CN110589587A - Automatic molding, picking and inspecting integrated production line for grinding wheel net piece - Google Patents
Automatic molding, picking and inspecting integrated production line for grinding wheel net piece Download PDFInfo
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- CN110589587A CN110589587A CN201910771892.8A CN201910771892A CN110589587A CN 110589587 A CN110589587 A CN 110589587A CN 201910771892 A CN201910771892 A CN 201910771892A CN 110589587 A CN110589587 A CN 110589587A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 238000000465 moulding Methods 0.000 title description 4
- 238000005520 cutting process Methods 0.000 claims abstract description 218
- 230000000007 visual effect Effects 0.000 claims abstract description 42
- 238000001514 detection method Methods 0.000 claims abstract description 40
- 230000007547 defect Effects 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 41
- 239000012636 effector Substances 0.000 claims description 38
- 239000004744 fabric Substances 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 229910001651 emery Inorganic materials 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 238000007493 shaping process Methods 0.000 claims description 2
- 238000011179 visual inspection Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H20/00—Advancing webs
- B65H20/06—Advancing webs by friction band
- B65H20/08—Advancing webs by friction band to effect step-by-step advancement of web
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
- B65H23/032—Controlling transverse register of web
- B65H23/0322—Controlling transverse register of web by acting on edge regions of the web
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/26—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles
- B65H29/32—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles from pneumatic, e.g. suction, carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
- B65H43/04—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable detecting, or responding to, presence of faulty articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/02—Feeding articles separated from piles; Feeding articles to machines by belts or chains, e.g. between belts or chains
- B65H5/021—Feeding articles separated from piles; Feeding articles to machines by belts or chains, e.g. between belts or chains by belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/174—Textile, fibre
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to an automatic forming, picking and inspecting integrated production line for a grinding wheel mesh, which is characterized in that: the device comprises conveying equipment, visual detection equipment, cutting equipment and picking equipment, wherein the conveying equipment is used for conveying a grinding wheel mesh and comprises a cutting section conveying platform and a picking section conveying platform which are respectively provided with a clamping and positioning assembly, and the visual detection equipment is arranged in front of the feeding side of the cutting section conveying platform and is used for identifying defects of the grinding wheel mesh to be cut and sending the coordinates of the defects to the picking equipment; the cutting equipment is arranged on the cutting section conveying platform and used for cutting the grinding wheel mesh into the grinding wheel mesh; the picking equipment is arranged on the picking section conveying platform and used for sorting and stacking the qualified or unqualified grinding wheel meshes. According to the invention, the grinding wheel mesh sequentially passes through the visual detection device, the cutting device and the picking device through the conveying device to realize the streamlined production of cutting, picking and detecting, so that the production efficiency is greatly improved.
Description
Technical Field
The invention relates to a production line of a grinding wheel mesh, in particular to an automatic forming, picking and inspecting integrated production line of the grinding wheel mesh.
Background
The grinding wheel mesh serves as a reinforcing base material of the grinding wheel and is used for reinforcing the tensile property of the grinding wheel. In the production process, the screen cloth is firstly punched into a circular net piece, the punched net piece is picked up, and finally the grinding wheel net piece is inspected so as to screen out unqualified net pieces.
The prior manufacturing process of the grinding wheel mesh has the following problems:
(1) the molding of the mesh is usually carried out by adopting a stamping device, the phenomenon that the mesh is connected with leftover materials easily occurs after the punching, the noise is high, and the working environment is poor;
(2) the punched net piece is firstly picked up by manpower, the picking efficiency is low, and the labor intensity is large. Corresponding automatic pick-up equipment appeared later, mainly divided into centre gripping pick-up and gluing adsorb pick-up: for example, patent application No. 201010527154.8 discloses a method for picking up a grinding wheel reinforced mesh, which includes synchronously clamping a row of meshes by a plurality of clamping devices and placing the meshes on a group of tags to pick up the meshes; still for example, patent zl201510714817.x discloses a grinding wheel mesh pick-up mechanism, which performs mesh adsorption by means of adhesive adsorption, and then transfers the mesh onto a collecting tag, and then pushes the collecting tag down by using an air cylinder to separate the mesh from adhesive; the two types of the picking methods greatly improve the picking efficiency and reduce the labor intensity, but in the picking process or after the picking, the defects are still required to be manually inspected, the overall efficiency is still low, only the spot inspection can be performed, the full inspection cannot be performed, and the real flow production cannot be realized.
