Plate warehousing device and storage and retrieval method therefor

Abstract

A plate warehousing device and a storage and retrieval method therefor. The plate warehousing device comprises a camera mechanism (1), a plate pick-and-place mechanism (2), a weighing mechanism (3), a plate receiving mechanism (4), a plate storage mechanism (5), a plate retrieval mechanism (6), and a control processor, wherein the plate receiving mechanism is configured to receive a target plate to be warehoused that has been produced in a production line; the plate pick-and-place mechanism is configured to pick and place the target plate, such that the target plate is transferred between the plate receiving mechanism, the plate storage mechanism, the weighing mechanism and the plate retrieval mechanism; and the plate storage mechanism is configured to store the target plate that has been warehoused. By means of the cooperative use of the camera mechanism, the plate pick-and-place mechanism, the weighing mechanism, the plate receiving mechanism, the plate storage mechanism, the plate retrieval mechanism, and the control processor, the storage and retrieval operations of the target plate can be automatically completed, and the size of the target plate that needs to be warehoused is automatically measured by combining weighing and photographing measurement techniques, such that the target plate having the corresponding size can be quickly selected for retrieval during subsequent deep processing of an artificial stone plate.

Description

A sheet metal storage device and its inbound / outbound method

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510120248.X, filed on January 25, 2025, entitled "A Plate Storage Device and its Inbound / Outbound Method", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to the field of warehousing technology, and in particular to a sheet metal storage device and its inbound and outbound method. Background Technology

[0004] After production, artificial stone slabs need to be stored in warehouses. To facilitate subsequent deep processing of artificial stone slabs, the size information of the artificial stone slabs needs to be obtained and registered when they are put into warehouses, so that when they are taken out of the warehouse, artificial stone slabs of the corresponding size can be quickly selected for processing.

[0005] Currently, when artificial stone slabs are received into the warehouse, the dimensions of the slabs are typically measured manually using a measuring tape. Then, forklifts are used manually to place the finished slabs on shelves, and the measured dimensions are recorded on the corresponding shelves. When the slabs are to be shipped out, the warehouse is opened manually, and forklifts are used manually to remove them from the shelves and transport them to the next workstation for further processing. This method is time-consuming and labor-intensive, resulting in low production and processing efficiency for artificial stone slabs. Summary of the Invention

[0006] To address the aforementioned shortcomings, the present invention aims to provide a board storage device and its inbound / outbound method, thereby solving the problem that the existing methods for handling artificial stone boards in and out of storage are time-consuming and labor-intensive, resulting in low production and processing efficiency of artificial stone boards.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A sheet metal storage device includes a camera mechanism, a material handling mechanism, a weighing mechanism, a receiving mechanism, a storage mechanism, a discharging mechanism, and a control processor.

[0009] The receiving mechanism is used to receive the target boards that have been produced on the production line and are ready to be put into the warehouse.

[0010] The material handling mechanism is used to handle the target sheet material so that the target sheet material can be transferred between the receiving mechanism, the storage mechanism, the weighing mechanism and the discharging mechanism.

[0011] The storage mechanism is used to store the target sheet material that is put into storage.

[0012] The weighing mechanism is provided with a carrier plate surface, which is used to store the target board material to be put into storage, and the weighing mechanism is used to obtain the weight of the target board material to be put into storage stored on the carrier plate surface.

[0013] The camera mechanism is positioned so that its imaging end faces the carrier plate surface, and the camera mechanism is used to capture an image of the first side of the target plate stored in the weighing mechanism.

[0014] The material discharging mechanism is used to receive the target board material to be shipped out from the warehouse, which is taken out by the material handling mechanism.

[0015] The control processor is communicatively connected to the camera mechanism, the material handling mechanism, and the weighing mechanism. The control processor is used to receive the weight of the target board and the surface image information of the first side of the target board, and to calculate the size parameters of the target board based on the weight of the target board and the surface image information of the target board.

[0016] Preferably, the receiving mechanism is a fixed stacking rack, and the discharging mechanism is a rotary stacking rack.

[0017] Preferably, the material handling mechanism is a suction cup robot, and the material handling end of the suction cup robot is equipped with a visual recognition mechanism. The visual recognition mechanism is used to identify whether the adsorption surface of the target board at the material handling end of the suction cup robot is the first surface of the target board, so that the material handling mechanism is placed with the first surface of the target board of the weighing mechanism facing the camera end of the camera mechanism.

[0018] Preferably, the storage mechanism includes several shelves and shelf travel rails;

[0019] Several of the aforementioned shelves are movably mounted on the shelf travel track, which guides the movement of the aforementioned shelves.

[0020] Along the guide direction of the shelf travel track, a positioning element is installed at one end of the shelf, and a locking element is rotatably installed at the other end of the shelf, wherein the locking element of one of two adjacent shelves is hooked to the positioning element of the other shelf;

[0021] A traveling lifting assembly is provided under several of the aforementioned shelves. The traveling lifting assembly can move along the traveling track of the shelf. The traveling lifting assembly is used to drive the locking member of the shelf to rotate, so that the locking member of the shelf disengages from the positioning member that is engaged with the locking member.

