Robotic automatic pick-and-place and finishing stone device

Abstract

The utility model relates to a kind of robot automatic taking and placing and finishing stone plate device, including frame base, six-axis industrial robot, composite tool head, turnover workbench and material rack pedestal, six-axis industrial robot is installed on frame base, six-axis industrial robot end is equipped with composite tool head, and composite tool head is driven to grab and process stone plate, frame base left and right sides are respectively provided with tool changer and wireless suction cup holder, and processing tool is placed on tool changer, and processing tool is provided for composite tool head, wireless suction cup holder inside places wireless suction cup, frame base rear side is provided with turnover workbench, stone plate is adsorbed on turnover workbench by wireless suction cup, turnover workbench other side is equipped with material rack pedestal, and L frame and large suction cup holder are installed on material rack pedestal top, and L frame and large suction cup holder are used to place stone plate;Compared with prior art, the utility model can realize stone plate processing full-process automation, significantly reduce production cost, improve processing precision and quality stability.

Description

[Technical Field]

[0001] This utility model relates to the field of robotic processing technology, specifically to a robotic automatic picking, placing, and fine processing device for stone slabs. [Background Technology]

[0002] Currently, there is a lack of fully unattended kitchen countertop cutting equipment (including artificial stone and natural stone). Countertops are typically heavy and large, requiring manual handling, which leads to longer production cycles and increased costs. Manual handling of countertops, due to their weight and size, easily causes workplace injuries, especially without equipment assistance. Manual loading and unloading operations are cumbersome and prone to scratches or damage to countertops, increasing the defect rate.

[0003] Countertop processing is highly manual, with cutting, grinding, and polishing all requiring skilled workers. The high technical threshold and correspondingly high worker wages contribute to increased processing costs. The production process involves multiple roles, including cutting, grinding, polishing, and installation, each requiring a large workforce, increasing labor costs and potentially reducing efficiency. While some automation equipment assists in processing, it cannot completely replace manual labor compared to traditional methods. Introducing automated production lines requires a significant initial investment but can substantially reduce subsequent labor costs and operational risks.

[0004] Furthermore, grinding and polishing processes generate a large amount of dust, especially when processing artificial stone or natural stone. Without effective protective measures, this dust can damage workers' respiratory systems, and long-term exposure may lead to occupational diseases such as pneumoconiosis. Manual operation makes it difficult to ensure consistency, resulting in inconsistent surface quality and uneven gloss between different batches of countertops, affecting aesthetics. If the equipment is outdated or incompatible with the current materials, uneven processing may occur, increasing rework rates. [Utility Model Content]

[0005] The purpose of this invention is to address the aforementioned shortcomings by providing a robotic automatic pick-and-place and precision stone slab processing device that can automate the entire stone slab processing process, significantly reducing production costs and improving processing accuracy and quality stability.

[0006] To achieve the above objectives, an automated robotic device for picking up, placing, and refining stone slabs is designed, comprising a frame base 1, a six-axis industrial robot 2, a composite tool head 3, a tool changer 4, a wireless suction cup holder 5, a rotating worktable 6, a material rack base 7, an L-shaped frame 8, and a large suction cup holder 9. The six-axis industrial robot 2 is mounted on the frame base 1, and the composite tool head 3 is mounted at its end, driving the composite tool head 3 to grasp and process the stone slabs. The tool changer 4 and the wireless suction cup holder 5 are respectively arranged on the left and right sides of the frame base 1. The tool changer 4 holds processing tools and provides processing tools for the composite tool head 3. The wireless suction cup holder 5 contains wireless suction cups. The rotating worktable 6 is arranged on the rear side of the frame base 1, and the stone slabs are adsorbed on the rotating worktable 6 by the wireless suction cups. The material rack base 7 is arranged on the other side of the rotating worktable 6, and the L-shaped frame 8 and the large suction cup holder 9 are mounted on the top of the material rack base 7. The L-shaped frame 8 and the large suction cup holder 9 are used to place the stone slabs.