Disclosure of Invention
The invention aims to provide an automatic forming, picking and inspecting integrated production line for a grinding wheel mesh, which can efficiently realize streamlined production of forming, picking and inspecting the mesh.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides an automatic shaping of emery wheel net piece, pick up and inspection integration production line, its innovation point lies in: comprises a conveying device, a visual detection device, a cutting device and a pickup device,
the conveying equipment is used for conveying and positioning the grinding wheel mesh to be cut and the grinding wheel mesh formed after cutting, and comprises at least one cutting section conveying platform and at least one picking section conveying platform which are sequentially arranged from the feeding side to the discharging side along the conveying direction,
the cutting conveying platform comprises a cutting frame, a cutting conveying belt, a cutting conveying motor and a pair of cutting clamping and positioning components, wherein the cutting conveying belt is arranged on the cutting frame and driven by the cutting conveying motor to move along the conveying direction;
the picking section conveying platform comprises a picking section rack, a picking section conveying belt, a picking section conveying motor and a pair of picking section clamping and positioning assemblies, wherein the picking section conveying belt is arranged on the picking section rack and is driven by the picking section conveying motor to move along the conveying direction;
the visual detection equipment is arranged in front of the feeding side of the cutting section conveying platform and used for sending original point coordinates of a cutting page generated on the grinding wheel mesh cloth to be cut to the cutting equipment, identifying defects of the grinding wheel mesh cloth to be cut and sending the defect coordinates to the pickup equipment;
the cutting equipment is arranged on the cutting section conveying platform and used for cutting a grinding wheel mesh to be cut into the grinding wheel mesh, and comprises a tool rest, a tool rest X-axis driving mechanism, a tool rest Y-axis driving mechanism, a tool rest Z-axis driving mechanism, a cutting tool horizontal position adjusting mechanism, a vibrating cutting tool, a cutting tool vibrating motor and a cutting tool rotating motor, wherein the tool rest is erected above the cutting section conveying belt and is driven by the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism to realize the movement in the X, Y, Z-axis direction;
the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism adopt a tool rest X-axis driving motor, a tool rest Y-axis driving motor and a tool rest Z-axis driving motor as driving sources;
the picking equipment is arranged on the picking section conveying platform and used for sorting and stacking qualified or unqualified grinding wheel meshes and comprises a picking rack, a three-dimensional picking mechanical arm, an end picking device, a mesh stacking label and a stacking station switching motor, wherein the picking rack is provided with at least one three-dimensional picking mechanical arm, the three-dimensional picking mechanical arm is provided with a plurality of end picking device assemblies for picking the grinding wheel meshes, the end picking device assemblies are driven by an end picking device driving cylinder to adsorb or separate from the grinding wheel meshes and are driven by the three-dimensional picking mechanical arm to move between the upper surface of the picking section conveying platform and a stacking station; the net piece is piled and is signed, stack station switching motor and install in picking up the frame, net piece is piled and is signed and have at least two sets of can hold emery wheel net piece suit and sign the pole above that, two sets of poles that sign that the net piece was piled to sign can be rotated by stack station switching motor drive and is kept away from or get into the stack station.
Further, the cutting clamping and positioning assembly comprises a cutting conveying belt clamping assembly, a cutting linear driving and positioning assembly and a cutting linear guiding assembly, the guiding direction of the cutting linear guiding assembly is consistent with the conveying direction of the cutting conveying belt, the cutting conveying belt clamping assembly is installed on the cutting rack through the cutting linear guiding assembly, and the cutting linear driving and positioning assembly drives the cutting conveying belt to reciprocate along the conveying direction of the cutting conveying belt.
Furthermore, the cutting section linear driving positioning assembly adopts a gear rack pair driven by a cutting section clamping feeding motor.
Further, the cutting conveyer belt clamping assembly comprises a cutting clamping support, a cutting clamping lower supporting plate and a cutting clamping cylinder, wherein the cutting clamping lower supporting plate and the cutting clamping cylinder are installed on the cutting clamping support, and the cutting clamping cylinder is located above the cutting clamping lower supporting plate.
Further, pick up section centre gripping locating component including pick up section conveyer belt centre gripping subassembly, pick up section linear drive locating component, pick up section straight line direction subassembly, the direction of picking up section straight line direction subassembly is unanimous with the direction of delivery of picking up the section conveyer belt, pick up section conveyer belt centre gripping subassembly and install in picking up section frame through picking up section straight line direction subassembly to by picking up section linear drive locating component drive along the direction of delivery reciprocating motion of picking up the section conveyer belt.
Furthermore, the pick-up section linear driving positioning assembly adopts a pick-up section clamping feeding motor driven gear rack pair.
Further, pick up section conveyer belt centre gripping subassembly and include and pick up section centre gripping support to and install and pick up section centre gripping bottom plate and pick up section centre gripping cylinder on picking up section centre gripping support, it is located the top of picking up section centre gripping bottom plate to pick up section centre gripping cylinder.
Further, the visual detection equipment comprises a visual detection system industrial personal computer, a visual detection system PLC, a linear scanning camera, an LED light source and a roller type encoder, template grid software and visual defect identification software are arranged in the visual detection system industrial personal computer, the visual detection system industrial personal computer is in communication with the visual detection system PLC, an output signal of the visual detection system PLC is connected to a camera controller of the linear scanning camera and a light source controller of the LED light source, the roller type encoder is arranged on the upper surface of the cutting section conveying platform, the output signal of the roller type encoder is connected to the visual detection system PLC, and the output signal of the linear scanning camera is connected to the visual detection system industrial personal computer.
Furthermore, the horizontal position adjusting mechanism of the cutting knife is a screw rod nut pair driven by a position adjusting motor, the screw rod is provided with a forward-rotation thread section and a reverse-rotation thread section which are symmetrically arranged, and nuts on the forward-rotation thread section and the reverse-rotation thread section are respectively connected with a vibration cutting knife;
further, the three-dimensional picking mechanical arm comprises a base, a first link arm, a second link arm, a third link arm, a first link arm driving motor, a second link arm driving motor, a third link arm driving motor and a lower connecting seat, wherein the first link arm driving motor, the second link arm driving motor and the third link arm driving motor are uniformly distributed on the base, the first link arm driving motor, the second link arm driving motor and the third link arm driving motor are respectively connected with the upper ends of the first link arm, the second link arm and the third link arm through swing rods, the lower ends of the first link arm, the second link arm and the third link arm are connected with the lower connecting seat through universal joints, and the lower connecting seat is connected with a plurality of end pickers.
