Automatic filler strip mechanism for plate processing

Abstract

The utility model provides an automatic filler strip mechanism for plate processing. The automatic filler strip mechanism for plate processing comprises a filler strip storage part, a filler strip moving part and a feeding robot, the filler strip storage part is used for storing filler strips; the filler strip moving part is used for moving out the filler strips stored at the filler strip storage part so that the filler strips can be grabbed by the feeding robot; the feeding robot is used for grabbing the filler strips moved out by the filler strip moving component and placing the filler strips at the plate stacking position. According to the device, filler strips can be provided for a feeding robot gripper to be placed on stacked plates before the plates are stacked, so that the plates with different sizes are more stable when being stacked.

Description

Technical Field

[0001] The utility model relates to the technical field of plate processing, in particular to an automatic padding mechanism for plate processing. Background Art

[0002] At present, in the intelligent manufacturing of furniture production, in order to meet the demand for automatic feeding of wood boards, feeding is mainly done manually or with simple equipment. The existing board processing push-board feeding mechanism stacks and stores the boards obtained after processing, but after stacking multiple boards of different sizes, the stacking is unstable. Therefore, an automatic padding mechanism for board processing is proposed to solve the above problem. Utility Model Content

[0003] The utility model aims to provide an automatic padding mechanism for plate processing in view of the deficiencies of the prior art, and the automatic padding mechanism for plate processing can well solve the above-mentioned problems.

[0004] In order to meet the above requirements, the technical solution adopted by the utility model is: to provide an automatic padding strip mechanism for plate processing, which includes a padding strip storage component, a padding strip moving component and a loading robot; the padding strip storage component is used to store the padding strips; the padding strip moving component is used to move out the padding strips stored in the padding strip storage component for the loading robot to grab; the loading robot is used to grab the padding strips moved out by the padding strip moving component and place them at the plate stacking location.

[0005] The advantages of the automatic pad strip mechanism for plate processing are as follows:

[0006] The device can provide pads for the machine gripper to be placed on the already stacked plates before the plates are stacked, thereby making the stacking of plates of different sizes more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used in these drawings to represent the same or similar parts. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0008] Figure 1 The structural diagram of an automatic pad strip mechanism for plate processing according to an embodiment of the present application is schematically shown.

[0009] Figure 2 The structural diagram of the automatic pad strip mechanism for plate processing using the plate processing system according to one embodiment of the present application is schematically shown.

[0010] Figure 3The structural diagram of the robot loading system in the automatic pad strip mechanism for sheet metal processing using the sheet metal processing system according to one embodiment of the present application is schematically shown.

[0011] Figure 4 A schematic diagram of the structure of a loading robot in an automatic pad strip mechanism for sheet metal processing of a sheet metal processing system according to an embodiment of the present application is schematically shown.

[0012] Figure 5 The schematic diagram of the structure of the first pad hydraulic lifter in the automatic pad strip mechanism for sheet material processing using the sheet material processing system according to one embodiment of the present application is schematically shown.

[0013] Figure 6 The structural diagram of the robot unloading system in the automatic pad strip mechanism for sheet metal processing using the sheet metal processing system according to one embodiment of the present application is schematically shown.

[0014] Among them: 1. The first feeding hydraulic lift; 2. The feeding robot; 3. The second feeding hydraulic lift; 4. The first pad hydraulic lift; 5. The first roller conveyor; 6. The side lifting belt conveyor; 7. The safety grating; 8. The base; 9. The robot parts; 10. The sponge suction cup; 11. The induction switch; 12. The induction mounting bracket; 13. The plate; 14. The pad; 15. The lifting parts; 20. The first high-speed code reader; 21. The first belt conveyor; 22. The first lifting belt conveyor; 23. The first six-sided drilling host; 24. The second six-sided drilling host; 25. The fourth lifting belt conveyor; 26. The third belt conveyor; 27. The second high-speed code reader; 28. The second roller conveyor; 29. Three-roller conveyor; 30. The fifth lifting belt conveyor; 31. The fourth belt conveyor; 32. The sixth lifting belt conveyor; 33. The third six-sided drilling machine; 34. The third lifting belt conveyor; 35. The second belt conveyor; 36. The second lifting belt conveyor; 40. The automatic pad strip mechanism for plate processing; 41. The second pad plate hydraulic lift; 42. The second unloading hydraulic lift; 43. The unloading robot; 48. The first unloading hydraulic lift; 50. The cylinder mounting plate; 51. The horizontal servo motor; 52. The push block; 53. The screw module; 54. The longitudinal servo motor; 55. The mechanism frame; 56. The slide; 57. The push plate sensing detection component; 58. The in-place sensing detection component; 59. The limit baffle. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] In the following description, references to "one embodiment", "an embodiment", "an example", "an example", etc. indicate that the embodiment or example described in this way may include specific features, structures, characteristics, properties, elements or limitations, but not every embodiment or example necessarily includes the specific features, structures, characteristics, properties, elements or limitations. In addition, repeated use of the phrase "according to one embodiment of the present application" may refer to the same embodiment, but does not necessarily refer to the same embodiment.

