Polyester fiber sound absorption board random line grabbing and stacking device

Abstract

The utility model relates to the technical field of grabbing and stacking, and particularly relates to a polyester fiber sound absorption board online grabbing and stacking device field. The polyester fiber sound absorption board online grabbing and stacking device of the utility model, comprising: visual positioning system, grabbing system and conveying system, the grabbing system is configured to grab the polyester fiber sound absorption board on the polyester fiber sound absorption board production line and place the polyester fiber sound absorption board on the stacking station, wherein the grabbing system is configured to apply clamping force in the first direction and the second direction to grab the polyester fiber sound absorption board, the first direction and the second direction are vertically arranged, and the first direction is a horizontal direction. The polyester fiber sound absorption board online grabbing and stacking device provided by the utility model realizes automatic continuous operation synchronously with the production line, the needle suction cup grabbing mode can adapt to various specifications of products and horizontal and vertical plate output modes, and reduces the equipment modification cost.

Description

Technical Field

[0001] This utility model relates to the field of gripping and palletizing technology, specifically to a gripping and palletizing device for polyester fiber sound-absorbing panels along a line. Background Technology

[0002] Currently, the stacking of polyester fiber sound-absorbing panels mainly relies on the following methods: manual stacking: low efficiency, high labor intensity, and prone to damage to the panels due to improper operation; traditional robotic arm stacking: requires preset fixed programs, making it difficult to accurately grasp different sizes or flexible materials, easily causing deformation or edge damage to the sound-absorbing panels; general-purpose stacking equipment: lacks design for the characteristics of polyester fiber materials (such as porous, lightweight, and easily deformable), resulting in unstable grasping or uneven stacking. Technical challenges: Existing devices struggle to simultaneously meet the requirements of non-destructive grasping of flexible porous materials, synchronous follow-up of the production line (dynamic grasping), and high-precision stacking. Furthermore, because polyester fiber sound-absorbing panels are woven materials with numerous gaps, traditional vacuum suction cups cannot be used for grasping and stacking.

[0003] To solve the above problems, there is an urgent need to invent a utility model of a polyester fiber absorption board grabbing and stacking device to solve the problem of stacking polyester fiber sound-absorbing boards after they are grabbed from the production line. Utility Model Content

[0004] This utility model provides a polyester fiber sound-absorbing board on-line gripping and stacking device, which aims to solve the problems of automated gripping, handling and stacking in polyester fiber sound-absorbing board production lines.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solution.

[0006] A polyester fiber sound-absorbing panel on-line gripping and palletizing device includes: a vision positioning system, a gripping system, and a conveying system; The visual positioning system is configured to identify polyester fiber sound-absorbing panels and palletizing stations on the polyester fiber sound-absorbing panel production line. The gripping system is configured to grip the polyester fiber sound-absorbing panels on the polyester fiber sound-absorbing panel production line and place the polyester fiber sound-absorbing panels on the palletizing station; The conveying system is configured to transport the polyester fiber sound-absorbing panel from the polyester fiber sound-absorbing panel production line position to the palletizing station position along with the gripping system. The gripping system is configured to apply clamping force in a first direction and a second direction to grip the polyester fiber sound-absorbing panel. The first direction and the second direction are set perpendicularly, and the first direction is a horizontal direction.

[0007] According to the above-described polyester fiber sound-absorbing board on-line gripping and stacking device, the gripping system includes a support frame and a plurality of needle suction cups disposed below the support frame, wherein the plurality of needle suction cups are arranged in an array.

[0008] According to the above-described polyester fiber sound-absorbing panel on-line gripping and stacking device, the needle-type suction cup includes a gripping needle, which is inserted into the interior of the polyester fiber sound-absorbing panel through oblique linear movement to provide gripping force in a first direction and a second direction.

[0009] According to the above-described polyester fiber sound-absorbing board on-line gripping and stacking device, the gripping needles are an even number, and the even number of gripping needles are divided into two groups.

[0010] According to the above-described polyester fiber sound-absorbing board on-line gripping and stacking device, the needle-type suction cup includes a gripping needle, a suction cup body, an air inlet and an air outlet provided on the suction cup body, a piston and a spring, and the gripping needle achieves its oblique movement through the piston and the spring.

