Intelligent grooving robot based on visual technology

Abstract

The invention relates to the technical field of door and window processing, and particularly discloses an intelligent slotting robot based on a visual technology, which comprises a hoisting conveying line, an auxiliary supporting mechanism, a supporting part, a slotting mechanism, a protection part, a plate conveying line, a controller, a first carrying mechanical arm, a visual detector and a second carrying mechanical arm, the auxiliary supporting mechanism is arranged below the inner side of the hoisting conveying line; the grooving mechanism is arranged in front of the auxiliary supporting mechanism; the plate conveying line is arranged on the right side of the exterior of the grooving mechanism. Through technical integration of visual guidance, automatic execution and self-adaptive adjustment, the precision, efficiency and adaptability bottlenecks of traditional grooving equipment are comprehensively broken through, full-process protection of grooving, namely protection, precise covering and firm attaching is achieved, abrasion, deformation and pollution of a groove body in the carrying and moving process are fundamentally avoided, and the service life of the groove body is prolonged. And the quality stability and the subsequent assembly efficiency of the slotted plate are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of door and window processing technology, specifically to an intelligent grooving robot based on vision technology. Background Technology

[0002] In the field of door and window processing, grooving is a key process to ensure the performance of doors and windows. Its precision and quality directly affect the sealing, structural strength and service life of doors and windows. Traditional door and window grooving processing mostly relies on manual marking and positioning in conjunction with semi-automatic machine tools, which results in low precision. With the construction industry's increasing requirements for the precision and energy efficiency of doors and windows, as well as the pursuit of production efficiency and automation under the trend of intelligent manufacturing, traditional grooving processes can no longer meet the needs of large-scale and high-precision processing. There is an urgent need for intelligent equipment with visual guidance, automatic positioning, adaptive processing and integrated protection functions to break through the technical bottleneck. In the existing technical field, the sheet metal handling and processing stages of traditional equipment are mostly operated independently, requiring coordination during sheet metal handling. Grooving equipment often relies on manual marking and positioning or traditional mechanical limiting, which is difficult to adapt to sheet metal size deviations and complex groove shape requirements. This results in mismatch between the grooved body and subsequent assembly components. Furthermore, existing grooving equipment generally does not take effective protective measures for the inside of the groove after grooving the sheet metal. Because the edges of the grooved body are relatively fragile, they are prone to collisions and friction with other objects during manual handling or mechanical transfer, leading to burrs and cracks on the edges, affecting the accuracy of subsequent assembly. Dust, debris, or oil stains in the environment can easily enter the unprotected inside of the groove, forming accumulations, requiring additional cleaning processes and reducing production efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent grooving robot based on vision technology, so as to at least solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an intelligent grooving robot based on vision technology, comprising: hoisting and conveying line; An auxiliary support mechanism is located on the inner side below the hoisting and conveying line; The grooving mechanism is located in front of the auxiliary support mechanism; The sheet material conveying line is located on the outside right side of the grooving mechanism; The controller is located outside the left front of the plate conveying line, and the hoisting conveying line is electrically connected to the plate conveying line and the controller; The first handling robotic arm is located outside the left rear of the plate conveying line, and the first handling robotic arm is electrically connected to the controller; A vision inspection machine is installed outside and in front of the hoisting conveyor line and on the left side of the first handling robotic arm; the vision inspection machine and the controller are electrically connected. The second handling robotic arm is located outside the hoisting conveyor line and to the left of the grooving mechanism. The second handling robotic arm is electrically connected to the controller.

[0005] Preferably, the auxiliary support mechanism includes: a first ground rail, a first track moving platform, a limiting frame, a support frame, a first electric telescopic rod, and a support component; the first ground rail is located below the inner side of the hoisting conveyor line in the front-back direction; the first track moving platform is installed inside the first ground rail, and the first track moving platform is electrically connected to the controller; one end of the limiting frame is rotatably connected to the front of the top of the first ground rail via a pivot seat; one end of the support frame is rotatably connected to the other end of the limiting frame via a pivot; one end of the first electric telescopic rod is rotatably connected to the top of the first track moving platform via a pivot seat and is located inside the first electric telescopic rod, the other end of the first electric telescopic rod is rotatably connected to the inner side of the support frame via a pivot, and the first electric telescopic rod is electrically connected to the controller; the support component is located on the front side of the support frame.

[0006] Preferably, the auxiliary support mechanism further includes: a second ground rail, a second track moving platform, and a lifting module; there are two second ground rails, which are respectively located at the left and right ends of the front side of the first ground rail in the front-rear direction; there are two second track moving platforms, which are respectively located inside the left and right second ground rails, and the second track moving platforms are electrically connected to the controller; there are two lifting modules, which are respectively installed at the top of the left and right second track moving platforms in the vertical direction, and the lifting modules are electrically connected to the controller; wherein, the moving ends of the left and right lifting modules are respectively provided with fixing components.

[0007] Preferably, the supporting component includes: a tank shell, a third electric telescopic rod, and a supporting baffle; the tank shell is rotatably connected to the front top of the first ground rail via a pivot seat in the vertical direction, and the other end of the supporting frame is rotatably connected to the upper rear side of the tank shell via a pivot seat; there are two third electric telescopic rods, which are respectively installed on the left and right sides of the inner cavity of the tank shell in the vertical direction, and the third electric telescopic rods are electrically connected to the controller; the supporting baffle is installed on the top of the telescopic ends of the two third electric telescopic rods in the left and right direction.