[0017] For the sake of simplicity, certain technical features well known to those skilled in the art are omitted in the following description.

[0018] According to one embodiment of the present application, there is provided an automatic padding strip mechanism for plate processing, comprising a padding strip storage component, a padding strip moving component and a loading robot; the padding strip storage component is used for storing padding strips; the padding strip moving component is used for moving the padding strips stored in the padding strip storage component for the loading robot to grab; the loading robot is used for grabbing the padding strips moved out by the padding strip moving component and placing them at the plate stacking location.

[0019] According to one embodiment of the present application, the pad strip moving component of the automatic pad strip mechanism for sheet metal processing includes a longitudinal servo motor 54 vertically arranged on a mechanism frame 55 and a transverse servo motor 51 horizontally arranged on the top of the mechanism frame 55. The output end of the top of the longitudinal servo motor 54 drives the screw module 53 to rotate. The pad strip storage component is a slide 56 driven by the screw module 53 and moves up and down along the screw module 53. The output end of the transverse servo motor 51 is located above the slide 56.

[0020] According to one embodiment of the present application, a plate processing system is provided, wherein a cylinder mounting plate 50 and a limit baffle 59 are provided on the top of a mechanism frame 55, the transverse servo motor 51 is fixed on the cylinder mounting plate 50, the limit baffle 59 is provided with a push plate sensing detection component 57 and an in-position sensing detection component 58, and a push block 52 is connected to the output end of the transverse servo motor 51.

[0021] According to one embodiment of the present application, the automatic pad strip mechanism for plate processing using the plate processing system also includes a robot loading system for realizing plate loading, a robot unloading system for realizing plate unloading, a plate processing system for processing plates, and a conveying system connecting the robot loading system and the robot unloading system; the automatic pad strip mechanism for plate processing is located on the side of the robot unloading system. The robot loading system of the plate processing system includes a first loading hydraulic lift 1, a loading robot 2, a second loading hydraulic lift 3, a first pad hydraulic lift 4, a first roller conveyor 5 and a side-lifting belt conveyor 6; the first loading hydraulic lift 1 is provided on one side of the loading robot 2, and the second loading hydraulic lift 3 and the first pad hydraulic lift 4 are provided on the other side of the loading robot 2. The side-lifting belt conveyor 6 is located directly in front of the loading robot 2 and connected to the first roller conveyor 5; the loading robot 2 includes a robot component 9 and a sponge suction cup 10 arranged on the output end of the robot component 9; the first loading hydraulic lift 1 and the second loading hydraulic lift 3 both include a lifting component 15 and an induction switch 11 arranged at the front end of the lifting component 15. The conveying system of the plate processing system includes a first high-speed code reader 20, a first belt conveyor 21, a first lifting belt conveyor 22, a first six-sided drilling main machine 23, a second six-sided drilling main machine 24, a fourth lifting belt conveyor 25, a third belt conveyor 26, a third roller conveyor 29, a fifth lifting belt conveyor 30, a fourth belt conveyor 31, a sixth lifting belt conveyor 32, a third six-sided drilling main machine 33, a third lifting belt conveyor 34, a second belt conveyor 35 and a second lifting belt conveyor 36; the first six-sided drilling main machine 23, the second six-sided drilling main machine 24 and the third six-sided drilling main machine 33 are arranged in parallel in sequence, and the first lifting belt conveyor 22 and the fourth lifting belt conveyor 25 are respectively arranged on both sides of the first six-sided drilling main machine 23. The second six-sided drilling main machine 24 is provided with a first high-speed code scanner 20 and a fifth lifting belt conveyor 30 on both sides, and the third six-sided drilling main machine 33 is provided with a third lifting belt conveyor 34 and a sixth lifting belt conveyor 32 on both sides; the first belt conveyor 21 is arranged between the second lifting belt conveyor 36 and the first lifting belt conveyor 22, the second belt conveyor 35 is arranged between the third lifting belt conveyor 34 and the second lifting belt conveyor 36, the third belt conveyor 26 is arranged between the fourth lifting belt conveyor 25 and the fifth lifting belt conveyor 30, and the fourth belt conveyor 31 is arranged between the fifth lifting belt conveyor 30 and the sixth lifting belt conveyor 32.The robot unloading system of the plate processing system includes a second high-speed code reader 27, a second roller conveyor 28, a third roller conveyor 29, a second pad hydraulic lift 41, a second unloading hydraulic lift 42, a unloading robot 43 and a first unloading hydraulic lift 44; the second roller conveyor 28 is connected to the end of the fourth jacking belt conveyor 25, the other end of the second roller conveyor 28 is connected to the third roller conveyor 29, and the second high-speed code scanning gun 27 is arranged on the second roller conveyor 28; the unloading robot 43 is located on the side of the second roller conveyor 28, and the first unloading hydraulic lift 44 is arranged on one side of the unloading robot 43, and the second unloading hydraulic lift 42 and the second pad hydraulic lift 41 are arranged on the other side of the unloading robot 43.

