An automatic centering device and method of using the same

Abstract

The present application relates to sheet centering device technical field. The present application discloses an automatic centering device and its using method. The automatic centering device is provided with a centering center shaft, which comprises: a centering table assembly; two centering pushing assemblies, comprising: a centering driving device; two centering pushing structures, driven by the centering driving device to simultaneously approach or move away from the centering center shaft; the centering pushing structure is provided with: an avoiding part; a pushing part, located above the avoiding part and arranged close to the centering center shaft; a separation lifting assembly, used for making the centering table assembly and the centering pushing assembly move up and down relative to each other; a thickness detection assembly for detecting the total thickness of the sheet, comprising: a detection driving structure fixed to the centering pushing structure; a thickness detection device, driven by the detection driving structure to approach or move away from the centering center shaft. The using method comprises: placing the sheet, sheet centering, thickness detection, lifting the sheet, re-centering, taking out the sheet. The present application can ensure the accuracy of the sheet centering position.

Description

Technical Field

[0001] This invention relates to the field of sheet metal alignment equipment technology, and in particular to an automatic alignment device and its usage method. Background Technology

[0002] After the destacking process, the sheet metal needs to be transferred to the centering device for precise positioning to ensure the accuracy of the subsequent robotic arm gripping the sheet metal.

[0003] However, during the destacking process, two or more sheets may stick together, often accompanied by relative misalignment between adjacent sheets. If automatic centering is directly applied to the stuck and misaligned sheet groups, the sheet positioning accuracy will decrease, thus affecting the stability and processing quality of subsequent processes. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic centering device and a method of using the same, so as to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0005] The solution to the technical problem of this invention is:

[0006] An automatic centering device has mutually orthogonal first direction, second direction, and vertical direction; the automatic centering device is provided with a centering central axis; the automatic centering device includes:

[0007] The middle platform assembly is used to place the sheet metal;

[0008] The centering push component is provided in two parts; the two centering push components are respectively designated as a first push component and a second push component.

[0009] The centering propulsion component includes:

[0010] Centering drive device;

[0011] The centering push structure is provided in two parts; the two centering push structures are driven by the centering drive device to simultaneously move closer to or further away from the centering central axis; the centering push structure of the first push assembly moves along a first direction and the centering push structure of the second push assembly moves along a second direction.

[0012] The centering push structure is provided with a push part and a avoidance part. The push part is located above the avoidance part and is disposed on the side of the avoidance part close to the centering central axis.

[0013] A separation lifting component is used to drive the centering platform component and the centering pushing component to move relative to each other in the vertical direction;

[0014] Thickness detection components are installed in one of the centering push structures;

[0015] The thickness detection component includes:

[0016] The detection drive structure is fixed relative to the centering push structure;

[0017] A thickness detection device for detecting the total thickness of a sheet material, which is driven by the detection drive structure to move closer to or further away from the center axis.

[0018] As a further improvement to the above technical solution, a misalignment pushing component is also included, the misalignment pushing component comprising:

[0019] A misalignment drive device, which is fixed relative to the centering push structure;

[0020] The misalignment push structure is installed at the output end of the misalignment drive device and is located below the centering push structure. It is driven by the misalignment drive device to move closer to or further away from the centering center axis.

[0021] As a further improvement to the above technical solution, the misalignment pushing structure is provided with a bottom plate locking part, and the bottom plate locking part is provided with a plurality of plate locking serrations, which are arranged toward the center axis.

[0022] As a further improvement to the above technical solution, the misaligned pushing structure is provided with a top plate support part, which is used to support the uppermost plate.

[0023] As a further improvement to the above technical solution, the top plate support portion is equipped with a plurality of second balls, which are evenly distributed in the top plate support portion.

[0024] As a further improvement to the above technical solution, the centering and pushing structure is provided with a bottom plate limiting part, which connects the pushing part and the avoidance part, and is used to limit the bottom plate.

[0025] As a further improvement to the above technical solution, two misaligned pushing components are provided, and the two misaligned pushing components are respectively configured to correspond to the first pushing component and the second pushing component.