[0008] Preferably, the grooving mechanism includes: a gantry base, a double-ended moving module, a dual-axis moving module, a protective component, a machining robot arm, and an electric tool magazine; the gantry base is arranged in front of the auxiliary support mechanism in the left-right direction; the double-ended moving module is installed at the top of the gantry base in the left-right direction, and the double-ended moving module is electrically connected to the controller; there are two dual-axis moving modules, which are respectively installed at the top of the left and right moving ends of the double-ended moving module in the front-back direction, and the dual-axis moving module is electrically connected to the controller; the protective component is arranged at the moving end of the left dual-axis moving module; the machining robot arm is fixedly installed at the bottom rear side of the moving end of the right dual-axis moving module, and the machining robot arm is electrically connected to the controller; the electric tool magazine is fixedly installed at the bottom rear side of the moving end of the right dual-axis moving module and located to the right of the machining robot arm, and the electric tool magazine is electrically connected to the controller.

[0009] Preferably, the protective components include: a housing shell, a vertical mounting plate, a winding reel, a conveyor belt assembly, a first motor, a gear set, a trough, a first limiting roller assembly, and a sensor; the housing shell is mounted vertically on the rear side of the moving end of the dual-axis moving module; the vertical mounting plate is mounted vertically on the front left side of the top inner part of the housing shell; the winding reel is rotatably mounted on the bottom right side of the vertical mounting plate via bearings; there are two conveyor belt assemblies, which are respectively mounted on the right side of the vertical mounting plate and located on the front and rear sides above the winding reel; the first motor is mounted on the left side of the vertical mounting plate. Below the side, the rotating end of the first motor extends to the right side of the vertical mounting plate and connects to the bottom pulley shaft of the rear conveyor belt assembly. The first motor and the controller are electrically connected. A gear set is installed on the left side of the vertical mounting plate, and the two ends of the gear set extend to the right side of the vertical mounting plate and connect to the top pulley shafts of the front and rear conveyor belt assemblies. A trough is formed on the upper front side of the housing shell. A first limiting roller assembly is installed on the right side of the vertical mounting plate and located below the trough. A sensor is installed at the top of the housing shell and located outside the trough. The sensor and the controller are electrically connected.

[0010] Preferably, the protective component further includes: a conveyor tray assembly, a second motor, a limiting groove wheel seat, a second limiting roller assembly, a mounting bracket, a third limiting roller assembly, a clamping module, a tensioning groove wheel, and an electric cutter; the conveyor tray assembly is installed at the top center of the housing shell; the second motor is installed on the outer left side of the conveyor tray assembly, the rotating end of the second motor is connected to the roller of the conveyor tray assembly, and the second motor is electrically connected to the controller; the number of limiting groove wheel seats is two, and the two limiting groove wheel seats are respectively installed at the top of the vertical mounting plate. The first is located on the front and rear sides of the conveying tray assembly; the second limiting roller assembly is installed on the rear top of the vertical mounting plate; the mounting bracket is fixedly installed on the rear top of the vertical mounting plate in the front-rear direction; the third limiting roller assembly is installed on the outer rear side of the mounting bracket; the clamping module is installed on the top of the third limiting roller assembly, and the clamping module and the controller are electrically connected; the tensioning roller is rotatably connected to the inner rear side of the mounting bracket via a rotating shaft; the electric cutter is fixedly installed on the lower outer rear side of the mounting bracket via a bracket, and the electric cutter and the controller are electrically connected.

[0011] Preferably, the protective component further includes: a vertical fixing frame, support rods, a miniature electric telescopic rod, a mounting base, and a pressure roller; the vertical fixing frame is installed on the rear side of the bottom end of the mounting frame; there are two support rods, one end of each support rod is rotatably installed at the front and rear ends of the rear side of the bottom end of the vertical fixing frame via a pivot seat; one end of the miniature electric telescopic rod is rotatably connected to the lower left side of the vertical fixing frame via a pivot seat, and the other end of the miniature electric telescopic rod is rotatably connected to the right side of the outer wall of the rear miniature electric telescopic rod via a pivot, and the miniature electric telescopic rod is electrically connected to the controller; the mounting base is rotatably installed on the outer side of the other ends of the front and rear support rods via a pivot; the pressure roller is installed on the rear side of the top end of the mounting base.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The sheet metal stored inside is moved to the handling end of the first handling robotic arm via the sheet metal conveyor line. The first handling robotic arm grabs the sheet metal from the surface of the sheet metal conveyor line and moves it to the lifting end inside the hoisting conveyor line for installation. The vision inspection machine performs visual inspection on the sheet metal and plans the processing path. The first track moving table moves forward along the first ground rail to the designated position behind the sheet metal. The first electric telescopic rod extends to drive the support frame to rotate upward. The limit frame and the support frame cooperate to drive the outer shell of the trough to rotate forward to a vertical position on the top of the first track moving table. The third electric telescopic rods on both sides extend synchronously to drive the plate metal to rotate upward. The moving support baffle moves upward to adapt to the length of the plate and makes the outer shell of the groove and the support baffle contact the rear side of the plate to support it during subsequent grooving operations. The second track moving platforms on the left and right sides move along the corresponding positions of the second ground rails to the left and right sides of the plate. The lifting modules on the left and right sides drive the fixed components on the corresponding positions to move to the height position of the plate. The second electric telescopic rods in the fixed components on the left and right sides shorten and drive the moving frame on the corresponding positions. The moving frame moves forward under the limiting action of the limiting component so that the moving frame and the fixed frame clamp and fix the front and rear ends of the left and right sides of the plate.

[0013] 2. The electric tool magazine rotates the actuator for the required inner diameter to the corresponding position on the machining arm. As the actuator inside the machining arm moves, it automatically docks with the actuator inside the electric tool magazine at the corresponding position above it. The dual-end moving module drives the right dual-axis moving module to move in front of the sheet metal. The dual-axis moving module then drives the machining arm to move along both axes, bringing it to the surface of the sheet metal. The machining arm drives its internal actuator to perform grooving on the surface of the sheet metal according to the planned path. After grooving is complete, the right dual-axis moving module drives the machining arm to reset. The dual-end moving module then drives the left dual-axis moving module to move the protective component to the surface of the sheet metal for grooving. At the designated location, the left-side dual-axis moving module drives the protective component to move along the direction of the groove. The first motor drives the pulley of the rear conveyor belt assembly to rotate the belt. Under the transmission of the gear set, the pulley inside the front conveyor belt assembly drives the belt to rotate synchronously to unwind the rubber strip wound inside the take-up reel. The second motor drives the internal groove of the conveyor tray assembly to rotate. The upper and lower grooves inside the conveyor tray assembly convey the inner rubber strip under the action of friction. The miniature electric telescopic rod drives the front support rod to move to the rear. The mounting seat drives the pressure roller to press the rubber strip into the inner cavity of the groove. The pressure module presses the inner rubber strip of the third limit roller assembly. The electric cutter cuts the rubber strip.