[0022] According to one embodiment of the present application, the automatic pad strip mechanism for sheet material processing is as follows: Figure 1 The screw module is installed on the mechanism frame, and the servo motor drives the screw to rotate. The rotation of the screw transmits the load to drive the slide to achieve up and down linear motion. The screw movement drives the slide, and the slide stores the panels. The cylinder moves forward and backward in a straight line to push the panels to the specified position. The PLC controls the servo motor, cylinder and other actuators by sensing switch signals. The automatic padding mechanism cooperates with the stacking algorithm. When the current panels cannot meet the stacking requirements, the padding in the padding mechanism will be used to fill them.

[0023] According to one embodiment of the present application, a robot feeding system in an automatic pad strip mechanism for sheet metal processing using the sheet metal processing system is used. Figures 3 to 5As shown, the first loading hydraulic lift is located on the left side of the robot, the second loading hydraulic lift is located on the right side of the robot, the first pad hydraulic lift is located on the right side of the second loading hydraulic lift, the side-lifting belt conveyor 6 is located directly in front of the robot, and the first roller conveyor 5 is located on the right side of the side-lifting belt conveyor 6. The panels are transported to the first loading hydraulic lift and the second loading hydraulic lift manually or automatically by the AGV trolley. The robot automatically grabs the panels above the loading hydraulic lift. The robot grabs the first layer of panels on the hydraulic lift and places them on the side-lifting belt conveyor 6. One layer of panels is side-lifted by the side-lifting belt conveyor, and then output one by one to the first roller conveyor 5. The loading hydraulic lift is equipped with an automatic induction system, and it will automatically rise after the first layer of panels is grabbed. The robot loading system has the function of identifying plates and pads. The roller of the loading hydraulic lift is equipped with a detection position switch. When the plates are transported to the hydraulic lift manually or automatically by the AGV, the detection position switch is touched and the hydraulic lift automatically rises to the best grasping position of the robot. When the robot grabs the last pad, the pad is separated from the loading hydraulic lift, and the detection position switch is reset, so it knows that this is a pad, not a plate, and the robot places the pad on the first pad hydraulic lift.

