Production line blanking, packaging and grabbing device and control system thereof

Abstract

The invention discloses a production line blanking, packaging and grabbing device and a control system thereof, and relates to the field of production line blanking and packaging, the production line blanking, packaging and grabbing device comprises a grabbing platform, an AGV robot, a movable tray, an inductive switch, a stop block mechanism and a limiting switch, and the whole process automation of carrier roller blanking, conveying, positioning, recognition, grabbing and stacking is achieved. Through cooperative work of the AGV robot, the transmission unit, the inductive switch, the stop block mechanism and the central control processor, continuous and efficient automatic line production is formed, and the packaging and stacking efficiency and beat consistency are remarkably improved. And through the detection of the inductive switch and the linkage of the stop block mechanism, the mandatory single-piece flow control is realized. And it is ensured that only one carrier roller to be grabbed exists in the grabbing area each time, a clear and interference-free working environment is created for the AGV robot, and accumulation and congestion of materials at key stations are effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of production line unloading and packaging, and particularly to a production line unloading and packaging gripping device and its control system. Background Technology

[0002] As an important component of belt conveyors, idlers are currently processed and assembled automatically by equipment, including the processing of the idler tube, the welding of the bearing housing, and the pressing of the bearing assembly. However, after the idlers are processed and assembled, they need to be transported to a pallet.

[0003] In modern industrial production, traditional methods rely heavily on manual operation or rigid automated equipment. While rigid automation solutions using fixed robotic arms can replace some manual labor, they are difficult to adapt to changes in production rhythm or mixed production of products of different specifications.

[0004] In addition, traditional conveyor lines lack precise material flow control, which can easily lead to material accumulation or gaps at the grabbing station, causing automated equipment to wait or grab empty, thus affecting overall production efficiency.

[0005] Therefore, we propose a production line unloading, packaging, and gripping device and its control system to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a production line unloading, packaging, and gripping device and its control system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a production line unloading, packaging, and gripping device, comprising:

[0008] A gripping platform is provided with a transmission unit for conveying idler rollers. The transmission unit has a material drop area for receiving idler rollers and a gripping area for AGV robots to grip the idler rollers.

[0009] An AGV robot is positioned beside the grasping platform;

[0010] A mobile tray is positioned within the activity range of the AGV robot.

[0011] An inductive switch is installed on the transmission unit and located between the material dropping area and the gripping area to detect the passing of the idler roller and generate a material ready signal;

[0012] The stop mechanism includes a cylinder and a stop that is driven to rise and fall by the cylinder. The stop mechanism is disposed on the transmission unit and located upstream of the inductive switch.

[0013] Limit switches are installed at the end of the gripping area of ​​the transmission unit to limit the movement of the idler rollers that arrive at the gripping area;

[0014] The central control processor is connected to the inductive switch, cylinder, limit switch, and AGV robot signal respectively.

[0015] Preferably, the AGV robot is equipped with a vision sensor and a robotic arm. The vision sensor is used to identify the position and orientation information of the roller located in the gripping area, and the AGV robot controls the robotic arm to adjust the gripping action according to the position and orientation information.

[0016] Preferably, the gripping platform is provided with baffles on both sides of the material dropping area of ​​the transmission unit for lateral limiting of the idler rollers; the material dropping area is also provided with a blockage switch for detecting whether there is idler roller accumulation in the material dropping area, and sending an alarm signal to the central control processor when accumulation is detected.

[0017] Preferably, the central control processor is also connected to the vision sensor and the alarm detector mounted on the grasping platform.

[0018] A control system for a production line unloading, packaging, and gripping device includes the following steps:

[0019] S1 Idler Conveying and Positioning: At the start of the process, the transmission unit continues to operate, conveying the idler rollers from the material drop area to the gripping area. When the induction switch detects the passing of the idler roller, it sends a signal to the central control processor. The central control processor controls the stop block to rise and block subsequent idler rollers. At the same time, the limit switch limits the idler rollers entering the gripping area.

[0020] S2 Vision Recognition and Positioning: The image of the idler roller located in the gripping area is acquired, and the central control processor processes the image data in real time to identify the position and posture of the idler roller and determine the gripping point.

