Automatic line material frame identifying and guiding system

Abstract

The utility model discloses an automatic line material frame identifying and guiding system which comprises a camera and a mechanical device, the camera is connected with the mechanical device, the mechanical device drives the camera to move so as to detect a material frame and guide a robot to stack and unstack stamping parts, and the camera is a 3D camera. The mechanical device comprises a first bracket subassembly, a cantilever subassembly and a first camera subassembly; or the mechanical device comprises a second support subassembly, a transverse moving subassembly, a robot subassembly and a second camera subassembly, the second camera subassembly is connected with the robot subassembly, and the transverse moving subassembly is installed on the second support subassembly; the system can automatically recognize the position of the material frame and judge whether the material frame meets the discharging condition or not, and through cooperation with the upper computer, stacking or unstacking of the robot is guided, the accuracy of stacking and unstacking operation of the robot is improved, the labor cost is reduced, and the production efficiency is improved. The device is suitable for stacking and unstacking operation of various automatic production lines, and the stacking and unstacking operation requirements of a robot on workpieces are met.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology of sheet metal stamping parts, and in particular to an automatic wire frame identification and guidance system. Background Technology

[0002] With the rapid development of the automotive industry, the application of sheet metal stamping parts is increasing, leading to a growing demand for intelligent production lines. In traditional stamping lines, workpieces are relatively small, and palletizing, stacking, and destacking operations during the loading and unloading processes of hot and cold pressing lines, 3D cutting, and welding stations are all done manually. However, with technological advancements, workpiece sizes and weights are increasing, especially with the emergence of door rings and double door rings. Even with two people working simultaneously, manual loading and unloading is difficult due to excessive labor intensity, necessitating a significant improvement in production automation. In existing automated palletizing production on hot (cold) pressing lines, palletizing robots primarily pick up workpieces and place them on material frames. Before the palletizing robot begins operation, manual labor is required to transport the material frames to a fixed position and calculate the quantity to be placed, resulting in wasted manpower and low efficiency. Furthermore, the welding precision of the material frames affects the accuracy of the robot's placement; high precision significantly increases manufacturing costs, while low precision risks unsuccessful placement by the palletizing robot, delaying production. Therefore, sheet metal stamping parts need to have the function of identifying and detecting material frames during the stacking and destacking process to guide robots to accurately stack and destacking, thereby freeing up manpower and improving the level of automated production. Utility Model Content

[0003] This invention aims to overcome the shortcomings of existing technologies by providing an automatic material frame identification and guidance system. This system can automatically identify the location of the material frame, determine whether it meets the loading conditions, and prevent damage to the end effector and the material frame. By cooperating with a host computer, it automatically calculates the number of workpieces the material frame can hold and guides the robot in palletizing or depalletizing. It boasts a high degree of automation, improves the accuracy of robot palletizing and depalletizing operations, reduces labor costs, and increases production efficiency. This device is suitable for automated loading and unloading systems in cold forming and hot forming lines, 3D cutting and welding stations, and OEM assembly lines, meeting the robot's requirements for workpiece palletizing and depalletizing.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] An automatic wire rod frame identification and guidance system includes a camera and a mechanical device. The camera is connected to the mechanical device, and the mechanical device drives the camera to move so as to detect the wire rod frame and guide the robot to stack and destacking the stamped parts.

[0006] The camera is a 3D camera, and the mechanical device includes a first support assembly, a cantilever assembly, and a first camera assembly. The cantilever assembly is connected to the first support assembly and moves laterally on the first support assembly; the first camera assembly is connected to the cantilever assembly and moves longitudinally on the cantilever assembly.

[0007] The first support assembly includes a column and a crossbeam, with the crossbeam mounted on the column;

[0008] The cantilever assembly includes a transverse cable chain, a transverse support plate, a reducer mounting plate, a first servo motor, a reducer motor, a gear, a cantilever frame, a transverse cable chain bracket, a second servo motor, and an electric cylinder. The transverse support plate serves as the base, with a slider on its inner side and two crossbeam guide rails on the outer side of the crossbeam. The crossbeam guide rails cooperate with the slider, and the transverse support plate and crossbeam are slidably connected via a guide rail-slider pair. A reducer mounting plate is located on the transverse support plate, and the first servo motor is connected to the reducer motor. The reducer motor body is fixed to the reducer mounting plate, and the reducer motor output end is connected to the gear. A crossbeam rack is located between the two crossbeam guide rails, and the gear meshes with the crossbeam rack. The rotation of the first servo motor drives the transverse support plate to move left and right on the crossbeam, thereby achieving the transverse movement of the cantilever assembly on the first bracket assembly. The transverse cable chain bracket is fixed to one side of the transverse support plate and connected to the transverse cable chain. The cantilever frame passes through the reducer motor and the first servo motor and is fixed to the other side of the transverse support plate.