[0011] According to the above-described polyester fiber sound-absorbing panel on-line gripping and stacking device, a buffer layer is provided on the side of the suction cup body that contacts the polyester fiber sound-absorbing panel.

[0012] According to the above-described polyester fiber sound-absorbing board on-line gripping and stacking device, the conveying system is a two-axis motion system with a gantry structure.

[0013] According to the above-described polyester fiber sound-absorbing panel on-line gripping and stacking device, the conveying system includes a gantry frame, a horizontal motion system, and a vertical motion system.

[0014] According to the above-described polyester fiber sound-absorbing panel on-line gripping and palletizing device, the visual positioning system is mounted on the support frame, and the visual positioning system includes a CCD machine vision system.

[0015] According to the above-described polyester fiber sound-absorbing board along-line gripping and stacking device, the angle between the oblique line of the gripping needle's oblique movement and the vertical direction is 30°, 35°, 40°, 45° or 60°.

[0016] Compared with the prior art, the present invention has the following technical effects: This utility model provides a polyester fiber sound-absorbing board on-line gripping and palletizing device, which is highly efficient and automated: it achieves automatic continuous operation synchronized with the production line, automatically sensing the arrival of the board without manual intervention, and is non-destructive: the flexible gripping design avoids material deformation or edge damage, with a finished product rate of ≥99.5%, and the gripping success rate is significantly improved compared to traditional mechanical structures. It is also flexible and adaptable: the needle-punched suction cup gripping method can adapt to various product specifications and horizontal and vertical board output methods, reducing equipment modification costs.

[0017] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0018] 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.

[0019] Figure 1 This diagram shows a structural schematic of a polyester fiber sound-absorbing panel on-line gripping and palletizing device according to the present invention. Figure 2 This is a top view schematic diagram of the needle-type suction cup structure in the polyester fiber sound-absorbing panel grasping and stacking device of this utility model; Figure 3 This is a schematic cross-sectional view of the needle-type suction cup structure in the polyester fiber sound-absorbing panel on-line gripping and palletizing device of this utility model. Figure 4 This is a schematic diagram of the needle-type suction cup structure in the polyester fiber sound-absorbing panel on-line gripping and palletizing device of this utility model, viewed from below. Figure 5 This diagram illustrates the movement direction of the gripping needle in a polyester fiber sound-absorbing panel gripping and palletizing device according to the present invention. In the picture: 1. Vision positioning system; 2. Gripping system; 3. Conveying system; 4. Polyester fiber sound-absorbing board production line; 5. Palletizing station; 6. Polyester fiber sound-absorbing board; 21. Support frame; 22. Needle suction cup; 221. Gripping needle; 222. Suction cup body; 223. Air inlet; 224. Exhaust outlet; 225. Piston; 226. Spring; 31. Gantry frame; 32. Horizontal motion system; 33. Vertical motion system. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0021] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0022] In the description of this utility model, it should be understood that the use of terms such as "first" and "second" to define the components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this utility model.

[0023] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0024] Please see Figure 1-5 As shown, a polyester fiber sound-absorbing panel on-line gripping and palletizing device includes: a vision positioning system 1, a gripping system 2, and a conveying system 3; The visual positioning system 1 is configured to identify polyester fiber sound-absorbing panels on the polyester fiber sound-absorbing panel production line 4 and the palletizing station 5. The gripping system 2 is configured to grip the polyester fiber sound-absorbing board on the polyester fiber sound-absorbing board production line 4 and place the polyester fiber sound-absorbing board on the palletizing station 5. The conveying system 3 is configured to transport the polyester fiber sound-absorbing board from the polyester fiber sound-absorbing board production line 4 to the palletizing station 5 along with the gripping system 2. The gripping system 2 is configured to apply a clamping force in a first direction and a second direction to grip the polyester fiber sound-absorbing panel. The first direction and the second direction are set perpendicularly, and the first direction is a horizontal direction.

