阅读说明：本技术 自动压板装置及压料取料方法 (Automatic pressing plate device and material pressing and taking method ) 是由 罗鹏程 周敏 彭飞 于 2021-08-23 设计创作，主要内容包括：本发明公开一种自动压板装置及压料取料方法,该自动压板装置包括立柱、安装板、气缸、压板、X轴驱动组件、Z轴滑动组件和X轴滑动组件。本装置由气缸驱动横梁及压板升降,由第一电机驱动横梁和压板横向移动。在下料完成后,结合识别视觉技术获取废料的形状和位置信息,本装置由PLC控制X轴驱动组件运动,使压板运动到废料的上方。同时控制气缸收缩使压板下压,实现对废料的自动固定。以便取料机械手将工件提升码垛,可解决废料被带起干预分拣的问题。(The invention discloses an automatic pressing plate device and a material pressing and taking method. The device is driven by the cylinder to lift the beam and the pressing plate, and the first motor drives the beam and the pressing plate to move transversely. After the blanking is finished, the shape and position information of the waste material are acquired by combining the recognition vision technology, and the X-axis driving assembly is controlled by the PLC to move, so that the pressing plate moves to the position above the waste material. And meanwhile, the cylinder is controlled to contract to press the pressing plate, so that the waste is automatically fixed. So that the material taking manipulator can lift and stack the workpieces, and the problem of interference sorting caused by taking up the waste materials can be solved.)

1. An automatic platen device, comprising:

a column;

the Z-axis sliding assembly comprises a first sliding rail arranged on the upright post and a first sliding block matched with the first sliding rail;

the mounting plate is arranged on the first sliding block;

the cylinder is used for driving the mounting plate to slide;

the X-axis sliding assembly comprises a second sliding block arranged on the mounting plate and a second sliding rail matched with the second sliding block;

the pressing plate is connected with the second sliding rail;

the X-axis driving assembly is arranged on the mounting plate and used for driving the pressing plate to slide;

the automatic plate pressing device further comprises a PLC, a vision recognition module and an electromagnetic valve communicated with the air cylinder, the PLC is respectively electrically connected with the X-axis driving assembly, the vision recognition module and the electromagnetic valve, and the vision recognition module is used for recognizing workpieces and waste materials.

2. The automated platen apparatus of claim 1, further comprising a cross beam disposed on the second slide rail, the platen being disposed on an underside of the cross beam.

3. The automated platen apparatus of claim 2, wherein the X-axis drive assembly comprises:

the mounting seat is arranged on the mounting plate and is positioned above the cross beam;

the first motor is arranged on the mounting seat;

the first rack is arranged on the upper side of the cross beam;

and the first gear is arranged on the rotating shaft of the first motor and is matched with the first rack.

4. The automatic plate pressing device according to claim 1, further comprising a base plate disposed at the bottom of the upright, wherein the cylinder is disposed vertically, one end of the cylinder is disposed on the base plate, and the other end of the cylinder is disposed on the mounting plate.

5. The automatic platen device of claim 1, further comprising a solenoid valve in communication with the cylinder, and a speed valve disposed on the cylinder.

6. A material pressing and taking method is characterized by comprising the following steps:

acquiring image information of the cut flitch;

acquiring position information of a workpiece according to the image information and the nesting diagram information;

planning material taking path information and material pressing path information according to the position information of the workpiece;

driving an automatic pressing plate device according to the pressing path information to press the pressing plate in a set area;

and driving the material taking manipulator to take materials according to the material taking path information.

7. A material pressing and taking method according to claim 6, wherein the step of planning material taking path information and material pressing path information according to the position information of the workpiece further comprises the steps of:

acquiring the position information of the waste material according to the position information of the workpiece and the image information of the flitch;

and generating pressing path information according to the position information of the waste material, so that the pressing plate is pressed on the waste material.

8. A material pressing and taking method according to claim 6, wherein the step of planning material taking path information and material pressing path information according to the position information of the workpiece further comprises the steps of:

generating material taking path information according to the position information of the workpiece;

dividing a material taking area corresponding to the material taking path into a first material taking area and a second material taking area according to the material taking path information;

generating material pressing path information according to the position information of the first material taking area and the second material taking area;

the automatic pressing plate device is driven to cover and press the second material taking area, and the material taking manipulator is driven to take materials in the first material taking area;

the automatic pressing plate device is driven to cover and press the first material taking area, and the material taking mechanical arm is driven to take materials in the second material taking area.

Technical Field

The invention relates to the field of automatic material pressing, in particular to an automatic plate pressing device and a material pressing and taking method.