Furthermore, the end effector assembly comprises an end effector guide rail, an end effector, a buffering compressor and at least one end effector guide rail, wherein the end effector guide rail is horizontally connected to the lower end of the three-dimensional picking mechanical arm, and two side surfaces of the end effector guide rail are provided with inverted T-shaped guide grooves along the extension direction of the end effector guide rail; the buffer compactors are distributed on two sides of the end effector guide rail along the extension direction of the end effector guide rail, and are damping cylinders or compression bars with compression springs which are vertically arranged downwards; the end picking device comprises a locking hoop, an end picking seat, an end picking driving cylinder and an end picking needle, wherein the upper part of the end picking seat is provided with a locking body which is sleeved outside the locking hoop, and the upper part of the end picking seat is locked in an inverted T-shaped guide groove on the side surface of the end picking guide rail through the locking hoop and an inverted T-shaped bolt; the lower part of the end picking seat is provided with at least one pair of through inclined holes distributed in an X shape, an end picking device driving cylinder is arranged above the through inclined holes, an end picking needle embedded into the through inclined holes is connected to the end picking device driving cylinder, and the end picking needle is driven by the end picking device driving cylinder to extend out of or retract into the through inclined holes.
The invention has the advantages that:
conveying equipment, visual inspection equipment, cutting equipment, pick-up equipment
In the invention, the grinding wheel mesh firstly acquires images through a visual detection device to obtain a cutting datum and a picking datum which are related, and then the grinding wheel mesh and the grinding wheel mesh are accurately moved through a cutting section conveying platform and a picking section conveying platform which are provided with a cutting section clamping and positioning component and a picking section clamping and positioning component, so that the theoretical working datum of the system is consistent with the actual working datum when a cutting system cuts the grinding wheel mesh and when a picking system carries out classification picking,
the whole process uses the conveying system as a reference, and high-precision automatic logic control of cutting, picking and checking in the manufacturing process of the grinding wheel mesh is realized by combining the visual detection system, the cutting system and the picking system, so that turnover and waiting among all processes are greatly reduced, and the production efficiency is high. Compared with the traditional final visual identification and detection of products, the method adopts the scheme of firstly detecting, then cutting and picking, and the cut grinding wheel mesh does not need to be identified, so that the influence of the outline and the inner hole of the grinding wheel mesh on identification is reduced, the detection precision is higher, the workload of a visual detection system can be reduced, the number of the line scanning cameras can be saved, and the cost is saved.
The cutting section or picking section clamping and positioning assembly adopts the pneumatic clamping assembly, the cutting section linear driving positioning assembly and the linear guiding assembly to clamp and convey the conveying belt, the auxiliary conveying and accurate positioning effects of the conveying belt moving are achieved, the structure is simple, and the positioning accuracy is high.
Drawings
FIG. 1 is a front view of an integrated production line for automatic molding, picking and inspecting of a grinding wheel mesh.
FIG. 2 is a top view of the conveying apparatus, cutting apparatus and pick-up apparatus of the present invention.
Fig. 3 is a front view of the conveying apparatus of the present invention.
Fig. 4 is a top view of the conveyor apparatus of the present invention.
Fig. 5 is a left side view of the conveying apparatus of the present invention.
FIG. 6 is a schematic view of a cutting segment linear driving positioning assembly according to the present invention.
Fig. 7 is a schematic structural view of a pick-up section linear driving positioning assembly according to the present invention.
Fig. 8 is a hardware connection diagram of the visual inspection apparatus according to the present invention.
FIG. 9 is a front view of the cutting apparatus of the present invention positioned on a cut piece conveyor platform.
FIG. 10 is a top view of the cutting apparatus of the present invention positioned on the cut piece conveyor platform.
Fig. 11 is a side view of a pickup apparatus of the present invention positioned on a pickup section transport platform.
Fig. 12 is a top view of a pick-up device of the present invention positioned on a pick-up section transport platform.
Fig. 13 is a perspective view of the three-dimensional pick-up robot arm of the pick-up apparatus of the present invention.
Fig. 14 is a front view of a three-dimensional pick-up robot arm of the pick-up apparatus of the present invention.
Fig. 15 is a top view of a three-dimensional pick-up robot arm of the pick-up apparatus of the present invention.
Fig. 16 is a schematic view of an end effector assembly of the present invention.
Fig. 17 is a front view of the connection of an end effector to an end effector guide rail in accordance with the present invention.
Fig. 18 is a cross-sectional view of the attachment of an end effector to an end effector guide rail in accordance with the present invention.
Fig. 19 is a cross-sectional view of an end effector of the present invention.
Detailed Description
As shown in fig. 1 and 2, comprises a conveying device, a visual detection device 2, a cutting device 3 and a pickup device 4,
the conveying equipment is used for conveying and positioning the grinding wheel mesh cloth to be cut and the grinding wheel mesh cloth formed after cutting, and comprises at least one cutting section conveying platform 11 and at least one picking section conveying platform 12 which are sequentially arranged from the feeding side to the discharging side along the conveying direction,
as shown in fig. 3, 4, and 5, the cutting conveying platform 11 includes a cutting frame 111, a cutting belt 112, a cutting conveying motor (not shown in the figure), and a pair of cutting clamping and positioning assemblies 114, the cutting belt 112 is disposed on the cutting frame 111 and driven by the cutting conveying motor to move along the conveying direction, and the cutting clamping and positioning assemblies 114 are disposed on two sides of the cutting belt 112 for clamping the cutting belt 112 and driving the cutting belt 112 together with the cutting conveying motor to move along the conveying direction to achieve accurate positioning.