[0009] A cable chain guard plate is provided above the crossbeam, and the transverse cable chain is placed inside the cable chain guard plate.

[0010] The first camera assembly includes a second servo motor, an electric cylinder, a camera bracket, an electric cylinder slider, a 3D camera, a longitudinal cable chain mounting plate, a longitudinal cable chain bracket, and a longitudinal cable chain. The electric cylinder is fixed to the bottom of the cantilever frame. The second servo motor is connected to the electric cylinder. The top of the camera bracket is connected to the electric cylinder slider, and the bottom of the camera bracket is connected to the 3D camera. The camera bracket and the electric cylinder are slidably connected through the electric cylinder slider. The rotation of the second servo motor drives the 3D camera to move longitudinally on the electric cylinder, thereby realizing the longitudinal movement of the first camera assembly on the cantilever assembly. The longitudinal cable chain mounting plate is fixed to the camera bracket, and the longitudinal cable chain bracket is fixed to the cantilever frame. The two ends of the longitudinal cable chain are respectively connected to the longitudinal cable chain mounting plate and the longitudinal cable chain bracket.

[0011] An oil collection box is provided below the crossbeam, and the oil collection box is fixed to the bottom of the crossbeam by an oil collection box bracket.

[0012] A second proximity switch is provided at one end of the cantilever frame, and the second proximity switch is connected to one end of the cantilever frame through a second inductive switch bracket.

[0013] A first proximity switch is provided below the crossbeam, and the first proximity switch is fixed at the left and right ends below the crossbeam by a first inductive switch bracket.

[0014] Limiting blocks are provided at the left and right ends of the outer side of the crossbeam, and the limiting blocks cooperate with the left and right sides of the transverse support plate.

[0015] The limiting block is equipped with a buffer pad; the limiting block and the buffer pad are used to prevent the cantilever assembly from moving beyond its travel range, thus providing safety protection.

[0016] The mechanical device includes a second support assembly, a lateral movement assembly, a robot assembly, and a second camera assembly. The second camera assembly is connected to the robot assembly, and the lateral movement assembly is mounted on the second support assembly. The robot assembly includes a robot, which is fixed on a fixed support plate. The fixed support plate and the lateral movement assembly are connected via a guide rail slider pair to enable the robot to move laterally on the lateral movement assembly. The second camera assembly is connected to the robot, and the robot moves in space carrying the 3D camera in the second camera assembly.

[0017] The beneficial effects of this utility model are:

[0018] 1. This utility model's automatic material frame identification and guidance system, combined with a controller and a host computer, can identify the location of the material frame, determine whether the material frame meets the material placement conditions, avoid damage to the end effector and the material frame, realize the function of identifying and detecting the material frame during palletizing and depalletizing, calculate the number of workpieces the material frame can carry, and guide the robot to accurately palletize and depalletize, reduce labor costs, improve production efficiency, and improve the level of automated production. This utility model is applicable to palletizing and depalletizing operations of various automated production lines such as cold forming lines, hot forming lines, automated loading and unloading systems of three-dimensional cutting and welding stations, and OEM assembly lines, with a wide range of applications and a large working range.

[0019] 2. The mechanical device of this utility model includes a first support assembly, a cantilever assembly, and a camera assembly. The cantilever assembly is connected to the first support assembly and moves laterally on the first support assembly. The camera assembly is connected to the cantilever assembly and moves longitudinally on the cantilever assembly. Alternatively, the mechanical device includes a second support assembly, a lateral movement assembly, a robot assembly, and a second camera assembly. By utilizing the servo motor, lateral drag chain, longitudinal drag chain, servo drive, and other mechanisms of the mechanical device, a servo drive device is formed to realize the lateral and longitudinal bidirectional movement of the 3D camera. Alternatively, a robot can be used to drive the 3D camera to move in space, increasing the camera coverage area and meeting the requirements of different sized workpieces for the material frame, such as the largest and smallest material frames.

