CN110589587B - Automatic forming, picking and checking integrated production line for grinding wheel meshes - Google Patents
Automatic forming, picking and checking integrated production line for grinding wheel meshes Download PDFInfo
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- CN110589587B CN110589587B CN201910771892.8A CN201910771892A CN110589587B CN 110589587 B CN110589587 B CN 110589587B CN 201910771892 A CN201910771892 A CN 201910771892A CN 110589587 B CN110589587 B CN 110589587B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 238000005520 cutting process Methods 0.000 claims abstract description 206
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000000007 visual effect Effects 0.000 claims abstract description 42
- 239000004744 fabric Substances 0.000 claims abstract description 23
- 230000007547 defect Effects 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 44
- 239000012636 effector Substances 0.000 claims description 25
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000011179 visual inspection Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 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
- 229910001651 emery Inorganic materials 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
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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
- 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
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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
- 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
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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
- 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 checking integrated production line for grinding wheel meshes, 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 grinding wheel meshes, comprises a cutting section conveying platform and a picking section conveying platform which are respectively provided with clamping and positioning components, and is arranged in front of the feeding side of the cutting section conveying platform and used for identifying defects of grinding wheel mesh cloth 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 is used for cutting the grinding wheel mesh into grinding wheel meshes; the picking device is arranged on the picking section conveying platform and is used for sorting and stacking qualified or unqualified grinding wheel meshes. According to the invention, the grinding wheel mesh cloth sequentially passes through the visual detection equipment, the cutting equipment and the pickup equipment through the conveying equipment, so that the cutting, pickup and detection flow production is realized, and the production efficiency is greatly improved.
Description
Technical Field
The invention relates to a grinding wheel net production line, in particular to an automatic forming, picking and checking integrated production line for grinding wheel net.
Background
The grinding wheel net sheet is used as a reinforcing base material of the grinding wheel and used for reinforcing the tensile property of the grinding wheel. In the production process, firstly, the mesh cloth is required to be punched into a circular mesh, then the punched mesh is picked up, and finally, the grinding wheel mesh is inspected so as to screen out unqualified mesh.
The existing grinding wheel net sheet manufacturing process has the following problems:
(1) The net sheet is usually formed by stamping equipment, the net sheet is easy to be connected with leftover materials after being stamped, the noise is high, and the working environment is poor;
(2) The die-cut net piece is picked up by the manual work at the earliest, picks up inefficiency, intensity of labour is big. Corresponding automatic pickup devices are developed later, and are mainly divided into clamping pickup and adhesive adsorption pickup: as disclosed in patent application number 201010527154.8, a method for picking up a grinding wheel reinforced net sheet is disclosed, wherein a row of net sheets are synchronously clamped by a plurality of clamps and placed on a label subgroup to pick up the net sheets; as another example, patent zl2015114817. X discloses a grinding wheel mesh pick-up mechanism, which is used for carrying out mesh adsorption in a gluing adsorption mode, transferring the grinding wheel mesh to a collecting label, and pushing the grinding wheel mesh to fall off the gluing by using a cylinder; the efficiency of picking up is promoted by a wide margin to above-mentioned two kinds, has reduced intensity of labour, but pick up in-process or pick up the back, still need the manual work to carry out the defect inspection to it, whole efficiency is still lower, and just can the spot check, can't accomplish the full detection, can't realize real running water formula production.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic forming, picking and checking integrated production line for grinding wheel meshes, which can efficiently realize the forming, picking and checking streamline production of the meshes.
