CN113291808B - Feeding device, feeding system and feeding method - Google Patents
Feeding device, feeding system and feeding method Download PDFInfo
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- CN113291808B CN113291808B CN202110708405.0A CN202110708405A CN113291808B CN 113291808 B CN113291808 B CN 113291808B CN 202110708405 A CN202110708405 A CN 202110708405A CN 113291808 B CN113291808 B CN 113291808B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention provides a feeding device which comprises a travelling mechanism, a main gantry and a grabbing mechanism, wherein the main gantry is arranged on the main gantry; the grabbing mechanism is arranged on the main gantry and can move along the Y direction; the grasping mechanism includes a grasping portion movable in a Z direction; the traveling mechanism is arranged on the main portal frame and drives the main portal frame to move along the X direction, and the automatic material feeding and discharging device has the advantages of simple structure, convenience in operation and wide application range, and can automatically configure a material feeding and discharging scheme according to the shape of an actual plate; in the transportation process, the problems of shaking, difficult positioning and the like of the bent plates in the hoisting process can be effectively avoided, the traditional feeding by manual experience can be replaced, the intelligent feeding and discharging operation of the bent plates with various complex shapes is realized, the processing requirements of hull planking with various complex shapes are met, and the method has good popularization value.
Description
Technical Field
The invention relates to the field of feeding, in particular to a feeding device, a feeding system and a feeding method.
Background
The processing of the hull plate is an important link in the processing of a hull structure, and the processing quality and efficiency directly influence the quality and period of ship construction. At present, the traditional bent plate processing mode in the ship industry still depends on a line heating method, the processing method seriously depends on manual experience, and the practical problems of high labor intensity, low efficiency, difficult quality control, poor operation environment and the like exist. In modern shipbuilding, the trend and the normal state are that a large amount of low-alloy high-strength steel is used, and for the high-strength and large-thickness steel plates, the excessive adoption of line heating plates can cause certain influence on the performance of steel materials and directly influence the performance of ships.
Therefore, the multi-point forming cold-processing equipment of the plate is an effective way for solving the problems. The three-dimensional numerical control plate bending machine for ships is the cold forming equipment for large-scale ship bent plates newly developed in China. This equipment adopts the multiple spot cold forming technique, can effectively avoid traditional hot working to the harmful effects of material property and shaping quality, and the moulding-die adopts patent technology can effectively solve indentation, pincher trees scheduling problem in the bent plate cold working process, greatly reduces operation personnel's work load, is showing and promotes bent plate processingquality and production efficiency, has realized the bent plate processing by traditional manual work to the conversion of digital processing.
However, in the processing process of the bent plate, the bent plate feeding and discharging links adopt a manual feeding mode at present, and more practical problems exist. For example, the used lifting appliance adopts a hook or a permanent magnet magnetic attraction tool, the manual installation and fixation of operators are required, the specified steps of unloading, trial lifting, fixation and the like are required to be repeated in each lifting operation, the labor intensity is high, and the process is complicated. And because the magnetic force of the magnet is constant, if the thickness of the bent plate is thin, the lower die assembly of the bent plate lower bending machine is easy to suck up together, so that the failure of the bending machine is caused. For another example, the existing feeding car adopts a steel wire hanging mode to convey steel plates, and because no fixing device is arranged, when the steel plates are hung up and suspended, the steel plates are easy to shake left and right or front and back, so that the accurate positioning of the bent plates is influenced, and the positioning is completely determined by manual visual inspection, so that the positioning deviation of the bent plates is easy to cause, and the overall processing precision of the bent plates is indirectly influenced. Because marine bent plate shape is irregular and not of uniform size, the bent plate is before lifting by crane, and the focus is difficult to judge and causes the focus skew easily, and there is the unstability condition in the handling process, causes the potential safety hazard.
Disclosure of Invention
The invention aims to provide a feeding device, a feeding system and a feeding method which are convenient to lift and stable to transport.
In order to achieve the purpose, the invention provides a feeding device which comprises a travelling mechanism, a main gantry and a grabbing mechanism, wherein the main gantry is arranged on the main gantry; the grabbing mechanism is arranged on the main door frame and can move along the Y direction; the grasping mechanism includes a grasping portion movable in a Z direction; the traveling mechanism is arranged on the main portal and drives the main portal to move along the X direction.
Preferably, the traveling mechanism includes a rail extending in the X direction, a traveling unit moving along the rail, and a traveling driving motor driving the traveling unit to travel; the walking part is arranged on the main door frame.
Preferably, the door frame further comprises a first driving mechanism, the main door frame comprises a main door beam extending along the Y direction, the first driving mechanism comprises a rack arranged along the main door beam, a first driving motor connected to the grabbing mechanism, and a gear arranged on an output shaft of the first driving motor, and the gear is meshed with the rack.
Preferably, the grabbing mechanism further comprises a grabbing bracket, a second driving mechanism and a suspension piece; the second driving mechanism is a winch, one end of the suspension piece is connected with the gripper portion, and the other end of the suspension piece is wound on a rope drum of the winch.
Preferably, the suspension piece further comprises a first scissor arm, one end of the first scissor arm is connected with the grabbing bracket, and the other end of the first scissor arm is connected with the grabbing portion.
