Intelligent slotting robot based on visual technology

Abstract

The application relates to the technical field of door and window processing, and particularly discloses an intelligent slotting robot based on visual technology, which comprises a hoisting conveying line, an auxiliary supporting mechanism, a supporting component, a slotting mechanism, a protection component, a plate conveying line, a controller, a first carrying mechanical arm, a visual detection machine and a second carrying mechanical arm; the auxiliary supporting mechanism is arranged below the inner side of the hoisting conveying line; the slotting mechanism is arranged in front of the auxiliary supporting mechanism; and the plate conveying line is arranged on the right side outside the slotting mechanism. Through the integration of visual guidance, automatic execution and self-adaptive adjustment, the precision, efficiency and adaptability bottlenecks of traditional slotting equipment are broken through, the whole-process protection of slotting, accurate covering and firm adhesion is realized, the wear, deformation and pollution of the slot body during carrying and moving are fundamentally avoided, and the quality stability of the plate after slotting and the subsequent assembly efficiency are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of door and window processing, in particular to an intelligent slotting robot based on visual technology. BACKGROUND

[0002] In the field of door and window processing, slotting is a key process for ensuring the performance of doors and windows, and its precision and quality directly affect the sealing performance, structural strength and service life of doors and windows. Traditional door and window slotting processing relies on manual line marking positioning and semi-automatic machine tools, which has low precision. With the increasing requirements for the precision and energy-saving performance of doors and windows in the building industry, and the pursuit of production efficiency and automation level under the trend of intelligent manufacturing, the traditional slotting process has been difficult to meet the needs of large-scale and high-precision processing, and it is urgent to break through the technical bottleneck of intelligent equipment with visual guidance, automatic positioning, self-adaptive processing and integrated protection functions.

[0003] In the prior art field, the plate carrying and processing links of traditional equipment are independently operated, and the plate carrying needs to be connected. The slotting equipment mostly uses manual line marking positioning or traditional mechanical positioning, which is difficult to adapt to the size deviation of the plate and the demand for complex slot types, resulting in a mismatch between the slot and the subsequent assembly parts after slotting. Moreover, the existing slotting equipment does not take effective protection measures for the inside of the slot after completing the slotting of the plate. Since the edges of the slot after slotting are relatively fragile, they are prone to collision and friction with other objects during manual carrying or mechanical transfer, which may cause burrs and cracks on the edges, affecting the subsequent assembly precision. Dust, debris or oil stains in the environment can easily enter the unprotected slot, forming accumulation, which requires additional cleaning procedures and reduces production efficiency. SUMMARY

[0004] The present application aims to provide an intelligent slotting robot based on visual technology to at least solve the problems mentioned in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: an intelligent slotting robot based on visual technology, comprising:

[0006] a hoisting conveying line;

[0007] an auxiliary support mechanism arranged below the inner side of the hoisting conveying line;

[0008] a slotting mechanism arranged in front of the auxiliary support mechanism;

[0009] a plate conveying line arranged on the outer right side of the slotting mechanism;

[0010] a controller arranged on the outer left front side of the plate conveying line, and the hoisting conveying line is electrically connected with the plate conveying line and the controller;

[0011] A first carrying mechanical arm is arranged at the left rear side outside the plate conveying line, and the first carrying mechanical arm is electrically connected with the controller.

[0012] A visual inspection machine is arranged at the front side outside the hoisting conveying line and at the left side of the first carrying mechanical arm, and the visual inspection machine is electrically connected with the controller.

[0013] A second carrying mechanical arm is arranged at the left side outside the hoisting conveying line and at the left side of the slotting mechanism, and the second carrying mechanical arm is electrically connected with the controller.

[0014] Preferably, the auxiliary supporting mechanism comprises a first ground rail, a first track moving table, a limiting frame, a supporting frame, a first electric telescopic rod and a supporting part. The first ground rail is arranged below the inner side of the hoisting conveying line in the front-rear direction. The first track moving table is mounted at the inner side of the first ground rail and is electrically connected with the controller. One end of the limiting frame is rotatably connected to the top front side of the first ground rail through a pivot seat. One end of the supporting frame is rotatably connected to the other end of the limiting frame through a pivot. One end of the first electric telescopic rod is rotatably connected to the top end of the first track moving table through a pivot seat and is located at the inner side of the first electric telescopic rod. The other end of the first electric telescopic rod is rotatably connected to the inner side of the supporting frame through a pivot. The first electric telescopic rod is electrically connected with the controller. The supporting part is arranged at the front side of the supporting frame.

[0015] Preferably, the auxiliary supporting mechanism further comprises a second ground rail, a second track moving table and a lifting module. The number of the second ground rails is two, and the two second ground rails are respectively arranged at the left and right ends of the front side outside the first ground rail in the front-rear direction. The number of the second track moving tables is two, and the two second track moving tables are respectively arranged at the inner sides of the left and right second ground rails. The second track moving tables are electrically connected with the controller. The number of the lifting modules is two, and the two lifting modules are respectively mounted at the top ends of the left and right second track moving tables in the up-down direction. The lifting modules are electrically connected with the controller. The moving ends of the left and right lifting modules are respectively provided with fixing assemblies.

[0016] Preferably, the supporting part comprises a slot body shell, a third electric telescopic rod and a supporting baffle. The slot body shell is rotatably connected to the top front side of the first ground rail through a pivot seat in the up-down direction. The other end of the supporting frame is rotatably connected to the upper rear side of the slot body shell through a pivot seat. The number of the third electric telescopic rods is two, and the two third electric telescopic rods are respectively mounted at the left and right sides of the inner cavity of the slot body shell in the up-down direction. The third electric telescopic rods are electrically connected with the controller. The supporting baffle is mounted at the top of the telescopic end of the left and right third electric telescopic rods in the left-right direction.