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 integrated production line which innovation point lies in: comprises a conveying device, a visual detection device, a cutting device and a picking device,
The conveying equipment is used for conveying and positioning the grinding wheel mesh cloth 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 section conveying platform comprises a cutting Duan Jijia, a cutting section conveying belt, a cutting section conveying motor and a pair of cutting section clamping and positioning assemblies, wherein the cutting section conveying belt is arranged on a cutting section rack and is driven by the cutting section conveying motor to move along the conveying direction, and the cutting section clamping and positioning assemblies are arranged on two sides of the cutting section conveying belt and are used for clamping the cutting section conveying belt and driving the cutting section conveying belt to move along the conveying direction together with the cutting section conveying motor so as to realize accurate positioning;
The picking section conveying platform comprises a picking section frame, 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 frame and driven by the picking section conveying motor to move along the conveying direction, and the picking section clamping and positioning assemblies are arranged on two sides of the picking section conveying belt and used for clamping the picking section conveying belt and driving the picking section conveying belt to move along the conveying direction together with the picking section conveying motor so as to realize accurate positioning;
The visual detection device is arranged in front of the feeding side of the cutting section conveying platform and is used for generating origin coordinates of cutting layout on the abrasive wheel mesh cloth to be cut, sending the origin coordinates to the cutting device, carrying out defect recognition on the abrasive wheel mesh cloth to be cut, and sending the defect coordinates to the pick-up device;
The cutting equipment is arranged on the cutting section conveying platform and used for cutting the grinding wheel mesh to be cut into grinding wheel meshes, and comprises a cutter rest, a cutter rest X-axis driving mechanism, a cutter rest Y-axis driving mechanism, a cutter rest Z-axis driving mechanism, a cutter horizontal position adjusting mechanism, a vibration cutter, a cutter vibration motor and a cutter rotating motor, wherein the cutter rest is arranged above the cutting section conveying belt and 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 realize the movement in the X, Y, Z axial directions, a plurality of groups of cutter horizontal position adjusting mechanisms are arranged on the cutter rest, and cutter rotating motors with axes which are vertically arranged are arranged on the cutter horizontal position adjusting mechanisms, and the cutter rotating motors are connected with vibration cutters driven to vibrate by the cutter vibration motor;
the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism of the tool rest adopt an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor of the tool rest as driving sources;
The picking device is arranged on a picking section conveying platform and used for sorting and stacking qualified or unqualified grinding wheel meshes, and comprises a picking frame, a three-dimensional picking mechanical arm, an end picking device, a mesh stacking sign and a stacking station switching motor, wherein at least one three-dimensional picking mechanical arm is arranged on the picking frame, a plurality of end picking device assemblies for picking the grinding wheel meshes are arranged on the three-dimensional picking mechanical arm, the end picking device assemblies are driven by an end picking device driving cylinder to adsorb or separate from the grinding wheel meshes, and the three-dimensional picking mechanical arm drives the grinding wheel meshes to move between the upper surface of the picking section conveying platform and a stacking station; the net sheet stacking and signing and stacking station switching motor is arranged on the picking frame, the net sheet stacking and signing are provided with at least two groups of signing rods which can accommodate grinding wheel net sheets and are sleeved on the net sheet stacking and signing, and the two groups of signing rods of the net sheet stacking and signing can be driven by the stacking station switching motor to rotate away from or enter the stacking station.
Further, the cutting section clamping and positioning assembly comprises a cutting section conveying belt clamping assembly, a cutting section linear driving and positioning assembly and a cutting Duan Zhixian guide assembly, the guiding direction of the cutting Duan Zhixian guide assembly is consistent with the conveying direction of the cutting section conveying belt, and the cutting section conveying belt clamping assembly is arranged on a cutting section frame through the cutting Duan Zhixian guide assembly and is driven by the cutting section linear driving and positioning assembly to reciprocate along the conveying direction of the cutting section 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 section conveyer belt clamping assembly comprises a cutting section clamping support, and a cutting section clamping lower supporting plate and a cutting section clamping cylinder which are arranged on the cutting section clamping support, wherein the cutting section clamping cylinder is located above the cutting section clamping lower supporting plate.
Further, pick up section centre gripping locating component and include pick up section conveyer belt clamping component, pick up section linear drive locating component, pick up section linear guide component's direction of guidance is unanimous with the direction of delivery of picking up section conveyer belt, pick up section conveyer belt clamping component and install in picking up the section frame through picking up section linear guide component to by pick up section linear drive locating component drive along pick up section conveyer belt's direction of delivery reciprocating motion.
Further, the pickup section linear driving positioning assembly adopts a pickup section to clamp a gear rack pair driven by a feeding motor.
Further, the pick-up section conveyer belt clamping assembly comprises a pick-up section clamping bracket, a pick-up section clamping lower supporting plate and a pick-up section clamping cylinder, wherein the pick-up section clamping lower supporting plate and the pick-up section clamping cylinder are arranged on the pick-up section clamping bracket, and the pick-up section clamping cylinder is positioned above the pick-up section clamping lower supporting plate.
Further, the visual detection equipment comprises a visual detection system industrial personal computer, a visual detection system PLC, a line scanning camera, an LED light source and a roller type encoder, wherein the visual detection system industrial personal computer is internally provided with template division software and visual defect recognition software, the visual detection system industrial personal computer is communicated with the visual detection system PLC, an output signal of the visual detection system PLC is connected with a camera controller of the line 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, an output signal of the line scanning camera is connected with the visual detection system PLC, and an output signal of the line scanning camera is connected with the visual detection system industrial personal computer.
Further, the horizontal position adjusting mechanism of the cutting knife is a screw-nut pair driven by a position adjusting motor, and 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 the vibration cutting knife;
Further, the three-dimensional pick-up 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 swinging 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.
