Feeding device and method for curved-surface workpieces

Abstract

The invention relates to the technical field of automatic equipment, and particularly discloses a feeding device and method for curved-surface workpieces. The device comprises a mobile platform, and a mobile mechanism, a hoisting mechanism and a three-dimensional visual sensor which are arranged on the mobile platform, a carrying vehicle body of the moving mechanism is driven by a bottom walking assembly, and a hoisting area is formed in the middle; the hoisting mechanism is transversely arranged at the top of the vehicle body in a sliding manner, and comprises a hoisting structure for grabbing suspension and a posture adjusting structure for posture adjustment; the three-dimensional vision sensor is used for scanning to obtain three-dimensional shape information of the workpiece; according to the method, automatic feeding is achieved based on the device. Through intelligent cooperation of three-dimensional visual perception and the hoisting posture adjusting mechanism, full-process automation of feeding positioning, aerial posture fine adjustment and accurate placement of the large curved surface workpiece is achieved, and the technical bottleneck that the aerial posture of the heavy workpiece is difficult to accurately control is solved; and the overall efficiency of the processing line and the product quality consistency are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology, specifically to a feeding device and method for curved workpieces. Background Technology

[0002] In the field of large-scale equipment manufacturing, such as shipbuilding and energy equipment construction, the precise forming of three-dimensional curved metal sheets (such as hull plates) is a core manufacturing process. With technological advancements, high-end digital forming equipment, represented by three-dimensional CNC bending machines, has been applied. Through program-controlled mold surfaces, it achieves high-precision, automated cold bending processing of complex curved sheet materials, significantly improving the processing capacity and consistency of the forming process.

[0003] Currently, the common operating method for loading materials onto this type of CNC bending machine is to rely on a manually operated rail-mounted material handling trolley equipped with electromagnetic chucks. The operator visually judges and manipulates the trolley to transport the sheet metal to the vicinity of the processing area, and attempts to manually adjust the sheet metal's position to align with the mold. During this process, sometimes point sensors such as laser rangefinders are used for auxiliary positioning. When angle adjustments are required, multiple hoists are typically used for differential operation, or an adjustable tilt support mechanism is installed on the support platform.

[0004] However, existing methods have significant limitations when dealing with non-standard curved workpieces that are large, heavy, and complex in shape: reliance on manual visual alignment cannot guarantee stable initial positioning accuracy; general-purpose lifting tools lack precise perception of the workpiece's three-dimensional shape and real-time posture, and cannot automatically plan multi-point adsorption schemes; and attitude control through methods such as differential hoisting is crude and cannot achieve complex and precise posture adjustments of heavy curved workpieces in the air. These shortcomings cause interruptions in the automated processing flow during loading and unloading, becoming a key bottleneck restricting overall processing efficiency and finished product quality. Summary of the Invention

[0005] To address the technical problems in the prior art, the present invention provides a feeding device and method for curved workpieces, aiming to solve the problems in the prior art where feeding large curved workpieces relies on manual operation, has low initial positioning accuracy, and is difficult to automatically and finely adjust in mid-air attitude, resulting in interruption of the processing flow and limited efficiency and quality.

[0006] The technical solution of the present invention is as follows: A loading device for curved workpieces includes a moving platform, a moving mechanism, a lifting mechanism, and a three-dimensional vision sensor, wherein... The mobile mechanism includes a transport vehicle body and a traveling assembly. The transport vehicle body is mounted on the mobile platform, with a hoisting area formed in its middle. The traveling assembly is located at the bottom of the transport vehicle body and is used to drive the transport vehicle body to move. The lifting mechanism is laterally slidably mounted on the top of the transport vehicle body, with its bottom extending to the lifting area; the sliding direction of the lifting mechanism is perpendicular to the movement direction of the transport vehicle body; the lifting mechanism includes a lifting structure and an attitude adjustment structure. The hoisting structure is mounted on the transport vehicle and is used to perform the grabbing, suspending and releasing of the workpiece; The attitude adjustment structure is mounted on the vehicle body and is used to perform adsorption and attitude adjustment of the workpiece under the drive of the hoisting structure. The three-dimensional vision sensor is mounted on the vehicle body and faces the hoisting area to acquire the three-dimensional shape information of the curved workpiece located within the hoisting area.

