A nickel starting sheet positioning device based on multi-sensor fusion

Abstract

The utility model discloses a nickel initial sheet positioning device based on multi sensor fusion, including sheet positioning mechanism, and sheet positioning mechanism includes first sheet to position sensor transmitting end, first sheet to position sensor receiving end, first sheet positioning sensor, second sheet positioning sensor, second sheet to position sensor transmitting end, second sheet to position sensor receiving end, third sheet to position sensor transmitting end and third sheet to position sensor receiving end. The utility model discloses based on multi sensor fusion's mode to the position positioning of sheet in processing flow, and multi sensor redundancy check makes the positioning failure risk reduction 70%, and this kind of positioning measure makes the process beat synchronous reduction mechanical hand empty and waits for the time, and the whole efficiency promotion 15%, and can accurate fault positioning makes maintenance efficiency improvement 60%, simultaneously, can avoid the defect such as shear misplacement, wear bar and take off hole because of the positioning deviation, significantly improve the use effect, convenient to use, satisfy the required.

Description

TECHNICAL FIELD

[0001] The utility model relates to non ferrous metal smelting automation technical field, concretely is a nickel anode sheet positioning device based on multi sensor fusion. BACKGROUND

[0002] In the automatic processing flow of electrolytic nickel anode sheet (including stacking feeding four-way shearing press mark ear pinning rod wearing process), sheet positioning precision directly influences processing quality. The prior art has two core problems: one is the deviation of mechanical hand taking and placing caused by sheet bending / warping, which causes process defects such as shearing misplacement and rod wearing hole; the second is that the process connection is not synchronized, when the sheet of the current station is delayed to arrive, the mechanical hand of the rear station is idle, causing the whole line to stop. The traditional single-point detection mode cannot meet the requirements of multi-station cooperation, and lacks effective fault blocking mechanism. Therefore, a nickel anode sheet positioning device based on multi sensor fusion is needed to solve the above problems and improve the effect. INVENTION CONTENTS

[0003] The utility model aims at providing a nickel anode sheet positioning device based on multi sensor fusion to solve the problems in the background art. To solve the above technical problems, the utility model is realized by the following technical scheme: The utility model is a nickel anode sheet positioning device based on multi sensor fusion, comprising: Sheet positioning mechanism, the sheet positioning mechanism includes first sheet to position sensor transmitting end, first sheet to position sensor receiving end, first sheet positioning sensor, second sheet positioning sensor, second sheet to position sensor transmitting end, second sheet to position sensor receiving end, third sheet to position sensor transmitting end and third sheet to position sensor receiving end; The first sheet to position sensor transmitting end and the first sheet to position sensor receiving end are respectively embedded in one side end of the conveying roller; The first sheet positioning sensor and the second sheet positioning sensor are respectively embedded in the opposite sides of the shearing machine entrance; The second sheet to position sensor transmitting end and the second sheet to position sensor receiving end are respectively embedded in one side end of the corner station; The third sheet to position sensor transmitting end and the third sheet to position sensor receiving end are respectively embedded in the end of one side above the pressure mark machine lifting chain, and are located on the opposite sides of the entrance of the pressure mark machine.

[0004] Preferably, one side of the conveying roller is provided with a first mechanical arm, and the movable end of the first mechanical arm is connected with a first suction disc and located directly above the conveying roller.

[0005] Preferably, the bottom end of the first mechanical arm extends into a first negative pressure pipeline, and a first vacuum pressure sensor is arranged on the surface side of the first negative pressure pipeline.

[0006] Preferably, a second mechanical arm is arranged between the corner station and the lifting chain of the label pressing machine, and a second suction cup is fixed to the movable end of the second mechanical arm.

[0007] Preferably, the bottom end of the second mechanical arm extends into a second negative pressure pipeline, and a second vacuum pressure sensor is arranged on the surface side of the second negative pressure pipeline.