Further, the end effector assembly comprises an end effector guide rail, an end effector and a buffer compactor, wherein at least one end effector guide rail is horizontally connected to the lower end of the three-dimensional mechanical arm, and two side surfaces of the end effector guide rail are provided with inverted T-shaped guide grooves along the extending direction of the end effector guide rail; the buffer compactors are distributed on two sides of the end pick-up guide rail along the extending direction of the end pick-up guide rail, and the buffer compactors are damping cylinders or compression rods with compression springs which are vertically and downwards arranged; the end picking devices are distributed on one side or two sides of the end picking device guide rail along the extending direction of the end picking device guide rail, the end picking devices comprise locking hoops, end picking seats, end picking device driving cylinders and end picking needles, the upper parts of the end picking seats are provided with locking bodies which are sleeved outside the locking hoops, and the upper parts of the end picking seats are locked in inverted T-shaped guide grooves on the side surfaces of the end picking device guide rail through the locking hoops and inverted T-shaped bolts; 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, the end picking device driving cylinder is connected with an end picking needle embedded into the through inclined holes, and the end picking needle is driven by the end picking device driving cylinder to extend or retract into the through inclined holes.
The invention has the advantages that:
Conveying equipment, visual detection equipment, cutting equipment and pickup equipment
In the invention, the grinding wheel mesh cloth is firstly subjected to image acquisition by visual detection equipment to obtain the related cutting reference and picking reference, then the grinding wheel mesh cloth and the grinding wheel mesh cloth are accurately moved by the cutting section conveying platform and the picking section conveying platform which are provided with the cutting section clamping and positioning assembly and the picking section clamping and positioning assembly, so that the theoretical working reference of the system is consistent with the actual working reference in the cutting system and the picking system in the classifying and picking process of the grinding wheel mesh cloth,
The whole process uses the conveying system as a reference, and combines the visual detection system, the cutting system and the picking system to realize high-precision automatic logic control of cutting, picking and checking in the grinding wheel net sheet manufacturing process, thereby greatly reducing turnover and waiting among working procedures and having high production efficiency. Compared with the traditional final visual identification and detection of products, the invention adopts the scheme of firstly detecting and then cutting and picking up, and because the cut grinding wheel meshes do not need to be identified, the influence of the contour and the inner hole of the grinding wheel meshes on the identification is reduced, the detection precision is higher, the workload of a visual detection system can be reduced, the setting number of line scanning cameras can be saved, and the cost is saved.
The clamping and positioning assembly of the cutting section or the picking section adopts the pneumatic clamping assembly, the linear driving and positioning assembly of the cutting section and the linear guiding assembly to carry out clamping and conveying of the conveying belt, and has the auxiliary conveying and accurate positioning functions of conveying belt movement, simple structure and high positioning precision.
Drawings
Fig. 1 is a front view of an automatic forming, picking and inspection integrated production line for grinding wheel meshes.
Fig. 2 is a top view of the conveying apparatus, the cutting apparatus, and the pickup 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 conveying 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 linear driving positioning assembly for a cutting segment according to the present invention.
Fig. 7 is a schematic structural diagram of a pickup 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 disposed on a cutting section conveying platform.
Fig. 10 is a top view of the cutting apparatus of the present invention disposed on a cutting section conveying platform.
Fig. 11 is a side view of the pick-up device of the present invention disposed on a pick-up section transport platform.
Fig. 12 is a top view of the pick-up device of the present invention disposed on a pick-up section transport platform.
Fig. 13 is a perspective view of a three-dimensional pick-up robot of the pick-up device of the present invention.
Fig. 14 is a front view of a three-dimensional pick-up robot of the pick-up device of the present invention.
Fig. 15 is a top view of a three-dimensional pick-up robot of the pick-up device of the present invention.
Fig. 16 is a schematic view of an end effector assembly according to the present invention.
Fig. 17 is a front view of an end effector and end effector rail connection in accordance with the present invention.
Fig. 18 is a cross-sectional view of an end effector coupled to an end effector 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 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 conveying platform 11 for the cutting section includes a frame 111 for the cutting section, a conveying belt 112 for the cutting section, a motor (not shown) for conveying the cutting section, and a pair of clamping and positioning assemblies 114 for the cutting section, wherein the conveying belt 112 is disposed on the frame 111 for the cutting section, and is driven by the motor for conveying the cutting section to move along the conveying direction, and the clamping and positioning assemblies 114 for the cutting section are disposed on two sides of the conveying belt 112, and are used for clamping the conveying belt 112 and driving the conveying belt 112 together with the motor for the cutting section to move along the conveying direction so as to achieve accurate positioning.