[0007] Optionally, the hoisting structure includes a main hoisting assembly and an auxiliary hoisting assembly, wherein, The main hoisting assembly includes two sets, which are respectively located at both ends of the transport vehicle body along the first direction. The two sets of main hoisting assemblies can be driven independently to generate relative displacement along the sliding direction of the hoisting mechanism. The auxiliary lifting assembly is located between the two main lifting assemblies and is used to provide auxiliary adsorption of the workpiece.

[0008] Optionally, the main hoisting assembly includes a first lifting component and a first electromagnetic unit, wherein, The first lifting component is slidably disposed on the top side of the transport vehicle body, and its lifting end extends downward to the hoisting area; The first electromagnetic unit is located at the lifting end of the first lifting component and is electrically connected to an external control system; it is used to perform the gripping, suspending and releasing of the workpiece under control.

[0009] Optionally, the attitude adjustment structure includes a second lifting component and a second electromagnetic unit, wherein, The second lifting component is slidably mounted on the top side of the transport vehicle and located between the two sets of main lifting components, with its lifting end extending downward to the lifting area; The second electromagnetic unit consists of three units; it is located at the lifting end of the second lifting component and is electrically connected to the external control system; it is used to perform the gripping, suspending and releasing of the workpiece under control.

[0010] Optionally, the attitude adjustment structure further includes a central mounting plate and a rotating shaft, wherein, The central hanging plate is rotatably connected to the rotating shaft, and a ring array of multiple second electromagnetic units is arranged around the central hanging plate; The top of the rotating shaft is connected to the lifting end of the second lifting component, and is used to rotate around the rotating shaft when the two sets of main lifting components move relative to each other, so as to drive multiple second electromagnetic units to rotate synchronously, thereby adjusting the spatial posture of the adsorbed workpiece.

[0011] Optionally, the attitude adjustment structure further includes a shackle; The second electromagnetic unit is connected to the central hanging plate via the shackle, and is used to quickly change or adjust the model of the second electromagnetic unit according to the shape and size of different curved workpieces.

[0012] Optionally, the three-dimensional vision sensor includes two sets; It is symmetrically distributed on both sides of a set of main hoisting components at the feeding end of the transport vehicle; it is used to scan the curved workpiece placed in the hoisting area from the forward direction to obtain its complete three-dimensional shape information as the transport vehicle moves toward or passes over the workpiece.

[0013] Optionally, the walking assembly includes a drive motor, a walking gearbox, and walking wheels, wherein, The drive motor is fixed to the bottom of the vehicle body, and its output shaft is connected to the running gearbox. The running gearbox is fixed to the bottom of the vehicle body, and its output shaft is connected to the running wheels; The mobile platform is equipped with a track corresponding to the running wheels, and a rack is provided on one side of the track corresponding to the running wheels; it is used to drive the vehicle body to move along the track under the drive of the drive motor.

[0014] Optionally, a laser rangefinder sensor may also be included; The laser rangefinder is located at the end of the mobile platform and is used to monitor the distance between the vehicle body and external obstacles.