[0021] S3 Robot Grabbing and Stacking: The central control processor sends grabbing instructions to the AGV robot, which controls the robotic arm to perform the grabbing action. The AGV robot carries the grabbed material to the mobile pallet and stacks it according to the preset pattern.

[0022] S4 System Reset and Cycle: After the AGV robot completes the stacking, it sends a task completion signal to the central control processor. The central control processor then controls the stop to descend, allowing the next idler roller to pass, and the system prepares for the next work cycle.

[0023] Preferably, based on the S1 idler conveying and positioning, if the sensor switch does not detect the idler passing through within a preset time, it is determined whether the production has ended. If the production has ended, the control system is powered off; if the production has not ended, it continues to wait for detection.

[0024] Preferably, based on S2 visual recognition and positioning:

[0025] Visual recognition: The AGV robot's vision sensors acquire images of the rollers;

[0026] Data processing: The central control processor processes the image data in real time and identifies the size, posture and gripping point of the idler roller.

[0027] Preferably, based on S2 vision recognition and positioning, a blockage switch is set in the material dropping area of ​​the gripping platform, and the blockage detection steps are as follows:

[0028] Real-time monitoring of the status of the blocking switch;

[0029] If the blockage switch is triggered, it indicates that material accumulation has occurred in the material drop area. The alarm detector will then sound an alarm and control the upstream feeding device to stop. At the same time, the transmission unit will continue to operate to eliminate the accumulation.

[0030] If the blockage switch is not triggered, the upstream feeding device continues to feed material into the discharge area.

[0031] Preferably, based on S3 robot grasping and stacking, after the AGV robot grasps the roller, a successful grasp determination is made:

[0032] If the capture is successful, then execute the placement action;

[0033] If the grasping fails, the AGV robot sends an error signal to the central control processor and triggers a system alarm, prompting manual intervention.

[0034] Preferably, based on S2 vision recognition and positioning, the central control processor performs quality judgment on the images collected by the vision sensor to identify whether the idler roller is a qualified product;

[0035] If the product is determined to be qualified, proceed to step S3;

[0036] If a product is determined to be defective, the central control processor will control the limit switch to not perform the limit action, and the transmission unit will continue to operate, transporting the defective roller to the rework area.

[0037] The technical effects and advantages of this invention are as follows:

[0038] 1. The entire process from roller unloading, conveying, positioning, identification, gripping to stacking has been automated. Through the coordinated work of AGV robots, transmission units, sensor switches, stop mechanisms and central control processors, a continuous and efficient automated assembly line operation has been formed, which greatly reduces manual intervention and significantly improves the efficiency and cycle consistency of packaging and stacking.

[0039] 2. By linking the sensor switch detection with the stop mechanism, forced single-piece flow control is achieved. This ensures that only one roller to be grabbed exists in the gripping area at any given time, creating a clear and interference-free working environment for the AGV robot. This effectively avoids the accumulation and congestion of materials at key workstations, ensuring the stable and orderly progress of the production process.

[0040] 3. GV robots, combined with vision sensors, can identify the precise position and orientation of the idler rollers in real time and automatically adjust the gripping path of the robotic arm. This allows the system to compensate for minor positional deviations during transmission. It can not only adapt to changes in the position and orientation of idler rollers of the same specifications, but also adapt to the gripping needs of products of different specifications through program adjustments. The system is highly flexible, and its gripping success rate and stability far surpass those of traditional fixed-path robotic arms.

[0041] 4. A blockage switch is installed to monitor the accumulation of material in the dropping area, and can promptly alarm and control upstream equipment to prevent the fault from escalating. At the same time, the limit switch and the stop mechanism form a double insurance to ensure the accurate positioning of the idler roller in the gripping position. The alarm mechanism after the AGV robot fails to grip also facilitates timely manual intervention, comprehensively improving the reliability and safety of the system. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the crawling platform structure of the present invention;

[0044] Figure 3 This is a schematic diagram of the AGV robot structure of the present invention;

[0045] Figure 4 This is a system architecture diagram of the present invention;

[0046] Figure 5 This is a schematic diagram of the overall system of the present invention;

[0047] Figure 6 This is a schematic diagram of the idler roller gripping process of the present invention;

[0048] Figure 7 This is a schematic diagram illustrating the blockage switch determination method of the present invention;

[0049] Figure 8 This is a schematic diagram illustrating the roller conveying judgment of the present invention.