[0007] Furthermore, the composite tool head 3 includes a sawing motor 11, an automatic tool changing electric spindle 12, a tail suction cup 14, an air knife 15, an automatic large suction cup changing device 16, and a large suction cup 17. The sawing motor 11 is used to cut stone slabs. An air knife 15 is provided on one side of the sawing motor 11. The air knife 15 is used to blow away water stains and dust on the surface of the stone slab. An automatic tool changing electric spindle 12 is provided on the other side of the sawing motor 11. The tool changer 4 provides processing tools to the automatic tool changing electric spindle 12. The automatic tool changing electric spindle 12 is used to grind curves. A tail suction cup 14 and an automatic large suction cup changing device 16 are provided on the front side of the sawing motor 11. The tail suction cup 14 is used to grab the wireless suction cup. A large suction cup 17 is installed on the front of the automatic large suction cup changing device 16. The large suction cup 17 is used to grab the stone slab.

[0008] Furthermore, the composite tool head 3 also includes a force control sensor 10 and a laser rangefinder 13. The force control sensor 10 is located on the back of the automatic large suction cup changing device 16 and is used to detect the force on the end workpiece. The laser rangefinder 13 is located on one side of the sawing motor 11 and is used to detect the distance to the stone slab. The composite tool head 3 is moved to the front of the stone slab by the six-axis industrial robot 2 and the tilt angle and position of the stone slab are detected by the force control sensor 10 and the laser rangefinder 13.

[0009] Furthermore, the tail suction cup 14 is flat and has a central hole in the middle. When the tail suction cup 14 is pressed against the lip of the wireless suction cup, the system generates negative pressure in the central hole to attract the wireless suction cup and place it at the target position.

[0010] Furthermore, the automatic large suction cup replacement device 16 installs the large suction cup 17 through a pin mechanism. The pin mechanism includes a pin and a cylinder. After the pin is inserted into the mounting hole of the large suction cup 17, the cylinder pushes the pin laterally to prevent it from separating. When the large suction cup 17 is removed, the cylinder drives the pin to retract, thereby pulling the pin out of the mounting hole and separating it.

[0011] Furthermore, the L-shaped side of the L-frame 8 is L-shaped. The L-frame 8 is used to place stone slabs. The stone slabs placed on the L-frame 8 are arranged at an angle, with the bottom of the stone slabs contacting the bottom of the L-frame 8 and the top of the stone slabs resting against the L-frame 8.

[0012] Furthermore, a crossbeam is provided in the middle of the large suction cup frame 9, and suction cups are distributed on the crossbeam. When the suction cups approach the stone slab, they use their internal negative pressure to pick up the stone slab and transport it to the target position. After the stone slab is transported to the target position, the internal negative pressure is closed so that the stone slab is placed on the processing platform under the action of gravity.

[0013] Compared with the prior art, this utility model has the following advantages:

[0014] (1) High efficiency: This utility model enables robots to accurately perform tasks such as grasping, handling, cutting, grinding and drilling. The composite tool head can automatically change tools to adapt to various processing needs and significantly improve production efficiency.

[0015] (2) High precision and consistency: The laser rangefinder of this utility model works in conjunction with the force control sensor to detect the position, angle and edge of the stone slab in real time, and adjust the processing path to ensure processing accuracy and stability;

[0016] (3) Environmental protection and safety: The air knife system of this utility model cleans up dust and automatically handles waste by flipping the worktable, reducing environmental pollution and the risk of work-related injuries;

[0017] (4) Flexibility: The automatic tool changer, electric spindle and intelligent path planning of this utility model meet the processing needs of different stone slab sizes and shapes;

[0018] (5) Cost-effectiveness: This utility model is highly automated, which reduces manual intervention, human error and labor intensity, optimizes resource utilization, and improves the environmental friendliness of the production process;

[0019] In summary, this utility model adopts a highly automated design, integrating technologies such as a six-axis industrial robot, a composite tool head, an automatic tool changer, a laser rangefinder, and a force control sensor, to achieve full automation of the stone slab processing process. At the same time, by optimizing the production process, this device significantly reduces production costs, improves processing accuracy and quality stability, provides an efficient, safe, and environmentally friendly solution for the stone slab processing industry, and offers a reference for intelligent manufacturing, making it worthy of widespread application. [Image Description]

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the composite tool head of this utility model;

[0022] In the diagram: 1. Frame base; 2. Six-axis industrial robot; 3. Composite tool head; 4. Tool changer; 5. Wireless suction cup holder; 6. Tilting worktable; 7. Material rack base; 8. L-shaped frame; 9. Large suction cup holder; 10. Force control sensor; 11. Sawing motor; 12. Automatic tool changer spindle; 13. Laser rangefinder; 14. Tail suction cup; 15. Air knife; 16. Automatic large suction cup changing device; 17. Large suction cup. [Detailed Implementation]

