Flexible wobble plate machine for reinforcing steel sheets

Abstract

The utility model discloses a flexible tray placing machine for reinforcing steel sheets, and belongs to the technical field of flexible tray placing machines for reinforcing steel sheets, and the flexible tray placing machine comprises a main frame, a material containing mechanism, a conveying belt, a multi-axis robot arm, an intelligent visual recognition system, a dynamic adjustment platform and a control system; the device is novel in design and ingenious, and compared with the prior art, the technical effects of the technical scheme are that the receiving range of the device for different types of reinforcing steel sheets is obviously enhanced, the debugging cost caused by the form difference of parts is reduced, the working efficiency and reliability of a detection link are greatly improved, the defective product rate is greatly reduced, and the product quality is improved. And by reasonably planning the logistics path and optimizing the motion trail of the mechanical arm, the whole machining period is effectively shortened, the productivity expansion pace is promoted, and the practicability of the device is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of flexible tray-turning machines for reinforcing steel sheets, and in particular to a flexible tray-turning machine for reinforcing steel sheets. Background Art

[0002] There are already some automated equipment on the market to handle this process. For example, the existing flexible tray placing machine for reinforcing steel sheets mainly includes the following components: the frame serves as the supporting base of the entire system, the material box is used to carry a large number of unarranged reinforcing steel sheets, the rotating device is responsible for driving multiple fixtures to rotate synchronously, and the automatic material picking device can effectively grab individual reinforcing steel sheets scattered in the material box and move them one by one to the designated fixture positions. Finally, a special detection device is configured to check whether the placement angle of the reinforcing steel sheets after removal meets the standard, ensuring that each piece can be placed in the fixture accurately in the set direction. However, this design still has some limitations. For example, it is more troublesome to adjust when facing reinforcing steel sheets of different specifications and sizes. In addition, its applicability will also be limited when encountering parts with complex shapes.

[0003] Although such machines greatly reduce the need for human intervention, they still expose several shortcomings in actual applications. First, due to the lack of an effective pre-processing unit, the reinforcing steel sheets in their original disorganized state cannot be efficiently sent to the next step of the process, which increases the difficulty of subsequent processing. Secondly, the unified detection mechanism has poor adaptability to products of different shapes, which can easily lead to missed inspections or misjudgments. Moreover, although the current system has achieved preliminary automation, it does not fully support higher-level intelligent needs.

[0004] To this end, the present application proposes a flexible plate-stirring machine for reinforcing steel sheets. Utility Model Content

[0005] The present application proposes a flexible tray-turning machine for reinforcing steel sheets to solve the problems raised in the above-mentioned background technology. Compared with the existing technology, the technical effect of the present technical solution significantly enhances the equipment's acceptance range for different types of reinforcing steel sheets, reduces the debugging cost caused by differences in part shapes, greatly improves the work efficiency and reliability of the detection link, greatly reduces the defective rate, and thus improves the final output quality. By rationally planning the logistics route and optimizing the motion trajectory of the robotic arm, the entire processing cycle is effectively shortened, the pace of production capacity expansion is promoted, and the practicality of the device is greatly improved.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A flexible plate-stirring machine for reinforcing steel sheets comprises a main frame, a material-holding mechanism, a conveyor belt, a multi-axis robot arm, an intelligent visual recognition system, a dynamic adjustment platform and a control system. The control system comprises a controller mounted on the main frame. The intelligent visual recognition system, the dynamic adjustment platform, the control system and the ultrasonic sensor-assisted positioning are all electrically connected to the controller. The material-holding mechanism comprises an upper layer, a lower layer and a fine grid filter.

[0008] As a preferred embodiment, the material holding mechanism is divided into an upper layer and a lower layer, the lower layer is located below the upper layer, and a fine grid filter is provided inside the lower layer;

[0009] The material holding mechanism is divided into two layers, the upper layer is used to store a large number of unfiltered reinforcing steel sheets, and the lower layer is equipped with a fine grid filter to help screen out components of appropriate size, thereby improving the practicality of the device.

[0010] As a preferred embodiment, the conveyor belt is arranged at the lower layer of the material holding mechanism, the outside of the material holding mechanism is fixedly connected to a servo motor, and the output end of the servo motor is fixedly connected to the rotating shaft on the conveyor belt;

[0011] By adopting a servo motor to drive the conveyor belt, the speed can be adjusted according to actual needs, thereby improving the practicality of the device.

