Automatic profile turning and anti-bending carrying device

Abstract

This utility model discloses an automatic profile flipping and anti-bending handling device, including a frame and at least one pair of flipping gripper mechanisms. A longitudinal drive mechanism and a first lifting mechanism are linked between the flipping gripper mechanisms and the frame. An intermediate lifting and anti-bending mechanism is also provided between the two flipping gripper mechanisms. The automatic profile flipping and anti-bending handling device provided by this utility model can automatically flip profiles while preventing them from bending and deforming.

Description

Technical Field

[0001] This utility model relates to the field of automatic profile handling, and in particular to an automatic profile flipping and anti-bending handling device. Background Technology

[0002] Before entering the vertical spraying line, the profiles need to be transported from the conveyor belt to the subsequent drilling processing position. Currently, the workshop's production line still relies on manual operation for this step. Operators need to manually flip the profiles and visually determine their cross-sectional orientation. This process requires at least two people, one standing at each end of the profile, to flip it simultaneously to achieve the standard orientation required for subsequent processing. Finally, the operators perform positioning processing or transport it to other equipment for positioning processing.

[0003] The aforementioned traditional manual operation mode has many drawbacks: First, manual handling and flipping are extremely labor-intensive and have low production efficiency, which has become a bottleneck restricting the automation upgrade of the production line; second, manual visual judgment of the profile orientation is subject to subjective errors, which can easily lead to flipping errors, resulting in incorrect hole positions in subsequent processing, causing profile scrapping and material waste; third, for long profiles (usually around six meters), they are very prone to bending and deformation during handling due to their own weight, and manual handling cannot provide effective intermediate support. Deformed profiles will cause positioning deviations when drilling, which seriously affects the processing accuracy and quality consistency of the product.

[0004] Therefore, there is an urgent need to design an automated device that integrates automatic identification, precise flipping, effective bending prevention, and efficient handling to completely replace manual labor, improve production efficiency, and ensure the stability of product quality. Utility Model Content

[0005] The purpose of this invention is to provide an automatic profile flipping and anti-bending handling device that can automatically flip the profile while preventing it from bending and deforming.

[0006] To achieve the above objectives, this utility model provides an automatic profile flipping and anti-bending handling device, including a frame and at least one pair of flipping gripper mechanisms. The flipping gripper mechanisms are linked to the frame by a longitudinal drive mechanism and a first lifting mechanism. An intermediate lifting and anti-bending mechanism is also provided between the two flipping gripper mechanisms.

[0007] As a further improvement of this utility model, it includes an upper sliding frame and a hanger. The longitudinal drive mechanism is mounted on the frame and its drive end is connected to the upper sliding frame. The first lifting mechanism is connected between the upper sliding frame and the hanger. The pair of flipping gripper mechanisms and the intermediate lifting and anti-bending mechanism are both mounted on the hanger.

[0008] As a further improvement of this utility model, each of the flipping gripper mechanisms includes a rotation drive device and a gripper structure connected in sequence.

[0009] As a further improvement of this utility model, the flipping gripper mechanism also includes a transverse drive mechanism and a transverse frame connected in sequence. The rotation drive device is mounted on the transverse frame, and a bearing seat is also mounted on the transverse frame. The rotation shaft of the rotation drive device passes through the bearing seat and is connected to the gripper structure.

[0010] As a further improvement of this utility model, the intermediate lifting and anti-bending mechanism includes a second lifting mechanism and a clamping drive mechanism connected in sequence. The two longitudinal moving ends of the clamping drive mechanism are connected to two brackets arranged opposite to each other. Several longitudinally arranged racks are connected to the adjacent side of the two brackets, and the racks of the two brackets are arranged alternately in the transverse direction.

[0011] As a further improvement of this utility model, a machine vision recognition unit is connected to the frame via a mounting base, and the lens of the machine vision recognition unit is facing the end of the profile to be flipped.

[0012] As a further improvement of this utility model, the longitudinal drive mechanism includes a mounting base, a rotating motor and a lead screw. The mounting base is connected to the frame, the rotating motor is mounted on the mounting base, and the lead screw is rotatably connected to the mounting base and linked with the output end of the rotating motor. The upper sliding frame is threadedly engaged with the lead screw, and the frame is also provided with a guide rail that is slidably engaged with the upper sliding frame.