Background

In modern heavy industrial production, cutting and blanking processing is generally carried out on plates, particularly, a laser or flame cutting process is adopted, and workpieces are automatically sorted through a truss after cutting is finished. The position of a workpiece can be determined by utilizing a visual positioning recognition technology, and then grabbing and stacking are carried out through a clamping jaw or an electromagnetic chuck. After the cutting, because the clearance of work piece and waste material is very little, the in-process work piece that snatchs the work piece receives gravity or other external force deformations, leads to contradicting between work piece and the waste material, has certain frictional force, has taken the waste material easily when snatching the work piece, treats the two back that separates, and the waste material falls back again, probably causes following problem:

the position of the scrap after falling back again deviates from the previous position, and the grabbing of the next workpiece is influenced under the condition of not carrying out visual repositioning. The waste material is taken to rise and fall on other work pieces, leads to follow-up work piece can't snatch, and above-mentioned condition then needs to stop the letter sorting system and carries out artificial intervention to the anomaly, influences production efficiency, causes the waste of manpower.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an automatic plate pressing device and a material pressing and taking device, wherein the automatic plate pressing device comprises:

a column;

the Z-axis sliding assembly comprises a first sliding rail arranged on the upright post and a first sliding block matched with the first sliding rail;

the mounting plate is arranged on the first sliding block;

the cylinder is used for driving the mounting plate to slide;

the X-axis sliding assembly comprises a second sliding block arranged on the mounting plate and a second sliding rail matched with the second sliding block;

the pressing plate is connected with the second sliding rail;

the X-axis driving assembly is arranged on the mounting plate and used for driving the pressing plate to slide;

the automatic plate pressing device further comprises a PLC, a vision recognition module and an electromagnetic valve communicated with the air cylinder, the PLC is respectively electrically connected with the X-axis driving assembly, the vision recognition module and the electromagnetic valve, and the vision recognition module is used for recognizing workpieces and waste materials.

Preferably, the automatic pressure plate device further comprises a cross beam arranged on the second slide rail, and the pressure plate is arranged on the lower side of the cross beam.

Preferably, the X-axis drive assembly comprises:

the mounting seat is arranged on the mounting plate and is positioned above the cross beam;

the first motor is arranged on the mounting seat;

the first rack is arranged on the upper side of the cross beam;

and the first gear is arranged on the rotating shaft of the first motor and is matched with the first rack.

Preferably, the automatic plate pressing device further comprises a base plate arranged at the bottom of the stand column, the air cylinder is vertically arranged, one end of the air cylinder is arranged on the base plate, and the other end of the air cylinder is arranged on the mounting plate.

Preferably, the automatic pressure plate device further comprises an electromagnetic valve communicated with the air cylinder, and a speed regulating valve arranged on the air cylinder.

Preferably, the automatic plate pressing device further comprises a PLC electrically connected with the cylinder and the X-axis driving assembly, and a visual recognition module electrically connected with the PLC, and the PLC is further electrically connected with the sensor.

Preferably, the automatic plate pressing device further comprises a Y-axis sliding assembly and a Y-axis driving assembly which are arranged below the upright post;

the Y-axis sliding assembly comprises a third sliding rail and a third sliding block matched with the third sliding rail, and the upright column is arranged on the third sliding block;

the Y-axis drive assembly includes: the second sliding rail is arranged on the first sliding rail, the second sliding block is arranged on the second sliding block, and the second sliding block is arranged on the second sliding block.

The invention also provides a material pressing and taking method, which comprises the following steps:

acquiring image information of the cut flitch;

acquiring position information of a workpiece according to the image information and the nesting diagram information;

planning material taking path information and material pressing path information according to the position information of the workpiece;

driving an automatic pressing plate device according to a pressing path to press a pressing plate in a set area;

and driving the material taking manipulator to take materials according to the material taking path information.

Preferably, the step of planning the material taking path information and the material pressing path information according to the position information of the workpiece further includes the steps of:

acquiring the position information of the waste material according to the position information of the workpiece and the image information of the flitch;

and generating pressing path information according to the position information of the waste material, so that the pressing plate is pressed on the waste material.

Preferably, the step of planning the material taking path information and the material pressing path information according to the position information of the workpiece further includes the steps of:

generating material taking path information according to the position information of the workpiece;

dividing a material taking area corresponding to the material taking path into a first material taking area and a second material taking area according to the material taking path information;

generating material pressing path information according to the position information of the first material taking area and the second material taking area;

the automatic pressing plate device is driven to cover and press the second material taking area, and the material taking manipulator is driven to take materials in the first material taking area;

the automatic pressing plate device is driven to cover and press the first material taking area, and the material taking mechanical arm is driven to take materials in the second material taking area.

