32 is provided on the support frame 31. A slide seat 33 is slidably connected to the slideway 32. An electric telescopic machine 34 is installed on the slide seat 33. A hoisting machine 35 is installed at the free end of the electric telescopic machine 34. The vacuum suction cup 36 on the hoisting machine 35 is used to grasp the plate. The grasping mechanism 3 can accurately adjust its own horizontal position according to the position of the plate and the position of the tabletop of the laser cutting machine 6, so as to accurately reach the position where the plate needs to be grasped and place the plate at the designated position on the upper or lower tabletop of the laser cutting machine 6.

[0024] The grasping mechanism 3 further includes a detection mechanism, which is used to detect whether the sucked object is a single plate, ensure that each time a single plate is transported to the tabletop of the laser cutting machine 6, ensure that only one plate is transported each time, avoid cutting misalignment or equipment damage caused by multi-plate stacking, and improve the feeding accuracy.

[0025] Furthermore, the transfer mechanism 4 includes a slide rail 41, a transfer vehicle 42 and a plurality of pulleys 43 installed at the bottom of the transfer vehicle 42. The transfer vehicle 42 moves on the slide rail 41 through the pulleys 43. A limit block 44 for restricting the position of the plate is fixedly connected to the transfer vehicle 42, ensuring that the transfer vehicle 42 moves forward stably along the route, reducing the deviation and shaking during the transfer process, and enabling the transfer vehicle 42 to accurately reach the designated position.

[0026] The transfer vehicle 42 of the transfer mechanism 4 moves on the slide rail 41 through the pulleys 43, and can transport the material to the material taking position of the loading and unloading mechanism.

[0027] According to the embodiment, a full-automatic closed loop from material storage to cutting and sorting is realized, improving production efficiency, material utilization rate and equipment safety.

[0028] Embodiment Two: Combined with Figures 2-5 As shown, on the basis of Embodiment One, the slide seat 33 of the grasping mechanism 3 slides on the slideway 32, and the electric telescopic machine 34 can drive the suction cup to move up and down. The vacuum suction cup 36 sucks a single plate by generating a vacuum, realizing the grasping and transportation of the plate, and can be automatically adjusted according to the stacking height of the plate or the height of the tabletop of the laser cutting machine 6, avoiding collisions and ensuring that the suction cup is closely attached to the surface of the plate.

[0029] Specifically, the transfer layer of the vertical warehouse 11 is used to cooperate with the elevator 22, the material transfer vehicle 42 and the single-plate handling mechanism to realize the internal transfer of the plate from the vertical warehouse 11.

[0030] According to the embodiment, only a single plate is sucked by using the vacuum negative pressure principle, eliminating the risk of multi-sheet stacking, and ensuring the accuracy and safety of the subsequent cutting process.

[0031] Embodiment Three: Combined withFigure 1 and Figure 2 As shown in Figure 2 , on the basis of the first embodiment, the laser cutting machine 6 is provided with an upper table surface and a lower table surface. The grasping mechanism 3 can place the plates required for cutting on the upper table surface and the lower table surface of the laser cutting machine 6 respectively. After the materials on one table surface are cut, the grasping mechanism 3 can timely remove the cut plates from the table surface and transport them to the blanking vehicle 5.

[0032] Embodiment 4: Combined with Figures 1-5 As shown in Figures 1-5 , the intelligent loading and unloading method for plate cutting includes the following steps: S1. Store the original plates in the vertical warehouse 11. The warehouse is of a multi-layer structure, and each layer fixedly stores one type of plate and is suitable for all plate specifications within the specified size range. The entire stack of materials is lifted layer by layer to the corresponding layer of the vertical warehouse 11 through the fixed elevator 22, and the tray 24 is positioned by the limiting rod 25 to complete the automatic warehousing of the entire stack of materials; S2. According to the cutting task requirements, the elevator 22 extracts the entire pallet of materials from the corresponding layer in the vertical warehouse 11 and vertically descends along the bracket 21 to the transfer layer. The transfer vehicle 42 moves to the lower part of the elevator 22 through the slide rail 41, receives the materials on the tray 24, and transports the entire pallet of materials to the preset material taking position of the loading and unloading mechanism along the slide rail 41, and is positioned and fixed by the limiting block 44; S3. The grasping mechanism 3 opens the fork and descends as a whole to the height where the suction cup can contact the plate. Vacuum is generated through the vacuum generator to adsorb a single plate, and the laser cutting machine 6 synchronously cuts the plates on the upper table surface or the lower table surface, and the other table surface can continue to be loaded; S4. When the plate on the platform is cut, the grasping mechanism 3 moves to this platform, opens the fork, descends as a whole to the limiting height, closes the fork to lift the plate, avoids damaging the cut parts by vacuum adsorption, transports the cut plate to the blanking vehicle 5, and the blanking vehicle 5 transports along the preset path to the sorting material position to complete the sorting of the plates and enter the next cycle.