[0015] The present invention also provides a method for loading curved workpieces, wherein the loading of curved workpieces is achieved by means of the above-described loading device for curved workpieces, and the loading method includes: S1: Movement and 3D Data Acquisition: Control the movement of the transport vehicle so that the 3D vision sensor can scan the curved workpiece to be loaded in the hoisting area during the movement and acquire its complete 3D shape data. S2: Intelligent Analysis and Lifting Point Planning: Based on three-dimensional topographic data, the contour, center of gravity and spatial pose of the workpiece are identified, and the adsorption position and lifting strategy of each electromagnetic unit in the main lifting component and attitude adjustment lifting device structure are planned accordingly. S3: Positioning, Adsorption and Initial Lifting: Controls the main lifting assembly and attitude adjustment lifting device structure to move to the corresponding adsorption position according to the plan, and controls each electromagnetic unit to be energized to adsorb the workpiece, and then performs lifting to remove the workpiece from the support surface to a safe height; S4: Aerial Attitude Coordination Adjustment: By controlling the two sets of main hoisting components to generate a preset relative displacement, the central hoisting plate of the attitude adjustment hoisting structure is driven to rotate around the rotation axis, which drives multiple second electromagnetic units to move in coordination, thereby adjusting the spatial attitude of the workpiece in the suspended state to the target attitude aligned with the reference of the target processing equipment. S5: Transfer and Precise Placement: Control the transport vehicle to move the workpiece after attitude adjustment to the loading position of the processing equipment, control the main hoisting component and attitude adjustment hoisting structure to descend, and after accurately placing the workpiece in the target position, control each electromagnetic unit to de-energize and release the workpiece.

[0016] Compared with the prior art, the feeding device and method for curved workpieces provided by the present invention have the following advantages: (1) By integrating a three-dimensional vision sensor, the experience-based judgment that relies on manual visual inspection is replaced; by coordinating the independently driveable main hoisting component with the central attitude adjustment structure, the automatic and precise adjustment of the workpiece's aerial posture is realized. The entire device and method seamlessly integrate the material loading process into the automated processing line, eliminating process interruptions and equipment waiting time caused by manual operation, and fully leveraging the processing potential of high-end forming equipment.

[0017] (2) Through intelligent planning and collaborative posture adjustment, high-precision initial positioning is ensured and product quality consistency is improved; the device automatically plans the optimal lifting point and posture adjustment path based on the acquired three-dimensional topography data, fundamentally overcoming the subjective error of manual alignment; by driving the differential of the two sets of main lifting components, the central lifting plate is forced to rotate, thereby driving the multi-point adsorption unit to make precise and collaborative adjustments to the six-degree-of-freedom spatial posture of the workpiece, ensuring that the workpiece is placed on the processing equipment with high-precision posture, providing stable and high-quality initial conditions for subsequent forming processing.

[0018] (3) A multi-point hoisting scheme combining two sets of main hoisting components, a central attitude adjustment structure, and auxiliary adsorption is adopted. Flexible connections such as shackles ensure the stability and safety of hoisting large heavy-duty workpieces and can flexibly adapt to non-standard curved workpieces of different sizes, curvatures and shapes. Combined with safety sensors such as laser rangefinders, safety monitoring of the operation process is realized, which greatly reduces safety risks. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a feeding device for curved workpieces according to the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the internal lifting mechanism of a feeding device for curved workpieces according to the present invention; Figure 4 for Figure 3 Enlarged view at point B in the middle; Figure 5 This is a schematic diagram of the bottom structure of a feeding device for curved workpieces according to the present invention; Figure 6 for Figure 5 Enlarged view at point C; Figure 7 This is a flowchart of the feeding method for curved workpieces according to the present invention.

[0020] In the diagram: 1. Mobile platform; 11. Track; 12. Rack; 2. Mobile mechanism; 21. Carrier body; 22. Walking assembly; 221. Drive motor; 222. Running gearbox; 223. Running wheel; 3. Lifting mechanism; 31. Lifting structure; 32. Attitude adjustment structure; 311. Main lifting assembly; 312. Auxiliary lifting assembly; 301. First lifting component; 302. First electromagnetic unit; 321. Second lifting component; 322. Second electromagnetic unit; 323. Central lifting platform; 324. Rotating shaft; 325. Shackle; 4. 3D vision sensor; 5. Laser rangefinder sensor. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0027] Please see Figure 1-6 The present invention provides a feeding device for curved workpieces, including a moving platform 1, a moving mechanism 2, a lifting mechanism 3 and a three-dimensional vision sensor 4.