[0022] Preferably, the locking member includes a main body and a limiting portion extending from one end of the main body;

[0023] The positioning component is installed at one end of the bottom side wall of the shelf, and the locking component is installed at the other end of the bottom side wall of the shelf.

[0024] The main body is rotatably connected to the shelf, and the limiting part is folded over at one end relative to the main body. The connection between the limiting part and the main body forms a hook part, which hooks onto the positioning member.

[0025] Preferably, the traveling lifting assembly includes a traveling trolley and a trolley traveling track. The trolley traveling track is arranged side by side with the shelf traveling track. The traveling trolley is movably arranged on the trolley traveling track, and the trolley traveling track is used to guide the movement of the traveling trolley.

[0026] The trolley is equipped with a linear electric cylinder.

[0027] Preferably, the weighing mechanism includes a base plate, a plurality of legs are mounted on the bottom end of the base plate, a weighing sensor is provided between each leg and the base plate, a plurality of first support rods are provided on the top end of the base plate, the plurality of first support rods are respectively inclined upward and form an inclined carrier plate surface, and a support member is provided on one side of each of the plurality of first support rods, the support member being used to support the middle part of the first support rod.

[0028] Preferably, the support member is composed of a plurality of second support rods and a bracket, one end of the plurality of second support rods is connected to the corresponding first support rod, the end of the plurality of second support rods away from the first support rod is connected to the bracket, and the bottom end of the bracket is fixedly installed on the top of the base plate;

[0029] The first support rods are arranged in parallel and at equal intervals, and the second support rods are arranged in parallel and at equal intervals.

[0030] An inbound / outbound method for the aforementioned sheet metal storage device includes the following steps:

[0031] Initialization settings:

[0032] Obtain the distance h from n known shooting points. n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n Obtain the distance h from n known shooting points. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n where n≥2;

[0033] The nth known shooting distance h n The ratio R of the corresponding nth lengthn and the nth width ratio R′ n To establish a connection;

[0034] Board material receiving identification:

[0035] S1, place the target board material that has been produced on the production line and is ready to be put into the warehouse at the receiving mechanism;

[0036] S2, when the target board is put into storage, the picking and placing mechanism takes out the target board to be put into storage placed at the receiving mechanism, and places the board on the carrier plate of the weighing mechanism according to the recognition information of the vision recognition mechanism, so that the first side of the target board placed on the weighing mechanism faces the camera end of the photographing mechanism.

[0037] S3, obtain the weight M of the target plate placed on the weighing mechanism through the weighing mechanism;

[0038] S4, obtain the mounting distance H1 from the camera mechanism to the carrier plate surface, match the known shooting distance equal to the mounting distance H1, and obtain the associated length ratio R of the matched known shooting distance. n and width ratio R′ n The length ratio R of the association n Defined as R 模糊 The associated width ratio R′ n Defined as R′ 模糊 ;

[0039] S5, obtain the first surface image of the target board, and obtain the pixel width w1 and pixel length l1 of the target board surface based on the surface image. 模糊 The approximate width W1 of the target board is calculated based on the pixel length l1 and R of the target board surface. 模糊 The approximate length L1 of the target plate is calculated;

[0040] S6. Calculate the approximate thickness D1 of the board based on the preset density ρ. The calculation formula is D1=M / (W1×L1×ρ).

[0041] S7. Compare the calculated rough thickness D1 of the board with several preset standard thicknesses, and take the closest standard thickness as the final thickness D2 of the board.

[0042] S8. Determine the shooting distance H2 from the camera mechanism to the first surface of the target plate based on the final thickness D2. The calculation formula is H2 = H1 - D2.

[0043] S9, Match known shooting distances equal to shooting distance H2, and obtain the length ratio R associated with the matched known shooting distances. n and width ratio R′ nThe length ratio R of the association n Defined as R 精确 The associated width ratio R′ n Defined as R′ 精确 Based on the pixel width w1 and R′ of the target board surface 精确 The precise width W2 of the target board is calculated based on the pixel length l1 and R of the target board surface. 精确 The precise length L2 of the target plate was calculated;

[0044] S10, after calculating the precise width W2 and precise length L2 of the target board, the picking and placing mechanism removes the target board from the carrier surface of the weighing mechanism and places it on the shelf of the storage mechanism for storage. At the same time, the size information of the target board is associated with the corresponding shelf and the associated information is uploaded to the cloud for storage.

[0045] S11, Repeat steps S2-S10 until all target boards to be stored at the receiving mechanism are placed on the shelves of the storage mechanism for storage.

[0046] Sheet material outbound:

[0047] A1. Obtain the dimensions of the board material to be processed, match the associated information stored in the cloud with the dimensions of the board material to be processed, and obtain the corresponding shelf information based on the matched associated information.