[0014] By integrating visual guidance, automated execution, and adaptive adjustment technologies, it has comprehensively broken through the bottlenecks in precision, efficiency, and adaptability of traditional grooving equipment. It has also achieved full-process protection that includes grooving-as-protection, precise coverage, and firm fit, fundamentally avoiding wear, deformation, and contamination of the grooving body during handling and movement, and significantly improving the quality stability of the grooved sheet and the efficiency of subsequent assembly. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded view of the auxiliary support structure in the diagram; Figure 3 for Figure 2 A magnified view of point A in the figure; Figure 4 for Figure 2 Enlarged view of point B in the image; Figure 5 for Figure 3 Exploded view of the supporting components in the diagram; Figure 6 for Figure 1 Exploded view of the slotting mechanism in the image; Figure 7 for Figure 6 Exploded view of the slotting mechanism in the image; Figure 8 for Figure 7 Enlarged view of point C in the image.

[0016] In the diagram: 1. Lifting conveyor line; 2. Auxiliary support mechanism; 21. First ground rail; 22. First track moving platform; 23. Limiting frame; 24. Support frame; 25. First electric telescopic rod; 26. Second ground rail; 27. Second track moving platform; 28. Lifting module; 29. ​​Mounting plate; 210. Fixed frame; 211. Limiting component; 212. Moving frame; 213. Second electric telescopic rod; 3. Supporting component; 31. Tank shell; 32. Third electric telescopic rod; 33. Support baffle; 4. Slotting mechanism; 41. Gantry base frame; 42. Double-end moving module; 43. Dual-axis moving module; 44. Processing robotic arm; 45. Electric tool magazine; 5. Protective component; 51. Box shell; 52. Vertical... 53. Mounting plate, 54. Rewind reel, 55. Conveyor belt assembly, 56. First motor, 57. Gear set, 58. Tank, 59. First limit roller assembly, 50. Sensor, 510. Conveyor trough assembly, 511. Second motor, 512. Limit roller seat, 513. Second limit roller assembly, 514. Mounting frame, 515. Third limit roller assembly, 516. Pressing module, 517. Tensioning roller, 518. Electric cutter, 519. Vertical fixing frame, 520. Support rod, 521. Miniature electric telescopic rod, 522. Mounting base, 523. Pressing roller, 6. Sheet conveyor line, 7. Controller, 8. First handling robotic arm, 9. Vision inspection machine, 10. Second handling robotic arm. Detailed Implementation

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0018] Please see Figures 1-8This invention provides a technical solution: an intelligent grooving robot based on vision technology, comprising: a hoisting conveyor line 1, an auxiliary support mechanism 2, a support component 3, a grooving mechanism 4, a protective component 5, a sheet material conveying line 6, a controller 7, a first handling robotic arm 8, a vision inspection machine 9, and a second handling robotic arm 10. The hoisting conveyor line 1 is an intelligent hoisting conveyor line, which can start, stop, adjust speed, and accurately position according to the instructions of the controller 7, ensuring the stability and positional accuracy of the sheet material during the conveying process, providing a reliable positional basis for subsequent grooving, adhesive strip installation, and other processes, and is responsible for the aerial hoisting and conveying of the sheet material; the auxiliary support mechanism 2 is located on the inner lower side of the hoisting conveyor line 1; The grooving mechanism 4 is positioned in front of the auxiliary support mechanism 2; the sheet metal conveyor line 6 is located on the outer right side of the grooving mechanism 4. The sheet metal conveyor line 6 can adjust its conveying speed and start / stop according to the instructions of the controller 7, ensuring a continuous and stable supply of sheet metal to be processed to the first handling robotic arm 8, thus guaranteeing the continuity of the entire production process; the controller 7 is located on the outer left front of the sheet metal conveyor line 6. The hoisting conveyor line 1 is electrically connected to the sheet metal conveyor line 6 and the controller 7. The controller 7 uses a PLC controller, supports the PROFINET communication protocol, and has a pre-set control program for the entire workflow. It receives feedback signals from each device and issues control commands to each device, coordinating the actions of each device to achieve the overall... The grooving operation process is automated and intelligent. A first handling robotic arm 8 is positioned outside the sheet metal conveyor line 6, to the left rear. The first handling robotic arm 8 is electrically connected to a controller 7. According to the instructions of the controller 7, the first handling robotic arm 8 can accurately grab sheet metal from the sheet metal conveyor line 6 and transport it to the lifting end of the hoisting conveyor line 1 for installation and fixation. A vision inspection machine 9 is positioned outside the hoisting conveyor line 1, in front of it and to the left of the first handling robotic arm 8. The vision inspection machine 9 is electrically connected to the controller 7. Equipped with a high-pixel industrial camera and a high-performance image processing chip, the vision inspection machine 9 performs comprehensive visual inspection of the sheet metal, including identifying the sheet metal's size, shape, material, and surface. The system collects basic information such as defects. Simultaneously, based on the test results and preset processing requirements, it automatically plans a precise grooving path and transmits the path information to the controller 7, providing accurate path guidance for the grooving mechanism 4 to ensure that the grooving position and shape meet the requirements. The second handling robotic arm 10 is located outside the hoisting conveyor line 1 and to the left of the grooving mechanism 4. The second handling robotic arm 10 is electrically connected to the controller 7. Following the instructions of the controller 7, after the board has been grooved and the adhesive strip installed, the second handling robotic arm 10 is responsible for removing the board from the hoisting end of the hoisting conveyor line 1 and placing it stably in the designated storage location, thus achieving orderly storage of the finished board.