The picking section conveying platform 12 comprises a picking section rack 121, a picking section conveying belt 122, a picking section conveying motor (not shown in the figure) and a pair of picking section clamping and positioning components 124, wherein the picking section conveying belt 122 is arranged on the picking section rack 121 and is driven by the picking section conveying motor 1 to move along the conveying direction, the picking section clamping and positioning components 124 are arranged on two sides of the picking section conveying belt 122 and are used for clamping the picking section conveying belt 122 and jointly drive the picking section conveying belt 122 with the picking section conveying motor to move along the conveying direction to realize accurate positioning. In this embodiment, the pick-up conveyor 122 has a double-layer composite structure (see fig. 6), the outer layer of the conveyor is a porous brush layer 1221, and the inner layer is the conveyor body 1222.
As more specific embodiments of the present invention:
the cutting section clamping and positioning assembly 114 comprises a cutting section conveying belt clamping assembly, a cutting section linear driving and positioning assembly and a cutting section linear guiding assembly, the guiding direction of the cutting section linear guiding assembly is consistent with the conveying direction of the cutting section conveying belt 112, the cutting section conveying belt clamping assembly is installed on the cutting section rack 111 through the cutting section linear guiding assembly, and the cutting section conveying belt clamping assembly is driven by the cutting section linear driving and positioning assembly to reciprocate along the conveying direction of the cutting section conveying belt.
In this embodiment, as shown in fig. 6, the cutting linear driving positioning assembly is a gear-rack pair 1142 driven by a cutting clamping feeding motor 1141, the cutting linear guiding assembly is a linear guide and a slider installed on the side surface of the cutting frame 111, the cutting conveying belt clamping assembly includes a cutting clamping bracket 1144, a cutting clamping lower support plate 1145 and a cutting clamping cylinder 1146 installed on the cutting clamping bracket 1144, and the cutting clamping cylinder 1146 is located above the cutting clamping lower support plate 1145. In this embodiment, each side of the clamping and positioning assembly 114 is equipped with two linear guide rails and two sliding sets, one linear guide rail and sliding set 1143 is located on the side surface of the cutting frame 111, and the other linear guide rail and sliding set 1147 is located on the side surface of the cutting frame 111, so as to support and guide more stably and ensure the moving accuracy of the clamping assembly of the cutting belt.
Pick up section centre gripping locating component 124 including pick up section conveyer belt centre gripping subassembly, pick up section linear drive locating component, pick up section straight line direction subassembly, the direction of picking up section straight line direction subassembly is unanimous with the direction of delivery of picking up section conveyer belt 122, pick up section conveyer belt centre gripping subassembly and install on picking up section frame 121 through picking up section straight line direction subassembly to by picking up section straight line drive locating component drive along the direction of delivery reciprocating motion of picking up the section conveyer belt.
In this embodiment, as shown in fig. 7, the picking section linear driving positioning assembly adopts a gear rack pair 1242 driven by a picking section clamping feeding motor 1241, the picking section linear guiding assembly is a linear guide rail 1243 and a slider mounted on both side surfaces of the picking section rack 121, the picking section conveying belt clamping assembly includes a picking section clamping support 1244, and a picking section clamping lower support plate 1245 and a picking section clamping cylinder 1246 mounted on the picking section clamping support 1244, and the picking section clamping cylinder 1246 is located above the picking section clamping lower support plate 1245. In this embodiment, each picking section clamping and positioning assembly 124 is provided with two linear guide rails and two slider sets, one linear guide rail and slider set 1243 is located on the side edge surface of the picking section frame 121, and the other linear guide rail and slider set 1247 is located on the side edge outer surface of the picking section frame 121, so that the picking section conveyor belt clamping assembly can be supported and guided more stably, and the moving accuracy of the picking section conveyor belt clamping assembly can be ensured.
It should be understood by those skilled in the art that a traction conveying platform 13 and a winding conveying platform (leftover materials after the grinding wheel mesh cloth is cut out of the grinding wheel mesh cloth can still be recovered and broken through winding) can be additionally added before and after the cutting section conveying platform 11 or the picking section conveying platform 12 according to actual conditions.
And the visual detection equipment 2 is arranged in front of the feeding side of the cutting section conveying platform 11, and is used for sending the original point coordinates of the cutting page generated on the grinding wheel mesh cloth to be cut as a cutting reference to the cutting equipment, identifying the defects of the grinding wheel mesh cloth to be cut, and sending the defect coordinates as a pickup reference to the pickup equipment.
As shown in fig. 8, the visual inspection apparatus 2 of the present invention mainly includes a visual inspection system industrial personal computer 21, a visual inspection system PLC22, a line scan camera 23, an LED light source 24 and a roller type encoder 25, the visual inspection system industrial personal computer 21 is internally provided with template division software and visual defect identification software, the visual inspection system industrial personal computer 21 is in communication with the visual inspection system PLC22, an output signal of the visual inspection system PLC22 is connected to a camera controller 26 of the line scan camera 23 and a light source controller 27 of the LED light source 24, the roller type encoder 25 is used for detecting a moving speed of a grinding wheel mesh cloth, so that a shooting speed of the line scan camera 23 is controlled by the visual inspection system PLC22, the visual inspection system PLC22 is disposed on the upper surface of the cutting section conveying platform 11, the output signal is connected to the visual inspection system PLC22, and an output signal of the line scan camera 23.