[0050] In the diagram: 1. Grabbing platform; 11. Transmission unit; 12. Baffle; 2. Idler roller; 3. AGV robot; 31. Vision sensor; 32. Robotic arm; 4. Moving pallet; 5. Inductive switch; 6. Stop mechanism; 7. Blocking switch; 8. Limit switch. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] This invention provides, for example Figures 1-8 The production line unloading and packaging gripping device and its control system shown include a gripping platform 1, an AGV robot 3, a mobile pallet 4, an inductive switch 5, a stop mechanism 6 and a limit switch 8. The gripping platform 1 is provided with a transmission unit 11 for conveying the idler roller 2. The transmission unit 11 has an unloading area for receiving the idler roller 2 and a gripping area for the AGV robot 3 to grip the idler roller 2.

[0053] The transmission unit 11 can be configured as a belt conveyor or a roller conveyor, which is driven by a motor and used to continuously convey the idler roller 2. It can be controlled by a frequency converter to adjust the conveying speed to match the production cycle.

[0054] The AGV robot 3 is positioned next to the gripping platform 1. The AGV robot 3 grips the roller 2 and places it in the mobile tray 4. According to the preset stacking pattern, the roller 2 is placed accurately and neatly in the tray. When the AGV robot 3 completes a gripping and placing action and leaves the gripping area, it will send a task completion signal to the central processor. The central processor will then command the cylinder to retract, the stop to descend, and release the next roller 2 to enter the gripping waiting position.

[0055] The mobile pallet 4 is set within the activity range of the AGV robot 3 and is used to receive and stack the rollers 2 placed by the AGV robot 3;

[0056] The induction switch 5 is set on the transmission unit 11 and located between the material dropping area and the gripping area. It is used to detect the passing of the idler roller 2 and generate a material ready signal.

[0057] When the conveying unit 11 is conveying the idler roller 2, when the idler roller 2 enters the gripping area on the conveying unit 11 from the material dropping area through the induction switch 5, the information of the idler roller 2 is transmitted to the central control processor through the induction switch 5, that is, a signal that the material is ready is sent to the central control processor, and the alarm detector issues a warning.

[0058] The stop mechanism 6 includes a cylinder and a stop that is driven to rise and fall by the cylinder. The stop mechanism 6 is set on the transmission unit 11 and located upstream of the induction switch 5. The cylinder of the stop mechanism 6 is a small pen-shaped cylinder, such as the SMCCDJ2B series. The solenoid valve is controlled by the PLC to guide compressed air into the cylinder to push out or retract the piston rod, thereby driving the stop to rise and fall.

[0059] The stop has a blocking state that raises to prevent the subsequent idler roller 2 from entering the gripping area, and a releasing state that lowers to allow the idler roller 2 to pass.

[0060] When the inductive switch 5 sends a signal that the material is ready to the central processing unit, the central processing unit immediately sends a command to the cylinder to extend its piston rod, which drives the stop block to rise quickly and block the subsequent idler roller 2 outside the grabbing area.

[0061] Through the block-cylinder mechanism, forced single-piece flow control is achieved, making the production cycle clear and orderly, and eliminating congestion and interference of materials in the work area of ​​AGV robot 3;

[0062] The limit switch 8 is located at the end of the gripping area of ​​the transmission unit 11 and is used to limit the roller 2 that reaches the gripping area. The limit switch 8 can be set as a lever roller type micro switch. When the roller 2 moves to the end of the gripping area, it physically squeezes the lever of the limit switch 8, causing its internal contacts to act and output a signal to realize mechanical limit and position feedback.