[0048] A2, the material handling mechanism retrieves the target board stored on the corresponding shelf based on the information obtained from the shelf, places the target board at the material dispensing mechanism, and then the worker takes the target board from the material dispensing mechanism and sends it to the next work station for processing.

[0049] Preferably, in step S5, the formula for calculating the approximate width W1 is W1 = w1 × R′. 模糊 The formula for calculating the approximate length L1 is L1 = l1 × R. 模糊 In step S9, the formula for calculating the precise width W2 is W2 = w1 × R′. 精确 The formula for calculating the precise length L2 is L2 = l1 × R. 精确 .

[0050] The technical solution provided by this invention may include the following beneficial effects:

[0051] This solution, through the coordinated use of a camera mechanism, a material handling mechanism, a weighing mechanism, a receiving mechanism, a storage mechanism, a discharging mechanism, and a control processor, can automatically complete the warehousing and retrieval operations of target slabs. It also combines weighing and photographic measurement technology to automatically measure the dimensions of the target slabs to be stored, so that the corresponding size of the target slabs can be quickly selected for retrieval during the subsequent deep processing of the artificial stone slabs. Attached Figure Description

[0052] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 is a state diagram of one embodiment of the material handling mechanism of the present invention, in which the plate is placed in the weighing mechanism;

[0054] Figure 3 is a state diagram of another embodiment of the material handling mechanism of the present invention, in which the plate is placed on the weighing mechanism;

[0055] Figure 4 is a structural side view of the camera mechanism and weighing mechanism of the present invention;

[0056] Figure 5 is a structural schematic diagram of the weighing mechanism of the present invention;

[0057] Figure 6 is a schematic diagram of the material storage mechanism of the present invention;

[0058] Figure 7 is a structural schematic diagram of the walking lifting assembly of the present invention;

[0059] Figure 8 is a schematic diagram of the state in which the driving hook of the walking lifting component of the present invention is disengaged from the positioning pin.

[0060] The components include: 1. Camera mechanism; 2. Material handling mechanism; 3. Weighing mechanism; 31. Base plate; 32. First support rod; 33. Second support rod; 34. Bracket; 35. Support leg; 4. Receiving mechanism; 5. Storage mechanism; 51. Shelf; 511. Positioning component; 512. Locking component; 5121. Main body; 5122. Limiting component; 5123. Hooking component; 52. Shelf travel track; 53. Traveling lifting assembly; 531. Traveling trolley; 532. Linear electric cylinder; 6. Discharge mechanism. Detailed Implementation

[0061] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0062] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0063] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0064] The technical solution of the present invention will be further described below with reference to Figures 1 to 8 and through specific embodiments.

[0065] As shown in Figures 1-8, a sheet metal storage device includes a camera mechanism 1, a material handling mechanism 2, a weighing mechanism 3, a receiving mechanism 4, a storage mechanism 5, a discharging mechanism 6, and a control processor.

[0066] The receiving mechanism 4 is used to receive the target boards that have been produced on the production line and are ready to be put into the warehouse.

[0067] The material handling mechanism 2 is used to handle the target board so that the target board can be transferred between the receiving mechanism 4, the storage mechanism 5, the weighing mechanism 3 and the discharging mechanism 6.

[0068] The storage mechanism 5 is used to store the target board material that has been put into storage.

[0069] The weighing mechanism 3 is provided with a carrier plate surface, which is used to store the target board material to be put into storage, and the weighing mechanism 3 is used to obtain the weight of the target board material to be put into storage stored on the carrier plate surface.

[0070] The camera mechanism 1 is positioned with its camera end facing the carrier plate surface, and the camera mechanism 1 is used to capture an image of the first surface of the target plate stored in the weighing mechanism 3.

[0071] The material discharge mechanism 6 is used to receive the target board material to be shipped out from the warehouse taken out by the material handling mechanism 2;

[0072] The control processor is communicatively connected to the camera mechanism 1, the material handling mechanism 2, and the weighing mechanism 3. The control processor is used to receive the weight of the target board and the surface image information of the first side of the target board, and to calculate the size parameters of the target board based on the weight of the target board and the surface image information of the target board.

[0073] This solution, through the coordinated use of camera mechanism 1, material handling mechanism 2, weighing mechanism 3, receiving mechanism 4, storage mechanism 5, discharging mechanism 6, and control processor, can automatically complete the warehousing and retrieval operations of target slabs. It also combines weighing and photo measurement technology to automatically measure the size of the target slabs to be stored, so that the target slabs of the corresponding size can be quickly selected for retrieval during the subsequent deep processing of artificial stone slabs.

[0074] It is worth noting that this invention combines weighing and photographic measurement technologies to calculate the thickness information of the board material. Based on the calculated board material thickness, the closest standard thickness is selected as the approximate thickness. Then, the shooting distance is corrected using the approximate thickness, and the board material size information is calculated based on the corrected shooting distance. This makes the measured board material size more accurate, and the board material size information can be automatically measured without manual intervention, resulting in high efficiency.