[0013] Beneficial effects

[0014] Compared with the prior art, the advantages of the automatic profile flipping and anti-bending handling device of this utility model are:

[0015] 1. When the profile on the conveyor belt needs to be flipped and transported to the subsequent drilling position, a pair of flipping gripper mechanisms first clamp both ends of the profile. A first lifting mechanism slightly lifts the profile off the conveyor belt, and then the flipping gripper mechanism rotates the profile by a certain angle. During this process, the intermediate support and anti-bending mechanism remains open and does not contact the profile to avoid hindering its rotation. After the profile is flipped, the intermediate support and anti-bending mechanism first supports the middle of the profile to prevent it from bending downwards due to gravity. Then, the first lifting mechanism and the longitudinal drive mechanism work together to smoothly transport the profile to the drilling position. The intermediate support and anti-bending mechanism opens first to avoid interference with the fixture, and the flipping gripper mechanisms at both ends then open, releasing the profile. In this process, the flipping and transport of the profile requires no manual intervention, reducing labor costs and safety risks, improving production efficiency, significantly reducing the probability of profile bending, and increasing the finished product qualification rate.

[0016] 2. The flipping gripper mechanism also includes a transverse drive mechanism and a transverse frame connected in sequence. The transverse drive mechanism drives the gripper structure away from or near the end of the profile to avoid collision between the gripper structure and the profile when it moves in a non-gripping state.

[0017] 3. The intermediate support and anti-bending mechanism uses the racks of two brackets to jointly support the middle of the profile, providing good support stability.

[0018] 4. By setting up a machine vision recognition unit, images of the profile end face are acquired. After passing through the vision recognition system, it is determined whether the profile needs to be flipped. Then, the vision guides the flipping gripper mechanism to clamp and flip the aluminum profile or leave it inactive. Using the visual recognition unit of the machine vision recognition unit to replace human judgment greatly improves production efficiency, reduces labor intensity and human error, and ensures the stability and high efficiency of production.

[0019] The present invention will become clearer from the following description and in conjunction with the accompanying drawings, which are used to explain the embodiments of the present invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A 3D view of the automatic profile flipping and anti-bending handling device;

[0022] Figure 2 This is an enlarged view of the flipping gripper mechanism;

[0023] Figure 3 An enlarged view of the central support and anti-bending mechanism;

[0024] Figure 4 This is an enlarged view of the longitudinal drive mechanism;

[0025] Figure 5 This is a side view showing the coordination between the intermediate support and anti-bending mechanism and the profile. Detailed Implementation

[0026] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0027] Example

[0028] The specific embodiments of this utility model are as follows: Figures 1 to 5As shown, an automatic profile flipping and anti-bending handling device includes a frame 1 and a pair of flipping gripper mechanisms 6. The flipping gripper mechanisms 6 are linked to the frame 1 by a longitudinal drive mechanism 2 and a first lifting mechanism 4. An intermediate lifting and anti-bending mechanism 7 is also provided between the two flipping gripper mechanisms 6. When the number of profiles 10 that need to be flipped and handled simultaneously is at least two, at least two pairs of flipping gripper mechanisms 6 can also be provided.

[0029] The frame 1 is installed across the conveyor belt feeding station and the subsequent drilling station of the aluminum profile vertical spraying line, providing support for the entire device.

[0030] The automatic profile flipping and anti-bending handling device also includes an upper sliding frame 3 and a hanger 5. A longitudinal drive mechanism 2 is mounted on the frame 1 and its drive end is connected to the upper sliding frame 3. A first lifting mechanism 4 is connected between the upper sliding frame 3 and the hanger 5. A pair of flipping gripper mechanisms 6 and an intermediate lifting anti-bending mechanism 7 are both mounted on the hanger 5. In this embodiment, both the frame 1 and the hanger 5 are gantry-shaped. There are two first lifting mechanisms 4, which are symmetrically arranged on the left and right sides of the hanger 5. The first lifting mechanism 4 adopts a linear telescopic cylinder structure.