[0028] like Figure 1-3 As shown, the moving mechanism 2 includes a carrier body 21 and a walking assembly 22. The carrier body 21 is mounted across the moving platform 1, with a hoisting area formed in its middle. The walking assembly 22 is located at the bottom of the carrier body 21 and is used to drive the carrier body 21 to move. The lifting mechanism 3 is laterally slidably mounted on the top of the carrier body 21, with its bottom extending to the hoisting area. The sliding direction of the lifting mechanism 3 is perpendicular to the movement direction of the carrier body 21. The lifting mechanism 3 includes a hoisting structure 31 and an attitude adjustment structure 32. The hoisting structure 31 is mounted on the carrier body 21 and is used to perform the gripping, suspension, and release of the workpiece. The attitude adjustment structure 32 is mounted on the carrier body 21 and is used to perform the adsorption and attitude adjustment of the workpiece under the drive of the hoisting structure 31. The three-dimensional vision sensor 4 is mounted on the carrier body 21 and faces the hoisting area to acquire the three-dimensional shape information of the curved workpiece located in the hoisting area.

[0029] Specifically, the mobile platform 1 and the mobile mechanism 2 constitute the mobile foundation of the device, enabling the transport vehicle 21 to carry heavy loads and transfer them between workstations; the lifting mechanism 3 is the core of the operation, and its unique split design for lifting and attitude adjustment is the key to this invention; the lifting structure 31 is responsible for providing the main lifting force and completing the basic grabbing and releasing actions, while the attitude adjustment structure 32 is dedicated to fine attitude adjustment. The two work together to solve the problem that a single lifting device cannot simultaneously handle both load-bearing and fine operation; at the same time, if the length of the plate is too small, the attitude adjustment structure 32 will also cooperate with the lifting mechanism 3 to carry out the lifting work; the three-dimensional vision sensor 4 is the eye of the system. It acquires accurate three-dimensional data of the workpiece through non-contact scanning, providing a unique and objective input for subsequent intelligent decision-making and automatic control, fundamentally replacing the traditional operation mode that relies on manual visual inspection and experience judgment, and laying the perception foundation for realizing full-process automation. The working principle of the three-dimensional vision sensor 4 and the control structure of the external connection are existing technologies and will not be elaborated here.

[0030] In some embodiments, such as Figure 5 As shown, the hoisting structure 31 includes a main hoisting assembly 311 and an auxiliary hoisting assembly 312. The main hoisting assembly 311 includes two sets, which are respectively located at both ends of the transport vehicle body 21 along the first direction. The two sets of main hoisting assemblies 311 can be driven independently to generate relative displacement along the sliding direction of the hoisting mechanism 3. The auxiliary hoisting assembly 312 is located between the two main hoisting assemblies 311 and is used to provide auxiliary adsorption of the workpiece.

[0031] Specifically, this embodiment embodies the innovative concept of main and auxiliary coordination and differential drive; two sets of independently driveable main hoisting components 311 constitute the driving source of the attitude adjustment action, and the relative displacement generated between them is the mechanical cause of all subsequent fine attitude adjustments; the establishment of auxiliary hoisting components 312 is mainly for safety and stability considerations; for large workpieces, especially those with curvature, when hoisting only from the two end lifting points, the middle part of the workpiece may deflect or become unstable due to its own weight; the auxiliary hoisting components 312 provide additional adsorption force in the middle area, which can effectively constrain workpiece deformation, distribute the force, and ensure a smooth hoisting process, which is a prerequisite for ensuring the safe implementation of high-precision attitude adjustment.

[0032] In some embodiments, such as Figure 3-5 As shown, the main lifting assembly 311 includes a first lifting member 301 and a first electromagnetic unit 302. The first lifting member 301 is slidably disposed on the top side of the transport vehicle body 21, and its lifting end extends downward to the lifting area. The first electromagnetic unit 302 is disposed at the lifting end of the first lifting member 301 and is electrically connected to an external control system. It is used to perform the gripping, suspension and release of the workpiece under control.