[0063] The AGV robot 3 receives the gripping command from the central processor, autonomously navigates to the gripping point, and grips the roller 2 on the gripping area of ​​the transmission unit 11 and places it in the moving pallet 4. By setting a limit switch 8 at the rear end of the gripping area, the position of the roller 2 is limited by the limit switch 8 to prevent the roller 2 from being uploaded from the transmission unit 11 to the output gripping area. The limit switch 8 can also limit the approximate position of the roller 2, so that the AGV robot 3 can use the vision sensor 31 to calibrate the final pose of the roller 2 and adjust the robot arm 32 to ensure the accuracy of gripping the roller 2. The AGV robot 3 stably grips the roller 2 with the robot arm 32 at its end. Then, the AGV robot 3 carries the roller 2 to the adjacent moving pallet 4 and places the roller 2 accurately and neatly in it according to the preset stacking pattern.

[0064] When the induction switch 5 detects the passing of the idler roller 2, it sends a material ready signal to the central control processor, and the central control processor then controls the cylinder to move the stop to the blocking state.

[0065] After the AGV robot 3 completes the gripping and placement of the current idler roller 2, it sends a task completion signal to the central control processor. The central control processor then controls the cylinder to lower the stop to the release state, allowing the next idler roller 2 to enter the gripping area.

[0066] When the AGV robot 3 completes a grasping and placing action and leaves the grasping area, it will send a task completion signal to the central processor. The central processor will then command the cylinder to retract, the stop to descend, and the next idler roller 2 to enter the grasping waiting position.

[0067] At this time, under the transmission of the transmission unit 11, the next idler roller 2 is transported from the material dropping area on the transmission unit 11 to the gripping area, and the information of the idler roller 2 is transmitted to the central control processor through the induction switch 5, that is, a signal that the material is ready is sent to the central control processor, and the cyclical coordination of material dropping, gripping and packaging process of the idler roller 2 is carried out.

[0068] The central control processor is connected to the induction switch 5, the cylinder, the limit switch 8, and the AGV robot 3 respectively.

[0069] The central control processor can be set as a programmable logic controller, i.e., a PLC, such as the Siemens S7-1200 / 1500 series. As the brain of the system, it receives all sensor signals, processes them according to the preset logic program, and issues control commands to actuators such as AGVs and cylinders to coordinate the entire system process.

[0070] The inductive switch 5 can be set as a diffuse reflection photoelectric sensor. The sensor emits a light beam, and when the roller 2 passes by, the reflected light beam is detected by the receiver, generating a switching signal indicating that an object has arrived, and sending the signal to the central control processor.

[0071] The AGV robot 3 is equipped with a vision sensor 31 and a robotic arm 32. The vision sensor 31 is used to identify the position and posture information of the roller 2 located in the gripping area. The AGV robot 3 controls the robotic arm 32 to adjust the gripping action according to the position and posture information.

[0072] The AGV robot 3 can be configured as a lurking lifting AGV or a composite robot. It adopts SLAM synchronous positioning and map construction for natural contour navigation. It is highly flexible, requires no ground modification, and autonomously moves to the gripping point after receiving instructions to perform gripping and placement tasks.

[0073] The robotic arm 32 is a multi-degree-of-freedom gripper, and its gripping action is adjusted in real time based on feedback from the vision sensor 31.

[0074] The robotic arm 32 is configured as a two- or three-finger pneumatic gripper. The solenoid valve is controlled by the AGV body or the vehicle controller to drive the cylinder to open and close the fingers, clamping or releasing the idler roller 2. The inner wall of the gripper can be covered with flexible materials such as polyurethane to prevent damage to the surface of the idler roller 2.

[0075] Guided by the vision sensor 31, the AGV robot 3 can adapt to the slight positional deviation of the roller 2 and can meet the grasping and stacking requirements of rollers 2 of different specifications, with high system flexibility.

[0076] The vision sensor 31 can be set as an industrial camera, such as the Keyence CV-X series or Cognex In-Sight series. It uses a CCD or CMOS sensor to acquire images of the idler roller 2, and performs image analysis through built-in or uploaded vision processing software to the industrial control computer to accurately identify the center coordinates, angle and appearance defects of the idler roller 2.

[0077] The gripping platform 1 has baffles 12 on both sides of the material dropping area of ​​the transmission unit 11 for lateral limiting of the idler roller 2;

[0078] The material discharge area is also equipped with a blockage switch 7, which is used to detect whether there is accumulation of roller 2 in the material discharge area, and to send an alarm signal to the central control processor when accumulation is detected.