The cutting device 3, as shown in fig. 9 and 10, is disposed on the cutting section conveying platform 12, and is used for cutting the grinding wheel mesh cloth to be cut into the grinding wheel mesh, and includes a tool rest 31, a tool rest X-axis driving mechanism, a tool rest Y-axis driving mechanism, a tool rest Z-axis driving mechanism, a cutting tool horizontal position adjusting mechanism, a vibration cutting tool and a cutting tool rotating motor, wherein the tool rest 31 is erected above the cutting section conveying belt 112, and is driven by the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism to realize X, Y, Z-axis movement, and the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism adopt a tool rest X-axis driving motor 32, a tool rest Y-axis driving motor 33 and a tool rest.
A plurality of sets of cutting knife horizontal position adjusting mechanisms are installed on the knife rest 31, cutting knife rotating motors 35 with axes vertical to each other are installed on each cutting knife horizontal position adjusting mechanism, and the cutting knife rotating motors 35 are connected with vibrating cutting knives driven by cutting knife vibrating motors to vibrate. In this embodiment, the horizontal position adjusting mechanism of the cutting knife is a screw nut pair driven by a position adjusting motor, the screw has a forward thread section and a backward thread section which are symmetrically arranged, and nuts on the forward thread section and the backward thread section are respectively connected with a vibration cutting knife.
The picking device 4, as shown in fig. 11 and 12, is arranged on the picking section conveying platform 12, and is used for picking and stacking qualified or unqualified grinding wheel meshes, and comprises a picking rack 41, a three-dimensional picking mechanical arm 42, an end picking device 43, a mesh stacking pick 44 and a stacking station switching motor 45,
the picking rack 41 is provided with at least one three-dimensional picking mechanical arm 42, a plurality of end pickers 43 for picking up the grinding wheel meshes are mounted on the three-dimensional picking mechanical arm 42, the end pickers 43 are driven by an end picker driving cylinder to adsorb or separate the grinding wheel meshes, and are driven by the three-dimensional picking mechanical arm 42 to move between the upper surface of the picking section conveying platform 12 and a stacking station; the mesh stacking pick 44 and the stacking station switching motor 45 are mounted on the pick-up frame 41, the mesh stacking pick 44 is provided with at least two groups of pick rods capable of accommodating grinding wheel meshes sleeved on the mesh stacking pick 44, and the two groups of pick rods of the mesh stacking pick can be driven by the stacking station switching motor 45 to rotate to be far away from or enter a stacking station.
In this embodiment, as shown in fig. 13, 14, and 15, the three-dimensional picking up robot arm 42 includes a base 421, a first link arm 422, a second link arm 423, a third link arm 424, a first link arm driving motor 425, a second link arm driving motor 426, a third link arm driving motor 427, and a lower connecting seat 428, the first link arm driving motor 425, the second link arm driving motor 426, and the third link arm driving motor 427 are uniformly distributed on the base 421, the first link arm driving motor 425, the second link arm driving motor 426, and the third link arm driving motor 427 are respectively connected to the upper ends of the first link arm 422, the second link arm 423, and the third link arm 424 through respective swing links 428, the lower ends of the first link arm 422, the second link arm 423, and the third link arm 424 are connected to the lower connecting seat 429 through universal joints, and the lower connecting seat 429 is connected to the plurality of end pickups 43.
In this embodiment, the three-dimensional picking-up robot arms 42 are provided with 3 (see fig. 12), and the bases 421 are arranged in a staggered manner, so as to shorten the length of the picking-up section and reduce the traction power of the picking-up section.
In this embodiment, the end effector assembly 43 is used to attract or detach a grinding wheel web from the end effector, as shown in fig. 16, the end effector assembly includes an end effector guide 431, a buffer compactor 432, an end effector 433,
at least one end effector guide rail 431, the end effector guide rail 431 is of an aluminum profile structure, and is horizontally connected to the lower end of the three-dimensional picking mechanical arm 42, and two side surfaces of the end effector guide rail 431 are provided with inverted T-shaped guide grooves along the extension direction of the end effector guide rail;
the buffer pressers 432 are distributed on two sides of the end effector guide rail 431 along the extension direction of the end effector guide rail 431, and the buffer pressers 432 are damping cylinders or pressing rods with compression springs which are vertically arranged downwards;
the end pickups 433 are distributed on one side or two sides of the end pickups guide rail 431 along the extending direction of the end pickups guide rail 431, as shown in fig. 17, 18 and 19, each end pickups comprises a locking hoop 4331, an end picking seat 4332, an end pickups driving cylinder 4333 and an end picking needle 4334, the upper part of the end picking seat 4332 is provided with a locking body which allows the locking hoop 4331 to be sleeved outside, and the upper part of the end picking seat is locked in an inverted T-shaped guide groove on the side surface of the end pickups guide rail 431 through the locking hoop 4331 and an inverted T-shaped bolt 4335; the lower part of the end picking seat 4332 is provided with at least one pair of through inclined holes distributed in an X shape, an end picking driving cylinder 4334 is arranged above the through inclined holes, an end picking needle 4334 embedded into the through inclined holes is connected to the end picking driving cylinder 4334, and the end picking needle 4334 is driven by the end picking driving cylinder 4333 to extend out of or retract into the through inclined holes.