[0033] Specifically, the first lifting component 301, preferably such as an electric hoist, hydraulic cylinder, or servo cylinder, is responsible for realizing the vertical lifting movement of the workpiece in the Z-axis direction, which is the basic action of hoisting. Its feature of sliding on the top of the transport vehicle indicates that it is also integrated with the ability to move horizontally, which is usually achieved through a lateral drive mechanism, such as a combination of servo motor, gear rack and pinion, and linear guide rail. This enables the first electromagnetic unit 302, such as a large-tonnage lifting electromagnet, to not only lift but also accurately position itself in the horizontal plane to reach the planned adsorption point. As an end effector, the first electromagnetic unit 302 is precisely controlled by the control system to realize the automation of gripping and releasing.

[0034] In some embodiments, such as Figure 5-6 As shown, the attitude adjustment structure 32 includes a second lifting member 321 and a second electromagnetic unit 322. The second lifting member 321 is slidably disposed on the top side of the transport vehicle body 21 and located between the two sets of main hoisting assemblies 311, with its lifting end extending downward to the hoisting area. Three second electromagnetic units 322 are provided. They are disposed at the lifting end of the second lifting member 321 and electrically connected to the external control system. They are used to perform the gripping, suspension and release of the workpiece under control.

[0035] Specifically, the attitude adjustment structure 32 is the core execution component for realizing the fine attitude adjustment function in the air in this invention; the second lifting component 321 enables it to have independent lifting function; the key is that it is equipped with three second electromagnetic units 322, which constitute a stable three-point adsorption surface; according to the principle of spatial kinematics, three non-collinear points can determine a plane and can effectively transmit torque; the three adsorption points work together to provide a necessary and stable force base for adjusting the rotation of the workpiece around the X and Y axes, that is, pitch and roll; its spatial separation from the main hoisting component 311 and its location between the two main hoisting components 311 is a prerequisite for realizing complex coordinated motion.

[0036] In some embodiments, such as Figure 6 As shown, the attitude adjustment structure 32 also includes a central lifting plate 323 and a rotating shaft 324. The central lifting plate 323 is rotatably connected to the rotating shaft 324. A plurality of second electromagnetic units 322 are arranged in a ring array around the central lifting plate 323. The top of the rotating shaft 324 is connected to the lifting end of the second lifting component 321, so that when the two sets of main lifting components 311 generate relative motion, they rotate around the rotating shaft 324 to drive the plurality of second electromagnetic units 322 to rotate synchronously, thereby adjusting the spatial attitude of the adsorbed workpiece.

[0037] Specifically, this structure reveals the unique passive linkage attitude adjustment mechanical principle of this invention; the central lifting platform 323 and the rotating shaft 324 constitute a suspension platform that can rotate around a vertical axis, i.e., the Z-axis; multiple second electromagnetic units 322 are arranged in a circular array on it; when the main lifting components 311 on both sides generate a lateral displacement, i.e., relative displacement along the Y-axis, under the command of the control system, a rotational torque is applied to the central lifting platform 323 through a rigid frame or flexible steel cable connection, forcing it to rotate around the rotating shaft 324; this rotation will drive all the second electromagnetic units 322 below to rotate synchronously, thereby applying an adjustment torque to the part of the workpiece they adsorb, ultimately realizing the attitude adjustment of the workpiece around the Z-axis; combined with the plane formed by the three second electromagnetic units 322 themselves, the device has the ability to adjust at least three of the six degrees of freedom of the workpiece rotation; this design avoids installing additional active rotation actuators on the attitude adjustment structure, simplifies the mechanical complexity of the hollow load-bearing area, and improves reliability.

[0038] In some embodiments, such as Figure 6 As shown, the attitude adjustment structure 32 also includes a shackle 325; the second electromagnetic unit 322 is connected to the central hanging plate 323 through the shackle 325, and is used to quickly change or adjust the model of the second electromagnetic unit 322 according to the shape and size of different curved workpieces.

[0039] Specifically, the shackle 325, as a standardized flexible connector, plays multiple roles here. First, it provides a quick-release interface, facilitating the replacement of different models of the second electromagnetic unit 322, such as suction force, size, and bottom shape, according to the workpiece material, weight, and radius of curvature, greatly enhancing the process flexibility of the device. Second, its hinged characteristics allow the second electromagnetic unit 322 to achieve good fit through slight oscillation even when the workpiece surface is not absolutely parallel, ensuring reliable adsorption. Third, during posture adjustment, this flexible connection can buffer some stress, making the force transmission smoother and helping to protect the workpiece surface and the adsorption unit itself.