[0079] The blockage switch 7 can be set as a diaphragm pressure sensor and installed on the side wall of the material drop area. When the idler roller 2 accumulates, it will squeeze the switch, triggering the switch signal. The PLC will then determine the blockage and issue an alarm.

[0080] The central control processor is also connected to the vision sensor 31 and the alarm detector located on the grasping platform 1.

[0081] A control system for a production line unloading, packaging, and gripping device includes the following steps:

[0082] S1 Idler Conveying and Positioning: The process begins, and the transmission unit 11 continues to operate, conveying the idler 2 from the material drop area to the gripping area. The induction switch 5 detects the passage of the idler 2 and sends a signal to the central control processor. The central control processor controls the stop block to rise and block the subsequent idler 2. At the same time, the limit switch 8 limits the idler 2 that enters the gripping area.

[0083] S2 Visual Recognition and Positioning: The image of the idler roller 2 located in the gripping area is acquired, and the central control processor processes the image data in real time to identify the position and posture of the idler roller 2 and determine the gripping point.

[0084] S3 Robot Grabbing and Stacking: The central control processor sends a grabbing command to the AGV robot 3. The AGV robot 3 controls the robotic arm 32 to perform the grabbing action. The AGV robot 3 carries the grabbed material to the mobile pallet 4 and stacks it according to the preset pattern.

[0085] S4 System Reset and Cycle: After AGV robot 3 completes the stacking, it sends a task completion signal to the central control processor. The central control processor then controls the stop to descend, allowing the next idler roller 2 to proceed, and the system prepares for the next work cycle.

[0086] Based on the S1 roller conveying and positioning, if the sensor switch 5 does not detect the passing of the roller 2 within a preset time, it determines whether the production has ended. If the production has ended, the control system is powered off; if the production has not ended, it continues to wait for detection.

[0087] A conveyor line is set at the front end of the gripping platform 1. The conveyor line transports the idler roller 2 to the unloading area. The idler roller 2 is automatically transported to the unloading area by the transmission unit 11 of the gripping platform 1.

[0088] The transmission unit 11 transfers the idler roller 2 from the material drop area to the gripping area. The induction switch 5 detects the passage of the idler roller 2 and sends a material ready signal to the central control processor.

[0089] When the sensor switch 5 detects the passing of the idler roller 2, it determines whether the production has ended. When the production has ended, it cuts off the power and ends the packaging cycle of the idler roller 2. When the production has not ended, the cycle is repeated to detect whether the idler roller 2 has reached the correct position by using the sensor switch 5.

[0090] The central control processor controls the cylinder piston to extend the stop block, thereby establishing an independent gripping work area.

[0091] Based on S2 visual recognition and localization:

[0092] Visual recognition: The vision sensor 31 of the AGV robot 3 acquires images of the idler roller 2;

[0093] Data processing: The central control processor processes the image data in real time, identifies the size, posture and gripping point of the idler roller 2, and calculates the optimal gripping path of the robot arm 32.

[0094] Example 1: Before the idler roller 2 is conveyed, the image of the idler roller 2 is compared with the standard part by visual recognition to determine whether it is a qualified product. Before the idler roller 2 is conveyed on the conveyor line, the unqualified products are rejected.

[0095] Based on S2 vision recognition and positioning, a blockage switch 7 is set in the material dropping area of ​​the gripping platform 1. The blockage detection steps are as follows:

[0096] Real-time monitoring of the status of blockage switch 7;

[0097] If the blockage switch 7 is triggered, it indicates that material accumulation has occurred in the material drop area. The alarm detector will then sound an alarm and control the upstream feeding device to stop. Meanwhile, the transmission unit 11 will continue to operate to eliminate the accumulation.

[0098] If the blocking switch 7 is not triggered, the upstream feeding device continues to feed material into the dropping area.