[0020] 3. The operator uses a forklift or AGV to transport the first material frame to the first material frame limit. Under the control of the controller, the camera can accurately and reliably determine the limit position of the workpiece in the material frame. Then, the host computer calculates and determines the number of workpieces to be placed and sends the data back to the robot, reducing the time cost caused by manual calculation and improving production efficiency.

[0021] 4. This utility model places material frames over a large area covered by the system, adapting to the loading accuracy of manual forklifts or AGVs, and meeting the needs of automated production. This utility model mainly uses conventional components in the industry, resulting in low manufacturing, use, and maintenance costs.

[0022] 5. By installing an oil collection box under the crossbeam, oil stains on the guide rail slider pair can be effectively prevented from contaminating the workpiece or the ground, thus improving the cleanliness of the workpiece and the workshop.

[0023] 6. By providing a first proximity switch below the crossbeam, with the first proximity switch connected to the left and right ends below the crossbeam, the lateral movement position of the camera can be accurately located.

[0024] 7. By providing limiting blocks at both ends of the outer side of the crossbeam, and providing buffer pads on the limiting blocks, the movement of the cantilever assembly can be prevented from exceeding its travel range, thus providing a safety protection function.

[0025] 8. A cable chain guard plate is provided above the crossbeam, and the transverse cable chain is placed inside the cable chain guard plate. This is used to support the cable chain, prevent the cable chain from being suspended or falling, increase the service life of the cable chain, and improve safety.

[0026] 9. A second proximity switch is provided at one end of the cantilever, and the second proximity switch is connected to one end of the cantilever. This allows for accurate positioning of the camera's longitudinal movement. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0028] Figure 1 This is a schematic diagram of the mechanical device comprising a first support assembly, a cantilever assembly, and a first camera assembly according to Embodiment 1 of this utility model.

[0029] Figure 2 This is a structural schematic diagram of the first support assembly;

[0030] Figure 3 Schematic diagram of the connection structure of parts on the crossbeam Figure 1 ;

[0031] Figure 4 Schematic diagram of the connection structure of parts on the crossbeam Figure 2 ;

[0032] Figure 5 Schematic diagram of the cantilever assembly Figure 1 ;

[0033] Figure 6 Schematic diagram of the cantilever assembly Figure 2 ;

[0034] Figure 7 A structural diagram of the camera assembly;

[0035] Figure 8 This diagram illustrates the structure of this invention in conjunction with a palletizing robot to palletize stamped workpieces. Figure 1 ;

[0036] Figure 9 This schematic diagram illustrates the structure of this invention in conjunction with a palletizing robot to palletize stamped workpieces. Figure 2 ;

[0037] Figure 10 This is a schematic diagram of the mechanical device in Embodiment 2, which includes a second support assembly, a transverse movement assembly, a robot assembly, and a second camera assembly.

[0038] Figure 11 for Figure 10 A schematic diagram of the connection structure of the robot assembly;

[0039] Figure 12 To utilize Figure 10 A schematic diagram of the mechanical device for unpacking the second workpiece.

[0040] In the diagram, 1 is the first support assembly, 2 is the cantilever assembly, 3 is the first camera assembly, 4 is the column, 5 is the crossbeam, 6 is the crossbeam guide rail, 7 is the crossbeam rack, 8 is the limit block, 9 is the buffer pad, 10 is the cable chain guard plate, 11 is the transverse cable chain, 12 is the oil receiving box, 13 is the oil receiving box bracket, 14 is the first proximity switch, 15 is the first inductive switch bracket, 16 is the transverse support plate, 17 is the reducer mounting plate, 18 is the first servo motor, 19 is the reduction motor, 20 is the gear, 21 is the cantilever frame, 22 is the transverse cable chain bracket, 23 is the second proximity switch, 24 is the second inductive switch bracket, 25 is the second servo motor, 26 is the electric cylinder, 27 is the camera bracket, and 8 is the electric... 28. Moving cylinder slider, 29. 3D camera, 30. Longitudinal cable chain mounting plate, 31. Longitudinal cable chain bracket, 32. Longitudinal cable chain, 33. First material frame, 34. First material frame limiter, 35. First workpiece, 36. Palletizing robot, 37. Handling robot, 38. First end effector, 39. Press, 40. Empty station, 41. Second end effector, 42. Second material frame, 43. Second bracket assembly, 44. Lateral movement assembly, 45. Robot assembly, 46. Second camera assembly, 47. Robot, 48. Fixed pallet, 49. Third material frame, 50. Depalletizing position 1, 51. Third end effector, 52. Second workpiece, 53. Laser cutting machine. Detailed Implementation