[0019] As a preferred option, further, such as Figure 2 , Figure 3 and Figure 4As shown, the auxiliary support mechanism 2 includes: a first ground rail 21, a first track moving platform 22, a limiting frame 23, a support frame 24, a first electric telescopic rod 25, a support component 3, a second ground rail 26, a second track moving platform 27, and a lifting module 28; the first ground rail 21 is located below the inner side of the hoisting conveyor line 1 along the front-to-back direction. The first ground rail 21 is a linear rail, providing high-precision linear motion guidance for the first track moving platform 22, ensuring the stability and positioning accuracy of the first track moving platform 22 during front-to-back movement; the first track moving platform 22 is installed inside the first ground rail 21, and the first track moving platform 22 is electrically connected to the controller 7. The first track moving platform 22 is matched with the first ground rail 21, equipped with a servo motor, and receives commands from the controller 7 to move along the first ground rail 26. The ground rail 21 moves back and forth; one end of the limiting frame 23 is rotatably connected to the front top of the first ground rail 21 via a pivot seat. The limiting frame 23 limits the maximum rotation angle of the support frame 24 by its own length, ensuring that the support component 3 can ultimately be stably in a vertical state; one end of the support frame 24 is rotatably connected to the other end of the limiting frame 23 via a pivot, and rotates upward under the driving force of the first electric telescopic rod 25, cooperating with the limiting frame 23 to push the support component 3 from the initial horizontal state to the vertical state, ultimately achieving support for the rear side of the plate; one end of the first electric telescopic rod 25 is rotatably connected to the top of the first track moving platform 22 via a pivot seat and is located inside the first electric telescopic rod 25, and the other end of the first electric telescopic rod 25 is connected to the inner side of the support frame 24 via a pivot. The first electric telescopic rod 25 is electrically connected to the controller 7. The first electric telescopic rod 25 is equipped with an absolute encoder. During operation, it extends via command from the controller 7, pushing the support frame 24 to rotate upwards. Using leverage, it drives the support component 3 to rotate to a vertical position. When retracting, it drives the support component 3 to reset, thus switching the support state. The support component 3 is located on the front side of the support frame 24. There are two second ground rails 26, located at the left and right ends of the front side of the first ground rail 21, respectively, in the front-rear direction. The second ground rails 26 are linear tracks, providing linear motion guidance for the two second track moving platforms 27, ensuring smooth front-rear movement of the second track moving platforms 27. There are two second track moving platforms 27. Two second track moving platforms 27 are respectively set inside the left and right second ground rails 26. The second track moving platforms 27 are electrically connected to the controller 7. The second track moving platforms 27 are matched with the second ground rails 26 and are equipped with servo motors. After receiving the instructions from the controller 7, they move back and forth along the second ground rails 26, driving the top lifting module 28 and the fixing components to accurately reach the preset clamping positions on the left and right sides of the board, ensuring that the fixing components are aligned with the sides of the board. There are two lifting modules 28. The two lifting modules 28 are respectively installed on the top of the left and right second track moving platforms 27 in the vertical direction. The lifting modules 28 are electrically connected to the controller 7. The lifting modules 28 adopt electric lifting slides equipped with stepper motors, and adjust the height of the fixing components by vertical extension and retraction.Each of the two lifting modules 28, on its moving end, is equipped with a fixing component.

[0020] More specifically, the fixing components include: mounting plate 29, fixing frame 210, limiting components 211, movable frame 212, and second electric telescopic rod 213; mounting plate 29 is fixedly installed on the movable end of lifting module 28; fixing frame 210 is installed on the front side of mounting plate 29; there are two limiting components 211, which are respectively installed on the upper and lower ends of the outer side of mounting plate 29 in the front-back direction. The limiting components 211 are linear slide rails, and the slider cooperates with the slide rail to provide linear motion guidance for movable frame 212, restricting movable frame 212 to move only in the front-back direction; movable frame 212... 12 is installed on the outer rear end of the limiting end of the upper and lower limiting components 211; the second electric telescopic rod 213 is fixedly installed on the outer rear end of the mounting plate 29, the telescopic end of the second electric telescopic rod 213 is fixedly connected to the outer side of the moving frame 212, the second electric telescopic rod 213 is electrically connected to the controller 7, the second electric telescopic rod 213 is equipped with an absolute encoder, when working, it is commanded by the controller 7 to shorten and drive the moving frame 212 to move forward, and cooperate with the fixed frame 210 to clamp the plate; when it is extended, it drives the moving frame 212 to move backward and release the plate, so as to realize adaptive clamping of plates of different thicknesses.

[0021] As a preferred option, further, such as Figure 5 As shown, the support component 3 includes: a tank shell 31, a third electric telescopic rod 32, and a support baffle 33; the tank shell 31 is rotatably connected to the top front side of the first ground rail 21 via a pivot seat in the vertical direction, and the other end of the support frame 24 is rotatably connected to the upper rear side of the tank shell 31 via a pivot seat; there are two third electric telescopic rods 32, which are respectively installed on the left and right sides of the inner cavity of the tank shell 31 in the vertical direction. The third electric telescopic rods 32 are electrically connected to the controller 7. The third electric telescopic rods 32 are equipped with absolute encoders. When working, they are extended by the controller 7 to drive the support baffle 33 to move upward, so as to achieve adaptive support for plates of different lengths; the support baffle 33 is installed on the top of the telescopic ends of the two third electric telescopic rods 32 in the left and right directions.