[0025] Please see Figure 1 , Figure 3 and Figure 5The vision positioning system first identifies the polyester fiber sound-absorbing panels on the polyester fiber positioning plate production line. Then, the vision positioning system converts the identified polyester fiber sound-absorbing panels into electrical signals and transmits them to the control system (not shown in the diagram; the control system can use a common microcontroller, PLC controller, etc.). After receiving the electrical signals, the control system sends control signals to the conveying system. The conveying system drives the gripping system to move downwards. When the gripping system reaches the predetermined position, the control system controls the gripping system to apply clamping forces in the first and second directions to grip the polyester fiber sound-absorbing panels. After the gripping system completes the gripping, the control system continues to control the conveying system to drive the gripping system upwards. After the upward movement is complete, the control system continues to control the conveying system to drive the gripping system towards the palletizing station. When it reaches above the palletizing station, the conveying system drives the gripping system to move downwards. When it reaches the predetermined position, the control system controls the gripping system to lower the polyester fiber sound-absorbing panels. It should be noted that the horizontal direction refers to the flat placement direction of the polyester fiber sound-absorbing panels, and the palletizing station is pre-positioned with pallets or packaging boxes for packaging.

[0026] In one specific embodiment, the gripping system 2 includes a support frame 21 and a plurality of needle suction cups 22 disposed below the support frame 21, wherein the plurality of needle suction cups 22 are arranged in an array.

[0027] Please see Figure 1 The support frame is a frame structure made of multiple aluminum alloy tubular profiles. Below the support frame (on the side facing the polyester fiber sound-absorbing panels on the production line), multiple needle-type suction cups are arranged in an array. These needle-type suction cups can be AIRBEST SNC4 type. The array arrangement of the needle-type suction cups allows for even application of clamping force to the polyester fiber sound-absorbing panels, preventing deformation or damage during the gripping process.

[0028] In one specific embodiment, the needle-type suction cup 22 includes a gripping needle 221, which is inserted into the interior of the polyester fiber sound-absorbing panel by an oblique motion to provide gripping force in a first direction and a second direction.

[0029] Please see Figure 3 and Figure 5 As shown, the needle-type suction cup includes a gripping needle. The gripping needle moves along an oblique line (it can be understood that the oblique line movement is relative to the horizontal and vertical movements) and inserts into the interior of the polyester fiber sound-absorbing panel. After the gripping needle is inserted into the interior of the polyester fiber sound-absorbing panel, the gripping needle will generate component forces in the first direction (the width or length direction of the polyester fiber sound-absorbing panel) and the second direction (the thickness direction of the polyester fiber sound-absorbing panel), thereby effectively gripping the polyester fiber sound-absorbing panel.

[0030] In one specific embodiment, there is an even number of gripping needles 221, and the even number of gripping needles 221 are divided into two groups.

[0031] Please see Figure 4 There are four gripping needles in total, divided into two groups for configuration; the vertical direction (it should be understood that the vertical direction here is relative to the attachment) Figure 4 The two gripping pins (in other words, two pins from different groups) are arranged in a set, and these two gripping pins are staggered in the horizontal direction. This staggered arrangement helps to apply the gripping force more evenly, further preventing damage or deformation of the polyester fiber sound-absorbing panel. Please refer to [link / reference]. Figure 5 One set of the two sets of gripping needles moves diagonally to the lower left (upper left), and the other set moves diagonally to the lower right (upper right).

[0032] In one specific embodiment, the needle suction cup 22 includes the gripping needle 221, the suction cup body 222, the air inlet 223 and the exhaust 224 provided on the suction cup body 222, the piston 225 and the spring 226, and the gripping needle 221 realizes its oblique movement through the piston 225 and the spring 226.

[0033] Please see Figure 3 Compressed gas enters through the air inlet, driving a piston (compressing the spring). The piston's movement causes the gripping needle to move obliquely and insert into the polyester fiber sound-absorbing panel. The compressed gas is then expelled through the exhaust port, and the piston returns to its original position under the spring's action, pulling the gripping needle out of the polyester fiber sound-absorbing panel, thus allowing the gripping needle to be lowered into the panel. It should be noted that the compressed gas flow channel within the suction cup body is not particularly restricted, as long as it allows for the entry and exit of compressed gas.