[0041] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0042] Example 1

[0043] like Figure 1-9 As shown, an automatic wire frame identification and guidance system includes a camera and a mechanical device. The camera is connected to the mechanical device. The camera is a 3D camera and is mounted on the mechanical device. The mechanical device drives the 3D camera to move, thereby detecting the wire frame and guiding the robot to stack and destacking the stamped parts.

[0044] Combination Figures 1 to 9 The mechanical device includes a first support assembly 1, a cantilever assembly 2, and a first camera assembly 3. The cantilever assembly 2 is connected to the first support assembly 1 and moves laterally on the first support assembly 1; the first camera assembly 3 is connected to the cantilever assembly 2 and moves longitudinally on the cantilever assembly 2.

[0045] The first support assembly 1 includes a column 4 and a crossbeam 5, with the crossbeam 5 mounted on the column 4.

[0046] An oil collection box 12 is provided below the crossbeam 5, and the oil collection box 12 is fixed to the bottom of the crossbeam 5 by an oil collection box bracket 13. This can effectively prevent oil stains on the guide rail slider pair from contaminating the workpiece or the ground, and improve the cleanliness of the workpiece and the workshop.

[0047] A first proximity switch 14 is provided below the crossbeam 5. The first proximity switch 14 is fixed to the left and right ends below the crossbeam 5 by a first inductive switch bracket 15. This allows for accurate positioning of the camera's lateral movement.

[0048] Limiting blocks 8 are provided at both ends of the outer side of the crossbeam 5. The limiting blocks contact the left and right sides of the transverse support plate 16 to achieve the limiting function.

[0049] The limiting block 8 is provided with a buffer pad 9. The limiting block 8 and the buffer pad 9 are used to prevent the cantilever assembly 2 from moving beyond its travel range, thus providing a safety protection function.

[0050] The cantilever assembly 2 includes a transverse cable chain 11, a transverse support plate 16, a reducer mounting plate 17, a first servo motor 18, a reduction motor 19, a gear 20, a cantilever frame 21, a transverse cable chain bracket 22, a second servo motor 25, and an electric cylinder 26. The transverse support plate 16 serves as the base, with a slider on its inner side. Two crossbeam guide rails 6 are arranged on the outer side of the crossbeam 5, cooperating with the slider. The transverse support plate 16 and the crossbeam 5 are slidably connected via a guide rail slider pair. The reducer mounting plate 17 is mounted on the transverse support plate 16, and the first servo motor 18 is connected to the reduction motor 19. The geared motor 19 is fixed on the gear reducer mounting plate 17. The output end of the geared motor 19 is connected to the gear 20. A crossbeam rack 7 is provided between the two crossbeam guide rails 6. The gear 20 meshes with the crossbeam rack 7. The first servo motor 18 rotates to drive the transverse support plate 16 to move left and right on the crossbeam 5, thereby realizing the transverse movement of the cantilever assembly 2 on the first bracket assembly 1. The transverse drag chain bracket 22 is fixed on one side of the transverse support plate 16 and is connected to the transverse drag chain 11. The cantilever frame 21 passes through the geared motor 19 and the first servo motor 18 and is fixed on the other side of the transverse support plate 16.

[0051] A cable chain guard plate 10 is provided above the crossbeam 5, and the transverse cable chain 11 is placed inside the cable chain guard plate 10. This is used to support the cable chain, prevent the cable chain from being suspended or falling, increase the service life of the cable chain, and improve safety.

[0052] A second proximity switch 23 is provided at one end of the cantilever 21, and the second proximity switch 23 is connected to one end of the cantilever 21 through a second inductive switch bracket 24. This allows for accurate positioning of the camera's longitudinal movement.