[0008] Preferably, the sheet positioning mechanism further comprises a PLC controller and a man-machine interface display, and the PLC controller is electrically connected between the man-machine interface display, the first mechanical arm, the second mechanical arm, the first sheet in-place sensor transmitting end, the first sheet in-place sensor receiving end, the first sheet positioning sensor, the second sheet positioning sensor, the second sheet in-place sensor transmitting end, the second sheet in-place sensor receiving end, the third sheet in-place sensor transmitting end and the third sheet in-place sensor receiving end through wires.

[0009] Preferably, the first sheet positioning sensor and the second sheet positioning sensor are arranged in an equidistant array, and the distance between adjacent first sheet positioning sensors and the distance between adjacent second sheet positioning sensors are 20-30 mm.

[0010] The utility model has the following beneficial effects: The utility model installs the sensor on multiple positions of the sheet processing procedure, positions the sheet in the processing procedure based on the multi-sensor fusion mode, and the multi-sensor redundancy check reduces the positioning failure risk by 70%. The positioning measure reduces the mechanical hand empty waiting time and improves the overall efficiency by 15%. The accurate fault positioning improves the maintenance efficiency by 60%. The positioning deviation caused by the positioning deviation is avoided, the defects such as shearing misplacement and rod insertion hole are avoided, the use effect is improved, the use is convenient, and the needs are met. DRAWINGS

[0011] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed for the embodiment description. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0012] Fig. 1 It is the whole structure schematic diagram of the utility model system. Fig. 2 It is the sheet processing flow block diagram of the utility model.

[0013] The components represented by the reference numbers in the drawings are listed as follows: 1, human-computer interface display; 2, PLC controller; 3, first plate to position sensor transmitting end; 4, first plate to position sensor receiving end; 5, first suction cup; 6, first mechanical arm; 7, first vacuum pressure sensor; 8, second vacuum pressure sensor; 9, first plate positioning sensor; 10, second plate positioning sensor; 11, second mechanical arm; 12, second suction cup; 13, second plate to position sensor transmitting end; 14, second plate to position sensor receiving end; 15, third plate to position sensor transmitting end; 16, third plate to position sensor receiving end. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0015] In order to make the purpose, technical solutions and advantages of the present application more clear, the preferred detailed description of the embodiments of the present application will be made below with reference to the drawings.

[0016] Please refer to Figs. 1-2 The present application is a kind of nickel initial plate positioning device based on multi-sensor fusion, comprising: The plate positioning mechanism comprises a first plate to position sensor transmitting end 3, a first plate to position sensor receiving end 4, a first plate positioning sensor 9, a second plate positioning sensor 10, a second plate to position sensor transmitting end 13, a second plate to position sensor receiving end 14, a third plate to position sensor transmitting end 15 and a third plate to position sensor receiving end 16; The first plate to position sensor transmitting end 3 and the first plate to position sensor receiving end 4 are respectively embedded in one side end of the conveying roller; The first plate positioning sensor 9 and the second plate positioning sensor 10 are respectively embedded in the opposite sides of the entrance of the shearing machine; The second plate to position sensor transmitting end 13 and the second plate to position sensor receiving end 14 are respectively embedded in one side end of the corner station; The third plate to position sensor transmitting end 15 and the third plate to position sensor receiving end 16 are respectively embedded in the end of one side above the lifting chain of the marking press, and are located on the opposite sides of the entrance of the marking press; The first plate in place sensor transmitting end 3, the first plate in place sensor receiving end 4, the second plate in place sensor transmitting end 13, the second plate in place sensor receiving end 14, the third plate in place sensor transmitting end 15 and the third plate in place sensor receiving end 16 are used for judging the plate processing in place, and the first plate positioning sensor 9 and the second plate positioning sensor 10 are used for checking the positioning state of the plate.