The invention has the following beneficial effects:

the invention mainly aims at the problem of workpiece deviation prevention in the workpiece picking process, the position and the shape of a workpiece are generally required to be acquired in the scene, then the workpiece sorting of the whole plate is continuously and stably completed, and the position of a pressing plate can be adjusted according to different workpiece shapes. The air cylinder is adopted to apply pressure, the pressure is kept constant when the air pressure is constant, the pressing device can adapt to the pressing of different workpiece thicknesses, and a large number of different follow-up tasks are supported.

According to the invention, after the positions and shapes of the cut workpieces are obtained, the sorting of various workpieces is stably, quickly and accurately finished, the wastes are prevented from being brought up and falling onto other workpieces in the sorting process, the workpieces are prevented from being secondarily identified and positioned in the sorting process, and the stable operation of a sorting system is ensured.

The method provided by the invention utilizes the automatic identification and positioning of the automatic sorting system, has higher picking stability for the workpieces after blanking, and is convenient for picking the subsequent workpieces. The position of the pressing plate can be automatically adjusted by utilizing the adjustable extending structure aiming at different workpieces, the function of using the same structure under various conditions is realized, the practicability is wider, the cost is lower, and a large number of different follow-up tasks are supported.

The device is driven by the cylinder to lift the beam and the pressing plate, and the first motor drives the beam and the pressing plate to move transversely. In the blanking process, the automatic plate pressing device obtains the shape of the material plate, calculates the approximate shape of the waste material, and controls the first motor to rotate according to the shape of the waste material so that the pressing plate moves to the position above the middle area of the waste material. And simultaneously, the air cylinder contracts to press the pressing plate downwards so as to fix the waste. After cutting, the clamping jaws lift and stack the workpieces. The problem that the waste materials are brought to interfere sorting can be solved.

Drawings

FIG. 1 is a schematic structural diagram of an automatic platen device according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the automated platen assembly of the embodiment of FIG. 1;

fig. 3 is a flow chart of a material pressing and taking method in an embodiment of the invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

Example 1

Referring to fig. 1 and 2, the present invention provides an automatic platen apparatus including: the vertical column 10, the mounting plate 31, the air cylinder 41, the pressure plate 62, the X-axis driving assembly, the X-axis sliding assembly and the Z-axis sliding assembly. Wherein, the upright column 10 is a direction steel column. The Z-axis sliding assembly comprises a first sliding rail 21 arranged on the upright post 10 and a first sliding block 22 matched with the first sliding rail 21; the mounting plate 31 is arranged on the first slide block 22; the air cylinder 41 is used for driving the mounting plate 31 to slide; the X-axis sliding assembly comprises a second sliding block 51 arranged on the mounting plate 31 and a second sliding rail 52 matched with the second sliding block 51; the pressing plate 62 is connected with the second slide rail 52; an X-axis driving assembly is arranged on the mounting plate 31 and used for driving the pressing plate 62 to slide transversely.

Specifically, the automatic pressing plate 62 device further includes a cross beam 61 disposed on the second slide rail 52, and the pressing plate 62 is disposed on the lower side of the cross beam 61. The X-axis drive assembly includes a mount 71, a first motor 72, a first gear 73, and a first rack 74. Wherein, the mounting seat 71 is arranged on the mounting plate 31 and above the cross beam 61; the first motor 72 is arranged on the mounting seat 71; the first rack 74 is provided on the upper side of the cross member 61; a first gear 73 is disposed on the rotation shaft of the first motor 72 and is fitted with the first rack 74. The first motor 72 drives the first gear 73 to rotate and drives the first rack 74 and the cross beam 61 and the pressing plate 62 to slide along the transverse direction. To accommodate workpieces or scrap of different length dimensions, ensuring that the platen 62 is pressed over the middle area of the workpiece or scrap to equalize the forces.

In this embodiment, the automatic pressing plate 62 device further includes a base plate disposed at the bottom of the upright 10, the cylinder 41 is disposed vertically, one end of the cylinder 41 is disposed on the base plate, and the other end is disposed on the mounting plate 31. The automatic pressure plate 62 device further comprises an electromagnetic valve 42 communicated with the air cylinder 41 and a speed regulating valve 43 arranged on the air cylinder 41. The solenoid valve 42 is used to control the expansion and contraction of the cylinder 41, and the speed control valve 43 is used to control the flow rate of intake air to control the expansion and contraction speed of the cylinder 41.