[0053] The first camera assembly 3 includes a second servo motor 25, an electric cylinder 26, a camera bracket 27, an electric cylinder slider 28, a 3D camera 29, a longitudinal cable chain mounting plate 30, a longitudinal cable chain bracket 31, and a longitudinal cable chain 32. The electric cylinder 26 is fixed to the bottom of the cantilever frame 21. The second servo motor 25 is connected to the electric cylinder 26. The top of the camera bracket 27 is connected to the electric cylinder slider 28, and the bottom of the camera bracket 27 is connected to the 3D camera 29. The camera bracket 27 and the electric cylinder 26 are slidably connected through the electric cylinder slider 28. The rotation of the second servo motor 25 drives the 3D camera 29 to move longitudinally on the electric cylinder 26, thereby realizing the longitudinal movement of the first camera assembly 3 on the cantilever assembly 2. The longitudinal cable chain mounting plate 30 is fixed to the camera bracket 27, the longitudinal cable chain bracket 31 is fixed to the cantilever frame 21, and both ends of the longitudinal cable chain 32 are connected to the longitudinal cable chain mounting plate 30 and the longitudinal cable chain bracket 31, respectively.

[0054] This utility model guides a palletizing robot to accurately palletize workpieces. The system uses a servo system to control a camera to take pictures and position two material frames in sequence. The system identifies the position and related size information of the material frames, determines whether the material frames meet the material placement conditions, calculates the number of workpieces that can be placed in the material frames, and feeds the information back to the palletizing robot to ensure that the palletizing robot accurately and efficiently picks up the workpieces onto the material frames.

[0055] The automatic wire frame identification and guidance system of this utility model includes a 3D camera and a mechanical device to increase the coverage of the 3D camera. The mechanical device can use the two-axis robot structure described in this utility model to realize the movement of the 3D camera in the horizontal and vertical directions, depending on the production needs. It is suitable for palletizing operations of hot pressing lines and cold pressing lines.

[0056] Example 2

[0057] The following structures described in this utility model, as well as other seven-axis robot structures, can also be used. The robot can move laterally on the guide rail, realizing multi-directional and long-distance movement of the 3D camera in three-dimensional space. It is suitable for palletizing and depalletizing operations in automated loading and unloading of three-dimensional cutting and automated loading and unloading of welding stations.

[0058] like Figure 10-12 The mechanical device shown includes a second support assembly 43, a lateral movement assembly 44, a robot assembly 45, and a second camera assembly 46. The second camera assembly 46 is connected to the robot assembly 45. The lateral movement assembly 44 is mounted on the second support assembly 43. The robot assembly 45 includes a robot 47, which is fixed to a fixed support plate 48. The fixed support plate 48 and the lateral movement assembly 44 are connected via a guide rail slider pair, enabling the robot 47 to move laterally on the lateral movement assembly 44. The second camera assembly 46 is connected to the robot 47, and the robot 47 moves in space carrying the 3D camera 29 in the second camera assembly 46. The length of the lateral movement assembly can be increased or decreased according to production needs. This system has a wide field of view and a large working range, and can adapt to the operational needs of large production areas. Since the mechanical connection of the robot is a conventional mechanical device in this industry, its working meaning can be understood by those skilled in the art. Therefore, the technical solution of the robot driving the 3D camera movement will not be described in detail here.

[0059] This invention, when used in conjunction with other robots, end effectors, material frames, and material frame limiters in the workshop, completes the automatic palletizing and depalletizing operations of workpieces. This invention is applicable to palletizing and depalletizing operations on various automated production lines, including cold forming lines, hot forming lines, automated loading and unloading systems for 3D cutting and welding stations, and OEM assembly lines, offering a wide range of applications and a large working area. This invention places material frames within a large area covered by the system, adapting to the loading accuracy of manual forklifts or AGVs, meeting the needs of automated production. This invention primarily uses common components found in the industry, resulting in low manufacturing, use, and maintenance costs.