[0034] In one specific embodiment, a buffer layer is provided on the side of the suction cup body 222 that contacts the polyester fiber sound-absorbing panel.

[0035] Please see Figure 4 The buffer layer is a porous buffer layer. For example, the buffer layer is a porous silicone buffer layer, and the buffer layer has an opening at a position corresponding to the direction of movement of the gripping needle to facilitate the oblique movement of the gripping needle.

[0036] In one specific embodiment, the conveying system 3 is a two-axis motion system with a gantry structure.

[0037] Please see Figure 1 From a cost-saving perspective, the positions of the polyester fiber sound-absorbing panels and the stacking stations on the polyester fiber sound-absorbing panel production line are relatively fixed, and a two-axis motion system can meet the requirements. Of course, a three-axis motion system can also be used.

[0038] In one specific embodiment, the conveying system 3 includes a gantry frame 31, a horizontal motion system 32, and a vertical motion system 33. Both the horizontal and vertical motion systems can employ one of the following: screw drive, rack and pinion drive, or cylinder drive. The horizontal and vertical motion systems can use the same or different transmission methods.

[0039] In one specific embodiment, the visual positioning system 1 is mounted on the support frame 21, and the visual positioning system 1 includes a CCD machine vision system.

[0040] In one specific embodiment, the angle between the oblique line of the oblique movement of the grasping needle 221 and the vertical direction is 30°, 35°, 40°, 45° or 60°.

[0041] The above description is only an exemplary embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A polyester fiber sound-absorbing panel on-line gripping and stacking device, characterized in that, include: Visual positioning system (1), grasping system (2) and conveying system (3); The visual positioning system (1) is configured to identify polyester fiber sound-absorbing panels on the polyester fiber sound-absorbing panel production line (4) and the palletizing station (5). The gripping system (2) is configured to grip the polyester fiber sound-absorbing board on the polyester fiber sound-absorbing board production line (4) and place the polyester fiber sound-absorbing board on the palletizing station (5); The conveying system (3) is configured to transport the polyester fiber sound-absorbing board from the polyester fiber sound-absorbing board production line (4) to the palletizing station (5) along with the gripping system (2); The gripping system (2) is configured to apply a gripping force in a first direction and a second direction to grip the polyester fiber sound-absorbing panel. The first direction and the second direction are set perpendicularly, and the first direction is a horizontal direction. The gripping system (2) includes a support frame (21) and a plurality of needle suction cups (22) disposed below the support frame (21), wherein the plurality of needle suction cups (22) are arranged in an array; The needle suction cup (22) includes a gripping needle (221) which is inserted into the interior of the polyester fiber sound-absorbing panel by oblique motion to provide gripping force in a first direction and a second direction; The needle-type suction cup (22) includes the gripping needle (221), the suction cup body (222), the air inlet (223) and the exhaust (224) provided on the suction cup body (222), the piston (225) and the spring (226), and the gripping needle (221) realizes its oblique movement through the piston (225) and the spring (226); The conveying system (3) is a two-axis motion system with a gantry structure; The conveying system (3) includes a gantry frame (31), a horizontal motion system (32), and a vertical motion system (33).

2. The polyester fiber sound-absorbing panel on-line gripping and palletizing device according to claim 1, characterized in that, The number of gripping needles (221) is even, and the even number of gripping needles (221) are divided into two groups.

3. The polyester fiber sound-absorbing panel on-line gripping and palletizing device according to claim 1, characterized in that, A buffer layer is provided on the side of the suction cup body (222) that contacts the polyester fiber sound-absorbing panel.

4. The polyester fiber sound-absorbing panel on-line gripping and palletizing device according to claim 1, characterized in that, The visual positioning system (1) is mounted on the support frame (21), and the visual positioning system (1) includes a CCD machine vision system.

5. The polyester fiber sound-absorbing panel on-line gripping and palletizing device according to claim 1, characterized in that, The angle between the oblique line of the grasping needle (221) and the vertical direction is 30°, 35°, 40°, 45° or 60°.

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