The pickup section conveying platform 12 includes a pickup section frame 121, a pickup section conveying belt 122, a pickup section conveying motor (not shown in the drawing) and a pair of pickup section clamping and positioning assemblies 124, the pickup section conveying belt 122 is disposed on the pickup section frame 121 and is driven by the pickup section conveying motor 1 to move along the conveying direction, and the pickup section clamping and positioning assemblies 124 are disposed on two sides of the pickup section conveying belt 122 and are used for clamping the pickup section conveying belt 122 and driving the pickup section conveying belt 122 together with the pickup section conveying motor to move along the conveying direction so as to realize accurate positioning. In this embodiment, the pickup section conveyor 122 has a double-layer composite structure (see fig. 6), the outer layer is a brush layer 1221 having a plurality of holes, and the inner layer is a conveyor body 1222.
As a more specific embodiment 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 Duan Zhixian guide assembly, the guide direction of the cutting Duan Zhixian guide assembly is consistent with the conveying direction of the cutting section conveying belt 112, and the cutting section conveying belt clamping assembly is arranged on the cutting section frame 111 through the cutting Duan Zhixian guide assembly and 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 section linear driving positioning assembly adopts a rack and pinion pair 1142 driven by a cutting section clamping feeding motor 1141, the cutting Duan Zhixian guiding assembly is a linear guide rail and a slider mounted on the side surface of the cutting section frame 111, the cutting section conveying belt clamping assembly includes a cutting section clamping bracket 1144, and a cutting section clamping lower support plate 1145 and a cutting section clamping cylinder 1146 mounted on the cutting section clamping bracket 1144, and the cutting section clamping cylinder 1146 is located above the cutting section clamping lower support plate 1145. In this embodiment, each side of the cutting segment clamping and positioning assembly 114 is equipped with two linear guide rails and slide blocks, one linear guide rail and slide block 1143 is located on the upper surface of the side of the cutting segment frame 111, and the other linear guide rail and slide block 1147 is located on the outer surface of the side of the cutting segment frame 111, so as to support and guide more stably, and ensure the accuracy of the movement of the cutting segment conveyor belt clamping assembly.
The picking section clamping and positioning assembly 124 comprises a picking section conveying belt clamping assembly, a picking section linear driving and 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 122, and the picking section conveying belt clamping assembly is arranged on the picking section rack 121 through the picking section linear guiding assembly and is driven to reciprocate along the conveying direction of the picking section conveying belt by the picking section linear driving and positioning assembly.
In this embodiment, as shown in fig. 7, the pickup section linear driving positioning assembly adopts a rack and pinion pair 1242 driven by a pickup section clamping feeding motor 1241, the pickup section linear guiding assembly is a linear guide rail 1243 and a slider mounted on two sides of the pickup section frame 121, the pickup section conveyor belt clamping assembly includes a pickup section clamping bracket 1244, and a pickup section clamping lower support plate 1245 and a pickup section clamping cylinder 1246 mounted on the pickup section clamping bracket 1244, and the pickup section clamping cylinder 1246 is located above the pickup section clamping lower support plate 1245. In this embodiment, each side pickup stage clamping and positioning assembly 124 is equipped with two linear guide rails and slide block sets, one linear guide rail and slide block set 1243 is located on the upper surface of the side of the pickup stage frame 121, and the other linear guide rail and slide block set 1247 is located on the outer surface of the side of the pickup stage frame 121, so as to support and guide more stably, and ensure the accuracy of the movement of the pickup stage conveyor belt clamping assembly.
It should be understood by those skilled in the art that the traction conveying platform 13 may be additionally added before and after the cutting section conveying platform 11 or the picking section conveying platform 12 according to practical situations, and the rolling conveying platform (the leftover materials after the abrasive mesh cloth is cut out of the abrasive mesh sheet can still be recovered and broken through rolling).
The visual detection device 2 is arranged in front of the feeding side of the cutting section conveying platform 11 and is used for generating origin coordinates of cutting layout on the abrasive screen cloth to be cut, sending the origin coordinates as cutting references to the cutting device, carrying out defect recognition on the abrasive screen cloth to be cut, and sending the defect coordinates as picking references to the picking device.
The visual inspection device 2 in the invention mainly comprises a visual inspection system industrial personal computer 21, a visual inspection system PLC22, a line scanning camera 23, an LED light source 24 and a roller encoder 25, wherein the visual inspection system industrial personal computer 21 is internally provided with template division software and visual defect recognition software, the visual inspection system industrial personal computer 21 is communicated with the visual inspection system PLC22, an output signal of the visual inspection system PLC22 is connected with a camera controller 26 of the line scanning camera 23 and a light source controller 27 of the LED light source 24, and the roller encoder 25 is used for detecting the moving speed of a grinding wheel so as to control the shooting speed of the line scanning camera 23 by the visual inspection system PLC22, is arranged on the upper surface of a cutting section conveying platform 11, and is connected with the visual inspection system PLC22, and an output signal of the line scanning camera 23 is connected with the visual inspection system industrial personal computer 21.