[0040] In some embodiments, such as Figure 1 , Figure 3 As shown, the three-dimensional vision sensor 4 includes two sets; they are symmetrically distributed on both sides of a set of main hoisting components 311 at the feeding end of the transport vehicle body 21; they are used to scan the curved workpiece placed in the hoisting area from the forward direction during the process of the transport vehicle body 21 moving towards the workpiece or passing over the workpiece, so as to obtain its complete three-dimensional shape information.

[0041] Specifically, the 3D vision sensor 4 is preferably a depth camera based on structured light or binocular vision. This arrangement is optimized, with the sensors concentrated at the feeding end of the transport vehicle 21 to efficiently complete the mobile scanning task. When the transport vehicle 21 moves toward or passes over the workpiece to be loaded on the ground, these two sets of sensors act like scanners, taking pictures of the workpiece from the direction of the vehicle's movement. Through subsequent point cloud stitching, a complete 3D model of the workpiece can be obtained. This avoids the increased cost and data processing complexity caused by arranging sensors at both ends of the vehicle. It cleverly utilizes the movement of the vehicle itself to extend the effective detection range of a single set of sensors, achieving a balance between cost and performance.

[0042] In some embodiments, such as Figure 1-2 As shown, the walking assembly 22 includes a drive motor 221, a traveling gearbox 222, and traveling wheels 223. The drive motor 221 is fixed to the bottom of the vehicle body 21, and its output shaft is connected to the traveling gearbox 222. The traveling gearbox 222 is fixed to the bottom of the vehicle body 21, and its output shaft is connected to the traveling wheels 223. The moving platform 1 is provided with a track 11 corresponding to the traveling wheels 223, and a rack 12 meshing with the track 11 is provided on one side of the track 11 corresponding to the traveling wheels 223. The track 11 is used to drive the vehicle body 21 to move along the track 11 under the drive of the drive motor 221.

[0043] Specifically, the walking component 22 adopts a gear and rack transmission method; the drive motor 221 provides power, usually a servo motor, which drives the walking wheel 223 to rotate after being reduced in speed and increased in torque by the walking gearbox 222; the walking wheel 223 meshes with the rack 12 on the track 11. Compared with friction drive, this transmission method has the advantages of large load capacity, high positioning accuracy, no slippage, and good rigidity. It is particularly suitable for heavy-load, long-span, frequent start-stop and precise positioning application scenarios, ensuring the stability of the transport vehicle 21 in the process of transporting heavy workpieces and the accuracy of the stopping position.

[0044] In some embodiments, such as Figure 1 As shown, a loading device for curved workpieces also includes a laser rangefinder 5; the laser rangefinder 5 is located at the end of the mobile platform 1 and is used to monitor the distance between the transport vehicle 21 and external obstacles.

[0045] Specifically, the laser rangefinder 5 is an important safety redundancy device. In automated systems, especially in scenarios involving multi-vehicle collaboration or human-machine coexistence, collision avoidance is crucial. This sensor can monitor the distance between the end of the vehicle body 21 and a preset safety boundary or moving obstacle in real time and feed the signal back to the control system. Once the distance is lower than the safety threshold, the control system can immediately trigger deceleration or emergency stop, effectively avoiding collision accidents and improving the safety level and reliability of the entire system.