[0060] The following example illustrates the automatic palletizing process in a thermoforming line where stamped workpieces need to be stacked, specifically the first workpiece:

[0061] 1. In use, this utility model is connected to a controller, such as a PLC controller, or to a host computer in the workshop. The operator uses a forklift or AGV to transport the first material frame 33 to the first material frame limit 34. Under the control of the controller, the corresponding servo motor of this utility model moves to realize the horizontal and vertical movement of the first camera assembly 3. During this process, the 3D camera 29 takes pictures and positions the first material frame 33. Under the control of the host computer, this utility model positions the overall position of the first material frame 33 based on the pictures and the information of the four points A, B, C, and D on the first material frame 33. It calculates the lengths of LAB and LCD at the four points and determines the number of workpieces that can be placed in the material frame based on the size of the first workpiece 35. It calculates the height difference of the four points in the vertical direction to determine whether the first material frame meets the material placement conditions. If it does not meet the material placement conditions, the information is sent back to the palletizing robot 36, which issues an alarm and stops the automatic palletizing operation. If it meets the material placement conditions, the calculated information is sent back to the palletizing robot 36, which reads the information of the first material frame 33 and the number of workpieces to be placed. The handling robot 37, via the first end effector 38, transports the first workpiece 35, formed by the press 39, to an empty workstation 40. The palletizing robot 36, via the second end effector 41, transports the first workpiece 35 to a material frame, completing the palletizing of the first workpiece 35. This invention identifies the position information of the second material frame 42 and transmits this information back to the palletizing robot 36. When the maximum number of workpieces on the first material frame 33 is reached, the palletizing robot 36 begins automatic palletizing on the second material frame 41. The operator uses a forklift or AGV to transport the first material frame within its limit. Under the control of the controller, a camera accurately and reliably determines the limit position of the workpieces in the material frame. Then, the host computer calculates and determines the number of workpieces to be placed and transmits this information back to the robot, reducing the time cost of manual calculation and improving production efficiency.

[0062] In addition, in the 3D cutting production line, the workpieces on the rack need to be sent to the laser cutting machine 53 for burr grinding, drilling and other operations. The following uses the robot's destacking of the second workpiece as an example to illustrate the automatic destacking process:

[0063] The operator uses an AGV to transport the third material frame 49, loaded with workpieces, to the destacking position 50. Under the control of the controller, the corresponding servo motors of this invention actuate, and the robot 47 moves on the lateral transport unit 44 to the position of the third material frame 49. Then, the robot 47 moves with the 3D camera 29, during which the 3D camera 29 takes pictures of the third material frame 49 for positioning. Under the control of the host computer, this invention locates the overall position of the third material frame based on the pictures and identifies the material presence information in the frame. The robot 47 uses the third end effector 51 to transport the second workpiece 52 into the laser cutting machine 53, completing the destacking of the second workpiece. Throughout the destacking process, the 3D camera 29 takes pictures to detect the material presence in the frame. When the frame is empty, the robot 47 begins to automatically destacking the workpieces in other frames.

[0064] The mechanical device can also be a two-axis manipulator, a seven-axis robot, or other structures, as long as it can be modified or matched to meet the intelligent requirements of the sheet metal stamping production line.

[0065] This invention utilizes a servo drive to achieve bidirectional camera movement, resulting in high efficiency and accurate positioning of the material frame. A controller calculates and determines whether the material frame meets the loading conditions, preventing damage to the end effector and the material frame. The camera determines the maximum stacking limit of the workpieces in the material frame, and the controller calculates the number of workpieces that can be placed and transmits this information back to the palletizing robot, reducing the time cost of manual calculations and improving production efficiency. This invention can place material frames over a large coverage area, meeting both maximum and minimum material frame requirements. It is compatible with the loading accuracy of manual forklifts or AGVs, meeting the needs of automated production.

[0066] In the description of this utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this utility model and do not require that this utility model be constructed or operated in a specific orientation, and therefore should not be construed as limiting this utility model. The terms "connected" and "linked" in this utility model should be interpreted broadly. For example, they can refer to a connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0067] The above description represents the preferred embodiments of this utility model. The specific embodiments are provided only for a better understanding of the concept of this utility model. For those skilled in the art, several improvements or equivalent substitutions can be made based on the principles of this utility model, and these improvements or equivalent substitutions are also considered to fall within the protection scope of this utility model.

Claims

1. An automatic wire frame identification and guidance system, characterized in that, It includes a camera and a mechanical device. The camera is connected to the mechanical device, and the mechanical device drives the camera to move so as to detect the material frame and guide the robot to stack and destacking the stamped parts. The camera is a 3D camera, and the mechanical device includes a first support assembly, a cantilever assembly, and a first camera assembly. The cantilever assembly is connected to the first support assembly and moves laterally on the first support assembly; the first camera assembly is connected to the cantilever assembly and moves longitudinally on the cantilever assembly.