[0075] As shown in Figure 1, the receiving mechanism 4 is a fixed stacking rack, and the discharging mechanism 6 is a rotating stacking rack.

[0076] Specifically, the target boards that have been produced on the production line and are ready to be put into storage can be placed on a fixed stacking rack by a forklift. Since the picking and placing mechanism 2 is a suction cup robot, it can be adjusted at multiple angles. Therefore, there is no need to adjust the angle of the placed target boards to adapt to the picking and placing mechanism 2. After the target boards have been measured, they are placed on a rotating stacking rack by the picking and placing mechanism 2. The angle of the placed target boards can be adjusted by the rotating stacking rack to facilitate workers to take out the target boards from storage by forklift.

[0077] As shown in Figures 2-3, the material handling mechanism 2 is a suction cup robot. The material handling end of the suction cup robot is equipped with a visual recognition mechanism. The visual recognition mechanism is used to identify whether the adsorption surface of the target board at the material handling end of the suction cup robot is the first surface of the target board, so that the material handling mechanism 2 is placed with the first surface of the target board of the weighing mechanism 3 facing the camera end of the camera mechanism 1.

[0078] Specifically, the material handling mechanism 2 is a suction cup robotic arm that picks up the board material by suction, making the board picking up convenient and quick.

[0079] More specifically, the first side of the target board is the front view of the target board, which contains a pattern or color. When the feeding mechanism 2 takes the target board out of the receiving mechanism 4, the visual recognition mechanism identifies the adsorption surface of the target board at the feeding end of the feeding mechanism 2. If it is the first side of the target board, the target board can be placed on the weighing mechanism 3 as shown in Figure 2. If it is not the first side of the target board, the target board can be placed on the weighing mechanism 3 as shown in Figure 3, so that the first side of the target board is facing the camera end of the camera mechanism 1.

[0080] Furthermore, after the size recognition is completed, the target board's precise width W2, precise length L2, production batch number, serial number, and pattern or color on the front side will be uploaded to the cloud for storage. This information can be retrieved by scanning the code during the board's production and further processing.

[0081] As shown in Figures 6-8, the storage mechanism 5 includes several shelves 51 and shelf travel rails 52;

[0082] Several of the aforementioned shelves 51 are movably disposed on the shelf travel track 52, the shelf travel track 52 being used to guide the movement of the several of the aforementioned shelves 51;

[0083] Along the guide direction of the shelf travel track 52, a positioning element 511 is installed at one end of the shelf 51, and a locking element 512 is rotatably installed at the other end of the shelf 51. The locking element 512 of one of the two adjacent shelves 51 is hooked to the positioning element 511 of the other shelf 51.

[0084] A walking lifting assembly 53 is provided below several of the shelves 51. The walking lifting assembly 53 can move along the walking track 52 of the shelf. The walking lifting assembly 53 is used to drive the locking member 512 of the shelf 51 to rotate so that the locking member 512 of the shelf 51 disengages from the positioning member 511 that is engaged with the locking member 512.

[0085] Specifically, this solution connects two adjacent shelves 51 together by hooking the locking member 512 with the positioning member 511, so that multiple shelves 51 can be transferred at the same time during the transfer, thereby improving the efficiency of transferring shelves 51. Furthermore, the traveling lifting component 53 can drive the locking member 512 to rotate so that the locking member 512 disengages from the positioning member 511, thereby separating the two connected shelves 51 and transferring individual shelves 51.

[0086] As shown in Figures 7-8, the locking member 512 includes a main body 5121 and a limiting part 5122 extending from one end of the main body 5121;

[0087] The positioning component 511 is installed at one end of the bottom side wall of the shelf 51, and the locking component 512 is installed at the other end of the bottom side wall of the shelf 51.

[0088] The main body 5121 is rotatably connected to the shelf 51. The limiting part 5122 is folded over at one end relative to the main body 5121. The connection between the limiting part 5122 and the main body 5121 forms a hook part 5123, which hooks onto the positioning member 511.

[0089] Understandably, the main body 5121 drives the limiting part 5122 to rotate, thereby driving the hook part 5123 formed by the main body 5121 and the limiting part 5122 to move, so that the hook part 5123 hooks the positioning member 511.

[0090] It is worth noting that when the target board is put into storage and taken out of storage, it is necessary to separate two adjacent shelves 51. When separating the two adjacent shelves 51, the driving walking lifting component 53 moves to one of the shelves 51. The driving walking lifting component 53 drives the locking part 512 of the shelf 51 to rotate, so that the locking part 512 of the shelf 51 and the positioning part 511 of the other shelf 51 that is hooked by the locking part 512 disengage. Then the other shelf 51 is moved so that the other shelf 51 is separated from the first shelf 51. The gap between the two shelves 51 after separation can be passed through the picking end of the picking and placing mechanism 2. Then the picking and placing mechanism 2 can place the target board on the other shelf 51 or take the target board off the other shelf 51 to complete the storage and taking out operation of the target board.