[0024] According to one embodiment of the present application, a conveying system in an automatic pad strip mechanism for sheet metal processing using the sheet metal processing system is used. Figure 2As shown, the first lifting belt conveyor 22 is located on the left side of the first six-sided drilling main machine, the first belt conveyor 21 is located on the lower side of the first lifting belt conveyor 22, the second lifting belt conveyor 36 is located on the lower side of the first belt conveyor 21, the second six-sided drilling main machine is located on the right side of the second lifting belt conveyor 36, the first roller conveyor 5 is located on the left side of the second lifting belt conveyor 36, the side lifting belt conveyor 6 is located on the left side of the first roller conveyor 5, the second belt conveyor 35 is located on the lower side of the second lifting belt conveyor 36, and the third lifting belt conveyor 34 is located on the lower side of the second belt conveyor 35 , the third six-sided drilling machine is located on the right side of the third lifting belt conveyor 34, the fourth lifting belt conveyor 25 is located on the right side of the first six-sided drilling machine, the third belt conveyor 26 is located on the lower side of the fourth lifting belt conveyor 25, the fifth lifting belt conveyor 30 is located on the lower side of the third belt conveyor 26, the fourth belt conveyor 31 is located on the lower side of the fifth lifting belt conveyor 30, the sixth lifting belt conveyor 32 is located on the lower side of the fourth belt conveyor 31, the second roller conveyor 28 is located on the right side of the third lifting belt conveyor 34, and the third roller conveyor 29 is located on the right side of the second roller conveyor 28. The loading robot grabs the first layer of panels on the hydraulic lift and places them on the side lifting belt conveyor. The first layer of panels is side-by-side through the side lifting belt conveyor, and then output one by one to the first roller conveyor 5. The panels pass through the first high-speed barcode scanner, scan the QR code information on the top of the panels, and obtain the processing information. After the master control process and analysis, the PLC controls the conveying system to smoothly transport the panels to each drilling machine. The second lifting belt conveyor 36 has three directions of movement. The upward belt movement conveys the plate to the first six-sided drilling host; the downward belt movement conveys the plate to the third six-sided drilling host; the forward roller movement conveys the plate to the second six-sided drilling host; the plate processed by the six-sided drilling will wait on the six-sided drilling discharge platform. The PLC determines whether the six-sided drilling is allowed to discharge to the conveying system through the induction switch on the conveying system. If conditions permit, the plate on the six-sided drilling discharge platform will be transported to the corresponding lifting belt conveyor. The discharged plate will pass through the fourth lifting belt conveyor 25 in order. When the plate on the fourth lifting belt conveyor 25 moves to the second roller conveyor 28, the plate size information is obtained by scanning with the second high-speed barcode scanner and then transported to the unloading robot. If the QR code of the panel is complete and the information is successfully obtained, the panel will stop on the second roller conveyor 28 and wait for the robot to grab it; if the QR code of the panel is damaged and the information acquisition fails, the panel that is not in the current processing batch will be output to the third roller conveyor 29, and the abnormal panel conveying system will be set to prompt an alarm, which requires manual or AGV processing.

[0025] According to one embodiment of the present application, a robot unloading system in an automatic pad strip mechanism for sheet metal processing using the sheet metal processing system is used. Figure 6As shown, the first unloading hydraulic lift is located on the left side of the robot, the second unloading hydraulic lift is located on the right side of the robot, the second pad hydraulic lift is located on the right side of the second unloading hydraulic lift, the second roller conveyor 28 is located in front of the robot, the second high-speed code reader is located on the upper left side of the second roller conveyor 28, the automatic pad device is located on the upper right side of the second roller conveyor 28, and the third roller conveyor 29 is located on the right side of the second roller conveyor 28. When the plate passes through the second roller conveyor 28, the second high-speed barcode scanner scans the barcode to obtain the plate size information and conveys it to the unloading system. The plate with a complete QR code and successfully obtained information will stop on the second roller conveyor 28 and wait for the robot to grab it; if the QR code of the plate is damaged and the information acquisition fails, the plate that is not in the current processing batch will be output to the third roller conveyor 29, set as an abnormal plate conveying system prompt alarm, and needs to be handled manually or by an AGV car. When the robot grabs the plate, it will adjust the suction cup grabbing direction according to the size of the plate and the position of the stacking. At the same time, it will rotate and shift during palletizing.

[0026] According to one embodiment of the present application, the specific operation method of the automatic padding mechanism for plate processing using the plate processing system is as follows: the plates are stacked on the lifting platform by a robot: including the following steps: S1, setting the maximum placement length and width of the platform, and the size range of the upper plate; establishing a rectangular coordinate system with the long side of the platform as the x-axis and the wide side as the y-axis; setting the x-axis direction of the coordinate system as the initial stacking direction, and setting the rule: the stacked plates are symmetrical along the long axis; S2, setting the measurement unit to millimeters; making the current layer's posable length D the platform length; making the maximum plate length coefficient extending out of the platform S, the plate spacing M, and the minimum remaining length of each layer P; S3, obtaining the data of the plates that need to be stacked. If the current plate length is greater than the platform width, make the current plate length valid. If the length is L, the panel is placed horizontally; otherwise, let the current panel width be the effective length L and the panel is placed vertically; if D–(L+M–(S*L))>P, jump to S31; if P>=D–(L+M–(S*L))>=0, jump to S32; if 0>D–(L+M–(S*L)), jump to S33; S31, calculate the position of the center of the panel on the long axis of the platform and place the panel; let D equal to D–L–M, jump to S3; S32, calculate the position of the center of the panel on the long axis of the platform and place the panel; on the next layer, let D equal to the platform length, return in the stacking direction, jump to S3; S33, use pads, calculate the position of the pads, and place the pads vertically as the bottom support of the panel; go up one layer, return in the stacking direction, let D equal to the platform length; jump to S3.