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 to be cut into the grinding wheel mesh, and comprises a cutter rest 31, a cutter rest X-axis driving mechanism, a cutter rest Y-axis driving mechanism, a cutter rest Z-axis driving mechanism, a cutter rest horizontal position adjusting mechanism, a vibration cutter and a cutter rest rotating motor, wherein the cutter rest 31 is erected above the cutting section conveying belt 112, and 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 realize the movement in the X, Y, Z axial direction, and the cutter rest X-axis driving mechanism, the cutter rest Y-axis driving mechanism and the cutter rest Z-axis driving mechanism adopt a cutter rest X-axis driving motor 32, a cutter rest Y-axis driving motor 33 and a cutter rest Z-axis driving motor 34 as driving sources.
The cutter rest 31 is provided with a plurality of groups of cutter horizontal position adjusting mechanisms, each cutter horizontal position adjusting mechanism is provided with a cutter rotating motor 35 with an axis vertically arranged, and the cutter rotating motor 35 is connected with a vibration cutter driven to vibrate by the cutter vibrating motor. In this embodiment, the horizontal position adjustment mechanism of the cutting knife is a screw-nut pair driven by a position adjustment motor, and the screw has two sections of symmetrically arranged forward-handed thread sections and reverse-handed thread sections, and nuts on the forward-handed thread sections and the reverse-handed thread sections are respectively connected with a vibrating 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 sorting and stacking qualified or unqualified grinding wheel meshes, and comprises a picking frame 41, a three-dimensional picking mechanical arm 42, an end picking device 43, a mesh stacking stick 44 and a stacking station switching motor 45,
The picking frame 41 is provided with at least one three-dimensional picking mechanical arm 42, a plurality of end pickers 43 for picking up grinding wheel meshes are arranged on the three-dimensional picking mechanical arm 42, the end pickers 43 are driven by an end picker driving cylinder to adsorb or separate from the grinding wheel meshes, and the three-dimensional picking mechanical arm 42 is driven to move between the upper surface of the picking section conveying platform 12 and a stacking station; the net sheet stacking sticks 44 and the stacking station switching motor 45 are arranged on the pickup frame 41, the net sheet stacking sticks 44 are provided with at least two groups of stick rods which can accommodate grinding wheel net sheets and are sleeved on the net sheet stacking sticks, and the two groups of stick rods of the net sheet stacking sticks can be driven by the stacking station switching motor 45 to rotate away from or enter the stacking station.
In this embodiment, as shown in fig. 13, 14 and 15, the three-dimensional pick-up mechanical 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 with the upper ends of the first link arm 422, the second link arm 423 and the third link arm 424 through respective swing rods 428, the lower ends of the first link arm 422, the second link arm 423 and the third link arm 424 are connected with the lower connecting seat 429 through universal joints, and the lower connecting seat 429 is connected with the plurality of end pickers 43.
In this embodiment, 3 three-dimensional pick-up mechanical arms 42 (see fig. 12) are provided, and their bases 421 are staggered when arranged, so as to shorten the length of the conveyor belt of the pick-up section and reduce the traction power of the conveyor belt.
In this embodiment, the end effector assembly 43 is used to absorb or separate the grinding wheel mesh from the end effector, as shown in fig. 16, and includes an end effector rail 431, a buffer presser 432, and an end effector 433,
At least one end pick-up guide rail 431, wherein the end pick-up guide rail 431 adopts an aluminum profile structure, is horizontally connected to the lower end of the three-dimensional pick-up mechanical arm 42, and two side surfaces of the end pick-up guide rail 431 are provided with inverted T-shaped guide grooves along the extending direction of the end pick-up guide rail;
The buffer compactors 432 are distributed on two sides of the end pick-up guide rail 431 along the extending direction of the end pick-up guide rail 431, and the buffer compactors 432 are damping cylinders or compression rods with compression springs which are vertically and downwards arranged;
The end pickers 433 are distributed on one side or two sides of the end pick-up guide rail 431 along the extending direction of the end pick-up guide rail 431, as shown in fig. 17, 18 and 19, the end pick-up comprises a locking hoop 4331, an end pick-up seat 4332, an end pick-up driving cylinder 4333 and an end pick-up needle 4334, the upper part of the end pick-up seat 4332 is provided with a locking body for accommodating the locking hoop 4331 sleeved outside the end pick-up seat, and the upper part of the end pick-up seat is locked in an inverted T-shaped guide groove on the side surface of the end pick-up 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 device 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 device driving cylinder 4334, and the end picking needle 4334 is driven by the end picking device driving cylinder 4333 to extend or retract into the through inclined holes.