[0046] This invention also provides a method for feeding curved workpieces, such as... Figure 7 As shown, the above-described feeding device for curved workpieces enables the feeding of curved workpieces. The feeding method includes: S1: Movement and 3D Data Acquisition: Control the movement of the transport vehicle so that the 3D vision sensor can scan the curved workpiece to be loaded in the hoisting area during the movement and acquire its complete 3D shape data. S2: Intelligent Analysis and Lifting Point Planning: Based on three-dimensional topographic data, the contour, center of gravity and spatial pose of the workpiece are identified, and the adsorption position and lifting strategy of each electromagnetic unit in the main lifting component and attitude adjustment lifting device structure are planned accordingly. S3: Positioning, Adsorption and Initial Lifting: Controls the main lifting assembly and attitude adjustment lifting device structure to move to the corresponding adsorption position according to the plan, and controls each electromagnetic unit to be energized to adsorb the workpiece, and then performs lifting to remove the workpiece from the support surface to a safe height; S4: Aerial Attitude Coordination Adjustment: By controlling the two sets of main hoisting components to generate a preset relative displacement, the central hoisting plate of the attitude adjustment hoisting structure is driven to rotate around the rotation axis, which drives multiple second electromagnetic units to move in coordination, thereby adjusting the spatial attitude of the workpiece in the suspended state to the target attitude aligned with the reference of the target processing equipment. S5: Transfer and Precise Placement: Control the transport vehicle to move the workpiece after attitude adjustment to the loading position of the processing equipment, control the main hoisting component and attitude adjustment hoisting structure to descend, and after accurately placing the workpiece in the target position, control each electromagnetic unit to de-energize and release the workpiece.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A loading device for a curved workpiece, characterized in that, The utility model relates to a kind of three-dimensional curved surface workpiece's automatic lifting and adjusting device, including mobile platform (1), mobile mechanism (2), hoist mechanism (3) and three-dimensional visual sensor (4), wherein, The mobile mechanism (2) includes a carrier body (21) and a walking assembly (22), the carrier body (21) is arranged on the mobile platform (1), and the middle part forms a hoisting area, the walking assembly (22) is arranged at the bottom of the carrier body (21), and is used to drive the carrier body (21) to move; The hoist mechanism (3) is transversely slidably arranged on the top of the carrier body (21), and the bottom extends to the hoisting area; the sliding direction of the hoist mechanism (3) is perpendicular to the movement direction of the carrier body (21); the hoist mechanism (3) includes a hoisting structure (31) and a posture adjusting structure (32); The hoisting structure (31) is arranged on the carrier body (21) and is used to grasp, suspend and release the workpiece; The posture adjusting structure (32) is arranged on the carrier body (21) and is used to adsorb and adjust the posture of the workpiece under the drive of the hoisting structure (31); The three-dimensional visual sensor (4) is arranged on the carrier body (21) and faces the hoisting area, and is used to obtain the three-dimensional topographic information of the curved surface workpiece in the hoisting area.

2. The loading device for a curved workpiece according to claim 1, wherein The hoisting structure (31) includes a main hoisting assembly (311) and an auxiliary hoisting assembly (312), wherein, The main hoisting assembly (311) includes two groups, which are arranged at the two ends of the carrier body (21) along the first direction, and the two groups of main hoisting assemblies (311) can be independently driven to produce relative displacement along the sliding direction of the hoist mechanism (3); The auxiliary hoisting assembly (312) is arranged between the two main hoisting assemblies (311) and is used to provide auxiliary adsorption for the workpiece.

3. The loading device for a curved workpiece according to claim 2, wherein The main hoisting assembly (311) includes a first lifting member (301) and a first electromagnetic unit (302), wherein, The first lifting member (301) is slidably arranged on the top side of the carrier body (21), and the lifting end extends downward to the hoisting area; The first electromagnetic unit (302) is arranged at the lifting end of the first lifting member (301) and is electrically connected with the external control system; it is used to grasp, suspend and release the workpiece under control.

4. The loading device for a curved workpiece according to claim 2, wherein The posture adjusting structure (32) includes a second lifting member (321) and a second electromagnetic unit (322), wherein, The second lifting member (321) is slidably arranged on the top side of the carrier body (21) and is located between the two groups of main hoisting assemblies (311), and the lifting end extends downward to the hoisting area; The second electromagnetic unit (322) is provided with three; it is arranged at the lifting end of the second lifting member (321) and is electrically connected with the external control system; it is used to grasp, suspend and release the workpiece under control.