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] As attached Figure 1 As shown, this utility model provides a robot-automatic stone slab picking, placing, and finishing device, including a frame base 1, a six-axis industrial robot 2, a composite tool head 3, a tool changer 4, a wireless suction cup frame 5, a rotating worktable 6, a material rack base 7, an L-shaped frame 8, and a large suction cup frame 9. The six-axis industrial robot 2 is mounted on the frame base 1, and the composite tool head 3 is installed at its end, driving the composite tool head 3 to grab and process the stone slab. The tool changer 4 and the wireless suction cup frame 5 are respectively arranged on the left and right sides of the frame base 1. The tool changer 4 is equipped with processing tools and provides processing tools for the composite tool head 3. The wireless suction cup frame 5 contains wireless suction cups. The rotating worktable 6 is arranged on the rear side of the frame base 1, and the stone slabs are adsorbed on the rotating worktable 6 by the wireless suction cups. The material rack base 7 is arranged on the other side of the rotating worktable 6, and the L-shaped frame 8 and the large suction cup frame 9 are installed on the top of the material rack base 7. The L-shaped frame 8 and the large suction cup frame 9 are used to place the stone slabs. The L-shaped frame 8 is used to place stone slabs. The stone slabs placed on the L-shaped frame 8 are arranged at an angle, with the bottom of the stone slabs contacting the bottom of the L-shaped frame 8 and the top of the stone slabs resting against the L-shaped frame 8. The large suction cup frame 9 has a crossbeam in the middle, with suction cups distributed on the crossbeam. When the suction cups approach the stone slabs, they use their internal negative pressure to pick up the stone slabs and transport them to the target position. After the stone slabs are transported to the target position, the internal negative pressure is turned off, allowing the stone slabs to be placed on the processing platform under the action of gravity.

[0025] As attached Figure 2As shown, the composite tool head 3 includes a sawing motor 11, an automatic tool changer spindle 12, a tail suction cup 14, an air knife 15, an automatic large suction cup changing device 16, and a large suction cup 17. The sawing motor 11 is used to cut stone slabs. An air knife 15 is provided on one side of the sawing motor 11 to blow away water stains and dust from the surface of the stone slab. An automatic tool changer spindle 12 is provided on the other side of the sawing motor 11. A tool changer 4 provides processing tools to the automatic tool changer spindle 12, which is used for grinding curves. A tail suction cup 14 and an automatic large suction cup changing device 16 are provided on the front side of the sawing motor 11. The tail suction cup 14 is used to grip the wireless suction cup. A large suction cup 17 is installed on the front of the automatic large suction cup changing device 16 and is used to grip the stone slab. The tail suction cup 14 is flat and has a central hole in the middle. When the tail suction cup 14 is pressed against the lip of the wireless suction cup, the central hole is opened by the... The system generates negative pressure to attract the wireless suction cup and place it at the target position; the automatic large suction cup changing device 16 installs the large suction cup 17 through a pin mechanism, which includes a pin and a cylinder. After the pin is inserted into the mounting hole of the large suction cup 17, the cylinder pushes the pin laterally to prevent it from separating. When the large suction cup 17 is removed, the cylinder drives the pin to retract, thereby pulling the pin out of the mounting hole and separating it; the composite tool head 3 also includes a force control sensor 10 and a laser rangefinder 13. The force control sensor 10 is set on the back of the automatic large suction cup changing device 16 and is used to detect the force on the end workpiece. The laser rangefinder 13 is set on one side of the sawing motor 11 and is used to detect the distance to the stone slab. The composite tool head 3 is moved to the front of the stone slab by the six-axis industrial robot 2, and the tilt angle and position of the stone slab are detected by the force control sensor 10 and the laser rangefinder 13.