Working principle:
Firstly, manually dragging and placing the grinding wheel mesh cloth to be cut in place, starting and waiting the automatic forming, picking and checking integrated production line of the grinding wheel mesh cloth,
When the conveying equipment starts to work, in the cutting section conveying platform 11, the cutting section conveying motor drives the cutting section conveying belt to move along the conveying direction, meanwhile, the cutting section clamping cylinder 1146 of the cutting section clamping and positioning assembly 114 acts downwards and is matched with the cutting section clamping lower supporting plate 1145 to clamp the upper and lower surfaces of the two sides of the cutting section conveying belt, the cutting section clamping and feeding motor 1141 drives the gear rack pair 1142 to move, so that the whole cutting section clamping and positioning assembly 114 synchronously moves along the conveying direction, and the cutting section conveying belt is further driven to move along the conveying direction at a set speed and interval time, and accurate conveying and positioning of the grinding wheel mesh or the grinding wheel net piece are performed; and accumulated errors caused by the driving slip of the traditional conveying roller are avoided.
In the same way, in the pickup section conveying platform 12, the pickup section conveying motor drives the pickup section conveying belt to move along the conveying direction, meanwhile, the pickup section clamping cylinder 1246 of the pickup section clamping positioning assembly 124 acts downwards and is matched with the pickup section clamping lower supporting plate 1245 to clamp the upper and lower surfaces of two sides of the pickup section conveying belt, the pickup section clamping feeding motor 1141 drives the gear rack pair 1242 to move, so that the whole pickup section clamping positioning assembly 114 synchronously moves along the conveying direction, and the cutting section conveying belt and the pickup section conveying belt are jointly driven to move along the conveying direction at set speed and interval time, and the conveying of leftover materials and the precise conveying and positioning of grinding wheel meshes are carried out; .
When 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 a corresponding camera controller and a 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 collected image information, the industrial personal computer of the visual detection system generates a cutting layout and origin coordinates thereof on the grinding wheel mesh cloth at the current position, and generates virtual circle center coordinates of the cut grinding wheel mesh on the cutting layout according to the cutting graphic layout information of the grinding wheel mesh and the built-in template grid software; then the origin coordinates are sent to a cutting system;
Meanwhile, performing defect recognition on the cut layout according to built-in visual defect recognition software, obtaining defect coordinates, and then calibrating the defect coordinates, and judging the number of defects and the defect types 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 center coordinates of the virtual grinding wheel meshes into center coordinates of qualified meshes and center coordinates of unqualified meshes according to the judging rules of the visual defect recognition software; and the qualified net piece center coordinates and the unqualified net piece center coordinates are sent to a robot pickup system PLC of the pickup device.
After the cutting equipment is started, firstly, the cutting equipment is used for cutting graphic layout information by the acquired grinding wheel meshes, the position adjusting motor of the cutting knife horizontal position adjusting mechanism acts according to the intervals of the grinding wheel meshes, so that all vibration cutting knives, the equipped cutting knife rotating motor 35 and the cutting knife vibration motor are driven to move together, the adjustment of the intervals of all vibration cutting knives is realized, and the cutting knives which need to be cut start vibrating by the corresponding cutting knife vibration motors;
When the grinding wheel mesh cloth detected and identified by the visual detection equipment moves to the lower part of the cutting system, the cutting section conveying platform 11 stops conveying, and the knife rest 31 frame of the cutting system is formed by cutting the grinding wheel mesh cloth into the grinding wheel mesh piece meeting the requirements by the knife rest X-axis driving mechanism, the knife rest Y-axis driving mechanism and the knife rest Z-axis driving mechanism.
The cutting equipment sends control signals to servo drivers of a knife rest X-axis driving motor 32, a knife rest Y-axis driving motor 33, a knife rest Z-axis driving motor 34 and a cutting knife rotating motor 35 according to the received cutting layout origin coordinates output by the industrial personal computer of the video detection system, so as to drive the knife rest 31 to move in the X, Y, Z axial direction, further cut out a grinding wheel net piece on the current cutting layout of the grinding wheel net piece, and ensure that the circle center coordinates of the cut grinding wheel net piece are consistent with the circle center coordinates of the virtual cut grinding wheel net piece generated on the cutting layout in the industrial personal computer of the video detection system;
After finishing cutting, the cutting section conveying platform 11 runs again, and the cut grinding wheel meshes are moved onto the pickup section conveying platform 12 from the cutting section conveying platform 11;
The picking device sends corresponding control signals to the servo controllers of the first link arm driving motor, the second link arm driving motor and the third link arm driving motor and the end picking device electromagnetic valve of the end picking device driving cylinder according to the received center coordinates of the qualified net piece and the center coordinates of the unqualified net piece 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 with the lower ends connected together to act through the swing rods 428, so that a plurality of end effector components connected to the lower connecting seat 429 move to the positions above the corresponding grinding wheel meshes, and the grinding wheel meshes are pressed by the buffer pressing devices 432 to prevent the movement;
The end effector driving cylinder 4333 starts to act, after the driving end effector needle 4334 stretches out to grasp the grinding wheel meshes, the end effector assembly moves to the position above the mesh stacking labels 44 at the stacking station, the grasped grinding wheel meshes are put down under the control of the opening and closing of the end effector electromagnetic valve, and the grinding wheel mesh end effector assembly is repeatedly driven to reciprocate between the picking section conveying belt and the mesh stacking labels 44 at the stacking station to realize classification picking and stacking of the grinding wheel meshes; of course, for a failed mesh, the pick-up device may pick up onto additional mesh stacking tabs 44, or not, depending on the setting.