[0022] As a preferred option, further, such as Figure 6As shown, the grooving mechanism 4 includes: a gantry base 41, a double-ended moving module 42, a dual-axis moving module 43, a protective component 5, a machining robotic arm 44, and an electric tool magazine 45; the gantry base 41 is positioned in front of the auxiliary support mechanism 2 along the left-right direction; the double-ended moving module 42 is installed at the top of the gantry base 41 along the left-right direction, and the double-ended moving module 42 is electrically connected to the controller 7. The double-ended moving module 42 adopts a linear module with a servo system, and communicates with the controller 7 through PROFINET. After receiving commands, it drives the dual-axis moving modules 43 on both sides to move synchronously or independently along the left and right sides of the gantry. The vertical movement allows switching between the processing area and the adhesive strip installation area. Two dual-axis movement modules 43 are used, mounted on the top of the left and right moving ends of the dual-end movement module 42 respectively in the front-back direction. The dual-axis movement modules 43 are electrically connected to the controller 7, employing dual-axis slides in both the front-back and vertical directions. They receive commands from the controller 7 via PROFINET communication. The left dual-axis movement module 43 drives the protective component 5 to achieve precise positioning in both the front-back and vertical directions, ensuring alignment of the adhesive strip with the groove. The right dual-axis movement module 43 drives the processing robotic arm 44 and... The electric tool magazine 45 enables forward and backward feed and vertical adjustment during grooving, working in conjunction with the dual-axis moving module 42 to achieve full-area machining coverage. The protective component 5 is located at the moving end of the left-side dual-axis moving module 43. The machining robot arm 44 is fixedly mounted at the rear bottom of the moving end of the right-side dual-axis moving module 43. The machining robot arm 44 is electrically connected to the controller 7. The machining robot arm 44 uses an ABB robot, supporting automatic tool locking and unlocking. After receiving path instructions planned by the vision inspection machine 9, it drives the end effector to perform grooving on the sheet metal surface, utilizing multi-joint motion in conjunction with the dual-axis moving module 43. The arm moves back and forth and up and down to achieve high-precision machining of complex grooves, and can automatically change tools through the electric tool magazine 45 to adapt to different machining needs. The electric tool magazine 45 is fixedly installed at the rear bottom of the moving end of the right dual-axis moving module 43 and is located on the right side of the machining robot arm 44. The electric tool magazine 45 and the controller 7 are electrically connected. The electric tool magazine 45 adopts a disc-type automatic tool magazine and is linked with the machining robot arm 44 through network signals. It stores tools of different specifications according to machining needs, and rotates to the corresponding tool position after receiving instructions. The tool change is completed through the automatic docking structure at the end of the machining robot arm 44.