[0026] This utility model device mainly consists of a frame base 1, a six-axis industrial robot 2, a composite tool head 3, a tool changer 4, a wireless suction cup frame 5, a flipping worktable 6, a material rack base 7, an L-shaped frame 8, and a large suction cup frame 9. The large suction cup on the composite tool head 3 is automatically installed only when gripping the stone slab. After cutting and grinding, it is automatically removed and placed on the large suction cup frame on top of the material rack base. The L-shaped frame 8 is L-shaped on the side and is used to place the stone slab. The stone slab is approximately 80 degrees to the ground, with its bottom contacting the bottom of the L-shaped frame 8 and its top resting against the L-shaped frame 8. The large suction cup frame 9 has a crossbeam in the middle, on which suction cups are distributed. When the suction cups approach the stone slab, they are attracted by the negative pressure inside the suction cups according to the principle of atmospheric pressure difference. After being transported to the target position, the negative pressure inside the suction cups is turned off, and the stone slab is placed on the stone slab processing platform under the action of gravity. The composite tool head 3 includes a force control sensor 10, a sawing motor 11, an automatic tool changer spindle 12, a laser rangefinder 13, a tail suction cup 14, an air knife 15, an automatic large suction cup changing device 16, and a large suction cup 17. The tail suction cup 14 is a flat surface with a hole in the middle. When pressed against the lip of the wireless suction cup, the system generates negative pressure in the middle hole to pick up the wireless suction cup and place it at the target position. The automatic large suction cup changing device 16 is a pin mechanism. When the pin is inserted into the hole, the cylinder pushes the pin laterally to prevent it from separating. To remove it, the cylinder first retracts the pin, and then the pin is pulled out of the hole to separate it.

[0027] like Figure 1 This is the overall layout diagram of the present invention. The frame base 1 is the mounting foundation for the six-axis industrial robot 2 and other equipment. The six-axis industrial robot 2 and the composite tool head 3 are responsible for performing gripping and processing tasks. The tool changer 4 provides processing tools to the automatic tool changer spindle 12. The wireless suction cup frame 5 houses wireless suction cups. The rotating worktable 6 holds wireless suction cups to adhere to stone slabs. The material rack base 7 is responsible for installing and placing the L-shaped frame 8 containing stone slabs and the large suction cup frame 9. Figure 2 This is a structural diagram of a composite tool head. The force control sensor 10 is responsible for detecting the force on the end tool, the sawing motor 11 is responsible for cutting the stone slab, the automatic tool changing electric spindle 12 is responsible for grinding and cutting curves, the laser rangefinder 13 is responsible for detecting the distance dimensions of the workpiece, the tail suction cup 14 is responsible for gripping the wireless suction cup, the air knife 15 is responsible for blowing away water stains and dust on the surface of the stone slab, and the automatic large suction cup changing device 16 is responsible for automatically installing the large suction cup 17 under the robot's movement. The large suction cup 17 is responsible for gripping the stone slab.

[0028] The present invention can be implemented using the following workflow:

[0029] 1. The forklift places the L-shaped frame 8 of the stone slab to be processed onto the base 7 of the material rack;

[0030] 2. The robot picks up the required number of wireless suction cups from the wireless suction cup holder 5 according to the cutting process parameters and positions them accordingly;

[0031] 3. The composite tool head 3 moves to the front of the stone slab, and the tilt angle and position of the stone slab are detected by the force control sensor 10 and the laser rangefinder 13;

[0032] 4. The composite tool head 3 moves to the top of the material rack base 7, automatically grabs the large suction cup 17, adjusts the angle according to the detection data, grabs the stone slab from the L frame 8 and places it on the wireless suction cup of the flip worktable 6;

[0033] 5. The laser rangefinder 13 detects the edge position of the stone slab, and the data is entered into the computer;

[0034] 6. The compound tool head 3 moves to the tool changer 4, automatically changing to the required CNC tool. The dimensions and orientation of the saw blade and CNC tool are measured by the tool center point (TCP) detection system, and the data is entered into the computer.

[0035] 7. The computer calculates the cutting path based on the data and planned path, and performs the cutting, drilling, and polishing of the stone slab;

[0036] 8. After processing, use a pneumatic knife to clean the dust off the surface of the stone slab with composite tool head 3;

[0037] 9. The composite tool head 3 uses the large suction cup 17 to pick up the processed stone slab and place it on another L-shaped shelf 8;

[0038] 10. Tilting the worktable 6 to clean the waste into the waste box completes one processing cycle.

[0039] The contents not described in detail in this specification are existing technologies known to those skilled in the art. The standard parts used can be purchased from the market, and the irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the circuit connection adopts conventional connection methods in the existing technology, which will not be described in detail here.

[0040] This utility model is not limited to the above-described embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this utility model shall be considered equivalent substitutions and shall be included within the protection scope of this utility model.

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