[0026] As a further improvement to the above technical solution, the centering platform assembly includes:

[0027] Place the countertop;

[0028] The first ball bearing is provided in multiple forms, and the multiple first ball bearings are evenly distributed on the placement platform.

[0029] As a further improvement to the above technical solution, the separation lifting component drives the centering pushing component to move in the vertical direction.

[0030] A method for using the centering device, applied to any of the automatic centering devices described above, includes the following steps:

[0031] Sheet placement: Place the sheet on the centering table assembly;

[0032] Thickness detection preparation: Drive the centering push structure and thickness detection components to move closer to the centering axis;

[0033] Sheet thickness acquisition: Drive the thickness detection device close to the center axis to detect the thickness of the sheet and obtain the detected thickness of the sheet;

[0034] Thickness detection device reset: Drive the thickness detection device to reset, so that the thickness detection device is away from the center axis;

[0035] Calculate the thickness difference: Calculate the thickness difference between the measured thickness of the sheet material and the set thickness of a single sheet material;

[0036] Centering push component rise: Drive the centering push component to rise a distance equal to the thickness difference;

[0037] Sheet metal alignment: The drive alignment mechanism moves closer to the center axis again;

[0038] Remove the sheet metal: Remove the sheet metal located at the top.

[0039] The centering and pushing structure moves away: driving the centering and pushing structure away from the centering axis;

[0040] Centering and pushing structure descent: Drive the centering and pushing component to descend a distance equal to the set thickness;

[0041] Sheet metal alignment: The drive alignment mechanism moves closer to the center axis again;

[0042] Remove the sheet metal: Remove the sheet metal located at the top.

[0043] Repeat the above steps of moving the centering and pushing structure away, lowering the centering and pushing structure, centering the sheet, and removing the sheet until all the sheet is removed.

[0044] The beneficial effects of the present invention are as follows: when the thickness detection device detects that the thickness of the sheet material is greater than 1, the separation lifting component drives the centering pushing component to rise, and then the centering driving device drives the centering pushing structure to approach the centering central axis. The pushing part centers the uppermost sheet material, and the avoiding part avoids the bottom sheet material, thereby achieving centering of the uppermost sheet material to ensure the positional accuracy of the sheet material centering, so as to ensure the stability of subsequent processes and the quality of product processing.

[0045] This invention relates to the field of sheet metal alignment equipment technology. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of the present invention, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0048] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0049] Figure 3 This is an exploded structural diagram of a portion of the structure according to an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the overall structure of the misaligned pushing component according to an embodiment of the present invention;

[0051] Figure 5 This is a flowchart illustrating the usage method of an embodiment of the present invention.

[0052] In the diagram, 100 is the frame; 200 is the centering table assembly; 210 is the placement table; 220 is the first ball bearing; 300 is the centering push assembly; 310 is the centering drive device; 320 is the centering push structure; 321 is the push part; 322 is the avoidance part; 323 is the bottom plate limiting part; 400 is the separation lifting assembly; 410 is the separation lifting drive motor; 420 is the worm gear lifting mechanism; 430 is the separation lifting frame; 500 is the thickness detection assembly; 510 is the detection drive structure; 520 is the thickness detection device; 600 is the misalignment push assembly; 610 is the misalignment drive device; 620 is the misalignment push structure; 621 is the top plate support part; 622 is the bottom plate locking part; 623 is the second ball bearing; and 624 is the plate locking serration. Detailed Implementation

[0053] The following will clearly and completely describe the concept, specific structure, and technical effects of the present invention in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct connection of components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0054] Reference Figures 1 to 3 An automatic centering device includes a first direction, a second direction, and a vertical direction, which are orthogonally arranged. Referring to the figure, the first direction is parallel to the X-axis, the second direction is parallel to the Y-axis, and the third direction is parallel to the Z-axis.

[0055] The automatic centering device is equipped with a centering axis.

[0056] The automatic centering device includes: a frame 100, a centering table assembly 200, a centering push assembly 300, a separation and lifting assembly 400, a thickness detection assembly 500, and a misalignment push assembly 600.