[0017] Preferably, the slotting mechanism comprises a portal frame, a double-end moving module, a double-shaft moving module, a protection component, a processing mechanical arm and an electric tool magazine; the portal frame is arranged in front of the auxiliary supporting mechanism along the left-right direction; the double-end moving module is installed at the top end of the portal frame along the left-right direction, and the double-end moving module is electrically connected with the controller; the number of the double-shaft moving module is two, and the two double-shaft moving modules are respectively installed at the left and right sides of the double-end moving module along the front-rear direction; the protection component is arranged at the moving end of the left double-shaft moving module; the processing mechanical arm is fixedly installed at the bottom of the moving end of the right double-shaft moving module, and the processing mechanical arm is electrically connected with the controller; the electric tool magazine is fixedly installed at the bottom end of the moving end of the right double-shaft moving module and located on the right side of the processing mechanical arm, and the electric tool magazine is electrically connected with the controller.

[0018] Preferably, the protection component comprises a box shell, a vertical mounting plate, a winding disc, a conveying belt assembly, a first motor, a gear set, a groove, a first limiting roller assembly and a sensor; the box shell is installed at the rear side of the moving end of the double-shaft moving module along the up-down direction; the vertical mounting plate is installed at the left front top end of the inside of the box shell along the up-down direction; the winding disc is rotatably installed at the right bottom end of the vertical mounting plate through a bearing; the number of the conveying belt assembly is two, and the two conveying belt assemblies are respectively installed at the right side of the vertical mounting plate and located above the front and rear sides of the winding disc; the first motor is installed below the left side of the vertical mounting plate, the rotating end of the first motor extends to the right side of the vertical mounting plate and is connected with the bottom pulley shaft of the rear conveying belt assembly, and the first motor is electrically connected with the controller; the gear set is installed at the left side of the vertical mounting plate, and the two end shafts of the gear set extend to the right side of the vertical mounting plate and are connected with the top pulley shafts of the front and rear conveying belt assemblies; the groove is arranged on the front side of the top of the box shell; the first limiting roller assembly is installed at the right side of the vertical mounting plate and located below the groove; the sensor is installed at the top of the box shell and located outside the groove, and the sensor is electrically connected with the controller.

[0019] Preferably, the protection component further comprises: a conveying groove disc assembly, a second motor, a limiting groove wheel base, a second limiting roller assembly, a mounting frame, a third limiting roller assembly, a pressing module, a tensioning groove wheel and an electric cutter; the conveying groove disc assembly is installed at the top middle part of the box shell; the second motor is installed at the outer left side of the conveying groove disc assembly, the rotating end of the second motor is connected with the roller of the conveying groove disc assembly, and the second motor and the controller are electrically connected; the number of the limiting groove wheel base is two, the two limiting groove wheel bases are installed at the top of the vertical mounting plate and located at the front and back of the conveying groove disc assembly; the second limiting roller assembly is installed at the top rear side of the vertical mounting plate; the mounting frame is fixedly installed at the top rear side of the vertical mounting plate in the front-rear direction; the third limiting roller assembly is installed at the outer rear side of the mounting frame; the pressing module is installed at the top of the third limiting roller assembly, and the pressing module and the controller are electrically connected; the tensioning groove wheel is rotatably connected to the inner rear side of the mounting frame through a rotating shaft; the electric cutter is fixedly installed at the outer rear lower side of the mounting frame through a support, and the electric cutter and the controller are electrically connected.

[0020] Preferably, the protection component further comprises: a vertical fixing frame, a supporting rod, a micro electric telescopic rod, a mounting seat and a pressing roller; the vertical fixing frame is installed at the bottom rear side of the mounting frame; the number of the supporting rod is two, one end of the two supporting rods is rotatably installed at the bottom rear side of the vertical fixing frame through a rotating shaft seat; one end of the micro electric telescopic rod is rotatably connected to the left lower side of the vertical fixing frame through a rotating shaft seat, the other end of the micro electric telescopic rod is rotatably connected with the outer wall right side of the rear micro electric telescopic rod through a rotating shaft, and the micro electric telescopic rod and the controller are electrically connected; the mounting seat is rotatably installed at the other end of the two supporting rods through a rotating shaft; the pressing roller is installed at the top rear side of the mounting seat.

[0021] Compared with the prior art, the protection component has the following beneficial effects:

[0022] 1. The plate conveying line moves the internally stored plate to the first handling mechanical arm handling end position, the first handling mechanical arm grabs the plate on the surface of the plate conveying line and carries it to the hoisting end inside the hoisting conveying line for installation, the visual inspection machine performs visual inspection on the plate and plans the processing path, the first track moving table moves to the specified position at the rear side of the plate along the first ground rail to the forward side, 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 groove body shell to rotate to the vertical state on the top of the first track moving table, the two third electric telescopic rods synchronously extend to drive the support baffle to move upward to adapt to the length of the plate, and the groove body shell and the support baffle contact the rear side of the plate to support it during subsequent slotting operation, the left and right second track moving tables respectively move to the left and right sides of the plate along the second ground rail at the corresponding positions, the left and right lifting modules drive the fixed assemblies at the corresponding positions to move to the height position where the plate is located, and the second electric telescopic rods in the left and right fixed assemblies shorten to drive the moving frames at the corresponding positions, the moving frames move forward under the limiting action of the limiting assemblies, so that the moving frames and the fixed frames clamp and fix the front and rear ends of the plate on the left and right sides.