2. The automatic wire frame identification and guidance system according to claim 1, characterized in that, The first support assembly includes a column and a crossbeam, with the crossbeam mounted on the column; The cantilever assembly includes a transverse cable chain, a transverse support plate, a reducer mounting plate, a first servo motor, a reducer motor, a gear, a cantilever frame, a transverse cable chain bracket, a second servo motor, and an electric cylinder. The transverse support plate serves as the base, with a slider on its inner side and two crossbeam guide rails on the outer side of the crossbeam. The crossbeam guide rails cooperate with the slider, and the transverse support plate and crossbeam are slidably connected via a guide rail-slider pair. A reducer mounting plate is located on the transverse support plate, and the first servo motor is connected to the reducer motor. The reducer motor body is fixed to the reducer mounting plate, and the reducer motor output end is connected to the gear. A crossbeam rack is located between the two crossbeam guide rails, and the gear meshes with the crossbeam rack. The rotation of the first servo motor drives the transverse support plate to move left and right on the crossbeam, thereby achieving the transverse movement of the cantilever assembly on the first bracket assembly. The transverse cable chain bracket is fixed to one side of the transverse support plate and connected to the transverse cable chain. The cantilever frame passes through the reducer motor and the first servo motor and is fixed to the other side of the transverse support plate.

3. The automatic wire frame identification and guidance system according to claim 2, characterized in that, A cable chain guard plate is provided above the crossbeam, and the transverse cable chain is placed inside the cable chain guard plate.

4. The automatic wire frame identification and guidance system according to claim 2, characterized in that, The first camera assembly includes a second servo motor, an electric cylinder, a camera bracket, an electric cylinder slider, a 3D camera, a longitudinal cable chain mounting plate, a longitudinal cable chain bracket, and a longitudinal cable chain. The electric cylinder is fixed to the bottom of the cantilever frame. The second servo motor is connected to the electric cylinder. The top of the camera bracket is connected to the electric cylinder slider, and the bottom of the camera bracket is connected to the 3D camera. The camera bracket and the electric cylinder are slidably connected through the electric cylinder slider. The rotation of the second servo motor drives the 3D camera to move longitudinally on the electric cylinder, thereby realizing the longitudinal movement of the first camera assembly on the cantilever assembly. The longitudinal cable chain mounting plate is fixed to the camera bracket, and the longitudinal cable chain bracket is fixed to the cantilever frame. The two ends of the longitudinal cable chain are respectively connected to the longitudinal cable chain mounting plate and the longitudinal cable chain bracket.

5. The automatic wire frame identification and guidance system according to claim 2, characterized in that, An oil collection box is provided below the crossbeam, and the oil collection box is fixed to the bottom of the crossbeam by an oil collection box bracket.

6. The automatic wire frame identification and guidance system according to claim 2, characterized in that, A second proximity switch is provided at one end of the cantilever frame, and the second proximity switch is connected to one end of the cantilever frame through a second inductive switch bracket; A first proximity switch is provided below the crossbeam, and the first proximity switch is fixed at the left and right ends below the crossbeam by a first inductive switch bracket.

7. The automatic wire frame identification and guidance system according to claim 2, characterized in that, Limiting blocks are provided at the left and right ends of the outer side of the crossbeam, and the limiting blocks cooperate with the left and right sides of the transverse support plate.

8. The automatic wire frame identification and guidance system according to claim 7, characterized in that, The limiting block is equipped with a buffer pad.

9. The automatic wire frame identification and guidance system according to claim 1, characterized in that, The mechanical device includes a second support assembly, a lateral movement assembly, a robot assembly, and a second camera assembly. The second camera assembly is connected to the robot assembly, and the lateral movement assembly is mounted on the second support assembly. The robot assembly includes a robot, which is fixed on a fixed support plate. The fixed support plate and the lateral movement assembly are connected via a guide rail slider pair to enable the robot to move laterally on the lateral movement assembly. The second camera assembly is connected to the robot, and the robot moves in space carrying the 3D camera in the second camera assembly.

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