[0057] The middle table assembly 200 includes a tabletop 210 and a first ball bearing 220.

[0058] The placement table 210 is fixedly connected to the frame 100. Four placement tables 210 are arranged in a rectangular pattern, with adjacent placement tables 210 spaced apart. The placement table 210 is fixedly connected to the frame 100. In other embodiments, the four placement tables 210 can be replaced with a single, integral tabletop. Those skilled in the art can select the specific structure of the centering table assembly 200 according to actual needs.

[0059] The number of first ball bearings 220 is set to multiple, and the multiple first ball bearings 220 are evenly distributed on the placement table 210. The first ball bearings 220 are fixedly connected to the placement table 210. The first ball bearings 220 can reduce the friction between the sheet material and the placement table 210 during the centering process, so as to reduce the wear of the sheet material and thus ensure the quality of the final product processed by the production line.

[0060] The separation lifting assembly 400 is used to drive the centering platform assembly 200 and the centering pushing assembly 300 to move relative to each other in the vertical direction. Specifically, in this embodiment, the separation lifting assembly 400 drives the centering pushing assembly 300 to move in the vertical direction.

[0061] Specifically, in this embodiment, the separation lifting assembly 400 includes: a separation lifting drive motor 410, a worm gear lifting mechanism 420, and a separation lifting frame 430.

[0062] The separation lifting drive motor 410 is fixedly installed on the frame 100, and the separation lifting drive motor 410 is set as a servo motor.

[0063] The worm gear lifting mechanism 420 is a conventional structure in this field, and its specific construction will not be described in detail here. The input end of the worm gear lifting mechanism 420 is fixed to the output end of the separation lifting drive motor 410.

[0064] The output end of the separation lifting frame 430 and the worm gear lifting mechanism 420 is fixed.

[0065] The separation lifting drive motor 410 drives the separation lifting frame 430 to move in the vertical direction through the worm gear lifting mechanism 420. In other embodiments, the separation lifting assembly 400 can also be set as a conventional linear drive device. Those skilled in the art can select the specific structure of the separation lifting assembly 400 according to actual needs.

[0066] The centering push component 300 is installed on the separation lifting frame 430.

[0067] The number of centering push components 300 is set to two, and the two centering push components 300 are respectively designated as the first push component and the second push component.

[0068] The centering drive assembly 300 includes: a centering drive device 310 and a centering drive structure 320.

[0069] Specifically, in this embodiment, the centering drive device 310 is a synchronous belt linear module, which includes a centering drive motor, a centering drive pulley, a centering drive belt, and a centering drive connecting seat.

[0070] The centering drive motor is fixedly connected to the separation lifting frame 430, and the centering drive motor is set as a servo motor.

[0071] The centering drive pulley is rotatably connected to the separation lifting frame 430, and the rotation axis of the centering drive pulley is perpendicular to the vertical direction. The two centering drive pulleys of the first pushing assembly are arranged along a first direction, and the two centering drive pulleys of the second pushing assembly are arranged along a second direction. The centering drive belt passes over the two centering drive pulleys.

[0072] Specifically, in this embodiment, the centering drive belt is configured as a gear belt, and the centering drive pulley is configured as a gear. In other embodiments, the centering drive belt can also be configured as a conventional pulley or a conventional belt structure. Those skilled in the art can select the specific structure of the centering drive belt and the centering drive pulley according to actual needs.

[0073] The output end of the centering drive motor is fixedly connected to any centering drive pulley.

[0074] The number of centering drive connectors is set to two, and the two centering drive connectors are fixedly connected to the upper and lower sections of the centering drive belt, respectively.

[0075] The centering push structure 320 passes through the gap between two adjacent placement platforms 210. Two centering push structures 320 are provided, each fixedly connected to a centering drive connecting seat. This allows the two centering drive connecting seats to move closer or further apart when the centering drive belt is operating, so that the two centering push structures 320 within the same centering push assembly 300 simultaneously move closer or further away from the centering central axis.