[0012] As a preferred embodiment, the multi-axis robot arm includes a gripper and a suction piece, each of the grippers is provided on the multi-axis robot arm, and the multi-axis robot arm is fixedly connected to the suction piece;

[0013] The multi-axis robot arm is equipped with a vacuum suction cup end effector, which can move freely in any three-dimensional space to pick up the target object, thereby improving the practicality of the device.

[0014] As a preferred embodiment, the intelligent visual recognition system includes a camera, which is fixedly connected to the main frame and located above the material holding mechanism;

[0015] Developed through an intelligent visual recognition system based on a deep learning algorithm, it can quickly and accurately identify the position and posture of various special-shaped objects, thereby improving the practicality of the device.

[0016] As a preferred embodiment, a sensor is provided on the main frame, and the sensor is installed at the entrance of the material holding mechanism;

[0017] The servo motor starts the operation, driving the conveyor belt forward. The sensor at the entrance detects that the material has reached the predetermined position and sends a signal to the controller, triggering the next stage of action instructions, thereby improving the practicality of the device.

[0018] As a preferred embodiment, an auxiliary lighting is fixedly connected to the main frame, and the auxiliary lighting is located on one side of the camera;

[0019] The practicality of the device is enhanced by adding auxiliary lighting facilities to improve lighting conditions and thus enhance image clarity.

[0020] As a preferred embodiment, a rotating disk is rotatably connected to the main frame and is located on a side of the conveyor belt away from the material holding mechanism, and a plurality of jigs are provided on the rotating disk;

[0021] By setting up a rotating disk, which is driven by a rotating motor to cause the rotating disk to rotate, a multi-axis robot arm is used to place the reinforcing steel sheets into the fixture one by one during the rotation of the rotating disk, thereby improving the practicality of the device.

[0022] Beneficial effects of this application:

[0023] 1. Compared with the existing technology, this flexible plate-settling machine for reinforcing steel sheets significantly enhances the equipment's ability to accept different types of reinforcing steel sheets, reduces debugging costs due to differences in part morphology, significantly improves the efficiency and reliability of the inspection process, greatly reduces the defective product rate, and thus improves the final output quality. By rationally planning logistics routes and optimizing the robot arm's motion trajectory, the entire processing cycle is effectively shortened, promoting the pace of production capacity expansion and greatly improving the practicality of the device.

[0024] 2. This is a flexible tray-switching machine for reinforcing steel sheets. It integrates advanced material separation technology, a flexible robotic operating platform, and a high-performance data processing unit, significantly improving production efficiency and quality management. Through in-depth analysis of existing technical bottlenecks, it innovatively introduces a multi-level screening process to optimize the raw material supply chain. At the same time, it uses advanced algorithms to greatly improve recognition accuracy and generalization capabilities, making the entire production line more robust and reliable, greatly improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the main body of the device of this application;

[0026] Figure 2 This is a schematic diagram of the control system of the device of this application;

[0027] Figure 3 Schematic diagram of the control system of the device of this application.

[0028] Numbers in the figure: 1. Main frame; 11. Rotating disk; 12. Fixture; 2. Material holding mechanism; 21. Upper layer; 22. Lower layer; 23. Fine grid filter; 3. Conveyor belt; 31. Servo motor; 4. Multi-axis robot arm; 41. Gripper; 42. Adsorption part; 5. Intelligent visual recognition system; 51. Camera; 52. Processor; 6. Dynamic adjustment platform; 7. Control system; 71. Controller; 8. Auxiliary lighting; 9. Ultrasonic sensor auxiliary positioning; 10. Sensor. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0030] Reference Figure 1-3 A flexible plate-stirring machine for reinforcing steel sheets includes a main frame 1, a material holding mechanism 2, a conveyor belt 3, a multi-axis robot arm 4, an intelligent visual recognition system 5, a dynamic adjustment platform 6 and a control system 7. The control system 7 includes a controller 71, which is installed on the main frame 1. The intelligent visual recognition system 5, the dynamic adjustment platform 6, the control system 7 and the ultrasonic sensor auxiliary positioning 9 are all electrically connected to the controller 71. The material holding mechanism 2 includes an upper layer 21, a lower layer 22 and a fine grid filter 23.

