Intelligent feeding and discharging device for metal plates

Abstract

The utility model provides an intelligent feeding and discharging device for metal plates, the intelligent feeding and discharging device for the metal plates comprises a gripper, a robot, a coarse positioning camera and an electrical control cabinet, the gripper is a metal plate transfer gripper and is arranged on a tail end shaft of the robot; the coarse positioning camera is arranged above the feeding station and is used for identifying an image and a relative position of a workpiece; the electrical control cabinet is used for automatic control of the whole device. According to the automatic feeding and discharging device, the robot and the gripper are combined, automatic feeding and discharging are carried out under 3D visual positioning, manual workpiece hoisting and positioning in the cutting and polishing working sections are omitted, feeding and discharging can be carried out between a plurality of cutting tables and polishing tables in an interpenetrating mode through time difference, the construction efficiency is greatly improved, and dangerous work of workers is further relieved. And meanwhile, by means of the robot and visual positioning, the feeding and discharging positions of the workpieces are more accurate, and the grinding efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of plate loading and unloading equipment for metal cutting and grinding construction sites. Background Art

[0002] In many heavy industries today, bevel cutting of metal plates requires manual lifting of heavy steel plates onto the cutting platform, manual marking on the steel plates, and use of a flame cutting torch to perform bevel cutting according to the marked lines. After cutting, the workpieces are manually unloaded to one side for grinding and bevel slag treatment. After grinding, the workpieces are stacked and discharged.

[0003] The shortcomings of the existing metal plate cutting and grinding process are: 1. Manual loading of heavy plates is very slow and unsafe; 2. Cutting with a flame cutting gun after manual marking is very slow and has poor accuracy; 3. The noise and dust generated during the cutting process have a great impact on the health of workers; 4. After cutting, grinding is required, which requires manual unloading again, and the efficiency is very low; and it is very dangerous to hang the workpiece during grinding, and the sparks during the grinding process can also hurt people; 5. After grinding, the workpiece needs to be manually hoisted into place for stacking, which is inefficient and not neat enough.

[0004] Therefore, it is necessary to improve construction efficiency and workers' safety. Utility Model Content

[0005] The purpose of the utility model is to address the above-mentioned deficiencies in the prior art and provide an intelligent loading and unloading device and a gripper for metal plates, so as to minimize manual operations in the workshop and improve the efficiency of metal plate cutting and grinding construction.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] An intelligent loading and unloading device for metal sheets comprises a gripper, a robot, a coarse positioning camera and an electrical control cabinet. The gripper is a metal sheet transfer gripper and is arranged on the end shaft of the robot; the coarse positioning camera is arranged above the loading station and is used to identify the image and relative position of the workpiece; the electrical control cabinet is used for the automatic control of the entire device.

[0008] Furthermore, the gripper is an electromagnetic transfer gripper; further, the gripper includes a fixed frame, a connecting shaft, a first electrophoretic magnet, an electric cylinder, a guide rail, a slider and a second electrophoretic magnet, the first electrophoretic magnet is fixed to the fixed frame through the connecting shaft; one end of the guide rail is fixed to the fixed frame, and the guide rail is parallel to the connecting shaft; the slider is arranged on the guide rail, and the second electrophoretic magnet is arranged on the front panel of the moving direction of the slider; the electric cylinder is arranged on the fixed frame, and the screw rod of the electric cylinder is connected to the rear panel of the slider.

[0009] Furthermore, the center distance between the first electrophoretic magnet and the second electrophoretic magnet is 500-1000 mm, the size is (100-200) x (100-200) mm, the rated load is 150-1000 kg, and the high temperature resistance is 320° C. When the workpiece size is less than 700 mm, one electromagnet is used to grab it, and when the workpiece size is greater than 700 mm, two electromagnets are used to grab it at the same time.

[0010] Furthermore, a first spring shock-absorbing pad is provided between the connecting shaft and the fixing frame.

[0011] Furthermore, a second spring damping pad is provided between the second electrophoresis magnet and the slider.

[0012] Furthermore, the robot is a six-axis robotic arm. After the rough positioning camera locates the workpiece to be loaded, the robot cooperates with the gripper to automatically load the workpiece onto the cutting table and / or the grinding table. After the grinding work is completed, the workpiece is unloaded to the finished product station for palletizing. The robot has a rated load of 180-360kg, a working radius of more than 2700mm, and a repeat positioning accuracy of ±0.2mm.

[0013] Furthermore, the coarse positioning camera is a 3D vision camera with a position recognition accuracy of 2mm; the installation height of the coarse positioning camera is set to 3000mm, and when the workpiece stacking height is 1000mm, the identifiable workpiece range is 2000x1500mm.

[0014] The above-mentioned intelligent loading and unloading device for metal plates can further set safety fences around the loading and unloading of workpieces to isolate the construction area.