5. The loading device for a curved workpiece according to claim 4, wherein The posture adjusting structure (32) further includes a central lifting disc (323) and a rotating shaft (324), wherein, The central lifting disc (323) is rotationally connected with the rotating shaft (324), and a plurality of second electromagnetic units (322) are arranged in an annular array on the periphery of the central lifting disc (323). The top of the rotating shaft (324) is connected with the end of the lifting end of the second lifting member (321), and is used for rotating around the rotating shaft (324) when the two groups of main hoisting assemblies (311) generate relative motion, so as to drive the plurality of second electromagnetic units (322) to rotate synchronously, thereby adjusting the spatial posture of the attracted workpiece.

6. The loading device for a curved workpiece according to claim 5, wherein The posture adjusting structure (32) further comprises a buckle (325); The second electromagnetic unit (322) is connected with the central lifting disc (323) through the buckle (325), and is used for quickly replacing or adjusting the type of the second electromagnetic unit (322) according to the shape and size of different curved workpieces.

7. The loading device for a curved workpiece according to claim 2, wherein The three-dimensional visual sensor (4) comprises two groups; One group of main hoisting assemblies (311) is symmetrically distributed on both sides of the feeding end of the carrier vehicle body (21), and is used for scanning the curved workpiece placed on the lifting area from the front direction during the movement of the carrier vehicle body (21) to the workpiece or passing above the workpiece, so as to obtain the complete three-dimensional topographic information of the curved workpiece.

8. The loading device for a curved workpiece according to claim 2, wherein The walking assembly (22) comprises a driving motor (221), a walking gear box (222) and a walking wheel (223), wherein, The driving motor (221) is fixed to the bottom of the carrier vehicle body (21), and the output shaft thereof is connected with the walking gear box (222); The walking gear box (222) is fixed to the bottom of the carrier vehicle body (21), and the output shaft thereof is connected with the walking wheel (223); The moving platform (1) is provided with a track (11) corresponding to the walking wheel (223), and one side of the track (11) corresponding to the walking wheel (223) is provided with a rack (12) engaged with the walking wheel (223); for driving the carrier vehicle body (21) to move along the track (11) under the driving of the driving motor (221).

9. The loading device for a curved workpiece according to claim 1, wherein Further comprising a laser ranging sensor (5); The laser ranging sensor (5) is arranged at the end of the moving platform (1), and is used for monitoring the distance between the carrier vehicle body (21) and the external obstacle.

10. A method for loading a curved workpiece, characterized by, The feeding device for curved workpieces of any one of claims 1-9 is used to feed the curved workpieces, and the feeding method comprises: S1: moving and three-dimensional data acquisition: controlling the carrier vehicle body to move, so that the three-dimensional visual sensor scans the curved workpiece to be fed in the lifting area during the movement, and obtains the complete three-dimensional topographic data of the curved workpiece; S2: intelligent analysis and lifting point planning: based on the three-dimensional topographic data, the contour, barycenter and spatial pose of the workpiece are identified, and the lifting positions and lifting strategies of the electromagnetic units in the main hoisting assembly and the posture adjusting lifting tool structure are planned according to the three-dimensional topographic data; S3: positioning, attracting and initial lifting: controlling the main hoisting assembly and the posture adjusting lifting tool structure to move to the corresponding attracting position according to the planning, and controlling the electromagnetic units to be powered to attract the workpiece, and then performing lifting to make the workpiece separate from the supporting surface to a safe height; S4: in-air posture coordinated adjustment: by controlling the two groups of main hoisting assemblies to generate a predetermined relative displacement, driving the central lifting disc of the posture adjusting lifting tool structure to rotate around the rotating shaft, and driving the plurality of second electromagnetic units to move coordinately, so as to adjust the spatial posture of the workpiece in the suspended state to the target pose aligned with the target machining equipment reference. S5: Moving and Precise Placing: The control of the carrier body carries the workpiece after the posture adjustment to the loading position of the machining equipment, the control of the main lifting assembly and the posture adjusting hoist structure is lowered, and the workpiece is precisely placed in the target position, and then the control of each electromagnetic unit is powered off to release the workpiece.

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