[0076] By setting two centering push components 300, the sheet metal is centered in the first and second directions.

[0077] Specifically, in this embodiment, the centering push structure 320 includes a push part 321, a clearance part 322, and a bottom plate limiting part 323. The push part 321, the clearance part 322, and the bottom plate limiting part 323 are fixedly connected in sequence.

[0078] Both the pushing part 321 and the avoiding part 322 are configured as vertically arranged plate-like structures, while the bottom plate limiting part 323 is configured as a horizontally arranged plate-like structure.

[0079] The pusher 321 is used to push the sheet material so that the center of the sheet material moves closer to the center axis.

[0080] When the centering push component 300 is lifted, the bottom plate limiting part 323 can limit the bottom plate (the bottom plate refers to the plate located below the top plate) to prevent the bottom plate from sticking to the top plate and being taken out together.

[0081] The clearance part 322 is disposed below the push part 321, and the clearance part 322 is disposed on the side of the push part 321 away from the centering axis. The clearance part 322 is used to clear the bottom sheet material, so that the centering push structure 320 only pushes the uppermost sheet material with the push part 321, and does not push other sheet materials, so as to perform independent centering operation on the uppermost sheet material.

[0082] The lower end of the clearance part 322 is fixedly connected to the centering drive connecting seat.

[0083] The thickness detection component 500 is set to one, and the thickness detection component 500 is mounted on one of the centering push structures 320. Specifically, in this embodiment, the thickness detection component 500 is mounted on one of the centering push structures 320 that can move along a first direction. In other embodiments, the thickness detection component 500 can also be mounted on the centering push structure 320 that can move along a second direction. Those skilled in the art can select the mounting position of the thickness detection component 500 according to actual needs.

[0084] Specifically, in this embodiment, the thickness detection component 500 includes: a detection drive structure 510 and a thickness detection device 520.

[0085] The detection drive structure 510 is configured as a linear cylinder. In other embodiments, the detection drive structure 510 can also be configured as a conventional linear drive device such as a linear motor. Those skilled in the art can select the specific structure of the detection drive structure 510 according to actual needs.

[0086] The thickness detection device 520 is a conventional thickness sensor. The specific structure of the thickness detection device 520 will not be described in detail here. The thickness detection device 520 is fixedly installed at the output end of the detection drive structure 510. The thickness detection device 520 is driven by the detection drive structure 510 to approach the center axis along the first direction.

[0087] The thickness detection device 520 is used to detect the thickness of the sheet material to obtain the detected thickness of the sheet material, and to obtain the thickness difference value by subtracting the detected thickness of the sheet material from the set thickness of a single sheet material.

[0088] Reference Figures 1 to 4 The number of misaligned push components 600 is set to two, and the two misaligned push components 600 are arranged around the center axis.

[0089] The misalignment drive assembly 600 includes: a misalignment drive device 610 and a misalignment drive structure 620.

[0090] The misalignment drive device 610 is configured as an electric linear drive device. In other embodiments, the misalignment drive device 610 may also be configured as a linear cylinder. Those skilled in the art can select the specific structure of the misalignment drive device 610 according to actual needs.

[0091] The misalignment drive device 610 is fixedly installed on the centering drive connector. Since the centering push structure 320 is also fixedly installed on the centering drive connector, the misalignment drive device 610 and the centering push structure 320 are relatively fixed.

[0092] The misalignment push structure 620 is fixedly installed at the output end of the misalignment drive device 610. The misalignment push structure 620 is driven by the misalignment drive device 610 to move closer to or further away from the center axis. The misalignment push structure 620 is located below the push part 321 of the centering push structure 320.