[0099] Simultaneously, the blocking switch 7 is detected to check whether it is being squeezed;

[0100] If the blockage switch 7 is squeezed, the alarm will activate, the feeding device will stop, and the conveyor roller 2 will be stopped from being transported to the material drop area of ​​the transmission unit 11. The transmission unit 11 will continue to operate to transport the roller 2. The sensor switch 5 will detect whether the roller 2 is in place. The central control processor will control the cylinder piston to extend the stop block to establish an independent gripping work area to grip the roller 2. After the AGV robot 3 completes its task, the stop block will descend, the system will reset and cycle, and wait for the next work cycle.

[0101] During the cycle, the blocking switch 7 is checked for compression. If the blocking switch 7 is still compression, the feeding device remains stopped and the material drop area roller 2 is transported by the transmission unit 11. If the blocking switch 7 is not compression, the feeding device resumes and continues to transport the roller 2 to the material drop area of ​​the transmission unit 11.

[0102] If the blockage switch 7 is not squeezed, the feeding device continues to feed material so that the idler roller 2 enters the material drop area of ​​the transmission unit 11. The transmission unit 11 operates to transfer the idler roller 2. The sensor switch 5 detects whether the idler roller 2 is in place. The central control processor controls the cylinder piston to extend the stop block to establish an independent gripping work area to grip the idler roller 2. After the AGV robot 3 completes its task, the stop block descends, the system resets and cycles, waiting for the next work cycle.

[0103] Based on the S3 robot's grasping and stacking mechanism, after the AGV robot 3 grasps the idler roller 2, a successful grasp determination is performed:

[0104] If the capture is successful, then execute the placement action;

[0105] If the grasping fails, the AGV robot 3 sends an error signal to the central control processor and triggers a system alarm, prompting manual intervention.

[0106] When the central control processor sends a material ready signal, the AGV robot 3 starts to grab the roller 2. The central control processor processes the image data in real time and sends the optimal grabbing path signal of the robot arm 32 to the AGV robot 3. The AGV robot 3 grabs the roller 2 according to the path. At this time, it is determined whether the grabbing of the roller 2 is successful.

[0107] When the AGV robot fails to grab roller 2, it sends an error signal and triggers a system alarm to check for human error.

[0108] When the AGV robot 3 successfully grabs the idler roller 2, it controls the robotic arm 32 to transport the idler roller 2 to the moving pallet 4. The moving pallet 4 places the idler roller 2 precisely and neatly according to the preset stacking pattern. The AGV robot 3 completes one grab and resets, and sends the task grab completion feedback to the central control processor. The control cylinder lowers the stop block, and the next idler roller 2 is released. The material readiness detection of the idler roller 2 is repeated, and the idler roller 2 is grabbed repeatedly for packaging.

[0109] Example 2: Based on S2 vision recognition and positioning, the central control processor performs quality judgment on the images collected by the vision sensor 31 to identify whether the idler roller 2 is a qualified product;

[0110] If the product is determined to be qualified, proceed to step S3;

[0111] If the product is determined to be defective, the central control processor controls the limit switch 8 to not perform the limit action, and the transmission unit 11 continues to operate, conveying the defective roller 2 to the rework area.

[0112] The visual sensor 31 acquires the appearance image of the idler 2, transmits the image acquisition data to the central control processor, compares the appearance of the idler 2, and determines whether the idler 2 is a qualified product.

[0113] If roller 2 is a qualified product, limit switch 8 is activated to limit roller 2, vision sensor 31 positions roller 2, AGV robot 3 moves to the gripping point to grip roller 2, AGV robot 3 transports roller 2 to mobile pallet 4, and stacks it according to the preset mode. AGV robot 3 completes one gripping and reset, and reports the completion of the gripping task to the central control processor. The control cylinder lowers the stop, the next roller 2 is released, the material readiness test of roller 2 is performed again, and the appearance of roller 2 is compared.

[0114] If roller 2 is defective, limit switch 8 will not be activated, and transmission unit 11 will operate. Roller 2 will follow transmission unit 11 to the production line for rework.

[0115] After the idler roller 2 is conveyed by the transmission unit 11, before the idler roller 2 is grasped, the visual sensor 31 performs visual recognition and compares the image of the idler roller 2 with the standard part. If defects such as scratches or paint peeling are detected and the defect area exceeds the preset threshold, the central control processor records the idler roller 2 as a defective product. The AGV robot 3 does not grasp it, the limit switch 8 does not limit the idler roller 2, and the idler roller 2 is conveyed to the rework area with the transmission unit 11 instead of moving the pallet 4.