In this embodiment, the automatic pressing plate 62 device further includes a sensing plate and a sensor, the sensing plate is disposed on the mounting plate 31; the sensor is arranged on the cross beam 61 and used for detecting the moving distance of the pressure plate 62. When the sensor detects the sensor plate, the pressing plate 62 moves to the limit distance, and the PLC controls the motor to stop rotating.

In the present invention, the X-axis driving assembly can be replaced by an electric cylinder, which is disposed on the mounting plate 31, and the telescopic end of the electric cylinder is connected to the cross beam 61, so as to control the extending length of the cross beam 41. However, in order to accommodate different lengths of scrap, the first gear and first rack transmission is adopted, so that the outward extension length of the cross beam 61 can be longer, and the pressing plate 62 can be pressed on the center of the scrap even facing the scrap with longer size.

In the device, the air cylinder 41 drives the cross beam 61 and the pressure plate 62 to lift, and the first motor 72 drives the cross beam 61 and the pressure plate 62 to move transversely. In the blanking process, the PLC acquires the shape of the material plate according to the visual identification module, calculates the approximate shape of the waste material, and controls the first motor 72 to rotate according to the shape of the waste material so that the pressing plate 62 moves above the middle area of the waste material. While the cylinder 41 is contracted to press the pressing plate 62 downward to fix the scrap. After cutting, the clamping jaws lift and stack the workpieces. Under the pressure of the pressing plate 62, the waste material is kept still, and the subsequent cutting and carrying processes are prevented from being influenced.

Example 2

In another embodiment of the present invention, the automatic platen device further comprises a Y-axis sliding assembly and a Y-axis driving assembly disposed below the column 10; the Y-axis sliding assembly comprises a third sliding rail and a third sliding block matched with the third sliding rail, and the upright column is arranged on the third sliding block; the Y-axis drive assembly includes: the second sliding rail is arranged on the first sliding rail, the second sliding block is arranged on the second sliding block, and the second sliding block is arranged on the second sliding block. Through setting up Y axle slip subassembly and Y axle drive assembly, further promote the degree of freedom of this device, make the clamp plate can cover and press in arbitrary region of flitch.

The invention has the following beneficial effects:

the invention mainly aims at the problem of workpiece deviation prevention in the workpiece picking process, the position and the shape of a workpiece are generally required to be acquired in the scene, then the workpiece sorting of the whole plate is continuously and stably completed, and the position of the pressing plate 62 can be adjusted according to different workpiece shapes. The use of an adaptive platen 62 mechanism supports a large number of different follow-up tasks for the pressing of different workpiece thicknesses.

After the positions and the shapes of the cut workpieces are obtained, the sorting of various workpieces is stably, quickly and accurately finished, the workpieces do not need to be identified and positioned for the second time, and meanwhile, the automatic pressing machine can adapt to self-adaptive pressing of different plate thicknesses, and the stable operation of a sorting system is ensured.

The method provided by the invention utilizes the automatic identification and positioning of the automatic sorting system, has higher picking stability for the workpieces after blanking, and is convenient for picking the subsequent workpieces. The position of the pressing plate 62 can be automatically adjusted by utilizing the adjustable extending structure aiming at different workpieces, the function of using the same structure under various conditions is realized, the practicability is wider, the cost is lower, and a large number of different follow-up tasks are supported.

Example 3

The invention also provides a material pressing and taking method, which comprises the following steps:

s10, acquiring image information of the cut flitch; in this step, the image information of the cut flitch is acquired by an industrial camera arranged above the automatic plate pressing device, and the image information is transmitted to the visual identification module through the PLC.

S20, acquiring the position information of the workpiece according to the image information and the nesting diagram information; the visual recognition module marks the cut workpieces according to the image information of the flitch and the set drawing information stored in the PLC, so that the position information of each workpiece can be obtained. Specifically, the industrial camera takes a picture to obtain picture information of the workpiece, polar coordinate information of each pixel point of the part is obtained by taking the camera as an original point, the polar coordinate information is converted into a plane coordinate taking a plate as a coordinate system, and adjacent pixel points with similar colors and gray levels in the picture information are marked, so that the appearance profile of the workpiece can be obtained. And importing the contour model of the workpiece in the set drawing information into the image information of the flitch, and calibrating the region matched with the contour model into the workpiece.