[0093] When the thickness difference of the sheet material is greater than 0, the separation lifting component 400 drives the centering pushing component 300 to rise a distance equal to the thickness difference, so that the lower end face of the bottom sheet material limiting part 323 of the centering pushing structure 320 is flush with the lower end face of the uppermost sheet material, and the upper end face of the misalignment pushing structure 620 is flush with the lower end face of the uppermost sheet material. The misalignment pushing structure 620 and the uppermost sheet material are misaligned in the vertical direction, so that when the misalignment pushing structure 620 approaches the centering axis, it will not push the uppermost sheet material to move, but will only push the bottom sheet material to move closer to the centering axis, causing the uppermost and bottom sheet materials to be misaligned, so as to avoid the uppermost sheet material and the bottom sheet material sticking together when the robotic arm takes out the uppermost sheet material, thereby ensuring that the robotic arm takes out one sheet material at a time.

[0094] Specifically, the misaligned pushing structure 620 is provided with: a top plate support part 621 and a bottom plate locking part 622.

[0095] The top plate support part 621 supports the uppermost plate. The upper surface of the top plate support part 621 is flush with the lower surface of the bottom plate limiting part 323. The top plate support part 621 can support the lower surface of the uppermost plate to prevent the edge of the uppermost plate from sagging due to large misalignment between the uppermost and bottom plates, thereby avoiding inaccurate centering and ensuring centering accuracy. The lower surface of the bottom plate limiting part 323 can limit the bottom plate in the vertical direction.

[0096] Specifically, in this embodiment, a plurality of second balls 623 are provided at the upper end of the top plate support 621. The second balls 623 are spherically rotatably connected to the top plate support 621. By providing the second balls 623, the friction between the uppermost plate and the top plate support 621 is reduced when they move relative to the top plate support 621, thereby reducing the wear of the plate and ensuring the surface quality of the plate.

[0097] The bottom plate locking part 622 is a vertically placed plate-shaped structure. Multiple plate locking teeth 624 are fixed on the side of the bottom plate locking part 622 near the center axis, and the plate locking teeth 624 are set towards the center axis.

[0098] When the top sheet is removed, the sheet clamping serrations 624 can clamp the bottom sheet to prevent the bottom sheet from sticking to the top sheet and being removed together with the top sheet, thus further ensuring that the robotic arm removes only one sheet at a time.

[0099] Two misaligned pushing components 600 are respectively configured to correspond to the first pushing component and the second pushing component, such that the misaligned driving device 610 of one misaligned pushing component 600 drives the corresponding misaligned pushing structure 620 to move closer to or away from the center axis in the first direction, and the misaligned driving device 610 of the other misaligned pushing component 600 drives the corresponding misaligned pushing structure 620 to move closer to or away from the center axis in the second direction.

[0100] Reference Figures 1 to 5 The method of using the centering device includes the following steps:

[0101] S100, Sheet placement: Place the sheet on the centering table assembly 200;

[0102] S200, Thickness detection preparation: Drive the centering push structure 320 and the thickness detection component 500 to approach the centering axis;

[0103] S300, Sheet thickness acquisition: Drive the thickness detection device 520 close to the center axis to detect the thickness of the sheet;

[0104] S400, Thickness detection device reset: Drive the thickness detection device 520 to reset, moving it away from the center axis;

[0105] S500, Calculate the thickness difference: Calculate the thickness difference between the detected thickness of the sheet and the set thickness of a single sheet;

[0106] If the thickness difference is equal to 0, perform the following steps:

[0107] S611, Remove the sheet metal: Remove the sheet metal located at the top;

[0108] If the thickness difference is greater than 0, perform the following steps:

[0109] S621, Centering push component 300 rises: Drives the centering push component 300 to rise a distance equal to the thickness difference;

[0110] S622, Sheet Alignment: Drive the alignment push structure 320 to approach the alignment center axis again, completing the alignment step of the uppermost sheet;

[0111] S623. Remove the sheet metal: Remove the sheet metal located at the top.

[0112] S624, Centering push structure moves away: Drive the centering push structure 320 away from the centering axis;

[0113] S625, Centering push structure descends: Drives the centering push component 300 to descend a distance equal to the set thickness;

[0114] S626, Sheet Alignment: Drive the alignment push structure 320 to approach the alignment center axis again, completing the alignment step for the next sheet;

[0115] S627. Remove the sheet metal: Remove the sheet metal located at the top.