[0017] One side of the conveying roller is provided with the first mechanical arm 6, and the movable end of the first mechanical arm 6 is connected with the first suction disc 5 and located directly above the conveying roller; One end of the bottom of the first mechanical arm 6 extends into the first negative pressure pipeline, and a first vacuum pressure sensor 7 is in communication with the surface of the first negative pressure pipeline; The second mechanical arm 11 is arranged between one side of the corner station and the lifting chain of the label pressing machine, and the movable end of the second mechanical arm 11 is fixed with the second suction disc 12; One end of the bottom of the second mechanical arm 11 extends into the second negative pressure pipeline, and a second vacuum pressure sensor 8 is in communication with the surface of the second negative pressure pipeline; The first mechanical arm 6 cooperates with the first suction disc 5, and the second mechanical arm 11 cooperates with the second suction disc 12 to adsorb and fix the plate in processing, so as to realize the conversion of the station, the threshold value of the first vacuum pressure sensor 7 and the second vacuum pressure sensor 8 is 0.6Mpa, and when the vacuum pressure is lower than the threshold value, the first mechanical arm 6 and the second mechanical arm 11 are immediately locked, and the encoder on the first mechanical arm 6 and the second mechanical arm 11 is compared with the above-mentioned sensor trigger point in real time, and when the deviation is greater than the alarm threshold value, it is judged that the positioning fails.

[0018] The plate positioning mechanism further comprises a PLC controller 2 and a man-machine interface display 1, and the PLC controller 2 is electrically connected with the man-machine interface display 1, the first mechanical arm 6, the second mechanical arm 11, the first plate in place sensor transmitting end 3, the first plate in place sensor receiving end 3, the first plate positioning sensor 9, the second plate positioning sensor 10, the second plate in place sensor transmitting end 13, the second plate in place sensor receiving terminal 14, the third plate in place sensor transmitting end 15 and the third plate in place receiving end 16 through wires respectively; The wires are used for realizing the power and data transmission between the electrical components, the PLC controller 2 is used for receiving and processing data and issuing instructions, and the man-machine interface display 1 is used for displaying data in real time.

[0019] The first plate positioning sensor 9 and the second plate positioning sensor 10 are arranged in an equidistant array, and the distance between adjacent first plate positioning sensors 9 and the distance between adjacent second plate positioning sensors 10 is 20-30MM; Multiple arrays of the first plate positioning sensor 9 and the second plate positioning sensor 10 can improve the accuracy of plate positioning status verification.

[0020] Working principle: The entire unit consists of a feeding unit, a shearing machine, a labeling machine, a nailing and rod-threading unit, a PLC controller 2, and a human-machine interface display 1. The end of the feeding unit's outlet conveyor roller is equipped with a first plate positioning sensor transmitter 3 and a first plate positioning sensor receiver 4 for plate positioning detection. The shearing machine's inlet conveyor roller is equipped with a first plate positioning sensor 9 and a second plate positioning sensor 10, arranged in an array with 20-30mm intervals (using reflective photoelectric sensors, installed vertically), to verify plate positioning status. The first suction cup 5 and the second suction cup 12 are respectively equipped with corresponding first vacuum pressure sensors 7 and second vacuum pressure sensors 8 (threshold 0.6MPa). The corner station is equipped with a second plate positioning sensor transmitter 13 and a second plate positioning sensor receiver 14 to detect the plate's positioning. The labeling machine's lifting chain is equipped with a third plate positioning sensor transmitter 15 and a third plate positioning sensor receiver 16 (through-beam arrangement) to detect the plate's positioning. Specifically, after the starter sheet exits the conveyor roller of the feeding unit, the first plate position sensor transmitter 3 is blocked, triggering a trigger signal to activate the first robotic arm 6. The first suction cup 5 grabs the starter sheet to the conveyor roller at the shearing machine entrance. The conveyor roller sends the starter sheet into the shearing machine for shearing and then transports it to the corner station. The second plate position sensor transmitter 13 is blocked, triggering the second robotic arm 11. The second suction cup 12 grabs the starter sheet to the lifting chain of the labeling machine. The third plate position sensor transmitter 15 is blocked, triggering the labeling machine to perform labeling. During this process, the first plate positioning sensor 9 and the second plate positioning sensor 10 at the shearing machine entrance must be triggered synchronously to allow the shearing operation to be performed. When the pressure measured by the first vacuum pressure sensor 7 and the second vacuum pressure sensor 8 is lower than the threshold, the first robotic arm 6 and the second robotic arm 11 will be locked immediately. If any node detects an abnormality, the associated equipment will be immediately suspended. At the same time, the specific alarm type and parameters will be displayed on the human-machine interface display 1.