[0023] 2. The required machining inner diameter execution end is rotated to the machining mechanical arm corresponding position by the electric tool magazine, the machining mechanical arm inside execution end moves to the corresponding position above the electric tool magazine, and is automatically docked and installed with the required execution end inside the electric tool magazine, the double-end moving module drives the right double-shaft moving module to move in front of the plate, the double-shaft moving module drives the machining mechanical arm to move in the double-shaft direction, so that the machining mechanical arm moves to the surface of the plate, the machining mechanical arm drives the internal execution end to groove the surface of the plate according to the planned path, after the grooving is completed, the right double-shaft moving module drives the machining mechanical arm to reset, the double-end moving module drives the left double-shaft moving module to move the protection component to the grooving position on the surface of the plate, the left double-shaft moving module drives the protection component to move along the groove body, the first motor drives the belt pulley of the rear conveying belt assembly to rotate the belt, and under the transmission action of the gear set, the belt pulley inside the front conveying belt assembly drives the belt to rotate synchronously, so as to unwind the rubber strip wound inside the winding disc, the second motor drives the groove disc of the conveying groove disc assembly to rotate, and the upper and lower groove discs inside the conveying groove disc assembly transport the inner rubber strip under the action of friction, the micro electric telescopic rod drives the front support rod to move backward, the mounting seat drives the compression roller to compress the rubber strip in the groove cavity, the compression module compresses the third limiting roller assembly inside the rubber strip, and the electric cutter cuts off the rubber strip.

[0024] Therefore, through the technical integration of visual guidance, automatic execution and adaptive adjustment, the precision, efficiency and adaptability bottlenecks of traditional slotting equipment are comprehensively broken through, and the whole-process protection of slotting is realized, that is, protection, precise coverage and firm adhesion, which fundamentally avoids the wear, deformation and pollution of the slot body during the carrying and moving, and greatly improves the quality stability of the slotting plate and the subsequent assembly efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the application;

[0026] Figure 2 It is an auxiliary support mechanism explosion diagram in Figure 1

[0027] Figure 3 It is an enlarged view of A in Figure 2

[0028] Figure 4 It is an enlarged view of B in Figure 2

[0029] Figure 5 It is a support component explosion diagram in Figure 3

[0030] Figure 6 It is a slotting mechanism explosion diagram in Figure 1

[0031] Figure 7 It is a slotting mechanism explosion diagram in Figure 6

[0032] Figure 8 It is an enlarged view of C in Figure 7

[0033] ​​​​​​​In the figure: 1, hoisting conveying line, 2, auxiliary support mechanism, 21, first ground rail, 22, first rail moving table, 23, limiting frame, 24, support frame, 25, first electric telescopic rod, 26, second ground rail, 27, second rail moving table, 28, lifting module, 29, mounting plate, 210, fixed frame, 211, limiting assembly, 212, moving frame, 213, second electric telescopic rod, 3, support part, 31, groove body shell, 32, third electric telescopic rod, 33, support baffle, 4, grooving mechanism, 41, gantry base frame, 42, double-end moving module, 43, double-shaft moving module, 44, processing mechanical arm, 45, electric tool magazine, 5, protection part, 51, box body shell, 52, vertical mounting plate, 53, winding disc, 54, conveying belt assembly, 55, first motor, 56, gear set, 57, groove, 58, first limiting roller assembly, 59, sensor, 510, conveying groove disc assembly, 511, second motor, 512, limiting groove wheel seat, 513, second limiting roller assembly, 514, mounting frame, 515, third limiting roller assembly, 516, pressing module, 517, tensioning groove wheel, 518, electric cutter, 519, vertical fixed frame, 520, support rod, 521, miniature electric telescopic rod, 522, mounting seat, 523, pressing roller, 6, plate conveying line, 7, controller, 8, first carrying mechanical arm, 9, visual inspection machine, 10, second carrying mechanical arm. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0035] Please refer to Figures 1-8The application provides a technical scheme: an intelligent slotting robot based on visual technology, which comprises a hoisting conveying line 1, an auxiliary supporting mechanism 2, a supporting part 3, a slotting mechanism 4, a protection part 5, a plate conveying line 6, a controller 7, a first carrying mechanical arm 8, a visual detection machine 9 and a second carrying mechanical arm 10. The hoisting conveying line 1 is an intelligent hoisting conveying line, can be started, stopped, adjusted in speed and accurately positioned according to the instruction of the controller 7, ensures the stability and position accuracy of the plate in the conveying process, provides a reliable position basis for subsequent slotting, adhesive tape installation and other processes, and is responsible for the aerial hoisting and conveying of the plate. The auxiliary supporting mechanism 2 is arranged below the inner side of the hoisting conveying line 1. The slotting mechanism 4 is arranged in front of the auxiliary supporting mechanism 2. The plate conveying line 6 is arranged outside the right side of the slotting mechanism 4, can adjust the conveying speed and start and stop according to the instruction of the controller 7, ensures that the first carrying mechanical arm 8 continuously and stably provides the plate to be processed, and guarantees the continuity of the whole production process. The controller 7 is arranged outside the left front of the plate conveying line 6. The hoisting conveying line 1 is electrically connected with the plate conveying line 6 and the controller 7. The controller 7 adopts a PLC controller, supports a PROFINET communication protocol, internally presets a control program of a complete set of working processes, receives feedback signals of each device, sends control instructions to each device, coordinates the actions of each device, and realizes the automatic and intelligent operation of the whole slotting operation process. The first carrying mechanical arm 8 is arranged outside the left rear of the plate conveying line 6. The first carrying mechanical arm 8 is electrically connected with the controller 7. The first carrying mechanical arm 8 can accurately grab the plate from the plate conveying line 6 according to the instruction of the controller 7, and carries the plate to the hoisting end of the hoisting conveying line 1 for installation and fixation. The visual detection machine 9 is arranged outside the front of the hoisting conveying line 1 and located at the left side of the first carrying mechanical arm 8. The visual detection machine 9 is electrically connected with the controller 7. The visual detection machine 9 is equipped with a high-pixel industrial camera and a high-performance image processing chip, and performs comprehensive visual detection on the plate, including identifying the size, shape, material, surface defects and other basic information of the plate. Meanwhile, according to the detection result and the preset processing requirement, a precise slotting path is automatically planned, and the path information is transmitted to the controller 7, so that accurate path guidance is provided for the processing of the slotting mechanism 4, and the slotting position and shape are ensured to meet the requirement. The second carrying mechanical arm 10 is arranged outside the hoisting conveying line 1 and located at the left side of the slotting mechanism 4. The second carrying mechanical arm 10 is electrically connected with the controller 7. When the plate is completed with slotting and adhesive tape installation, the second carrying mechanical arm 10 is responsible for taking the plate from the hoisting end of the hoisting conveying line 1 and stably placing the plate at a specified storage position, so that the finished plate is orderly stored.