The working principle is as follows:
firstly, the grinding wheel mesh to be cut is manually pulled and placed in place, the automatic forming, picking and inspecting integrated production line of the grinding wheel mesh is started and stands by,
when the conveying equipment starts to work, in the cutting conveying platform 11, the cutting conveying motor drives the cutting conveying belt to move along the conveying direction, meanwhile, a cutting clamping cylinder 1146 of the cutting clamping and positioning assembly 114 moves downwards to be matched with a cutting clamping lower supporting plate 1145 to clamp the upper and lower surfaces of two sides of the cutting conveying belt, and the cutting clamping and conveying motor 1141 drives a gear-rack pair 1142 to move, so that the whole cutting clamping and positioning assembly 114 synchronously moves along the conveying direction, and further the cutting conveying belt is driven to move along the conveying direction at set speed and interval time together to accurately convey and position the grinding wheel mesh cloth or the grinding wheel mesh cloth; the accumulated error caused by the traditional conveying roller driving slip is avoided.
Similarly, in the picking section conveying platform 12, the picking section conveying motor drives the picking section conveying belt to move along the conveying direction, meanwhile, a picking section clamping cylinder 1246 of the picking section clamping and positioning assembly 124 acts downwards to be matched with a picking section clamping lower supporting plate 1245 to clamp the upper and lower surfaces of two sides of the picking section conveying belt, and the picking section clamping and conveying motor 1141 drives the gear rack pair 1242 to move, so that the whole picking section clamping and positioning assembly 114 synchronously moves along the conveying direction, and drives the cutting section conveying belt and the picking section conveying belt to move along the conveying direction at set speed and interval time, so that leftover materials are conveyed and grinding wheel meshes are accurately conveyed and positioned; .
After the conveying equipment works, the visual detection system receives a starting signal of the conveying equipment, the visual detection system PLC sends a corresponding shooting control signal to the corresponding camera controller and the corresponding light source controller, the line scanning camera and the LED light source are started to shoot images of the current grinding wheel mesh cloth, and an image acquisition card of the line scanning camera sends acquired image information to an industrial personal computer of the visual detection system through an image transmission bus; after receiving the acquired image information, an industrial personal computer of the visual detection system generates a cutting layout and an origin coordinate thereof on the grinding wheel mesh at the current position, and generates a virtual circle center coordinate of the cut grinding wheel mesh on the cutting layout according to cutting graphic layout information of the grinding wheel mesh and built-in template grid software; then, sending the original point coordinate to a cutting system;
meanwhile, carrying out defect identification on the cutting layout according to built-in visual defect identification software, calibrating the defect coordinates after obtaining the defect coordinates, and judging the number and the type of the defects existing in the grinding wheel mesh area corresponding to the circle center coordinates of each virtual grinding wheel mesh according to the defect coordinates; calibrating the circle center coordinates of each virtual grinding wheel net piece into circle center coordinates of qualified net pieces and circle center coordinates of unqualified net pieces according to the judgment rule of the visual defect identification software; and sending the circle center coordinates of the qualified net pieces and the unqualified net pieces to a robot picking system PLC of the picking equipment.
After the cutting equipment is started, the cutting equipment firstly adjusts the cutting graphic layout information of the grinding wheel mesh, and a position adjusting motor of a cutting knife horizontal position adjusting mechanism acts according to the distance between the grinding wheel meshes to drive each vibration cutting knife, a cutting knife rotating motor 35 and a cutting knife vibrating motor to move together, so that the adjustment of the distance between the vibration cutting knives is realized, and the cutting knife needing to be cut starts to vibrate by the corresponding cutting knife vibrating motor;
when the grinding wheel mesh cloth detected and identified by the visual detection equipment moves to the position below the cutting system, the cutting section conveying platform 11 stops conveying, and the cutter rest 31 of the cutting system is driven by the cutter rest X-axis driving mechanism, the cutter rest Y-axis driving mechanism and the cutter rest Z-axis driving mechanism to cut the grinding wheel mesh cloth into the grinding wheel mesh cloth meeting the requirements.
The cutting equipment sends control signals to servo drivers of a tool rest X-axis driving motor 32, a tool rest Y-axis driving motor 33, a tool rest Z-axis driving motor 34 and a cutting knife rotating motor 35 according to the received cutting layout original point coordinate output by the industrial personal computer of the video detection system as a reference, and drives the tool rest 31 to move in the direction of X, Y, Z axis, so that the grinding wheel mesh is cut on the current cutting layout of the grinding wheel mesh, and the center coordinate of the cut grinding wheel mesh is consistent with the center coordinate of the grinding wheel mesh after virtual cutting generated on the layout in the industrial personal computer of the video detection system;
after cutting, the cutting section conveying platform 11 operates again, and the cut grinding wheel net piece is moved to the picking section conveying platform 12 from the cutting section conveying platform 11;
the picking device sends corresponding control signals to a servo controller of a first link arm driving motor, a second link arm driving motor and a third link arm driving motor and an end effector electromagnetic valve of an end effector driving cylinder according to the received circle center coordinates of the qualified meshes and the unqualified meshes output by the industrial personal computer of the visual detection system,
the first link arm driving motor 425, the second link arm driving motor 426 and the third link arm driving motor 427 respectively drive the first link arm 422, the second link arm 423 and the third link arm 424 which are connected together at the lower ends through the swing rods 428 to move, so that the end effector assemblies connected to the lower connecting seat 429 move to the positions above the corresponding grinding wheel meshes, and the buffering presser 432 presses the grinding wheel meshes to prevent the grinding wheel meshes from moving;
the end effector drives the cylinder 4333 to start to act, after the drive end picking needle 4334 extends out of the mesh stack label 44 at the stacking station, the end effector component moves to the position above the mesh stack label 44 at the stacking station, and the picked abrasive wheel mesh is put down under the control of the opening and closing of the end effector electromagnetic valve, so that the abrasive wheel mesh end effector component is repeatedly driven to reciprocate between the picking section conveying belt and the mesh stack label 44 at the stacking station to realize the classified picking and stacking of the abrasive wheel meshes; of course, for rejected webs, the pick-up device may pick up onto additional web stack tabs 44, or not, depending on the setting.