[0023] As a preferred option, further, such as Figure 7 and Figure 8As shown, the protective component 5 includes: a housing 51, a vertical mounting plate 52, a winding reel 53, a conveyor belt assembly 54, a first motor 55, a gear set 56, a trough 57, a first limiting roller assembly 58, a sensor 59, a conveyor trough assembly 510, a second motor 511, a limiting groove wheel seat 512, a second limiting roller assembly 513, a mounting bracket 514, a third limiting roller assembly 515, a clamping module 516, a tensioning groove wheel 517, an electric cutter 518, a vertical fixing bracket 519, a support rod 520, a miniature electric telescopic rod 521, a mounting base 522, and a clamping roller 523; the housing 51 is mounted vertically on the rear side of the moving end of the dual-axis moving module 43, and an inspection door is opened on the outside of the housing 51; the vertical mounting plate 52... The upper left front of the inner top of the housing shell 51 is installed vertically; the take-up reel 53 is rotatably mounted on the lower right side of the vertical mounting plate 52 via bearings; there are two conveyor belt assemblies 54, which are respectively installed on the right side of the vertical mounting plate 52 and located on the front and rear sides above the take-up reel 53. The conveyor belt assemblies 54 use synchronous belts with synchronous pulleys, and the synchronous belts contact the surface of the rubber strip. Driven by the first motor 55, they rotate synchronously, pulling the rubber strip released from the take-up reel 53 forward to ensure a stable conveying speed; the first motor 55 is installed on the lower left side of the vertical mounting plate 52, and the rotating end of the first motor 55 extends to the right side of the vertical mounting plate 52 and is aligned with the shaft of the pulley at the bottom of the rear conveyor belt assembly 54. The first motor 55 is electrically connected to the controller 7. The first motor 55 is a servo motor equipped with an absolute encoder. It receives commands from the controller 7 to adjust the motor speed and control the conveying speed of the rubber strip, providing power to the conveyor belt assembly 54. The gear set 56 is installed on the left side of the vertical mounting plate 52. The two ends of the gear set 56 extend to the right side of the vertical mounting plate 52 and are connected to the top pulley shafts of the front and rear conveyor belt assemblies 54. The gear set 56 realizes the synchronous reverse rotation of the front and rear conveyor belt assemblies 54, ensuring that the rubber strip does not deviate during the conveying process. The trough 57 is opened on the upper front side of the housing shell 51. The first limiting roller assembly 58 is installed on the right side of the vertical mounting plate 52 and located below the trough 57. 8. The adhesive strip is clamped by two sets of polyurethane rollers, one on the left and one on the right, and one on the front and back. This clamps the adhesive strip and performs initial directional correction and positioning to ensure that the adhesive strip enters the groove 57 in a straight line, preventing the adhesive strip from sagging due to its own weight and causing path deviation. The sensor 59 is installed at the top of the housing 51 and is located on the outside of the groove 57. The sensor 59 is a laser displacement sensor that monitors the unwinding length of the adhesive strip in real time and feeds the data back to the controller 7. The conveying tray assembly 510 is installed at the top center of the housing 51. The conveying tray assembly 510 consists of two nylon trays, one upper and one lower. The surface of the trays has anti-slip textures. Driven by the second motor 511, the upper and lower trays rotate in opposite directions, using friction to clamp and convey the adhesive strip, further enhancing the stability of the adhesive strip conveying.The second motor 511 is installed on the outer left side of the conveying tray assembly 510. The rotating end of the second motor 511 is connected to the roller of the conveying tray assembly 510. The second motor 511 is a stepper motor that provides power for the rotation of the tray of the conveying tray assembly 510. The controller 7 controls the tray speed by adjusting the pulse frequency, and works in coordination with the first motor 55 to ensure that the conveying speed of the rubber strip is consistent, and to avoid stretching or loosening of the rubber strip due to speed difference. There are two limiting groove wheel seats 512, which are respectively installed on the top of the vertical mounting plate 52 and located on the conveying tray assembly 510. On both the front and rear sides, the groove width of the limiting groove wheel seat 512 matches the rubber strip: it performs secondary limiting on the rubber strip passing through the conveying tray assembly 510 to ensure that the rubber strip is always conveyed along the preset path; the second limiting roller assembly 513 is installed on the rear side of the top of the vertical mounting plate 52. The second limiting roller assembly 513 consists of two sets of polyurethane rollers on the left and right and front and rear to clamp the rubber strip and perform directional correction and limiting on the rubber strip; the mounting frame 514 is fixedly installed on the rear top of the vertical mounting plate 52 in the front-rear direction; the third limiting roller assembly 515 is installed on the outer rear side of the mounting frame 514. The third limiting roller assembly 515 consists of polyurethane rollers on the left and right sides. The system consists of a clamping unit for the adhesive strip, which corrects and limits its orientation. A clamping module 516 is mounted on top of the third limiting roller assembly 515. The clamping module 516 is electrically connected to the controller 7. The clamping module 516 uses an electric micro-cylinder paired with a polyurethane pressure block. When the sensor 59 detects that the adhesive strip length meets the standard, the controller 7 instructs the cylinder to extend, pressing the adhesive strip inside the third limiting roller assembly 515 with the pressure block to prevent displacement during cutting and ensure a flat cut end. A tensioning groove wheel 517 is rotatably connected to the inner rear of the mounting bracket 514 via a rotating shaft. The tensioning groove wheel 517 is a spring-tensioned groove wheel, with a groove width that matches the adhesive strip length. The matching process applies a certain tension to the adhesive strip to ensure that it remains taut during conveying and cutting. The electric cutter 518 is fixedly installed on the lower rear side of the mounting frame 514 via a bracket. The electric cutter 518 is electrically connected to the controller 7. The electric cutter 518 uses electric cutting. After the pressing module 516 presses the adhesive strip, the controller 7 instructs the electric cutter 518 to start quickly cutting the adhesive strip. The vertical fixing frame 519 is installed on the rear side of the bottom end of the mounting frame 514. There are two support rods 520. One end of each support rod 520 is rotatably installed on the rear and rear ends of the bottom end of the vertical fixing frame 519 via a rotating shaft seat.One end of the miniature electric telescopic rod 521 is rotatably connected to the lower left side of the vertical fixing frame 519 via a rotating shaft seat. The other end of the miniature electric telescopic rod 521 is rotatably connected to the right side of the outer wall of the rear miniature electric telescopic rod 521 via a rotating shaft. The miniature electric telescopic rod 521 is electrically connected to the controller 7. The miniature electric telescopic rod 521 is equipped with a Hall sensor, which receives commands from the controller 7. By extending, it pushes the support rod 520 to rotate, driving the pressing roller 523 to rotate rearward and press the rubber strip into the inner cavity of the groove. When retracting, it drives the pressing roller to return to its original position and detach from the surface of the board. The mounting base 522 is rotatably mounted on the outer side of the other end of the front and rear support rods 520 via a rotating shaft. The pressing roller 523 is mounted on the rear top of the mounting base 522. The pressing roller 523 is made of silicone rubber. Driven by the miniature electric telescopic rod 521, it tightly presses the rubber strip into the inner cavity of the board groove, using the elasticity of the rubber to compensate for the small gaps between the rubber strip and the groove, ensuring that the rubber strip is firmly adhered.