[0015] Beneficial effects of the utility model:

[0016] The intelligent loading and unloading device for metal plates provided by the utility model combines a robot and a gripper to automatically load and unload materials under 3D visual positioning, which not only eliminates the need for manual lifting and positioning of workpieces in the cutting and grinding sections, but can also use the time difference to intersperse feeding and unloading between multiple cutting tables and grinding tables, greatly improving construction efficiency and further relieving workers of dangerous work.

[0017] At the same time, by using robots and visual positioning, the loading and unloading positions of workpieces will be more precise and the grinding efficiency will be higher.

[0018] The following is an example of the specific implementation of the present invention in conjunction with the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the metal sheet loading and unloading gripper structure provided in an embodiment of the utility model.

[0020] Figure 2 A schematic diagram of the structure and application scenario of an intelligent loading and unloading device for metal sheets provided in an embodiment of the utility model.

[0021] Reference numerals:

[0022] 1 gripper, 101 fixing bracket, 102 connecting shaft, 103 first electrophoresis magnet, 104 electric cylinder

[0023] 105 guide rail, 106 slider, 107 second electrophoresis magnet, 108 first spring damping pad

[0024] 109 Second spring shock absorber

[0025] 2 Robot, 3 Coarse positioning camera, 4 Metal sheet, 5 Cutting table, 6 Cutting machine

[0026] 7 grinding machine, 8 safety fence, 9 dust collector, 10 flipping machine DETAILED DESCRIPTION

[0027] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0028] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0029] refer to Figure 1 The present embodiment provides a metal sheet gripper, including a fixed frame 101, a connecting shaft 102, a first electrophoretic magnet 103, an electric cylinder 104, a guide rail 105, a slider 106 and a second electrophoretic magnet 107, wherein the first electrophoretic magnet 103 is fixed to the fixed frame 101 through the connecting shaft 102; one end of the guide rail 105 is fixed to the fixed frame 101, and the guide rail 105 is parallel to the connecting shaft 102; the slider 106 is arranged on the guide rail 105, and the second electrophoretic magnet 107 is arranged on the front panel of the moving direction of the slider 106; the electric cylinder 104 is arranged on the fixed frame 101, and the screw rod of the electric cylinder 104 is connected to the rear panel of the slider 106.

[0030] Two electro-permanent magnets are set on the gripper, one is fixed and the other can be raised and lowered. You can choose to use one electromagnet to grab the workpiece or two electromagnets to grab the workpiece at the same time according to the size of the workpiece. For example, two electromagnets with a size of 160x160mm, a rated load of 320kg, and a center distance of 500mm are used. When the workpiece size is less than 700mm, one electromagnet is used to grab it, and when the workpiece size is greater than 700mm, two electromagnets are used to grab it at the same time. Considering that metal cutting and grinding will increase the temperature of the workpiece, an electro-permanent magnet with a high temperature resistance of 320℃ is further selected.

[0031] Another preferred solution is to set a first spring shock-absorbing pad 108 between the connecting shaft 102 and the fixed frame 101, and a second spring shock-absorbing pad 109 between the second electrophoretic magnet 107 and the slider 106, which can buffer and stabilize external unstable stress impact when used to grab workpieces for slag hanging and grinding.

[0032] refer to Figure 2 This embodiment provides an intelligent loading and unloading device for metal sheets, including a gripper 1, a robot 2, a coarse positioning camera 3 and an electrical control cabinet. The gripper 1 is a metal sheet transfer gripper, which is arranged on the end shaft of the robot 2; the coarse positioning camera 3 is arranged above the loading station, and is used to identify the image and relative position of the workpiece; the electrical control cabinet is used for the automatic control of the whole device.

[0033] The rough positioning camera uses a 3D vision camera, which takes pictures of the workpiece at the loading station, identifies the image and relative position of the workpiece, and roughly positions the workpiece. The robot uses a six-axis robotic arm. After the 3D vision camera positions the workpiece to be loaded, the gripper automatically loads the workpiece onto the cutting table with the cooperation of the robotic arm. After cutting, the workpiece is moved to the grinding table; then the workpiece can be moved and rotated according to another fine positioning workpiece contour trajectory to contact the grinding head of the grinding table to complete the grinding work; after the workpiece is polished, it is moved to the unloading area for stacking. In this way, the entire process of cutting and polishing the workpiece does not require human participation.

[0034] Set the workpiece stacking height to 1000mm, the 3D camera installation height to 3000mm, the identifiable workpiece range to 2000x1500mm, the identified workpiece size to 600x400x30mm, and the recognition position accuracy to 2mm. The six-axis robot has a rated load of 250kg, a working radius of 2710mm, and a repeatability accuracy of ±0.2mm. Figure 2 As shown, an intelligent loading and unloading device for metal sheets of this patent can uninterruptedly load and unload and grind workpieces for two cutting tables and one grinding table.