And after the picking device finishes picking, the conveying device works again to enter the next production cycle.
Claims (11)
1. The utility model provides an automatic shaping of emery wheel net piece, pick up and inspection integration production line which characterized in that: comprises a conveying device, a visual detection device, a cutting device and a pickup device,
the conveying equipment is used for conveying and positioning the grinding wheel mesh to be cut and the grinding wheel mesh formed after cutting, and comprises at least one cutting section conveying platform and at least one picking section conveying platform which are sequentially arranged from the feeding side to the discharging side along the conveying direction,
the cutting conveying platform comprises a cutting frame, a cutting conveying belt, a cutting conveying motor and a pair of cutting clamping and positioning components, wherein the cutting conveying belt is arranged on the cutting frame and driven by the cutting conveying motor to move along the conveying direction;
the picking section conveying platform comprises a picking section rack, a picking section conveying belt, a picking section conveying motor and a pair of picking section clamping and positioning assemblies, wherein the picking section conveying belt is arranged on the picking section rack and is driven by the picking section conveying motor to move along the conveying direction;
the visual detection device is arranged in front of the feeding side of the cutting section conveying platform and used for sending original point coordinates of a cutting page generated on the grinding wheel mesh cloth to be cut to the cutting device as cutting references, identifying defects of the grinding wheel mesh cloth to be cut and sending the defect coordinates to the pickup device as pickup references;
the cutting equipment is arranged on the cutting section conveying platform and used for cutting a grinding wheel mesh to be cut into the grinding wheel mesh, and comprises a tool rest, a tool rest X-axis driving mechanism, a tool rest Y-axis driving mechanism, a tool rest Z-axis driving mechanism, a cutting tool horizontal position adjusting mechanism, a vibrating cutting tool, a cutting tool vibrating motor and a cutting tool rotating motor, wherein the tool rest is erected above the cutting section conveying belt and is driven by the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism to realize the movement in the X, Y, Z-axis direction;
the tool rest X-axis driving mechanism, the tool rest Y-axis driving mechanism and the tool rest Z-axis driving mechanism adopt a tool rest X-axis driving motor, a tool rest Y-axis driving motor and a tool rest Z-axis driving motor as driving sources;
the picking equipment is arranged on the picking section conveying platform and used for sorting and stacking qualified or unqualified grinding wheel meshes and comprises a picking rack, a three-dimensional picking mechanical arm, an end picking device, a mesh stacking label and a stacking station switching motor, wherein the picking rack is provided with at least one three-dimensional picking mechanical arm, the three-dimensional picking mechanical arm is provided with a plurality of end picking device assemblies for picking the grinding wheel meshes, the end picking device assemblies are driven by an end picking device driving cylinder to adsorb or separate from the grinding wheel meshes and are driven by the three-dimensional picking mechanical arm to move between the upper surface of the picking section conveying platform and a stacking station; the net piece is piled and is signed, stack station switching motor and install in picking up the frame, net piece is piled and is signed and have at least two sets of can hold emery wheel net piece suit and sign the pole above that, two sets of poles that sign that the net piece was piled to sign can be rotated by stack station switching motor drive and is kept away from or get into the stack station.
2. The automated forming, picking and inspecting integrated production line for grinding wheel meshes according to claim 1, characterized in that: the cutting section clamping and positioning assembly comprises a cutting section conveying belt clamping assembly, a cutting section linear driving positioning assembly and a cutting section linear guiding assembly, the guiding direction of the cutting section linear guiding assembly is consistent with the conveying direction of the cutting section conveying belt, the cutting section conveying belt clamping assembly is installed on the cutting section rack through the cutting section linear guiding assembly, and the cutting section conveying belt clamping assembly is driven by the cutting section linear driving positioning assembly to reciprocate along the conveying direction of the cutting section conveying belt.
3. The automated forming, picking and inspecting integrated production line for grinding wheel meshes as claimed in claim 2, characterized in that: the cutting section linear driving positioning assembly adopts a gear-rack pair driven by a cutting section clamping feeding motor.
4. The automated forming, picking and inspecting integrated production line for grinding wheel meshes as claimed in claim 2, characterized in that: the cutting section conveying belt clamping assembly comprises a cutting section clamping support, a cutting section clamping lower supporting plate and a cutting section clamping cylinder, wherein the cutting section clamping lower supporting plate and the cutting section clamping cylinder are installed on the cutting section clamping support, and the cutting section clamping cylinder is located above the cutting section clamping lower supporting plate.
5. The automated forming, picking and inspecting integrated production line for grinding wheel meshes according to claim 1, characterized in that: the picking section clamping and positioning assembly comprises a picking section conveying belt clamping assembly, a picking section linear driving positioning assembly and a picking section linear guiding assembly, the guiding direction of the picking section linear guiding assembly is consistent with the conveying direction of the picking section conveying belt, the picking section conveying belt clamping assembly is installed on the picking section rack through the picking section linear guiding assembly, and the picking section conveying belt clamping assembly is driven by the picking section linear driving positioning assembly to reciprocate along the conveying direction of the picking section conveying belt.