[0091] Specifically, when the target board is put into storage, the picking and placing mechanism 2 takes out the target board placed at the weighing mechanism 3 and places it on another shelf 51 after separation. Then, the shelf 51 is driven to move so that the shelf 51 is tightly attached to the shelf 51 before separation. Then, the traveling lifting component 53 drives the locking part 512 of the shelf 51 before separation to rotate, so that the locking part 512 of the shelf 51 before separation and the positioning part 511 of the shelf 51 are hooked together. When the target board is taken out of storage, the picking and placing mechanism 2 takes out the target board placed on another shelf 51 after separation and places it at the discharge mechanism 6.

[0092] As shown in Figures 7-8, the traveling lifting assembly 53 includes a traveling trolley 531 and a trolley traveling track. The trolley traveling track is arranged side by side with the shelf traveling track 52. The traveling trolley 531 is movably arranged on the trolley traveling track, and the trolley traveling track is used to guide the movement of the traveling trolley 531.

[0093] The trolley 531 is equipped with a linear electric cylinder 532.

[0094] Specifically, the linear electric cylinder 532 is moved by the traveling trolley 531, so that the telescopic end of the linear electric cylinder 532 is in close contact with the other end of the main body 5121. Then, the telescopic end of the linear electric cylinder 532 lifts the other end of the main body 5121, thereby driving the main body 5121 to rotate. This causes the limiting part 5122 at one end of the main body 5121 to gradually rise until the limiting part 5122 is disengaged from the positioning member 511. At this time, the connection between the two adjacent shelves 51 is unlocked, and the two shelves 51 can be moved separately.

[0095] It is worth noting that the ends of several of the shelves 51 are provided with movable parts. When it is necessary to take the board from the middle shelf 51, the middle shelf 51 can be separated from the adjacent shelf 51, and then the movable parts can be used to move the end shelf 51. Since the middle shelf 51 and the end shelf 51 are still connected to each other, the middle shelf 51 can be moved, so that there is enough gap between the middle shelf 51 and the adjacent shelf to allow the picking end of the picking mechanism 2 to pick up and put the board from the middle shelf 51.

[0096] As shown in Figure 5, the weighing mechanism 3 includes a base plate 31. A plurality of support legs 35 are installed at the bottom end of the base plate 31. A weighing sensor is provided between each support leg 35 and the base plate 31. A plurality of first support rods 32 are provided at the top end of the base plate 31. The plurality of first support rods 32 are respectively inclined upward and form an inclined carrier plate surface. A support member is provided on one side of each of the plurality of first support rods 32. The support member is used to support the middle part of the first support rod 32.

[0097] Specifically, when the target plate is placed in the weighing mechanism 3, the target plate is placed at an angle on the top of the base plate 31 and close to the carrier plate surface formed by several first support rods 32, which can make the target plate stably placed on the top of the base plate 31.

[0098] As shown in Figure 5, the support member is composed of a plurality of second support rods 33 and a bracket 34. One end of the plurality of second support rods 33 is connected to the corresponding first support rod 32, and the end of the plurality of second support rods 33 away from the first support rod 32 is connected to the bracket 34. The bottom end of the bracket 34 is fixedly installed on the top end of the base plate 31.

[0099] A plurality of the first support rods 32 are arranged in parallel and at equal intervals, and a plurality of the second support rods 33 are arranged in parallel and at equal intervals.

[0100] Specifically, by using several second support rods 33 and brackets 34 to support several first support rods 32, the carrier plate surface can have a strong load-bearing capacity to adapt to different types of plates.

[0101] Furthermore, the parallel and equally spaced arrangement of several first support rods 32 and the parallel and equally spaced arrangement of several second support rods 33 allows for equidistant gaps between adjacent first support rods 32 and adjacent second support rods 33, facilitating the material handling end of the material handling mechanism 2 to pass through the gap and place the target plate onto the weighing mechanism 3 when the material handling mechanism 2 is dispensing the plate.

[0102] Preferably, the number of the support legs 35 is three, and the three support legs 35 are distributed in a triangle at the bottom end of the base plate 31. The distribution of the three support legs 35 in a triangle at the bottom end of the base plate 31 can make the weighing mechanism 3 have good stability and is not easy to tip over.