[0036] As a preferred scheme, further, Figure 2 、 Figure 3 and Figure 4As shown, the auxiliary support mechanism 2 comprises: a first ground rail 21, a first track moving table 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 table 27 and a lifting module 28; the first ground rail 21 is arranged below the inner side of the hoisting conveying line 1 in the front-rear direction, the first ground rail 21 is a linear track, and provides high-precision straight-line motion guidance for the first track moving table 22, thereby ensuring the stability and positioning accuracy of the first track moving table 22 during front-rear movement; the first track moving table 22 is installed on the inner side of the first ground rail 21, the first track moving table 22 is electrically connected with the controller 7, the first track moving table 22 is matched with the first ground rail 21, carries a servo motor, and moves forward and backward along the first ground rail 21 under the instruction of the controller 7; one end of the limiting frame 23 is rotatably connected to the top front side of the first ground rail 21 through a rotating shaft seat, the limiting frame 23 limits the maximum rotation angle of the support frame 24 through its own length, thereby ensuring that the support component 3 can finally 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 through a rotating shaft, and is rotated upward under the driving force of the first electric telescopic rod 25, cooperates with the limiting frame 23 to push the support component 3 from the initial horizontal state to the vertical state, and finally realizes the support of the back side of the plate; one end of the first electric telescopic rod 25 is rotatably connected to the top of the first track moving table 22 and located on the inner side of the first electric telescopic rod 25 through a rotating shaft seat, the other end of the first electric telescopic rod 25 is rotatably connected to the inner side of the support frame 24 through a rotating shaft, the first electric telescopic rod 25 is electrically connected with the controller 7, the first electric telescopic rod 25 is provided with an absolute value encoder, and is elongated under the instruction of the controller 7 during work, pushes the support frame 24 to rotate upward, drives the support component 3 to rotate to a vertical state by using the lever principle, and resets the support component 3 during contraction, thereby realizing the switching of the support state; the support component 3 is arranged on the front side of the support frame 24; the number of the second ground rails 26 is two, and the two second ground rails 26 are respectively arranged on the left and right ends of the front side of the first ground rail 21 in the front-rear direction, the second ground rails 26 are linear tracks, and provide straight-line motion guidance for the two second track moving tables 27, thereby ensuring the stable movement of the second track moving tables 27 in the front-rear direction; the number of the second track moving tables 27 is two, and the two second track moving tables 27 are respectively arranged on the inner sides of the left and right second ground rails 26, the second track moving tables 27 are electrically connected with the controller 7, the second track moving tables 27 are matched with the second ground rails 26, carry servo motors, and move forward and backward along the second ground rails 26 under the instruction of the controller 7, thereby driving the lifting modules 28 and the fixed assemblies on the top to accurately reach the preset clamping positions on the left and right sides of the plate, and ensuring that the fixed assemblies are aligned with the side edges of the plate; the number of the lifting modules 28 is two, and the two lifting modules 28 are respectively installed on the top of the left and right second track moving tables 27 in the up-down direction, the lifting modules 28 are electrically connected with the controller 7, the lifting modules 28 adopt electric lifting slides carrying stepping motors, and adjust the height of the fixed assemblies through up-down telescopic adjustment;The moving end of the left and right lifting modules 28 is respectively provided with a fixing assembly.

[0037] More specifically, the fixing assembly comprises a mounting plate 29, a fixing frame 210, a limiting assembly 211, a moving frame 212 and a second electric telescopic rod 213. The mounting plate 29 is fixedly installed at the moving end of the lifting module 28. The fixing frame 210 is installed at the front side of the mounting plate 29. The limiting assembly 211 is in a number of two, and the two limiting assemblies 211 are respectively installed at the upper and lower ends of the outer side of the mounting plate 29 in the front-rear direction. The limiting assembly 211 is selected to be a linear slide rail, and the sliding block cooperates with the slide rail to provide linear motion guidance for the moving frame 212 and limit the moving frame 212 to move only in the front-rear direction. The moving frame 212 is installed at the outer side rear end of the limiting ends of the upper and lower limiting assemblies 211. The second electric telescopic rod 213 is fixedly installed at the outer side rear end of the mounting plate 29. The telescopic end of the second electric telescopic rod 213 is fixedly connected with the outer side of the moving frame 212. The second electric telescopic rod 213 is electrically connected with the controller 7. The second electric telescopic rod 213 is provided with an absolute value encoder. In work, the second electric telescopic rod 213 is instructed by the controller 7 to shorten to drive the moving frame 212 to move forward and cooperate with the fixing frame 210 to clamp the plate. When the second electric telescopic rod 213 is lengthened, the moving frame 212 is driven to retreat to release the plate, thereby realizing self-adaptive clamping of different thickness plates.

[0038] As a preferred solution, further as shown in Figure 5 The support assembly 3 comprises a groove housing 31, a third electric telescopic rod 32 and a support baffle 33. The groove housing 31 is rotationally connected to the top front side of the first ground rail 21 in the up-down direction through a rotating shaft seat. The other end of the support frame 24 is rotationally connected to the upper rear side of the groove housing 31 through a rotating shaft seat. The third electric telescopic rod 32 is in a number of two, and the two third electric telescopic rods 32 are respectively installed at the left and right sides of the inner cavity of the groove housing 31 in the up-down direction. The third electric telescopic rod 32 is electrically connected with the controller 7. The third electric telescopic rod 32 is provided with an absolute value encoder. In work, the third electric telescopic rod 32 is instructed by the controller 7 to lengthen to drive the support baffle 33 to move upward, thereby realizing adaptive support of different length plates. The support baffle 33 is installed at the top of the telescopic end of the left and right third electric telescopic rods 32 in the left-right direction.