6. The automated forming, picking and inspecting integrated production line for grinding wheel meshes as claimed in claim 5, characterized in that: pick up section linear drive positioning assembly and adopt and pick up section centre gripping pay-off motor driven rack and pinion.
7. The automated forming, picking and inspecting integrated production line for grinding wheel meshes as claimed in claim 5, characterized in that: the picking section conveying belt clamping assembly comprises a picking section clamping support, a picking section clamping lower supporting plate and a picking section clamping cylinder, wherein the picking section clamping support is arranged on the picking section clamping support, and the picking section clamping cylinder is located above the picking section clamping lower supporting plate.
8. The automated forming, picking and inspecting integrated production line for grinding wheel meshes as claimed in claim 2, characterized in that: the visual detection device comprises a visual detection system industrial personal computer, a visual detection system PLC, a linear scanning camera, an LED light source and a roller type encoder, template grid software and visual defect identification software are arranged in the visual detection system industrial personal computer, the visual detection system industrial personal computer is in communication with the visual detection system PLC, an output signal of the visual detection system PLC is connected to a camera controller of the linear scanning camera and a light source controller of the LED light source, the roller type encoder is arranged on the upper surface of a cutting section conveying platform, the output signal of the roller type encoder is connected to the visual detection system PLC, and the output signal of the linear scanning camera is connected to the visual detection system industrial personal computer.
9. The automated forming, picking and inspecting integrated production line for grinding wheel meshes according to claim 1, characterized in that: the cutting knife horizontal position adjusting mechanism is a screw rod nut pair driven by a position adjusting motor, the screw rod is provided with a forward rotation thread section and a reverse rotation thread section which are symmetrically arranged, and nuts on the forward rotation thread section and the reverse rotation thread section are respectively connected with a vibration cutting knife.
10. The automated forming, picking and inspecting integrated production line for grinding wheel meshes according to claim 1, characterized in that: the three-dimensional picking mechanical arm comprises a base, a first link arm, a second link arm, a third link arm, a first link arm driving motor, a second link arm driving motor, a third link arm driving motor and a lower connecting seat, wherein the first link arm driving motor, the second link arm driving motor and the third link arm driving motor are uniformly distributed on the base, the first link arm driving motor, the second link arm driving motor and the third link arm driving motor are respectively connected with the upper ends of the first link arm, the second link arm and the third link arm through swing rods, the lower ends of the first link arm, the second link arm and the third link arm are connected with the lower connecting seat through universal joints, and the lower connecting seat is connected with a plurality of end picking devices.
11. The integrated production line for automatically forming, picking up and inspecting grinding wheel meshes as claimed in claim 1 or 10, wherein: the end effector assembly comprises an end effector guide rail, an end effector and a buffer compactor,
the end picking device comprises at least one end picking device guide rail, a three-dimensional picking mechanical arm and a three-dimensional picking mechanism, wherein the end picking device guide rail is horizontally connected to the lower end of the three-dimensional picking mechanical arm, and two side surfaces of the end picking device guide rail are provided with inverted T-shaped guide grooves along the extension direction of the end picking device guide rail;
the buffer compactors are distributed on two sides of the end effector guide rail along the extension direction of the end effector guide rail, and are damping cylinders or compression bars with compression springs which are vertically arranged downwards;
the end picking device comprises a locking hoop, an end picking seat, an end picking driving cylinder and an end picking needle, wherein the upper part of the end picking seat is provided with a locking body which is sleeved outside the locking hoop, and the upper part of the end picking seat is locked in an inverted T-shaped guide groove on the side surface of the end picking guide rail through the locking hoop and an inverted T-shaped bolt; the lower part of the end picking seat is provided with at least one pair of through inclined holes distributed in an X shape, an end picking device driving cylinder is arranged above the through inclined holes, an end picking needle embedded into the through inclined holes is connected to the end picking device driving cylinder, and the end picking needle is driven by the end picking device driving cylinder to extend out of or retract into the through inclined holes.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910771892.8A CN110589587B (en) | 2019-08-21 | 2019-08-21 | Automatic forming, picking and checking integrated production line for grinding wheel meshes |
| PCT/CN2019/115681 WO2021031363A1 (en) | 2019-08-21 | 2019-11-05 | Automatic molding, picking and inspection integrated production line for grinding wheel meshes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910771892.8A CN110589587B (en) | 2019-08-21 | 2019-08-21 | Automatic forming, picking and checking integrated production line for grinding wheel meshes |
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| CN110589587A true CN110589587A (en) | 2019-12-20 |
| CN110589587B CN110589587B (en) | 2024-04-19 |
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| CN (1) | CN110589587B (en) |
| WO (1) | WO2021031363A1 (en) |
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| CN112108557A (en) * | 2020-08-25 | 2020-12-22 | 南通博一机床有限公司 | Automatic collection mechanism after cutting of grinding wheel mesh |
| CN115385167A (en) * | 2022-09-29 | 2022-11-25 | 广州市易鸿智能装备有限公司 | System and method for intelligently matching materials with lithium battery |
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| CN115256985B (en) * | 2022-07-29 | 2024-07-05 | 威海市龙升精密机械股份有限公司 | Reverse osmosis membrane element post-pass automatic processing equipment and processing method thereof |
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| CN110589587B (en) | 2024-04-19 |
| WO2021031363A1 (en) | 2021-02-25 |
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