[0031] The material holding mechanism 2 is divided into upper and lower layers 22. The lower layer 22 is located below the upper layer 21. A fine grid filter 23 is provided inside the lower layer 22. The material holding mechanism 2 is divided into upper and lower layers 22. The upper layer 21 is used to store a large amount of unfiltered reinforcing steel sheets, and the lower layer 22 is provided with a fine grid filter 23 to help screen out components of appropriate size, thereby improving the practicality of the device.

[0032] The conveyor belt 3 is arranged at the lower layer 22 of the material holding mechanism 2. A servo motor 31 is fixedly connected to the outside of the material holding mechanism 2, and the output end of the servo motor 31 is fixedly connected to the rotating shaft on the conveyor belt 3. By adopting the servo motor 31 to drive the conveyor belt 3, the speed can be adjusted according to actual needs, thereby improving the practicality of the device.

[0033] The multi-axis robot arm 4 includes a gripper 41 and an adsorption part 42. Each gripper 41 is set on the multi-axis robot arm 4, and the adsorption part 42 is fixedly connected to the multi-axis robot arm 4. Since the multi-axis robot arm 4 is equipped with a vacuum suction cup end effector, it can move freely in any three-dimensional space to pick up the target object, thereby improving the practicality of the device.

[0034] The intelligent visual recognition system 5 includes a camera 51, which is fixedly connected to the main frame 1 and is located above the material holding mechanism 2. The intelligent visual recognition system 5 is developed based on a deep learning algorithm and can quickly and accurately identify the position and posture of various special-shaped objects, thereby improving the practicality of the device.

[0035] A sensor 10 is provided on the main frame 1 and is installed at the entrance of the material holding mechanism 2. The servo motor 31 is used to start the operation, driving the conveyor belt 3 forward. After the sensor 10 at the entrance detects that the material has reached the predetermined position, it sends a signal to the controller 71, triggering the next stage action instruction, thereby improving the practicality of the device.

[0036] An auxiliary lighting 8 is fixedly connected to the main frame 1 and is located on one side of the camera 51 . The addition of the auxiliary lighting 8 improves the lighting conditions and thus the image clarity, thereby enhancing the practicability of the device.

[0037] A rotating disk 11 is rotatably connected to the main frame 1 and is located on the side of the conveyor belt 3 away from the material holding mechanism 2. A plurality of jigs 12 are provided on the rotating disk 11. By providing the rotating disk 11, the rotating disk 11 is driven by a rotating motor to cause the rotating disk 11 to rotate. During the rotation of the rotating disk 11, the multi-axis robot arm 4 is used to place the reinforcing steel sheets into the jigs 12 one by one, thereby improving the practicality of the device.

[0038] Working principle: First, the staff pours a large amount of reinforcing steel sheets into the top opening of the material box, then turns on the system power switch, the servo motor 31 starts to run, driving the conveyor belt 3 forward, and the sensor 10 at the entrance detects that the material has reached the predetermined position and sends a signal to the controller 71, triggering the next stage of action instructions. Then the multi-axis robot arm 4 extends and draws air through the built-in air pump to form a negative pressure to adsorb the nearest piece of steel surface. At the same time, the camera 51 captures the image of the object and transmits it to the processor 52 for analysis and calculation. According to the feedback results, the angle of the gripper 41 is adjusted until it is parallel to the actual object. After completing the calibration operation, it continues to move forward to the end point, puts down the item and immediately resets to prepare for the next task. Before starting up, make sure that all components have been firmly assembled and there are no obstacles around. Turn on the main power and enter standby mode. Place the material to be processed in the feed trough and press the start button to activate the assembly line operation. Monitor the changes in the screen indicator light to respond to emergencies in time. Regular maintenance is performed to extend the service life.

[0039] This solution includes core components such as a main frame 1, a material holding mechanism 2, a conveyor belt 3, a multi-axis robot arm 4, an intelligent visual recognition system 5, a dynamic adjustment platform 6, and a control system 7. The main frame 1 is made of high-strength aluminum alloy, ensuring overall rigidity while reducing weight. The material holding mechanism 2 is divided into upper and lower layers 22. The upper layer 21 is used to store a large amount of unfiltered reinforcing steel sheets, while the lower layer 22 is equipped with a fine grid filter 23 to help screen out components of appropriate size. The conveyor belt 3 is driven by a servo motor 31 and can adjust its speed according to actual needs. The multi-axis robot arm 4 is equipped with a vacuum suction cup end-effector that can move freely in any three-dimensional space to pick up targets. The intelligent visual recognition system 5 is developed based on a deep learning algorithm and can quickly and accurately identify the position and posture of various special-shaped objects. The dynamic adjustment platform 6 achieves micron-level precise positioning through stepper motor control. Auxiliary lighting facilities 8 are added to improve lighting conditions and thus enhance image clarity. Ultrasonic sensors are introduced to assist in positioning 9 to compensate for the blind spots existing in purely optical methods.