[0035] In order to further improve construction safety, equipment and people are isolated, and safety fences are set up around the equipment and loading and unloading areas.

[0036] The intelligent loading and unloading device for metal sheets provided by the utility model can be used as follows:

[0037] S1: A pile of sheets are manually placed at the loading position, and the loading vision (coarse positioning camera) locates and identifies the workpiece to determine the position and image of the workpiece and whether the workpiece needs to be turned over;

[0038] S2: If the workpiece needs to be turned over, the utility model will first place the workpiece on the turning machine. After the turning machine completes the 180° turning of the workpiece, the utility model will place the workpiece on the right cutting table; if the workpiece does not need to be turned over, the workpiece will be directly grabbed and placed on the right cutting table; the placement position is obtained by calculating the positional relationship between the center of gravity of the drawing and the support.

[0039] S3: The precise positioning visual camera on the cutting table is used to accurately position the workpiece. The dust removal of the cutting table is turned on at the workstation (e.g. the cutting table on the right), and the cutting machine performs bevel cutting on the workpiece.

[0040] S4: Synchronously with S3, the utility model loads the next workpiece to be cut onto another station cutting table (the left cutting table);

[0041] S5: After the right cutting table has finished cutting, the cutting machine directly turns to the left cutting table to perform bevel cutting on the workpiece. The utility model grabs the workpiece that has been cut on the right cutting table and takes it to the grinding table for grinding;

[0042] S6: After the grinding is completed, the utility model unloads and stacks the workpieces, and then reloads them onto the right cutting table;

[0043] S7: The bevel of the workpiece on the synchronous left cutting table has been cut, and the cutting machine then moves to the right cutting table for cutting;

[0044] S8: The utility model grabs the workpiece that has been cut in the left cutting table and takes it to the grinding table for grinding;

[0045] S9: After grinding, the workpieces are unloaded and stacked, and then reloaded onto the left cutting table;

[0046] This cycle of S1-S9 is repeated until all workpieces in the loading area are cut and unloaded and stacked. After the workpieces in the field are unloaded and transferred as a whole, they can be reloaded.

[0047] The above is an example of the preferred implementation of the utility model, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the utility model. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An intelligent loading and unloading device for metal sheets, characterized in that: The invention comprises a gripper (1), a robot (2), a coarse positioning camera (3) and an electrical control cabinet, wherein the gripper (1) is a metal sheet transfer gripper and is arranged on the end shaft of the robot (2); the coarse positioning camera (3) is arranged above the loading station and is used to identify the image and relative position of the workpiece; and the electrical control cabinet is used for automatic control of the entire device.

2. The intelligent loading and unloading device for metal sheets according to claim 1, characterized in that: The gripper (1) is an electromagnetic transfer gripper.

3. The intelligent loading and unloading device for metal sheets according to claim 2, characterized in that: The gripper (1) comprises a fixed frame (101), a connecting shaft (102), a first electrophoretic magnet (103), an electric cylinder (104), a guide rail (105), a slider (106) and a second electrophoretic magnet (107), wherein the first electrophoretic magnet (103) is fixed to the fixed frame (101) via the connecting shaft (102); one end of the guide rail (105) is fixed to the fixed frame (101), and the guide rail (105) is parallel to the connecting shaft (102); the slider (106) is arranged on the guide rail (105), and the second electrophoretic magnet (107) is arranged on the front panel of the slider (106) in the moving direction; the electric cylinder (104) is arranged on the fixed frame (101), and the lead screw of the electric cylinder (104) is connected to the rear panel of the slider (106).

4. The intelligent loading and unloading device for metal sheets according to claim 3, characterized in that: The center distance between the first electrophoretic magnet (103) and the second electrophoretic magnet (107) is 500-1000 mm, the rated load is 150-1000 kg, and the high temperature resistance is 320°C.

5. The intelligent loading and unloading device for metal sheets according to claim 3, characterized in that: A first spring shock-absorbing pad (108) is provided between the connecting shaft (102) and the fixing frame (101).

6. The intelligent loading and unloading device for metal sheets according to claim 3, characterized in that: A second spring shock-absorbing pad (109) is provided between the second electrophoretic magnet (107) and the slider (106).

7. The intelligent loading and unloading device for metal sheets according to any one of claims 1 to 6, characterized in that: The robot (2) is a six-axis robotic arm with a rated load of 180-360 kg, a working radius of more than 2700 mm, and a repeatability accuracy of ±0.2 mm.

8. The intelligent loading and unloading device for metal sheets according to any one of claims 1 to 6, characterized in that: The coarse positioning camera (3) is a 3D vision camera with a recognition position accuracy of 2 mm and an installation height of 3000 mm.

9. The intelligent loading and unloading device for metal sheets according to any one of claims 1 to 6, characterized in that: It also includes safety fences, which are installed outside the workpiece loading and unloading areas of the construction site.

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