[0103] As shown in Figures 1-8, an inbound / outbound method applied to the aforementioned sheet metal storage device includes the following steps:

[0104] Initialization settings:

[0105] Obtain the distance h from n known shooting points. n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n Obtain the distance h from n known shooting points. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n where n≥2;

[0106] The nth known shooting distance h n The ratio R of the corresponding nth length n and the nth width ratio R′ n To establish a connection;

[0107] Board material receiving identification:

[0108] S1, Place the target board material that has been produced on the production line and is ready to be put into the warehouse at receiving mechanism 4;

[0109] S2, when the target board is put into storage, the material handling mechanism 2 takes out the target board to be put into storage placed at the receiving mechanism 4, and places the board on the carrier surface of the weighing mechanism 3 according to the recognition information of the visual recognition mechanism, so that the first side of the target board placed on the weighing mechanism 3 faces the camera end of the photographing mechanism 1.

[0110] S3, the weight M of the target plate placed on the weighing mechanism 3 is obtained through the weighing mechanism 3;

[0111] S4, obtain the mounting distance H1 from camera mechanism 1 to the carrier plate surface, match the known shooting distance equal to the mounting distance H1, and obtain the associated length ratio R of the matched known shooting distance. n and width ratio R′ n The length ratio R of the association n Defined as R 模糊 The associated width ratio R′ n Defined as R′ 模糊 ;

[0112] S5, obtain the first surface image of the target board, and obtain the pixel width w1 and pixel length l1 of the target board surface based on the surface image. 模糊 The approximate width W1 of the target board is calculated based on the pixel length l1 and R of the target board surface. 模糊 The approximate length L1 of the target plate is calculated;

[0113] S6. Calculate the approximate thickness D1 of the board based on the preset density ρ. The calculation formula is D1=M / (W1×L1×ρ).

[0114] S7. Compare the calculated rough thickness D1 of the board with several preset standard thicknesses, and take the closest standard thickness as the final thickness D2 of the board.

[0115] S8. Determine the shooting distance H2 from the camera mechanism 1 to the first surface of the target plate based on the final thickness D2. The calculation formula is H2 = H1 - D2.

[0116] S9, Match known shooting distances equal to shooting distance H2, and obtain the length ratio R associated with the matched known shooting distances. n and width ratio R′ n The length ratio R of the association n Defined as R 精确 The associated width ratio R′ n Defined as R′ 精确 Based on the pixel width w1 and R′ of the target board surface 精确 The precise width W2 of the target board is calculated based on the pixel length l1 and R of the target board surface. 精确 The precise length L2 of the target plate was calculated;

[0117] S10, after calculating the precise width W2 and precise length L2 of the target board, the picking and placing mechanism 2 removes the target board from the carrier surface of the weighing mechanism 3 and places it on the shelf 51 of the storage mechanism 5 for storage. At the same time, the size information of the target board is associated with the corresponding shelf 51 and the association information is uploaded to the cloud for storage.

[0118] S11, repeat steps S2-S10 until all the target boards to be put into storage at receiving mechanism 4 are placed on shelf 51 of storage mechanism 5 for storage.

[0119] Sheet material outbound:

[0120] A1, obtain the dimensions of the board material to be processed, match the associated information stored in the cloud according to the dimensions of the board material to be processed, and obtain the information of the corresponding shelf 51 according to the matched associated information;

[0121] A2, the material handling mechanism 2 retrieves the target board stored in the corresponding shelf 51 according to the information obtained from the shelf 51, and places the target board at the discharge mechanism 6. Then, the worker takes the target board from the discharge mechanism 6 and sends it to the next work station for processing.

[0122] As shown in Figures 1-8, in step S5, the formula for calculating the approximate width W1 is W1=w1×R′. 模糊 The formula for calculating the approximate length L1 is L1 = l1 × R. 模糊 In step S9, the formula for calculating the precise width W2 is W2 = w1 × R′. 精确 The formula for calculating the precise length L2 is L2 = l1 × R. 精确 .

[0123] Specifically, the calculated rough thickness D1 is compared with several approximate standard thicknesses, and the closest standard thickness is taken as the final thickness D2 of the slab. This is because the rough thickness D1 obtained based on the rough width W1 and the rough length L1 has errors. However, the pressing and molding of artificial stone slabs is based on a preset thickness. Therefore, it is necessary to compare the rough thickness D1 with several approximate standard thicknesses and take the closest standard thickness as the final thickness D2 of the slab to reduce calculation errors. However, the actual size of the artificial stone slab after it is made is affected by various environmental or production factors, resulting in differences from the size required for production. Therefore, the size of the artificial stone slab needs to be measured before further processing.

[0124] Furthermore, based on the determined final thickness D2, the shooting distance H2 from the camera mechanism 1 to the first surface of the target plate is calculated. The shooting distance can be adjusted and corrected to eliminate the error caused by the plate thickness in the size calculation of the captured image, thereby further improving the measurement accuracy.

[0125] Furthermore, in order to avoid the impact of camera lens distortion on the imaging effect, it is necessary to perform distortion correction and other preprocessing on the captured board image after shooting, so that the pixel width and pixel length of the acquired board image are more accurate, thereby improving the accuracy of board size measurement.