[0031] Each flipping gripper mechanism 6 includes a rotary drive device 62 and a gripper structure 61 connected in sequence, as well as a transverse drive mechanism 65 and a transverse frame 64 connected in sequence. The transverse drive mechanism 65 is mounted on the hanger 5, and the rotary drive device 62 is mounted on the transverse frame 64. A bearing seat 63 is also mounted on the transverse frame 64. The rotation shaft of the rotary drive device 62 passes through the bearing seat 63 and is connected to the gripper structure 61. The rotary drive device 62 is a servo motor that can drive the gripper structure 61 to rotate. The servo motor can receive control signals and drive the gripper structure 61 to rotate at any angle within the range of 0° to 360°. The gripper structure 61 is a pneumatic finger that can clamp the end of the profile 10 by driving its two gripping parts closer together. This pneumatic finger is preferably an Airtac HFT series wide-type pneumatic finger, and polyurethane anti-slip pads (not shown in the figure) can be installed on its grippers to increase friction and protect the profile surface. The transverse drive mechanism 65 is a linear telescopic cylinder structure, and its extension direction is parallel to the length direction of the profile 10.

[0032] The intermediate lifting and anti-bending mechanism 7 includes a second lifting mechanism 71 and a clamping drive mechanism 72 connected in sequence. Two longitudinally moving ends of the clamping drive mechanism 72 are connected to two opposing brackets 73, which are made of 6061 aluminum alloy. Multiple longitudinally extending racks 74 are connected to adjacent sides of the two brackets 73. The racks 74 of the two brackets 73 are staggered in the transverse direction (y-axis direction). Wear-resistant nylon blocks are bonded to the upper surfaces of the racks 74 to prevent scratching the surface of the profile 10. The upper end of the second lifting mechanism 71 is connected to the middle of the hanger 5, and the second lifting mechanism 71 uses a lifting cylinder. The clamping drive mechanism 72 uses pneumatic fingers, which can drive the racks 74 on the two brackets 73 to move closer or further apart longitudinally.

[0033] A machine vision recognition unit 8 is connected to the frame 1 via a mounting base 81. The lens of the machine vision recognition unit 8 is directed towards the end of the profile 10 to be flipped, thereby capturing the shape of the end face of the profile 10, such as... Figure 5 As shown. The mounting base 81 can be configured with adjustable height and longitudinal position to facilitate alignment of the machine vision recognition unit 8 with the profile 10 to be flipped. Specifically, the machine vision recognition unit 8 can be an industrial camera with a built-in light source and a lens that looks straight ahead, directly facing the end face of the profile 10 at the initial workstation. The industrial camera model is Basler ace 2acA1920-40uc, and the camera lens model is Computar M1214-MP2. The industrial camera acquires images of the end face of the profile 10 and transmits the image data to a central controller, which is a PLC. Image processing algorithms can identify the characteristic contours of the profile cross-section in real time and calculate the deviation angle θ between its current orientation and the target orientation, thereby generating corresponding control commands. The technology of acquiring profile end face images using an industrial camera is existing technology, as disclosed in, for example, in "CN118379289B A Quality Inspection Method and System for Aluminum Profile Cross-sections". In addition, personnel can remotely observe the relative position of the profile 10 and the flipping gripper mechanism 6 through an industrial camera, and remotely operate the flipping gripper mechanism 6 to clamp the end of the profile 10.

[0034] A laser sensor (not shown in the figure) can be installed on the gripper of the gripper structure 61. When the gripper of the gripper structure 61 moves to the outside of the end of the profile 10 and the laser sensor senses the profile 10, the gripper structure 61 can then clamp the end of the profile 10.

[0035] The longitudinal drive mechanism 2 includes a mounting base 23, a rotary motor 21, and a lead screw 22. The mounting base 23 is bolted to the frame 1. The rotary motor 21 is mounted on the mounting base 23. The lead screw 22 is rotatably connected to the mounting base 23 and is linked to the output end of the rotary motor 21. The upper sliding frame 3 is threadedly engaged with the lead screw 22. The frame 1 is also provided with a guide rail 9 that slidably engages with the upper sliding frame 3. When the rotary motor 21 drives the lead screw 22 to rotate, it can drive the upper sliding frame 3 to move longitudinally (in the X-axis direction).

[0036] The working process of this conveying device is as follows:

[0037] 1. Initial Positioning: Driven by the longitudinal drive mechanism 2, the hanger 5 moves to the top of the conveyor belt loading area of ​​the painting line, and the profile 10 to be flipped and transported moves to the predetermined position under the drive of the conveyor belt. At this time, the gripper structure 61 opens, and the bracket 73 is in the raised position.

[0038] 2. Visual Recognition: An industrial camera takes pictures of the end of the profile 10 to be flipped and transported. The visual algorithm identifies the orientation of its cross section and calculates the angle θ that needs to be flipped.