[0024] The working principle is as follows: Step 1: Before starting work, the operator needs to complete the path layout of the adhesive strip. The specific operation is as follows: Open the outer casing 51 of the equipment, and sequentially pass the adhesive strip wound in the take-up reel 53 through two conveyor belt assemblies 54, the first limit roller assembly 58, the conveyor tray assembly 510, the limit roller seat 512, the second limit roller assembly 513, the third limit roller assembly 515, and the tensioning roller 517, finally reaching the electric cutter 518. This prepares for the subsequent conveying and cutting of the adhesive strip. During operation, the operator issues a start command through the controller 7. The controller 7 will control the hoisting conveyor line 1, the sheet material conveyor line 6, the first handling robotic arm 8, the vision inspection machine 9, and the first track movement according to the internal preset program. The moving platform 22, the first electric telescopic rod 25, the third electric telescopic rod 32, the second track moving platform 27, the lifting module 28, and the second electric telescopic rod 213 are activated. The sheet metal conveying line 6 sequentially transports the sheets pre-stored at its internal starting end to the handling range of the first handling robotic arm 8. The first handling robotic arm 8 precisely grabs the sheets from the sheet metal conveying line 6 and transports them to the lifting end of the hoisting conveying line 1, completing the initial installation and fixing of the sheets. The vision inspection machine 9 performs a comprehensive visual inspection of the hoisted sheets, identifying basic information such as the sheet metal's size and material, and automatically plans the subsequent processing path based on the inspection results. The first track moving platform 27... 2. Move forward along the first ground rail 21 until reaching the designated position on the rear side of the plate, positioning it for subsequent support work. The first electric telescopic rod 25 extends, pushing the support frame 24 to rotate upward. Under the limiting action of the limiting frame 23, the limiting frame 23 cooperates with the support frame 24, driving the tank shell 31 to rotate forward to a vertical position on the top of the first track moving platform 22, forming a preliminary support structure. The third electric telescopic rods 32 on the left and right sides extend synchronously, driving the support baffle 33 to move upward. By adjusting the height of the support baffle 33 to match the length of the plate, the tank shell 31 and the support baffle 33 finally achieve tight contact with the plate. The rear side of the material provides stable support for subsequent grooving operations. The second track moving tables 27 on the left and right sides move along the corresponding second ground rails 26 to reach the preset positions on the left and right sides of the material. The lifting modules 28 on the left and right sides drive the corresponding fixed components to move up and down until they are aligned with the height of the material. The second electric telescopic rods 213 in the fixed components on the left and right sides shorten, driving the moving frame 212 at the corresponding position to move forward under the constraint of the limiting component 211. The moving frame 212 cooperates with the fixed frame 210 to firmly clamp and fix the front and rear ends of the left and right sides of the material, ensuring that the material will not be displaced during processing. Step 2: After the sheet metal is fixed, the preset program of the controller 7 continues to control the electric tool magazine 45, the machining robot arm 44, the dual-end moving module 42, the dual-axis moving module 43, the first motor 55, the second motor 511, the miniature electric telescopic rod 521, the sensor 59, the clamping module 516, the electric cutter 518, and the second handling robot arm 10 to start. According to the processing requirements, the electric tool magazine 45 rotates the required inner diameter execution end to the corresponding docking position of the machining robot arm 44. The internal execution end of the machining robot arm 44 moves to the corresponding position above the electric tool magazine 45, automatically docking and installing with the required execution end inside the electric tool magazine 45, ready for grooving processing. The dual-end moving module 42 then drives... The dual-axis moving module 43 on the right moves to the front of the board. The dual-axis moving module 43 drives the processing robot arm 44 to move in the dual-axis direction, delivering the processing robot arm 44 to the surface of the board. The processing robot arm 44, following the path planned by the vision inspection machine 9, drives the internal execution end to perform grooving processing on the surface of the board. After the grooving operation is completed, the dual-axis moving module 43 on the right drives the processing robot arm 44 to reset. The dual-end moving module 42 then drives the dual-axis moving module 43 on the left to move the protective component 5 to the grooving position on the surface of the board. The dual-axis moving module 43 on the left drives the protective component 5 to move along the direction of the groove. At the same time, the relevant equipment inside the protective component 5 operates, and the first motor 55 drives the rear side... The pulleys of the conveyor belt assembly 54 rotate, and through the transmission of the gear set 56, the pulleys of the front conveyor belt assembly 54 rotate synchronously, together unwinding the rubber strip in the take-up reel 53. Under the guidance and limitation of the first limiting roller assembly 58 and the front limiting grooved wheel seat 512, the rubber strip is fed into the inner side of the conveyor tray assembly 510. The second motor 511 drives the tray inside the conveyor tray assembly 510 to rotate. The upper and lower trays use friction to continuously convey the rubber strip inside. Under the tension and limitation of the rear limiting grooved wheel seat 512, the third limiting roller assembly 515 and the tensioning grooved wheel 517, the rubber strip maintains a stable conveying state. The miniature electric telescopic rod 521 extends, pushing the front support rod 52. The plate moves backward, and with the limiting action of the rear support rod 520, the mounting base 522 drives the pressing roller 523 to press the rubber strip tightly into the inner cavity of the groove, ensuring that the rubber strip fits the groove. The sensor 59 monitors the unwinding length of the rubber strip in real time. When the length of the rubber strip is detected to be consistent with the length of the groove, the pressing module 516 immediately presses the rubber strip inside the third limiting roller assembly 515. The electric cutter 518 starts to cut the rubber strip, completing the installation of the rubber strip. After the rubber strip is installed, the lifting conveyor line 1 drives the plate to move to the rear of the second handling robot arm 10. The second handling robot arm 10 removes the plate from the lifting end of the lifting conveyor line 1 and places it stably in the designated storage position, thus completing the entire operation process.

[0025] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent grooving robot based on vision technology, characterized in that, include: hoisting conveyor line (1); An auxiliary support mechanism (2) is located on the inner side below the hoisting conveyor line (1); The grooving mechanism (4) is located in front of the auxiliary support mechanism (2); The sheet material conveying line (6) is located on the outside right side of the grooving mechanism (4); The controller (7) is located on the outside left front of the plate conveying line (6), and the hoisting conveying line (1) is electrically connected to the plate conveying line (6) and the controller (7); The first handling robotic arm (8) is located on the outer left rear side of the plate conveying line (6), and the first handling robotic arm (8) is electrically connected to the controller (7); A vision inspection machine (9) is located outside the front of the hoisting conveyor line (1) and to the left of the first handling robot arm (8). The vision inspection machine (9) and the controller (7) are electrically connected. The second handling robotic arm (10) is located outside the hoisting conveyor line (1) and to the left of the grooving mechanism (4). The second handling robotic arm (10) and the controller (7) are electrically connected.

2. The intelligent grooving robot based on vision technology according to claim 1, characterized in that, The auxiliary support mechanism (2) includes: The first ground rail (21) is located below the inner side of the hoisting conveyor line (1) in the front-back direction; The first track moving platform (22) is installed inside the first ground rail (21), and the first track moving platform (22) is electrically connected to the controller (7); The limiting frame (23) is rotatably connected at one end to the front of the top of the first ground rail (21) via a rotating shaft seat; The support frame (24) is rotatably connected at one end to the other end of the limiting frame (23) via a rotating shaft; The first electric telescopic rod (25) has one end rotatably connected to the top of the first track moving platform (22) via a rotating shaft seat and located inside the first electric telescopic rod (25). The other end of the first electric telescopic rod (25) is rotatably connected to the inside of the support frame (24) via a rotating shaft. The first electric telescopic rod (25) is electrically connected to the controller (7). The support component (3) is disposed on the front side of the support frame (24).