[0126] It is worth noting that obtaining the distance h from n known shooting points... n The ratio R of the known board surface length to the corresponding n board surface image pixel lengths. n And obtain the shooting distance h at n known points. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n The steps are as follows:

[0127] Input the dimensions of the known board material, including the known width W. 3n and a known length L 3n ;

[0128] Obtain the known material at the current known shooting distance h. n The image of the board surface is used to extract the pixel width w of the known board surface. 2n and pixel length l 2n ;

[0129] Calculate the current known shooting distance h n Length ratio R n and width ratio R′ n The calculation formula is Rn = L 3n / l 2n , R′n=W 3n / w 2n .

[0130] Understandably, by using n known shooting distances h n Take photos of the known board material at n known shooting distances h to obtain the known board material at n known shooting distances h. n The image of the board surface at the location is obtained, and the board surface image at n known shooting distances h is extracted based on the image. n The pixel width w of the board surface 2n and pixel length l 2n Thus, the known material at n known shooting distances h can be calculated. n Length ratio R at the location n and width ratio R′ n .

[0131] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A sheet metal storage device, characterized in that: It includes a camera mechanism (1), a material handling mechanism (2), a weighing mechanism (3), a receiving mechanism (4), a storage mechanism (5), a discharge mechanism (6), and a control processor; The receiving mechanism (4) is used to receive the target boards that have been produced on the production line and are ready to be put into storage; The material handling mechanism (2) is used to handle the target board so that the target board can be transferred between the receiving mechanism (4), the storage mechanism (5), the weighing mechanism (3) and the discharging mechanism (6); The storage mechanism (5) is used to store the target board material that has been put into storage; The weighing mechanism (3) is provided with a carrier plate surface, which is used to store the target board to be put into storage, and the weighing mechanism (3) is used to obtain the weight of the target board to be put into storage stored on the carrier plate surface. The camera mechanism (1) is positioned with its camera end facing the carrier plate surface. The camera mechanism (1) is used to capture an image of the first surface of the target plate stored in the weighing mechanism (3). The discharge mechanism (6) is used to receive the target board material to be discharged from the warehouse taken out by the picking and discharging mechanism (2); The control processor is communicatively connected to the camera mechanism (1), the material handling mechanism (2), and the weighing mechanism (3). The control processor is used to receive the weight of the target board and the surface image information of the first side of the target board, and to calculate the size parameters of the target board based on the weight of the target board and the surface image information of the target board.

2. The sheet metal storage device according to claim 1, characterized in that: The receiving mechanism (4) is a fixed stacking rack, and the discharging mechanism (6) is a rotating stacking rack.

3. The sheet metal storage device according to claim 1, characterized in that: The material handling mechanism (2) is a suction cup robot. The material handling end of the suction cup robot is equipped with a visual recognition mechanism. The visual recognition mechanism is used to identify whether the adsorption surface of the target board at the material handling end of the suction cup robot is the first surface of the target board, so that the material handling mechanism (2) is placed on the first surface of the target board of the weighing mechanism (3) facing the camera end of the camera mechanism (1).

4. A sheet metal storage device according to claim 1, characterized in that: The storage mechanism (5) includes several shelves (51) and shelf travel rails (52); Several of the shelves (51) are movably arranged on the shelf travel track (52), which is used to guide the movement of the several shelves (51); Along the guide direction of the shelf travel track (52), a positioning element (511) is installed at one end of the shelf (51), and a locking element (512) is rotatably installed at the other end of the shelf (51). The locking element (512) of one of the two adjacent shelves (51) is hooked to the positioning element (511) of the other shelf (51). A walking lifting assembly (53) is provided below several of the shelves (51). The walking lifting assembly (53) can move along the walking track (52) of the shelf. The walking lifting assembly (53) is used to drive the locking member (512) of the shelf (51) to rotate so that the locking member (512) of the shelf (51) disengages from the positioning member (511) that is engaged with the locking member (512).

5. A sheet metal storage device according to claim 4, characterized in that: The locking member (512) includes a main body (5121) and a limiting part (5122) extending from one end of the main body (5121); The positioning element (511) is installed at one end of the bottom side wall of the shelf (51), and the locking element (512) is installed at the other end of the bottom side wall of the shelf (51). The main body (5121) is rotatably connected to the shelf (51), the limiting part (5122) is folded over at one end relative to the main body (5121), and a hook part (5123) is formed at the connection between the limiting part (5122) and the main body (5121), and the hook part (5123) hooks onto the positioning member (511).

6. A sheet metal storage device according to claim 4, characterized in that: The traveling lifting assembly (53) includes a traveling trolley (531) and a trolley traveling track. The trolley traveling track is arranged side by side with the shelf traveling track (52). The traveling trolley (531) is movably arranged on the trolley traveling track. The trolley traveling track is used to guide the movement of the traveling trolley (531). The trolley (531) is equipped with a linear electric cylinder (532).