[0039] As a preferred solution, further as shown in Figure 6As shown, the slotting mechanism 4 comprises a gantry base 41, a double-end moving module 42, a double-shaft moving module 43, a protection component 5, a machining mechanical arm 44 and an electric tool magazine 45; the gantry base 41 is arranged in front of the auxiliary support mechanism 2 along the left-right direction; the double-end moving module 42 is mounted at the top end of the gantry base 41 along the left-right direction, the double-end moving module 42 is electrically connected with the controller 7, the double-end moving module 42 adopts a linear module matched with a servo system, communicates with the controller 7 through PROFINET, receives instructions, and drives the double-shaft moving modules 43 on the left and right sides to move synchronously or independently along the gantry to realize the switching of the machining area and the adhesive tape installation area; the number of the double-shaft moving modules 43 is two, the two double-shaft moving modules 43 are respectively mounted at the top of the moving ends on the left and right sides of the double-end moving module 42 along the front-rear direction, the double-shaft moving modules 43 are electrically connected with the controller 7, adopt double-shaft sliding tables in the front-rear and up-down directions, and communicate with the controller 7 through PROFINET to receive instructions; the left double-shaft moving module 43 is used to drive the protection component 5 to realize accurate positioning in the front-rear and up-down directions, so as to ensure the alignment of the adhesive tape and the groove body; the right double-shaft moving module 43 is used to drive the machining mechanical arm 44 and the electric tool magazine 45 to realize the front-rear feeding and up-down adjustment during slotting, and complete the full-area machining coverage in cooperation with the double-end moving module 42; the protection component 5 is arranged at the moving end of the left double-shaft moving module 43; the machining mechanical arm 44 is fixedly installed at the bottom of the moving end rear side of the right double-shaft moving module 43, the machining mechanical arm 44 is electrically connected with the controller 7, the machining mechanical arm 44 selects an ABB robot, supports automatic locking and unlocking of tools, receives path instructions planned by the visual detection machine 9, drives the end effector to perform slotting machining on the surface of the plate, realizes high-precision machining of complex groove types through multi-joint motion and cooperation of the front-rear and up-down movement of the double-shaft moving module 43, and can automatically replace tools to adapt to different machining requirements through the electric tool magazine 45; the electric tool magazine 45 is fixedly installed at the bottom end of the moving end rear side of the right double-shaft moving module 43 and located at the right side of the machining mechanical arm 44, the electric tool magazine 45 is electrically connected with the controller 7, the electric tool magazine 45 adopts a disc type automatic tool magazine, is linked with the machining mechanical arm 44 through network signals, stores tools of different specifications according to machining requirements, rotates to the corresponding tool position after receiving instructions, and completes tool replacement through the automatic docking structure of the end execution end of the machining mechanical arm 44.