3. The intelligent grooving robot based on vision technology according to claim 2, characterized in that, The auxiliary support mechanism (2) also includes: The second ground rail (26) has two sections, and the two sections are respectively located at the left and right ends of the front side of the first ground rail (21) along the front-back direction; The second track moving platform (27) has two units, and the two second track moving platforms (27) are respectively set inside the left and right second ground rails (26). The second track moving platform (27) and the controller (7) are electrically connected. The lifting module (28) consists of two components. The two lifting modules (28) are installed on the top of the left and right second track moving platforms (27) respectively in the vertical direction. The lifting module (28) is electrically connected to the controller (7). The moving ends of the two lifting modules (28) on the left and right sides are respectively equipped with fixed components.

4. The intelligent grooving robot based on vision technology according to claim 3, characterized in that, The support component (3) includes: The tank shell (31) is rotatably connected to the front top of the first ground rail (21) via a pivot seat in the vertical direction, and the other end of the support frame (24) is rotatably connected to the upper rear side of the tank shell (31) via a pivot seat. The third electric telescopic rod (32) has two components. The two third electric telescopic rods (32) are installed on the left and right sides of the inner cavity of the tank shell (31) in the vertical direction. The third electric telescopic rod (32) is electrically connected to the controller (7). The support baffle (33) is installed on the top of the telescopic ends of the two third electric telescopic rods (32) in the left and right directions.

5. The intelligent grooving robot based on vision technology according to claim 4, characterized in that, The grooving mechanism (4) includes: The gantry base frame (41) is positioned in front of the auxiliary support mechanism (2) in the left-right direction; A dual-end moving module (42) is installed on the top of the gantry base frame (41) in the left-right direction, and the dual-end moving module (42) is electrically connected to the controller (7); Two dual-axis moving modules (43) are installed on the top of the left and right moving ends of the dual-end moving module (42) respectively in the front-back direction. The dual-axis moving modules (43) are electrically connected to the controller (7). The protective component (5) is located at the moving end of the dual-axis moving module (43) on the left side; The machining robot arm (44) is fixedly installed at the bottom rear of the moving end of the dual-axis moving module (43) on the right side, and the machining robot arm (44) is electrically connected to the controller (7); The electric tool magazine (45) is fixedly installed at the rear bottom of the moving end of the dual-axis moving module (43) on the right side and located on the right side of the machining robot arm (44). The electric tool magazine (45) and the controller (7) are electrically connected.

6. The intelligent grooving robot based on vision technology according to claim 5, characterized in that, The protective component (5) includes: The housing (51) is installed in the vertical direction on the rear side of the moving end of the dual-axis moving module (43); A vertical mounting plate (52) is installed in the upper left front of the inner top of the housing shell (51) along the vertical direction; The winding reel (53) is rotatably mounted on the bottom right side of the vertical mounting plate (52) via a bearing; The conveyor belt assembly (54) consists of two belt assemblies, which are respectively installed on the right side of the vertical mounting plate (52) and located on the front and rear sides above the winding reel (53). The first motor (55) is installed on the lower left side of the vertical mounting plate (52). The rotating end of the first motor (55) extends to the right side of the vertical mounting plate (52) and is connected to the bottom pulley shaft of the rear conveyor belt assembly (54). The first motor (55) is electrically connected to the controller (7). A gear set (56) is installed on the left side of the vertical mounting plate (52), with the two ends of the gear set (56) extending to the right side of the vertical mounting plate (52) and connected to the top pulley shafts of the front and rear conveyor belt assemblies (54). The trough (57) is formed on the upper front side of the outer shell (51) of the box; The first limiting roller assembly (58) is installed on the right side of the vertical mounting plate (52) and located below the groove (57); The sensor (59) is installed at the top of the housing (51) and on the outside of the tank (57), and the sensor (59) is electrically connected to the controller (7).

7. The intelligent grooving robot based on vision technology according to claim 6, characterized in that, The protective component (5) also includes: A conveyor tray assembly (510) is installed at the top center of the housing shell (51); The second motor (511) is installed on the outside left side of the conveying tray assembly (510). The rotating end of the second motor (511) is connected to the roller of the conveying tray assembly (510). The second motor (511) is electrically connected to the controller (7). The limiting groove wheel seat (512) has two units, which are respectively installed on the top of the vertical mounting plate (52) and located on the front and rear sides of the conveying tray assembly (510). The second limiting roller assembly (513) is installed on the rear top of the vertical mounting plate (52); Mounting bracket (514) is fixedly installed on the rear top of vertical mounting plate (52) in the front-back direction; The third limiting roller assembly (515) is installed on the outer rear side of the mounting bracket (514); A clamping module (516) is installed on top of the third limiting roller assembly (515), and the clamping module (516) is electrically connected to the controller (7); The tensioning pulley (517) is rotatably connected to the inner rear side of the mounting bracket (514) via a rotating shaft; An electric cutter (518) is fixedly mounted on the lower outer rear side of the mounting bracket (514) by a bracket, and the electric cutter (518) is electrically connected to the controller (7).

8. The intelligent grooving robot based on vision technology according to claim 7, characterized in that, The protective component (5) also includes: A vertical fixing bracket (519) is installed on the rear side of the bottom end of the mounting bracket (514); Support rod (520), there are two support rods (520), one end of each support rod (520) is rotatably mounted on the rear side of the bottom of the vertical fixing frame (519) through a rotating shaft seat; The miniature electric telescopic rod (521) has one end rotatably connected to the lower left side of the vertical fixed frame (519) via a pivot seat, and the other end of the miniature electric telescopic rod (521) is rotatably connected to the right side of the outer wall of the rear miniature electric telescopic rod (521) via a pivot. The miniature electric telescopic rod (521) is electrically connected to the controller (7). The mounting base (522) is rotatably mounted on the outer side of the other end of the two support rods (520) at the front and rear via a rotating shaft; A pressure roller (523) is mounted on the rear top of the mounting base (522).

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