[0116] If roller 2 is identified as a qualified product, limit switch 8 will limit roller 2, central control processor will control AGV robot 3 to grasp roller 2, vision sensor 31 will locate roller 2, AGV robot 3 will move to the grasping point, AGV robot 3 will steadily grasp roller 2, and then AGV robot 3 will carry roller 2 to the adjacent mobile pallet 4, and place roller 2 accurately and neatly in it according to the preset stacking mode.

[0117] Overall workflow:

[0118] The upstream equipment conveys the idler roller 2, and the transmission unit 11 places the single idler roller 2 into the material drop area of ​​the transmission unit 11 of the gripping platform 1.

[0119] The transmission unit 11 operates continuously, conveying the idler roller 2 to the gripping area. The baffles 12 on both sides of the discharge area guide the idler roller 2 to prevent it from deviating.

[0120] When the idler roller 2 moves with the transmission unit 11 and passes the induction switch 5, the induction switch 5 detects that the idler roller 2 has passed and immediately sends a digital signal indicating that the material is ready to the central control processor.

[0121] After receiving the signal, the central control processor quickly sends a command to the cylinder solenoid valve of the control block mechanism 6, causing the cylinder piston rod to extend and the block to rise, physically blocking the subsequent roller 2 from advancing. This ensures that there is only one roller 2 to be grabbed in the grabbing area at any time, realizing forced single-piece flow and avoiding interference and congestion in the grabbing work area of ​​the AGV robot 3.

[0122] The released idler roller 2 continues to move forward until it is blocked and positioned by the limit switch 8 at the end of the gripping area. The trigger signal of the limit switch 8 is simultaneously fed back to the central control processor to confirm that the idler roller 2 has reached the preset gripping position.

[0123] After receiving the grasping instruction from the central control processor, AGV robot 3 moves to the grasping point.

[0124] The industrial camera mounted on the AGV robot 3 takes pictures of the idler roller 2 and uses image processing algorithms to accurately calculate the current X and Y coordinates and rotation angle of the idler roller 2.

[0125] The AGV controller fine-tunes the final gripping position of the robotic arm 32 in real time based on the posture data from visual feedback to compensate for minor deviations caused by transmission, ensuring the success rate and stability of gripping.

[0126] The AGV robot 3 controls the robotic arm 32 to accurately grasp the roller 2. Then, the AGV robot 3 carries the roller 2 to the top of the mobile pallet 4 and, according to the preset stacking program in the central control processor, accurately and neatly stacks the roller 2 into the designated position.

[0127] After the stacking action is completed, AGV robot 3 sends a task completion signal to the central control processor.

[0128] After receiving the signal, the central control processor retracts the cylinder of the control block mechanism 6, the block descends, and the next idler roller 2 is allowed to enter the gripping area. The system then begins the next work cycle.