[0040] As a preferred solution, further, as Figure 7 and Figure 8As shown, the protection component 5 comprises: a box shell 51, a vertical mounting plate 52, a winding disc 53, a conveying belt assembly 54, a first motor 55, a gear set 56, a groove body 57, a first limiting roller assembly 58, a sensor 59, a conveying groove disc assembly 510, a second motor 511, a limiting groove wheel seat 512, a second limiting roller assembly 513, a mounting frame 514, a third limiting roller assembly 515, a pressing module 516, a tensioning groove wheel 517, an electric cutter 518, a vertical fixing frame 519, a supporting rod 520, a miniature electric telescopic rod 521, a mounting seat 522 and a pressing roller 523; the box shell 51 is installed on the rear side of the moving end of the double-shaft moving module 43 in the up-down direction, and a maintenance door is arranged outside the box shell 51; the vertical mounting plate 52 is installed at the left front top end inside the box shell 51 in the up-down direction; the winding disc 53 is rotatably installed at the right side bottom end of the vertical mounting plate 52 through a bearing; the conveying belt assembly 54 comprises two, and the two conveying belt assemblies 54 are respectively installed at the right side of the vertical mounting plate 52 and located above the winding disc 53 on the front and rear sides; the conveying belt assembly 54 is composed of synchronous belts and synchronous belt pulleys, is in contact with the surface of the rubber strip through the synchronous belts, is synchronously rotated under the drive of the first motor 55, pulls and conveys the rubber strip discharged from the winding disc 53 forward, and ensures the stability of the rubber strip conveying speed; the first motor 55 is installed below the 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 with the bottom end belt pulley shaft of the rear conveying belt assembly 54, the first motor 55 is electrically connected with the controller 7, the first motor 55 is a servo motor, is provided with an absolute value encoder, receives the instruction of the controller 7 to adjust the motor speed, controls the rubber strip conveying speed, provides power for the conveying belt assembly 54; the gear set 56 is installed at the left side of the vertical mounting plate 52, the shafts at both ends of the gear set 56 extend to the right side of the vertical mounting plate 52 and are connected with the top end belt pulley shafts of the front and rear conveying belt assemblies 54, the gear set 56 realizes the synchronous reverse rotation of the front and rear conveying belt assemblies 54, and ensures that the rubber strip does not deviate during the conveying process; the groove body 57 is arranged above the front side of the box shell 51; the first limiting roller assembly 58 is installed at the right side of the vertical mounting plate 52 and below the groove body 57, the first limiting roller assembly 58 is composed of left and right and front and rear two groups of polyurethane rollers to clamp the rubber strip, performs first direction correction and limiting on the rubber strip, ensures that the rubber strip enters the groove body 57 in a straight line state, and avoids that the rubber strip deviates from the path due to the weight sag; the sensor 59 is installed at the top end of the box shell 51 and outside the groove body 57, the sensor 59 is electrically connected with the controller 7, the sensor 59 is a laser displacement sensor, monitors the unwinding length of the rubber strip in real time, and feeds back data to the controller 7; the conveying groove disc assembly 510 is installed at the top middle part of the box shell 51, the conveying groove disc assembly 510 is composed of two upper and lower nylon groove discs, anti-skid lines are arranged on the surfaces of the groove discs, the upper and lower groove discs are reversely rotated under the drive of the second motor 511, clamp and convey the rubber strip by utilizing friction, and further enhance the stability of the rubber strip conveying;A second motor 511 is installed on the outer left side of the conveying groove disc assembly 510, the rotating end of the second motor 511 is connected with the rollers of the conveying groove disc assembly 510, the second motor 511 and the controller 7, the second motor 511 selects a stepping motor to provide power for the rotation of the groove disc of the conveying groove disc assembly 510, the controller 7 controls the rotation speed of the groove disc by adjusting the pulse frequency, cooperates with the first motor 55 to ensure the consistency of the conveying speed of the adhesive tape, avoids the stretching or relaxation of the adhesive tape due to the speed difference; the number of the limiting groove wheel seat 512 is two, the two limiting groove wheel seats 512 are respectively installed on the top end of the vertical mounting plate 52 and located on the front and rear sides of the conveying groove disc assembly 510, the groove wheel groove width of the limiting groove wheel seat 512 matches the adhesive tape: the adhesive tape passing through the conveying groove disc assembly 510 is limited for the second time to ensure that the adhesive tape is always conveyed along the preset path; a second limiting roller assembly 513 is installed on the top rear side of the vertical mounting plate 52, the second limiting roller assembly 513 is composed of two groups of polyurethane rollers on the left and right and front and rear sides to clamp the adhesive tape and correct the direction of the adhesive tape; a mounting bracket 514 is fixedly installed on the rear top end of the vertical mounting plate 52 in the front and rear directions; a third limiting roller assembly 515 is installed on the outer rear side of the mounting bracket 514, the third limiting roller assembly 515 is composed of polyurethane rollers on the left and right sides to clamp the adhesive tape and correct the direction of the adhesive tape; a pressing module 516 is installed on the top of the third limiting roller assembly 515, the pressing module 516 is electrically connected with the controller 7, the pressing module 516 is an electric miniature air cylinder matched with a polyurethane pressing block, when the sensor 59 detects that the length of the adhesive tape meets the standard, the controller 7 instructs the air cylinder to extend, the adhesive tape on the inner side of the third limiting roller assembly 515 is pressed by the pressing block to prevent the displacement of the adhesive tape during cutting and ensure the flatness of the cutting end face; a tensioning groove wheel 517 is rotatably connected to the inner rear side of the mounting bracket 514 through a shaft, the tensioning groove wheel 517 adopts a spring tensioning type groove wheel, the groove width matches the adhesive tape, a certain tension is applied to the adhesive tape to ensure that the adhesive tape remains taut during conveying and cutting; an electric cutter 518 is fixedly installed on the outer rear lower side of the mounting bracket 514 through a support, the electric cutter 518 is electrically connected with the controller 7, the electric cutter 518 adopts an electric cutting, after the adhesive tape is pressed by the pressing module 516, the controller 7 instructs the electric cutter 518 to start to quickly cut off the adhesive tape; a vertical fixing bracket 519 is installed on the bottom rear side of the mounting bracket 514; the number of the supporting rods 520 is two, one end of each of the two supporting rods 520 is rotatably installed on the bottom rear side of the vertical fixing bracket 519 through a shaft seat.One end of the micro electric telescopic rod 521 is rotatably connected below the left side of the vertical fixed frame 519 through the rotating shaft seat, the other end of the micro electric telescopic rod 521 is rotatably connected with the outer wall right side of the rear micro electric telescopic rod 521 through the rotating shaft respectively, the micro electric telescopic rod 521 is electrically connected with the controller 7, the micro electric telescopic rod 521 is equipped with a hall sensor, receives the instruction of the controller 7, drives the supporting rod 520 to rotate by elongation, drives the compression roller 523 to rotate to the rear side and compresses the rubber strip into the inner cavity of the groove, and when it is retracted, the compression roller is reset and separated from the surface of the plate; the mounting seat 522 is rotatably installed on the other end of the outer side of the front and rear supporting rods 520; the compression roller 523 is installed at the top rear side of the mounting seat 522, the compression roller 523 adopts a silica rubber roller, under the drive of the micro electric telescopic rod 521, the rubber strip is tightly compressed in the inner cavity of the plate groove, the small gap between the rubber strip and the groove is compensated by the elasticity of the rubber, and the rubber strip is firmly adhered.

[0041] The working principle is as follows:

[0042] Step 1: Before starting work, the worker needs to complete the path arrangement of the adhesive tape. The specific operation is: open the box shell 51 of the device, and pass the adhesive tape wound in the winding disc 53 through the two conveying belt assemblies 54, the first limiting roller assembly 58, the conveying groove disc assembly 510, the limiting groove wheel seat 512, the second limiting roller assembly 513, the third limiting roller assembly 515, the tensioning groove wheel 517, and finally to the electric cutter 518, to prepare for the subsequent conveying and cutting of the adhesive tape. When working, the worker sends a start instruction through the controller 7, and the controller 7 will start the hoisting conveying line 1, the plate conveying line 6, the first carrying mechanical arm 8, the visual detection machine 9, the first track moving table 22, the first electric telescopic rod 25, the third electric telescopic rod 32, the second track moving table 27, the lifting module 28 and the second electric telescopic rod 213 according to the internal preset program. The plate conveying line 6 will convey the plate pre-stored in the internal starting end to the carrying range of the first carrying mechanical arm 8 in turn. The first carrying mechanical arm 8 accurately grabs the plate on the plate conveying line 6 and carries it to the hoisting end of the hoisting conveying line 1, completing the preliminary installation and fixation of the plate. The visual detection machine 9 conducts comprehensive visual detection on the hoisted plate, identifies the basic information such as the size and material of the plate, and automatically plans the subsequent processing path according to the detection result. The first track moving table 22 moves forward along the first ground rail 21 until it reaches the specified position at the rear side of the plate, positioning for the subsequent supporting operation. The first electric telescopic rod 25 is extended, 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 to drive the groove shell 31 to rotate forward to the vertical state on the top of the first track moving table 22, forming a preliminary support structure. The left and right third electric telescopic rods 32 are synchronously extended, driving the support baffle 33 to move upward. By adjusting the height of the support baffle 33, it is adapted to the length of the plate, and finally realizes that the groove shell 31 and the support baffle 33 tightly contact the rear side of the plate, providing stable support for the subsequent slotting operation. The left and right second track moving tables 27 move along the corresponding second ground rails 26 respectively, reaching the preset positions on the left and right sides of the plate. The left and right lifting modules 28 drive the corresponding fixed assemblies to move up and down until they are aligned with the height of the plate. The second electric telescopic rods 213 in the left and right fixed assemblies are shortened, driving the moving frames 212 in the corresponding positions to move forward under the constraint of the limiting assemblies 211, so that the moving frames 212 cooperate with the fixed frames 210 to firmly clamp and fix the front and rear ends of the plate on the left and right sides, ensuring that the plate will not displace during the processing process.