S30, planning material taking path information and material pressing path information according to the position information of the workpiece; and the PLC automatically generates material taking path information according to the position information of the workpiece and the sequence of line-by-line pickup or line-by-line pickup. Marking the material taking positions of the workpieces, marking corresponding serial numbers on the workpieces according to the material taking sequence, marking the names of the workpieces according to the profile information of the workpieces, and planning different secondary material taking areas in the material taking areas according to different workpiece names, wherein the material taking paths of the workpieces comprise the coordinates of the material taking positions of the workpieces A1 and the coordinates of the secondary material taking areas B1; coordinates of a material taking position of the workpiece A2 and coordinates of a secondary material placing area B2; coordinates of a material taking position of the workpiece An and coordinates of a secondary material placing area Bn; the PLC controls the material taking manipulator to sequentially pass through the coordinate points, material taking action is carried out at the coordinates A1-An, and material discharging action is carried out at the coordinates B1-Bn.

The PLC acquires the position information of the waste material according to the position information of the workpiece and the image information of the flitch; the position coordinates of the scrap can be known by obtaining the position information of each pixel point of the workpiece by an industrial camera and then obtaining the outline information of the scrap by offsetting the coordinate of 5-10mm to the outer side of the workpiece.

And generating pressing path information according to the position information of the waste material, so that the pressing plate is pressed on the waste material. In this step, the PLC projects the outline model of the platen on the scrap, and acquires position information of a swaging area in which the edge of the scrap cannot overlap with the edge of the outline model of the platen. And (3) possibly forming a plurality of qualified material pressing areas on one waste plate, further screening the material pressing areas, and selecting the material pressing areas of which the projections of the cross beam and the pressing plate are not overlapped with the edge of the workpiece. The corresponding nip path includes the coordinates of the nip region C1 and the coordinates of the platen return-to-zero region (set region in the non-operating state) C0. The material pressing path is as follows: the pressing plate moves from C0 to C1 before material taking, and the pressing plate moves from C1 to C0 after material taking.

S40, driving the automatic pressing plate device according to the pressing path to press the pressing plate in the set area; PLC is according to the positional information of waste material, and control X axle drive assembly moves and makes the clamp plate move to the waste material top, and cylinder drive clamp plate pushes down on the waste material.

S50, driving a material taking manipulator to take materials according to the material taking path information; and the PLC takes out the cut workpieces in sequence according to the planned sequence according to the material taking path information and transports the cut workpieces to a set position.

In the blanking process, the automatic plate pressing device obtains the shape of the material plate, calculates the approximate shape of the waste material, and controls the first motor to rotate according to the shape of the waste material so that the pressing plate moves to the position above the middle area of the waste material. And simultaneously, the air cylinder contracts to press the pressing plate downwards so as to fix the waste. After cutting, the clamping jaws lift and stack the workpieces. The problem that the waste materials are brought to interfere sorting can be solved.

Example 4

In another embodiment of the present invention, the planning of the material taking path information and the material pressing path information according to the position information of the workpiece further includes the following steps:

generating material taking path information according to the position information of the workpiece; in this step, the PLC generates the material taking path information according to the position information of the workpiece in the order of line-by-line pickup, or S-shaped path.

Projecting the outline model of the platen on the scrap, and acquiring position information of a swage region of the scrap, in which an edge of the scrap cannot overlap with an edge of the platen, or performing the following steps.

Dividing the material taking area corresponding to the material taking path into a first material taking area D1 and a second material taking area D2 according to the material taking path information; generating material pressing path information according to the position information of the first material taking area and the second material taking area; the automatic pressing plate device is driven to cover and press the second material taking area D2, and the material taking manipulator is driven to take materials in the first material taking area D1.

In this step, PLC gets the position information in material district according to the second, control X axle drive assembly and the motion of Y axle drive assembly, make the clamp plate move and get the top in material district to the second, cylinder drive clamp plate pushes down on the second gets the material district. And then the PLC controls the material taking manipulator to complete the material taking operation in the first material taking area.

The automatic pressing plate device is driven to cover and press the first material taking area, and the material taking mechanical arm is driven to take materials in the second material taking area. In this step, after the material taking manipulator finishes the material taking operation in the first material taking area, the PLC controls the X-axis driving assembly and the Y-axis driving assembly to move, so that the pressing plate moves to the position above the first material taking area, and the air cylinder drives the pressing plate to press down on the first material taking area. And then the PLC controls the material taking manipulator to complete the material taking operation in the second material taking area.

In embodiment 3, when the area of the cut leftover materials is small, the pressing plate presses the leftover materials, the action area of the applied pressure is small, and the uneven stress of the whole material plate is easily caused in the material taking process; or the shape of the pressing plate is slender, the edge part of the pressing plate, which exceeds the waste material, can be pressed on the workpiece, and the operation method in the embodiment can be adopted when interference is formed in the material taking engineering.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. It will be apparent to those skilled in the art that a number of simple derivations or substitutions can be made without departing from the inventive concept.