[0040] The equipment integrates advanced material separation technology, a flexible robotic operation platform and a high-performance data processing unit, significantly improving production efficiency and quality management. Through in-depth analysis of existing technical bottlenecks, it innovatively introduces a multi-level screening process to optimize the raw material supply chain. At the same time, it uses advanced algorithms to greatly improve recognition accuracy and generalization capabilities, making the entire production line more robust and reliable.

[0041] Compared with the existing technology, the technical effect of this technical solution significantly enhances the equipment's acceptance range for different types of reinforcing steel sheets, reduces the debugging costs caused by differences in part shapes, greatly improves the work efficiency and reliability of the detection link, greatly reduces the defective rate, and thus improves the final output quality. By rationally planning the logistics route and optimizing the movement trajectory of the robotic arm, the entire processing cycle is effectively shortened, promoting the pace of production capacity expansion.

[0042] Regarding component selection, the main frame 1 is made of 6061-T6 aluminum alloy, the material box is made of 304 stainless steel, the conveyor belt 3 is 80mm wide and 5mm thick, and the multi-axis robot arm 4 is UR10e model with a six-degree-of-freedom joint structure.

[0043] The above are only preferred specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and utility model concept of the present application within the technical scope disclosed in the present application, and they should be covered by the protection scope of the present application.

Claims

1. A flexible plate-stirring machine for reinforcing steel sheets, comprising a main frame (1), a material holding mechanism (2), a conveyor belt (3), a multi-axis robot arm (4), an intelligent visual recognition system (5), a dynamic adjustment platform (6) and a control system (7), characterized in that: The control system (7) includes a controller (71), which is mounted on the main frame (1). The intelligent visual recognition system (5), the dynamic adjustment platform (6), the control system (7) and the ultrasonic sensor auxiliary positioning (9) are all electrically connected to the controller (71). The material holding mechanism (2) includes an upper layer (21), a lower layer (22) and a fine grid filter (23).

2. A flexible plate-stirring machine for reinforcing steel sheets according to claim 1, characterized in that: The material holding mechanism (2) is divided into an upper layer and a lower layer (22), wherein the lower layer (22) is located below the upper layer (21), and a fine grid filter (23) is provided inside the lower layer (22).

3. A flexible plate-stirring machine for reinforcing steel sheets according to claim 2, characterized in that: The conveyor belt (3) is arranged at the lower layer (22) of the material holding mechanism (2), the outside of the material holding mechanism (2) is fixedly connected to a servo motor (31), and the output end of the servo motor (31) is fixedly connected to the rotating shaft on the conveyor belt (3).

4. The flexible plate-stirring machine for reinforcing steel sheets according to claim 1, characterized in that: The multi-axis robot arm (4) comprises a gripper (41) and a suction piece (42), each gripper (41) being arranged on the multi-axis robot arm (4), and the suction piece (42) being fixedly connected to the multi-axis robot arm (4).

5. The flexible plate-stirring machine for reinforcing steel sheets according to claim 1, characterized in that: The intelligent visual recognition system (5) comprises a camera (51) and a processor (52), wherein the camera (51) is fixedly connected to the main frame (1), and the camera (51) is located above the material holding mechanism (2).

6. The flexible plate-stirring machine for reinforcing steel sheets according to claim 1, characterized in that: A sensor (10) is provided on the main frame (1), and the sensor (10) is installed at the entrance of the material holding mechanism (2).

7. The flexible plate-stirring machine for reinforcing steel sheets according to claim 5, characterized in that: An auxiliary lighting (8) is fixedly connected to the main frame (1), and the auxiliary lighting (8) is located on one side of the camera (51).

8. The flexible plate-stirring machine for reinforcing steel sheets according to claim 1, characterized in that: A rotating disk (11) is rotatably connected to the main frame (1) and is located on a side of the conveyor belt (3) away from the material holding mechanism (2). A plurality of jigs (12) are provided on the rotating disk (11).

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