[0043] Step 2: After the completion of the plate fixing, the preset program of the controller 7 continues to control the electric tool magazine 45, the machining mechanical arm 44, the double-end moving module 42, the double-shaft moving module 43, the first motor 55, the second motor 511, the micro electric telescopic rod 521, the sensor 59, the pressing module 516, the electric cutter 518, and the second carrying mechanical arm 10 to start. The electric tool magazine 45 rotates the required machining inner diameter execution end to the corresponding docking position of the machining mechanical arm 44 according to the machining requirements. The inner execution end of the machining mechanical arm 44 moves to the corresponding position above the electric tool magazine 45, and automatically docks and installs with the required execution end in the electric tool magazine 45, preparing for slotting machining. The double-end moving module 42 drives the right double-shaft moving module 43 to move to the front of the plate. The double-shaft moving module 43 drives the machining mechanical arm 44 to move in the double-shaft direction, and sends the machining mechanical arm 44 to the plate surface. The machining mechanical arm 44 drives the inner execution end to slot the plate surface according to the path planned by the visual inspection machine 9. After the slotting operation is completed, the right double-shaft moving module 43 drives the machining mechanical arm 44 to reset. The double-end moving module 42 drives the left double-shaft moving module 43 to move the protection component 5 to the slotting position on the plate surface. The left double-shaft moving module 43 drives the protection component 5 to move along the direction of the slot. At the same time, the internal related equipment of the protection component 5 operates. The first motor 55 drives the belt pulley of the rear conveying belt assembly 54 to rotate. Through the transmission of the gear set 56, the belt pulley of the front conveying belt assembly 54 synchronously rotates, and together they unroll the adhesive tape in the winding disc 53. Under the guidance and limitation of the first limiting roller assembly 58 and the front limiting groove wheel seat 512, the adhesive tape is sent into the inside of the conveying groove disc assembly 510. The second motor 511 drives the groove disc inside the conveying groove disc assembly 510 to rotate. The groove discs on the upper and lower sides continuously convey the inside adhesive tape by using friction. Under the tensioning and limiting action of the rear limiting groove wheel seat 512, the third limiting roller assembly 515, and the tensioning groove wheel 517, the adhesive tape maintains a stable conveying state. The micro electric telescopic rod 521 extends, pushing the front supporting rod 520 to move to the rear side. Under the limiting cooperation of the rear supporting rod 520, the mounting seat 522 drives the pressing roller 523 to tightly press the adhesive tape in the slot body inner cavity, ensuring that the adhesive tape is attached to the slot body. The sensor 59 monitors the unrolling length of the adhesive tape in real time. When the monitored adhesive tape length is consistent with the length of the slot, the pressing module 516 immediately presses the adhesive tape inside the third limiting roller assembly 515. The electric cutter 518 starts to cut off the adhesive tape, completing the installation of the adhesive tape. After the installation of the adhesive tape is completed, the hoisting conveying line 1 drives the plate to move to the rear side of the second carrying mechanical arm 10. The second carrying mechanical arm 10 takes the plate from the hoisting end of the hoisting conveying line 1 and places it stably at the designated storage location. The whole operation process is completed.