[0039] 3. Clamping: The controller issues a command, and the transverse drive mechanisms 65 at both ends push out the gripper structures 61. Simultaneously, the gripper structures 61 at both ends close, clamping both ends of the profile 10.

[0040] 4. Tilting and Lifting: The entire hanger 5 is lifted, slightly raising the profile 10 away from the conveyor belt. Subsequently, the two sets of rotation drive devices 62 are started synchronously, driving the profile 10 to rotate precisely at the calculated angle θ, so that it reaches the preset correct orientation; then, the second lifting mechanism 71 and the clamping drive mechanism 72 of the intermediate support and anti-bending mechanism 7 work together to move the rack 74 to the lower middle part of the profile 10. Then, the second lifting mechanism 71 drives the bracket 73 to rise until the rack 74 firmly supports the bottom middle part of the profile 10.

[0041] 5. Handling and Placement: The longitudinal drive mechanism 2 drives the hanger 5 to move the profile 10 horizontally above the drilling machine worktable. Then, the first lifting mechanism 4 drives the hanger 5 to descend, the clamping drive mechanism 72 opens, the second lifting mechanism 71 of the bracket 73 retracts, raising it a certain distance to avoid interference with the clamp, and then the gripper structure 61 opens, accurately releasing the profile 10 in the predetermined position.

[0042] 6. Return: After placement is complete, the hanger 5 returns to its initial position and waits for the next work cycle.

[0043] The present invention has been described above in conjunction with the preferred embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations made in accordance with the essence of the present invention.

Claims

1. An automatic profile flipping and anti-bending handling device, characterized in that, It includes a frame (1) and at least one pair of flipping gripper mechanisms (6). The flipping gripper mechanism (6) is linked to the frame (1) by a longitudinal drive mechanism (2) and a first lifting mechanism (4). An intermediate lifting and anti-bending mechanism (7) is also provided between the two flipping gripper mechanisms (6).

2. The automatic profile flipping and anti-bending handling device according to claim 1, characterized in that, It includes an upper sliding frame (3) and a hanger (5). The longitudinal drive mechanism (2) is set on the frame (1) and its drive end is connected to the upper sliding frame (3). The first lifting mechanism (4) is connected between the upper sliding frame (3) and the hanger (5). The pair of flipping gripper mechanisms (6) and the intermediate lifting anti-bending mechanism (7) are both installed on the hanger (5).

3. The automatic profile flipping and anti-bending handling device according to claim 1 or 2, characterized in that, Each of the aforementioned flipping gripper mechanisms (6) includes a rotation drive device (62) and a gripper structure (61) connected in sequence.

4. The automatic profile flipping and anti-bending handling device according to claim 3, characterized in that, The flipping gripper mechanism (6) further includes a transverse drive mechanism (65) and a transverse frame (64) connected in sequence. The rotation drive device (62) is mounted on the transverse frame (64), and a bearing seat (63) is also mounted on the transverse frame (64). The rotation shaft of the rotation drive device (62) passes through the bearing seat (63) and is connected to the gripper structure (61).

5. The automatic profile flipping and anti-bending handling device according to claim 2, characterized in that, The intermediate lifting and anti-bending mechanism (7) includes a second lifting mechanism (71) and a clamping drive mechanism (72) connected in sequence. The two longitudinal moving ends of the clamping drive mechanism (72) are connected to two brackets (73) arranged opposite to each other. Several longitudinally arranged racks (74) are connected to the adjacent side of the two brackets (73). The racks (74) of the two brackets (73) are arranged in a staggered manner in the transverse direction.

6. The automatic profile flipping and anti-bending handling device according to claim 1, characterized in that, A machine vision recognition unit (8) is connected to the frame (1) via a mounting base (81), and the lens of the machine vision recognition unit (8) is facing the end of the profile (10) to be flipped.

7. The automatic profile flipping and anti-bending handling device according to claim 2, characterized in that, The longitudinal drive mechanism (2) includes a mounting base (23), a rotating motor (21) and a lead screw (22). The mounting base (23) is connected to the frame (1), the rotating motor (21) is mounted on the mounting base (23), and the lead screw (22) is rotatably connected to the mounting base (23) and linked with the output end of the rotating motor (21). The upper sliding frame (3) is threadedly engaged with the lead screw (22), and the frame (1) is also provided with a guide rail (9) that is slidably engaged with the upper sliding frame (3).

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