[0033] It should be noted that the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0034] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent loading and unloading robot for sheet cutting, characterized in that, It includes a storage mechanism (1), a lifting mechanism (2), a grasping mechanism (3) for realizing automatic loading and unloading functions, a transfer mechanism (4), a blanking truck (5) for receiving the cut plates and transferring them to the sorting material position, and a laser cutting machine (6) for cutting the plates; The storage mechanism (1) includes a vertical warehouse (11). The vertical warehouse (11) is a multi-layer structure and is provided with layers for storing whole stacks of materials and reserved transfer layers; The lifting mechanism (2) includes a bracket (21). An elevator (22) is installed on the bracket (21). The elevator (22) is used to store whole stacks of materials layer by layer into the vertical warehouse (11) and to pull out whole pallet materials from the vertical warehouse (11). A base (23) is connected to the elevator (22). A tray (24) for carrying the plates is clamped on the base (23). A limiting rod (25) is fixedly connected to the outside of the tray (24).

2. The intelligent loading and unloading robot for sheet cutting according to claim 1, wherein, The grasping mechanism (3) includes a support frame (31). A slideway (32) is provided on the support frame (31). A slide seat (33) is slidably connected to the slideway (32). An electric telescopic machine (34) is installed on the slide seat (33). A hoisting machine (35) is installed at the free end of the electric telescopic machine (34). A vacuum suction cup (36) for grasping the plates is provided on the hoisting machine (35).

3. The intelligent loading and unloading robot for sheet cutting according to claim 1, characterized in that, The transfer mechanism (4) includes a slide rail (41), a transfer vehicle (42), and a plurality of pulleys (43) installed at the bottom of the transfer vehicle (42). The transfer vehicle (42) moves on the slide rail (41) through the pulleys (43). A limiting block (44) for restricting the position of the plates is fixedly connected to the transfer vehicle (42).

4. The intelligent loading and unloading robot for sheet cutting according to claim 2, wherein, The slide seat (33) of the grasping mechanism (3) slides on the slideway (32). The electric telescopic machine (34) can drive the vacuum suction cup (36) to perform a lifting motion. The vacuum suction cup (36) sucks a single plate by generating a vacuum, realizing the grasping and handling of the plates.

5. The intelligent loading and unloading robot for sheet cutting according to claim 1, characterized in that, The grasping mechanism (3) further includes a detection mechanism for detecting whether the sucked material is a single plate, ensuring that each time a single plate is transported to the tabletop of the laser cutting machine (6).

6. The intelligent loading and unloading robot for sheet cutting according to claim 1, wherein, The transfer layer of the vertical warehouse (11) is used to cooperate with the elevator (22), the material transfer vehicle (42), and the single-plate handling mechanism to realize the internal transfer of the plates from the vertical warehouse (11).

7. The intelligent loading and unloading robot for sheet cutting according to claim 1, characterized in that, The laser cutting machine (6) is provided with an upper tabletop and a lower tabletop. The grasping mechanism (3) is used to place the plates required for cutting on the upper tabletop and the lower tabletop of the laser cutting machine (6) respectively.

8. The intelligent loading and unloading method for sheet cutting is characterized in that, It includes the following steps: S1. Store the original plates in the vertical warehouse (11). The warehouse is a multi-layer structure. Each layer fixedly stores one type of plate and is suitable for all plate specifications within the specified size range. The whole stack of materials is lifted layer by layer to the corresponding layer of the vertical warehouse (11) through the fixed elevator (22). The tray (24) is positioned by using the limiting rod (25) to complete the automatic warehousing of the whole stack of materials; S2. According to the requirements of the cutting task, the elevator (22) extracts the full pallet material of the corresponding layer from the vertical warehouse (11), vertically descends along the support (21) to the transfer layer. The transfer vehicle (42) moves to the lower part of the elevator (22) through the slide rail (41), receives the material on the pallet (24), and transports the full pallet material along the slide rail (41) to the preset material taking position of the loading and unloading mechanism, and is positioned and fixed by the limit block (44); S3. The gripping mechanism (3) opens the fork and descends as a whole to the height where the suction cup can contact the plate. Vacuum is generated through the vacuum generator to adsorb a single plate. The laser cutting machine (6) synchronously cuts the plates on the upper table or the lower table, and the other table can continue to be loaded; S4. After the cutting of the plates on the platform is completed, the gripping mechanism (3) moves to this platform, opens the fork, descends as a whole to the limit height, closes the fork to lift the plate, avoiding damage to the cut parts caused by vacuum adsorption, transports the cut plate to the unloading vehicle (5), and the unloading vehicle (5) transports it along the preset path to the sorting material position to complete the sorting of the plates and enter the next cycle.

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