[0021] This solution involves installing sensors at multiple locations along the plate processing flow. Based on multi-sensor fusion, the plate is positioned during the processing flow. Redundant verification of the multi-sensor system reduces the risk of positioning failure by 70%. Furthermore, this positioning method synchronizes the process cycle, reducing the robot's idle time and improving overall efficiency by 15%. Precise fault location improves maintenance efficiency by 60%. Simultaneously, it avoids defects such as shearing misalignment and rod insertion failure caused by positioning deviations, significantly improving usability, ease of use, and meeting requirements.

[0022] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A nickel starter plate positioning device based on multi-sensor fusion, characterized in that, include: The plate positioning mechanism includes a first plate positioning sensor transmitter (3), a first plate positioning sensor receiver (4), a first plate positioning sensor (9), a second plate positioning sensor (10), a second plate positioning sensor transmitter (13), a second plate positioning sensor receiver (14), a third plate positioning sensor transmitter (15), and a third plate positioning sensor receiver (16). The first plate position sensor transmitter (3) and the first plate position sensor receiver (4) are respectively embedded in one end of the conveyor roller; The first plate positioning sensor (9) and the second plate positioning sensor (10) are respectively embedded on opposite sides of the shearing machine inlet; The second plate position sensor transmitter (13) and the second plate position sensor receiver (14) are respectively embedded in one end of the corner station; The transmitter (15) and receiver (16) of the third plate position sensor are respectively embedded in the end of one side above the lifting chain of the label presser and located on opposite sides of the inlet of the label presser.

2. The nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 1, characterized in that: A first robotic arm (6) is provided on one side of the conveyor roller, and the movable end of the first robotic arm (6) is connected to a first suction cup (5) and is located directly above the conveyor roller.

3. The nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 2, characterized in that: The bottom end of the first robotic arm (6) extends into a first negative pressure pipeline, and a first vacuum pressure sensor (7) is connected to one side of the surface of the first negative pressure pipeline.

4. The nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 1, characterized in that: A second robotic arm (11) is provided between the corner station and one side of the label pressing machine lifting chain, and a second suction cup (12) is fixed to the movable end of the second robotic arm (11).

5. The nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 4, characterized in that: The bottom end of the second robotic arm (11) extends into a second negative pressure pipeline, and a second vacuum pressure sensor (8) is connected to one side of the surface of the second negative pressure pipeline.

6. The nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 1, characterized in that: The plate positioning mechanism also includes a PLC controller (2) and a human-machine interface display (1). The PLC controller (2) is electrically connected to the human-machine interface display (1), the first robotic arm (6), the second robotic arm (11), the first plate positioning sensor transmitter (3), the first plate positioning sensor receiver (4), the first plate positioning sensor (9), the second plate positioning sensor (10), the second plate positioning sensor transmitter (13), the second plate positioning sensor receiver (14), the third plate positioning sensor transmitter (15), and the third plate positioning sensor receiver (16) via wires.

7. A nickel starting electrode plate positioning device based on multi-sensor fusion according to claim 1, characterized in that: The first plate positioning sensor (9) and the second plate positioning sensor (10) are arranged in an equidistant array, and the distance between adjacent first plate positioning sensors (9) and second plate positioning sensors (10) is 20-30 mm.

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