[0116] S628. Repeat steps S624-S627 above until all the sheet material is removed.

[0117] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An automatic centering device, characterized in that: The automatic centering device has a first direction, a second direction, and a vertical direction that are mutually orthogonal; the automatic centering device is provided with a centering center axis; the automatic centering device includes: The middle platform assembly is used to place the sheet metal; The centering push component is provided in two parts; the two centering push components are respectively designated as a first push component and a second push component. The centering propulsion component includes: Centering drive device; The centering push structure is provided in two parts; the two centering push structures are driven by the centering drive device to simultaneously move closer to or further away from the centering central axis; the centering push structure of the first push assembly moves along a first direction and the centering push structure of the second push assembly moves along a second direction. The centering push structure is provided with a push part and a avoidance part. The push part is located above the avoidance part and is disposed on the side of the avoidance part close to the centering central axis. A separation lifting component is used to drive the centering platform component and the centering pushing component to move relative to each other in the vertical direction; Thickness detection components are installed in one of the centering push structures; The thickness detection component includes: The detection drive structure is fixed relative to the centering push structure; A thickness detection device for detecting the total thickness of a sheet material, which is driven by the detection drive structure to move closer to or away from the center axis; It also includes a misalignment pushing component, the misalignment pushing component comprising: A misalignment drive device, which is fixed relative to the centering push structure; The misalignment push structure is installed at the output end of the misalignment drive device and is located below the centering push structure. It is driven by the misalignment drive device to move closer to or further away from the centering center axis.

2. The automatic centering device according to claim 1, characterized in that: The misalignment pushing structure is provided with a bottom plate locking part, and the bottom plate locking part is provided with a plurality of plate locking saw teeth, which are arranged toward the center axis.

3. The automatic centering device according to claim 1, characterized in that: The misaligned pushing structure is provided with a top plate support part, which is used to support the uppermost plate.

4. An automatic centering device according to claim 3, characterized in that: The top plate support portion is equipped with a plurality of second ball bearings, which are evenly distributed in the top plate support portion.

5. An automatic centering device according to claim 1, characterized in that: The misaligned pushing component is provided in two parts, and the two misaligned pushing components are respectively configured to correspond to the first pushing component and the second pushing component.

6. An automatic centering device according to claim 2, characterized in that: The centering and pushing structure is provided with a bottom plate limiting part, which connects the pushing part and the avoidance part. The bottom plate limiting part is used to limit the bottom plate.

7. An automatic centering device according to claim 1, characterized in that: The centering platform component includes: Place the countertop; The first ball bearing is provided in multiple forms, and the multiple first ball bearings are evenly distributed on the placement platform.

8. An automatic centering device according to claim 1, characterized in that: The separation lifting component drives the centering pushing component to move in the vertical direction.

9. A method for using the centering device, characterized in that: An automatic alignment device as described in any one of claims 1-8, comprising the following steps: Sheet placement: Place the sheet on the centering table assembly; Thickness detection preparation: Drive the centering push structure and thickness detection components to move closer to the centering axis; Sheet thickness acquisition: Drive the thickness detection device close to the center axis to detect the thickness of the sheet and obtain the detected thickness of the sheet; Thickness detection device reset: Drive the thickness detection device to reset, so that the thickness detection device is away from the center axis; Calculate the thickness difference: Calculate the thickness difference between the measured thickness of the sheet material and the set thickness of a single sheet material; Centering push component rise: Drive the centering push component to rise a distance equal to the thickness difference; Sheet metal alignment: The drive alignment mechanism moves closer to the center axis again; Remove the sheet metal: Remove the sheet metal located at the top. The centering and pushing structure moves away: driving the centering and pushing structure away from the centering axis; Centering and pushing structure descent: Drive the centering and pushing component to descend a distance equal to the set thickness; Sheet metal alignment: The drive alignment mechanism moves closer to the center axis again; Remove the sheet metal: Remove the sheet metal located at the top. Repeat the above steps of moving the centering and pushing structure away, lowering the centering and pushing structure, centering the sheet, and removing the sheet until all the sheet is removed.

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