[0027] In the above method, the panels are arranged in a certain interval order according to the stacking direction in the x-axis direction of the coordinate system, and are fixed at the center point of the panel at half the width of the platform in the y-axis direction; the robot can perform stacking operations as long as it knows the current panel at the lowest, without the need for manual control of the order of incoming panels, and can also choose to adjust the grabbing priority of a certain number of known sequence panels to optimize the platform stacking situation; the robot calculates the storage situation of the panels on the lifting platform one by one, and the position calculation of each panel will take into account the stacking of subsequent panels. When multiple panels are known, the positions of subsequent panels will be arranged in advance; the purpose of the pad is to provide stable support for the bottom of the current panel. After using the pad, the current layer will be regarded as full, and the panels will be placed after the lifting layer turns.

[0028] According to one embodiment of the present application, the specific working process of the plate processing system is as follows:

[0029] 1. Turn on the machine and enter the software system. After the system is initialized successfully, start the loading and unloading robots, start the drum operation, and start the drilling rig operation in the system.

[0030] 2. The system determines whether there is a board on the loading roller. If there is no board, it will send a command to the loading robot to request loading. If there is a board, it will wait for the next roller to request feeding. If there is no board on the next roller, it will send a request feeding signal to the next roller. The loading roller enters the unloading state after receiving the request feeding signal from the next roller. After unloading, it enters the no-board state.

[0031] 3. When the loading robot receives the loading request signal from the loading roller, the robot determines whether there is a board to grab. When there is no board, the robot waits. When there is a board to grab, it grabs the board and places it on the loading roller. At the same time, it outputs the discharge signal. The loading roller is in a locked state, waiting for the robot to complete the discharge. After the robot completes the discharge, it outputs a signal, the loading roller is in a state with a board, and the robot is in a waiting state.

[0032] 4. When there is a board on the scanning roller, it is determined whether the QR code is scanned. If not, it is marked as an abnormal board and assigned to an abnormal channel. When the QR code is scanned, it is sent to the MES system. The MES system returns the channel assigned to the board after querying the board. The system assigns the board to the corresponding drilling rig based on the received information. The system transmits the channel number to the PLC. The PLC controls the operation of the corresponding roller or belt based on the channel number, so that the board moves to the command drilling rig for processing.

[0033] 5. The panels processed by the drilling rig converge into the discharge channel. Since the discharge order is uncertain, there is a barcode scanner at the rear end of the discharge channel to obtain the size of the current panel based on the scanned code.

[0034] 6. When there are plates on the unloading roller, check whether there are pallets ready. If they are ready, the system calculates the palletizing algorithm according to the size of the plates, and calculates the coordinates of the unloading robot to grab the plates and the position and coordinates of the plates. When the robot is ready, if the calculation result is that it cannot be placed, the plates flow to the abnormal channel; when the calculation result is that it cannot be directly stacked and pads need to be placed, the system sends a command to the robot to grab the pads. After grabbing the pads, the system sends the placement coordinates and instructions. After the robot places the pads, the system sends the current plate grabbing coordinates and instructions to the robot. After the robot grabs the plates, the system sends the placement position and coordinates, and the robot palletizes; when the calculation result is direct placement, the system sends the grabbing coordinates and commands to the robot, the robot grabs the plates, the system sends the placement position and coordinates, and the robot palletizes.

[0035] 7. When the stack is full, the robot cannot be put down and the full stack must be transported away manually.

[0036] The above-mentioned embodiments only represent several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the claims.

Claims

1. An automatic stripping mechanism for plate processing, characterized in that: It includes cushion strip storage components, cushion strip moving components and a loading robot; The cushion strip storage component is used to store the cushion strips; The cushion strip moving component is used to move the cushion strips stored in the cushion strip storage component to allow the loading robot to grab them; The loading robot is used to grab the cushion strips moved out by the cushion strip moving component and place them at the plate stacking location.

2. The automatic padding mechanism for plate processing according to claim 1, characterized in that: The pad strip moving component includes a longitudinal servo motor vertically arranged on the mechanism frame and a transverse servo motor horizontally arranged on the top of the mechanism frame. The output end of the top of the longitudinal servo motor drives the screw module to rotate. The pad strip storage component is a slide driven by the screw module and moves up and down along the screw module. The output end of the transverse servo motor is located above the slide.

3. The automatic padding mechanism for plate processing according to claim 2 is characterized in that: A cylinder mounting plate and a limit baffle are provided on the top of the mechanism frame, the transverse servo motor is fixed on the cylinder mounting plate, a push plate sensing detection component and an in-position sensing detection component are provided on the limit baffle, and a push block is connected to the output end of the transverse servo motor.

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