[0129] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A production line blanking and baling gripping device, characterized in that, The application relates to a pallet grabbing platform. The pallet grabbing platform comprises a grabbing platform (1) provided with a conveying unit (11) for conveying a supporting roller (2), the conveying unit (11) having a feeding area for receiving the supporting roller (2) and a grabbing area for grabbing the supporting roller (2) by an AGV robot (3); the AGV robot (3) is arranged beside the grabbing platform (1); a movable pallet (4) is arranged in the moving range of the AGV robot (3); an inductive switch (5) is arranged on the conveying unit (11) and located between the feeding area and the grabbing area, and is used for detecting the passing of the supporting roller (2) and generating a material ready signal; a stop block mechanism (6) is arranged on the conveying unit (11) and located upstream of the inductive switch (5), and comprises a cylinder and a stop block driven to lift by the cylinder; a limit switch (8) is arranged at the end of the grabbing area of the conveying unit (11) and is used for limiting the supporting roller (2) reaching the grabbing area; and a central control processor is signal-connected with the inductive switch (5), the cylinder, the limit switch (8) and the AGV robot (3) respectively. The AGV robot (3) is provided with a visual sensor (31) and a mechanical hand (32), the visual sensor (31) is used for identifying the pose information of the supporting roller (2) located in the grabbing area, and the AGV robot (3) controls the mechanical hand (32) to adjust the grabbing action according to the pose information. The grabbing platform (1) is provided with a baffle (12) on both sides of the feeding area of the conveying unit (11) and is used for transversely limiting the supporting roller (2); the feeding area is further provided with a blockage switch (7) and is used for detecting whether the supporting roller is accumulated in the feeding area and sending an alarm signal to the central control processor when the accumulation is detected. The central control processor is further signal-connected with the visual sensor (31) and an alarm detector arranged on the grabbing platform (1). The application further discloses a pallet grabbing method. S1: pallet conveying and positioning; the conveying unit (11) continuously runs to convey the supporting roller (2) from the feeding area to the grabbing area, the inductive switch (5) detects the passing of the supporting roller (2) and sends a signal to the central control processor, the central control processor controls the stop block to rise and block the subsequent supporting roller (2), and the limit switch (8) limits the supporting roller (2) entering the grabbing area; S2: visual identification and positioning; image collection is conducted on the supporting roller (2) located in the grabbing area, the central control processor processes the image data in real time, identifies the pose of the supporting roller (2) and determines a grabbing point; 2. The production line blanking and packing grabbing device according to claim 1, characterized in that, S3: robot grabbing and stacking; the central control processor sends a grabbing instruction to the AGV robot (3), the AGV robot (3) controls the mechanical hand (32) to execute the grabbing action, the AGV robot (3) carries the grabbed material, transports the material to the movable pallet (4) and stacks the material according to a preset mode; 3. The production line blanking and packing grabbing device according to claim 1, characterized in that, S4: system resetting and circulation; after the AGV robot (3) completes the stacking, the AGV robot (3) feeds back a task completion signal to the central control processor, the central control processor controls the stop block to descend and release the next supporting roller (2), and the system is ready for the next working cycle.

4. The production line blanking and packing grabbing device according to claim 2, characterized in that, ​ 5. A control system for a production line blank packaging gripping device according to any one of claims 1-4, characterized in that, ​ ​ ​ ​ ​ 6. The control system of a line blank packing gripping device according to claim 5, characterized in that, Based on S1 roller conveying and positioning, if the inductive switch (5) does not detect the roller (2) passing within the preset time, it is judged whether the production is finished. If the production is finished, the control system is powered off. If the production is not finished, it continues to wait for detection.

7. The control system of a line blank packing gripping device according to claim 5, characterized in that, Based on S2 visual recognition and positioning: Visual recognition: the vision sensor (31) of the AGV robot (3) collects images of the roller (2); Data processing: the central control processor processes the image data in real time to identify the size, posture and grabbing point of the roller (2).

8. The control system of a line blank packing gripping device according to claim 5, characterized in that, Based on S2 visual recognition and positioning, by setting a jamming switch (7) in the dropping area of the grabbing platform (1), the jamming detection steps are: Real-time monitoring of the state of the jamming switch (7); If the jamming switch (7) is triggered, it indicates that the dropping area has accumulated, and the alarm detector alarms, and controls the upstream feeding device to stop at the same time, while the transmission unit (11) continues to run to eliminate the accumulation; If the jamming switch (7) is not triggered, the upstream feeding device continues to feed the dropping area.

9. The control system of a production line blanking and baling gripping device according to claim 5, characterized in that, Based on S3 robot grabbing and stacking, after the AGV robot (3) grabs the roller (2), it judges whether the grabbing is successful: If the grabbing is successful, the stacking action is executed; If the grabbing fails, the AGV robot (3) feeds back an error signal to the central control processor and triggers a system alarm to prompt manual intervention.

10. The control system of a line blank packing gripping device according to claim 7, characterized in that, Based on S2 visual recognition and positioning, the central control processor judges the quality of the images collected by the vision sensor (31) to identify whether the roller (2) is a qualified product; If it is judged to be a qualified product, step S3 is executed; If it is judged to be an unqualified product, the central control processor controls the limit switch (8) not to execute the limit action, and the transmission unit (11) continues to run to transport the unqualified product roller (2) to the repair area.

Images