After the pick-up device finishes picking up, the conveying device works again and enters the next production cycle.
Claims (11)
1. Automatic forming, picking up and checking integrated production line for grinding wheel meshes, which is characterized in that: comprises a conveying device, a visual detection device, a cutting device and a picking device,
The conveying equipment is used for conveying and positioning the grinding wheel mesh cloth 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 section conveying platform comprises a cutting Duan Jijia, a cutting section conveying belt, a cutting section conveying motor and a pair of cutting section clamping and positioning assemblies, wherein the cutting section conveying belt is arranged on a cutting section rack and is driven by the cutting section conveying motor to move along the conveying direction, and the cutting section clamping and positioning assemblies are arranged on two sides of the cutting section conveying belt and are used for clamping the cutting section conveying belt and driving the cutting section conveying belt to move along the conveying direction together with the cutting section conveying motor so as to realize accurate positioning;
The picking section conveying platform comprises a picking section frame, 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 frame and driven by the picking section conveying motor to move along the conveying direction, and the picking section clamping and positioning assemblies are arranged on two sides of the picking section conveying belt and used for clamping the picking section conveying belt and driving the picking section conveying belt to move along the conveying direction together with the picking section conveying motor so as to realize accurate positioning;
The visual detection device is arranged in front of the feeding side of the cutting section conveying platform and is used for generating origin coordinates of cutting layout on the abrasive wheel mesh cloth to be cut, sending the origin coordinates as cutting references to the cutting device, carrying out defect recognition on the abrasive wheel mesh cloth to be cut, and sending the defect coordinates as pickup references to the pickup device;
The cutting equipment is arranged on the cutting section conveying platform and used for cutting the grinding wheel mesh to be cut into grinding wheel meshes, and comprises a cutter rest, a cutter rest X-axis driving mechanism, a cutter rest Y-axis driving mechanism, a cutter rest Z-axis driving mechanism, a cutter horizontal position adjusting mechanism, a vibration cutter, a cutter vibration motor and a cutter rotating motor, wherein the cutter rest is arranged above the cutting section conveying belt and 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 realize the movement in the X, Y, Z axial directions, a plurality of groups of cutter horizontal position adjusting mechanisms are arranged on the cutter rest, and cutter rotating motors with axes which are vertically arranged are arranged on the cutter horizontal position adjusting mechanisms, and the cutter rotating motors are connected with vibration cutters driven to vibrate by the cutter vibration motor;
the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism of the tool rest adopt an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor of the tool rest as driving sources;
The picking device is arranged on a picking section conveying platform and used for sorting and stacking qualified or unqualified grinding wheel meshes, and comprises a picking frame, a three-dimensional picking mechanical arm, an end picking device, a mesh stacking sign and a stacking station switching motor, wherein at least one three-dimensional picking mechanical arm is arranged on the picking frame, a plurality of end picking device assemblies for picking the grinding wheel meshes are arranged on the three-dimensional picking mechanical arm, the end picking device assemblies are driven by an end picking device driving cylinder to adsorb or separate from the grinding wheel meshes, and the three-dimensional picking mechanical arm drives the grinding wheel meshes to move between the upper surface of the picking section conveying platform and a stacking station; the net sheet stacking and signing and stacking station switching motor is arranged on the picking frame, the net sheet stacking and signing are provided with at least two groups of signing rods which can accommodate grinding wheel net sheets and are sleeved on the net sheet stacking and signing, and the two groups of signing rods of the net sheet stacking and signing can be driven by the stacking station switching motor to rotate away from or enter the stacking station.
2. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 1, wherein: the cutting section clamping and positioning assembly comprises a cutting section conveying belt clamping assembly, a cutting section linear driving and positioning assembly and a cutting Duan Zhixian guide assembly, wherein the guide direction of the cutting Duan Zhixian guide assembly is consistent with the conveying direction of the cutting section conveying belt, and the cutting section conveying belt clamping assembly is arranged on a cutting section frame through the cutting Duan Zhixian guide assembly and is driven by the cutting section linear driving and positioning assembly to reciprocate along the conveying direction of the cutting section conveying belt.
3. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 2, wherein: the cutting section linear driving positioning assembly adopts a gear rack pair driven by a cutting section clamping feeding motor.
4. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 2, wherein: the cutting section conveyer 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 arranged on the cutting section clamping support, and the cutting section clamping cylinder is located above the cutting section clamping lower supporting plate.
5. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 1, wherein: the picking-up section clamping and positioning assembly comprises a picking-up section conveying belt clamping assembly, a picking-up section linear driving and positioning assembly and a picking-up section linear guiding assembly, wherein the guiding direction of the picking-up section linear guiding assembly is consistent with the conveying direction of the picking-up section conveying belt, and the picking-up section conveying belt clamping assembly is arranged on a picking-up section rack through the picking-up section linear guiding assembly and is driven by the picking-up section linear driving and positioning assembly to reciprocate along the conveying direction of the picking-up section conveying belt.
6. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 5, wherein: the pickup section linear driving positioning assembly adopts a pickup section to clamp a gear rack pair driven by a feeding motor.
7. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 5, wherein: the picking section conveyer 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 lower supporting plate and the picking section clamping cylinder are 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 automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 2, wherein: the visual detection equipment comprises a visual detection system industrial personal computer, a visual detection system PLC, a line scanning camera, an LED light source and a roller type encoder, wherein the visual detection system industrial personal computer is internally provided with template division software and visual defect recognition software, 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 with a camera controller of the line 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, an output signal of the line scanning camera is connected with the visual detection system PLC, and an output signal of the line scanning camera is connected with the visual detection system industrial personal computer.
9. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 1, wherein: the cutting knife horizontal position adjusting mechanism is a screw-nut pair driven by a position adjusting motor, and 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 automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 1, wherein: the three-dimensional pick-up mechanical arm comprises a base, a first connecting rod arm, a second connecting rod arm, a third connecting rod arm, a first connecting rod arm driving motor, a second connecting rod arm driving motor, a third connecting rod arm driving motor and a lower connecting seat, wherein the first connecting rod arm driving motor, the second connecting rod arm driving motor and the third connecting rod arm driving motor are uniformly distributed on the base, the first connecting rod arm driving motor, the second connecting rod arm driving motor and the third connecting rod arm driving motor are respectively connected with the upper ends of the first connecting rod arm, the second connecting rod arm and the third connecting rod arm through swinging rods, the lower ends of the first connecting rod arm, the second connecting rod arm and the third connecting rod arm are connected with the lower connecting seat through universal joints, and the lower connecting seat is connected with a plurality of end pick-up devices.
11. The automatic forming, picking and inspection integrated production line for grinding wheel meshes according to claim 1 or 10, characterized in that: the end effector assembly comprises an end effector guide rail, an end effector and a buffer compactor,
At least one end pick-up guide rail horizontally connected to the lower end of the three-dimensional pick-up mechanical arm, wherein two side surfaces of the end pick-up guide rail are provided with inverted T-shaped guide grooves along the extending direction of the end pick-up guide rail;
The buffer compactors are distributed on two sides of the end pick-up guide rail along the extending direction of the end pick-up guide rail, and the buffer compactors are damping cylinders or compression rods with compression springs which are vertically and downwards arranged;
The end picking devices are distributed on one side or two sides of the end picking device guide rail along the extending direction of the end picking device guide rail, the end picking devices comprise locking hoops, end picking seats, end picking device driving cylinders and end picking needles, the upper parts of the end picking seats are provided with locking bodies for accommodating the locking hoops and sleeved outside the locking bodies, and the upper parts of the end picking seats are locked in inverted T-shaped guide grooves on the side surfaces of the end picking device guide rail through the locking hoops and inverted T-shaped bolts; 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, the end picking device driving cylinder is connected with an end picking needle embedded into the through inclined holes, and the end picking needle is driven by the end picking device driving cylinder to extend or retract into the through inclined holes.
Priority Applications (2)
| 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 |
| PCT/CN2019/115681 WO2021031363A1 (en) | 2019-08-21 | 2019-11-05 | Automatic molding, picking and inspection integrated production line for grinding wheel meshes |
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| 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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| CN110589587B true CN110589587B (en) | 2024-04-19 |
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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 |
| CN115385167B (en) * | 2022-09-29 | 2023-08-25 | 广州市易鸿智能装备有限公司 | System and method for intelligently matching materials of lithium battery |
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| WO2021031363A1 (en) | 2021-02-25 |
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