7. A sheet metal storage device according to claim 1, characterized in that: The weighing mechanism (3) includes a base plate (31), and a plurality of legs (35) are installed at the bottom end of the base plate (31). Each leg (35) is provided with a weighing sensor between it and the base plate (31). A plurality of first support rods (32) are provided at the top end of the base plate (31). The plurality of first support rods (32) extend upward at an incline and form an inclined carrier surface. A support member is provided on one side of each of the plurality of first support rods (32). The support member is used to support the middle part of the first support rod (32).

8. A sheet metal storage device according to claim 7, characterized in that: The supporting member is composed of a plurality of second support rods (33) and a bracket (34). One end of the plurality of second support rods (33) is connected to the corresponding first support rod (32). The bracket (34) is connected to the end of the plurality of second support rods (33) away from the first support rod (32). The bottom end of the bracket (34) is fixedly installed on the top of the base plate (31). A plurality of the first support rods (32) are arranged in parallel and at equal intervals, and a plurality of the second support rods (33) are arranged in parallel and at equal intervals.

9. A method for inbound and outbound storage of a sheet metal storage device according to any one of claims 1 to 8, characterized in that, Includes the following steps: Initialization settings: Obtain the distance h from n known shooting points. n The ratio R of the known board surface length and the corresponding n board surface image pixel lengths. n Obtain the distance h from n known shooting points. n Given the width of the board surface and the width ratio R′ of the corresponding n board surface image pixels. n where n≥2; The nth known shooting distance h n The ratio R of the corresponding nth length n and the nth width ratio R′ n To establish a connection; Board material receiving identification: S1, place the target board that has been produced on the production line and is ready to be put into the warehouse at the receiving mechanism (4); S2, when the target board is put into storage, the material handling mechanism (2) takes out the target board to be put into storage placed at the receiving mechanism (4), and places the board on the carrier surface of the weighing mechanism (3) according to the identification information of the visual recognition mechanism, so that the first side of the target board placed on the weighing mechanism (3) faces the camera end of the photographing mechanism (1). S3, the weight M of the target plate placed in the weighing mechanism (3) is obtained by the weighing mechanism (3); S4, obtain the mounting distance H1 from the camera mechanism (1) to the carrier plate surface, match the known shooting distance that is equal to the mounting distance H1, and obtain the associated length ratio R of the matched known shooting distance. n and width ratio R′ n The length ratio R of the association n Defined as R 模糊 The associated width ratio R′ n Defined as R′ 模糊 ; S5, obtain the first surface image of the target board, and obtain the pixel width w1 and pixel length l1 of the target board surface based on the surface image. 模糊 The approximate width W1 of the target board is calculated based on the pixel length l1 and R of the target board surface. 模糊 The approximate length L1 of the target plate is calculated; S6. Calculate the approximate thickness D1 of the board based on the preset density ρ. The calculation formula is D1=M / (W1×L1×ρ). S7. Compare the calculated rough thickness D1 of the board with several preset standard thicknesses, and take the closest standard thickness as the final thickness D2 of the board. S8, determine the shooting distance H2 from the camera mechanism (1) to the surface of the target plate according to the final thickness D2, and the calculation formula is H2=H1-D2; S9, Match known shooting distances equal to shooting distance H2, and obtain the length ratio R associated with the matched known shooting distances. n and width ratio R′ n The length ratio R of the association n Defined as R 精确 The associated width ratio R′ n Defined as R′ 精确 Based on the pixel width w1 and R′ of the target board surface 精确 The precise width W2 of the target board is calculated based on the pixel length l1 and R of the target board surface. 精确 The precise length L2 of the target plate was calculated; S10, after calculating the precise width W2 and precise length L2 of the target board, the picking and placing mechanism (2) removes the target board from the carrier surface of the weighing mechanism (3) and places it on the shelf (51) of the storage mechanism (5) for storage. At the same time, the size information of the target board is associated with the corresponding shelf (51) and the associated information is uploaded to the cloud for storage. S11, repeat steps S2-S10 until all the target boards to be stored at the receiving mechanism (4) are placed on the shelf (51) of the storage mechanism (5) for storage. Sheet material outbound: A1, obtain the size of the board to be processed, match the associated information stored in the cloud according to the size of the board to be processed, and obtain the information of the corresponding shelf (51) according to the matched associated information; A2, the material handling mechanism (2) retrieves the target board stored in the corresponding shelf (51) according to the information obtained from the shelf (51), and places the target board at the discharge mechanism (6). Then, the worker takes the target board from the discharge mechanism (6) and sends it to the next work station for processing.

10. The method for inbound and outbound storage of a sheet metal storage device according to claim 9, characterized in that: In step S5, the formula for calculating the approximate width W1 is W1 = w1 × R′. 模糊 The formula for calculating the approximate length L1 is L1 = l1 × R. 模糊 In step S9, the formula for calculating the precise width W2 is W2 = w1 × R′. 精确 The formula for calculating the precise length L2 is L2 = l1 × R. 精确 .

Images