[0044] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. An intelligent slotting robot based on visual technology, characterized in that, The utility model relates to a kind of plate conveying system, including: Hoisting conveying line (1); Auxiliary support mechanism (2), be equipped in the inside lower side of the hoisting conveying line (1); Grooving mechanism (4) is provided in the front of the auxiliary support mechanism (2); Plate conveying line (6) is provided in the external right side of the grooving mechanism (4); Controller (7) is provided in the external left front of the plate conveying line (6), and the hoisting conveying line (1) is electrically connected with plate conveying line (6) and controller (7); First carrying mechanical arm (8) is provided in the external left rear of the plate conveying line (6), and the first carrying mechanical arm (8) is electrically connected with controller (7); Visual inspection machine (9) is provided in the external front of the hoisting conveying line (1) and is located the left side of first carrying mechanical arm (8), and the visual inspection machine (9) is electrically connected with controller (7); Second carrying mechanical arm (10) is provided in the external of the hoisting conveying line (1) and is located the left side of grooving mechanism (4), and the second carrying mechanical arm (10) is electrically connected with controller (7); The auxiliary support mechanism (2) includes: First ground rail (21) is equipped in the inside lower side of the hoisting conveying line (1) along front-back direction; First track moving table (22) is installed in the inside of the first ground rail (21), and the first track moving table (22) is electrically connected with controller (7); Limit frame (23) is rotatably connected in the top end front side of the first ground rail (21) by pivot base one end; Support frame (24) is rotatably connected in the other end of the limit frame (23) by pivot one end; First electric telescopic rod (25) is rotatably connected in the top end of first track moving table (22) by pivot base one end and is located the inside of first electric telescopic rod (25), and the other end of the first electric telescopic rod (25) is rotatably connected with the inside of support frame (24) by pivot, and the first electric telescopic rod (25) is electrically connected with controller (7); Support component (3) is provided in the front side of the support frame (24); Second ground rail (26) is two, and two second ground rails (26) are respectively equipped in the external front side left and right ends of first ground rail (21) along front-back direction; Second track moving table (27) is two, and two second track moving tables (27) are respectively provided in the inside of left and right two second ground rails (26), and the second track moving table (27) is electrically connected with controller (7); Lifting module (28) is two, and two lifting modules (28) are respectively installed in the top end of left and right two second track moving tables (27) along up-down direction, and the lifting module (28) is electrically connected with controller (7); Wherein, the moving end of left and right two lifting modules (28) is respectively provided with fixed assembly; The grooving mechanism (4) includes: Portal underframe (41) is provided in the front of the auxiliary support mechanism (2) along left-right direction; Double-end moving module (42) is installed at the top of the gantry underframe (41) along the left-right direction, and the double-end moving module (42) is electrically connected with the controller (7); Double-shaft moving module (43), the number of the double-shaft moving module (43) is two, and the two double-shaft moving modules (43) are respectively installed at the left and right sides of the moving end top of the double-end moving module (42) along the front and back directions, and the double-shaft moving module (43) is electrically connected with the controller (7); Protection component (5) is arranged at the moving end of the left double-shaft moving module (43); Processing mechanical arm (44) is fixedly installed at the moving end rear side bottom of the right double-shaft moving module (43), and the processing mechanical arm (44) is electrically connected with the controller (7); Electric tool magazine (45) is fixedly installed at the moving end rear side bottom of the right double-shaft moving module (43) and is located at the right side of the processing mechanical arm (44), and the electric tool magazine (45) is electrically connected with the controller (7).

2. The intelligent slotting robot based on visual technology according to claim 1, characterized in that, The support component (3) comprises: Groove shell (31) is rotatably connected to the top front side of the first ground rail (21) through a rotating shaft seat along the up-down direction, and the other end of the support frame (24) is rotatably connected to the upper rear side of the groove shell (31) through a rotating shaft seat; Third electric telescopic rod (32), the number of the third electric telescopic rod (32) is two, and the two third electric telescopic rods (32) are respectively installed at the left and right sides of the inner cavity of the groove shell (31) along the up-down direction, and the third electric telescopic rod (32) is electrically connected with the controller (7); Support baffle (33) is installed at the top of the telescopic end of the left and right two third electric telescopic rods (32) along the left-right direction. 3.The visual technology-based intelligent slotting robot according to claim 2, characterized in that, The protection component (5) comprises: Box shell (51) is installed at the moving end rear side of the double-shaft moving module (43) along the up-down direction; Vertical mounting plate (52) is installed at the left front top inside of the box shell (51) along the up-down direction; Winding disc (53) is rotatably installed at the right side bottom end of the vertical mounting plate (52) through a bearing; Conveying belt assembly (54), the number of the conveying belt assembly (54) is two, and the two conveying belt assemblies (54) are respectively installed at the right side of the vertical mounting plate (52) and are located above the front and back sides of the winding disc (53); First motor (55) is installed at the left lower 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 with the bottom pulley shaft of the rear conveying belt assembly (54), and the first motor (55) is electrically connected with the controller (7); Gear set (56) is installed at the left side of the vertical mounting plate (52), and the two end shafts of the gear set (56) extend to the right side of the vertical mounting plate (52) and are connected with the top pulley shaft of the front and back two conveying belt assemblies (54); Groove (57) is arranged on the upper front side of the box shell (51); First limiting roller assembly (58) is installed at the right side of the vertical mounting plate (52) and is located below the groove (57); A sensor (59) is mounted on the top end of the box shell (51) and outside the groove body (57), and the sensor (59) is electrically connected with the controller (7).

4. The intelligent slotting robot based on visual technology according to claim 3, characterized in that, The protection component (5) further comprises: A conveying groove disc assembly (510) is mounted on the middle part of the top end of the box shell (51); A second motor (511) is mounted on the outer left side of the conveying groove disc assembly (510), the rotating end of the second motor (511) is connected with the rollers of the conveying groove disc assembly (510), and the second motor (511) is electrically connected with the controller (7); Two limiting groove wheel seats (512) are mounted on the top end of the vertical mounting plate (52) and located on the front and back sides of the conveying groove disc assembly (510); A second limiting roller assembly (513) is mounted on the top end of the rear side of the vertical mounting plate (52); A mounting frame (514) is fixedly mounted on the top end of the rear side of the vertical mounting plate (52) in the front-rear direction; A third limiting roller assembly (515) is mounted on the outer rear side of the mounting frame (514); A pressing module (516) is mounted on the top of the third limiting roller assembly (515), and the pressing module (516) is electrically connected with the controller (7); A tensioning groove wheel (517) is rotatably connected to the inner rear side of the mounting frame (514) through a rotating shaft; An electric cutter (518) is fixedly mounted on the outer rear lower side of the mounting frame (514) through a support, and the electric cutter (518) is electrically connected with the controller (7).

5. The vision technology based intelligent grooving robot according to claim 4, wherein, The protection component (5) further comprises: A vertical fixing frame (519) is mounted on the bottom end of the rear side of the mounting frame (514); Two support rods (520) are rotatably mounted on the bottom end of the rear side of the vertical fixing frame (519) through rotating shaft seats; A micro electric telescopic rod (521) is rotatably connected to the left lower side of the vertical fixing frame (519) through a rotating shaft seat, and the other end of the micro electric telescopic rod (521) is rotatably connected with the outer wall right side of the rear micro electric telescopic rod (521) through a rotating shaft, and the micro electric telescopic rod (521) is electrically connected with the controller (7); A mounting seat (522) is rotatably mounted on the other end of the outer side of the front and rear support rods (520) through a rotating shaft; A pressing roller (523) is mounted on the top end of the rear side of the mounting seat (522).

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