Preferably, the grabbing part comprises a grabbing seat fixedly connected with the suspension member and a grabbing disc rotatably arranged on the grabbing seat, and electromagnets are uniformly distributed on the grabbing disc.
Preferably, the device further comprises at least two clamping mechanisms which can move along the Z direction, wherein each clamping mechanism comprises a clamping part positioned in the main gantry; the clamping parts of at least two clamping mechanisms are arranged oppositely and can move towards each other oppositely; the clamping part is matched with the grabbing disc to adjust the posture of the plate on the grabbing disc.
Preferably, the device further comprises a third driving mechanism; the clamping mechanism further comprises a clamping seat, a fourth driving mechanism and a second scissor arm; the main portal longitudinal beam is provided with a guide rail in sliding fit with the clamping seat, the third driving mechanism comprises a third driving motor and a first nut screw pair, the third driving motor is arranged on the main portal longitudinal beam, and the clamping seat is positioned on a nut seat of the nut screw pair; the clamping seat is provided with a sliding groove, a sliding block is arranged in the sliding groove, the fourth driving mechanism comprises a fourth driving motor and a second nut screw pair which are arranged on the clamping seat, and the sliding block is positioned on a nut seat of the second nut screw pair; one end of the scissor arm is connected to the clamping seat, and the other end of the scissor arm is connected to the clamping part; the first end part of the scissor fork arm positioned on the clamping seat is connected with the sliding block.
The invention also provides a feeding system, which comprises a travelling mechanism, a main gantry, a grabbing mechanism, a camera module and an analysis control module, wherein the camera module is arranged on the main gantry; the grabbing mechanism is arranged on the main door frame and can move along the Y direction; the grasping mechanism includes a grasping portion movable in a Z direction; the travelling mechanism is arranged on the main portal and drives the main portal to move along the X direction; the analysis control module is respectively in communication connection with the camera module, the grabbing mechanism, the hand grab part and the traveling mechanism, the camera module is used for collecting plate position and posture information and hand grab part position and posture information, and the analysis control module respectively controls the grabbing mechanism to move in the Y direction, the hand grab part to move in the Z direction and the main gantry to move in the X direction based on the plate position and posture information and the hand grab part position and posture information collected by the camera module.
Preferably, the camera module acquires a sheet image, a hand grip image and an environment image, the analysis control module analyzes the sheet image, the hand grip image and the environment image to obtain sheet position information, hand grip position information and a gripping point of the hand grip for gripping the sheet, and sends a displacement instruction of the traveling mechanism, the traveling mechanism is controlled to move to a preset distance along the X direction, a displacement instruction of the gripping mechanism is sent to the gripping mechanism, and the gripping mechanism is controlled to move to the preset distance along the Y direction; and sending a displacement instruction of the gripper to the gripper, and driving the gripper to move to a preset distance along the Z direction and grip the plate.
Preferably, the analysis control module obtains the center-of-gravity position information of the plate based on the plate image, and determines a grabbing point at which the grabbing part grabs the plate.
Preferably, the device further comprises at least two clamping mechanisms which can move along the Z direction, wherein each clamping mechanism comprises a clamping part positioned in the main gantry; the clamping parts of at least two clamping mechanisms are arranged oppositely and can move towards each other oppositely; the analysis control unit is in communication connection with the clamping mechanism, and controls the clamping mechanism to move along the Z direction and the clamping part to move oppositely according to the received and analyzed sheet material position and posture information and the hand grip position and posture information acquired by the camera module, so that the sheet material grabbed on the hand grip part is clamped and matched with the hand grip part, and the sheet material posture grabbed on the hand grip part is adjusted.
Preferably, the camera module acquires a sheet image, a hand grip image and an environment image, the analysis control module analyzes the sheet image, the hand grip image and the environment image to obtain the center of gravity of the sheet, the position information of the hand grip and a gripping point of the hand grip for gripping the sheet, and sends a displacement instruction of the traveling mechanism to the traveling mechanism, the traveling mechanism is controlled to move to a preset distance along the X direction, the displacement instruction of the gripping mechanism is sent to the gripping mechanism, and the gripping mechanism is controlled to move to the preset distance along the Y direction; and sending a displacement instruction of the gripper to the gripper, and driving the gripper to move to a preset distance along the Z direction and grip the plate.
The invention also provides a feeding method, and the feeding system comprises the following steps: s1, determining a grabbing point for grabbing the sheet by a grabbing hand part based on sheet position and posture information and grabbing position and posture information acquired by a camera module by an analysis control unit, and S2, controlling a main gantry to move in the X direction until a grabbing mechanism moves to the position of the grabbing point of the sheet in the X direction; the analysis control unit controls the grabbing mechanism to move in the Y direction until the grabbing mechanism moves to the position of a grabbing point of the plate material in the Y direction; the analysis control unit controls the gripper part to move in the Z direction until the grabbing mechanism moves to the position of the grabbing point of the plate material in the Z direction, and controls the gripper part to grab the plate material; and S3, the analysis control unit controls the plate to move to a preset position.
Preferably, the camera module acquires a sheet image, a hand grip image and an environment image, the analysis control module analyzes the sheet image, the hand grip image and the environment image to obtain position information of the sheet, position information of the hand grip and center-of-gravity information of the sheet, and when the step S1 is executed, the gripping point of the sheet is the center-of-gravity position of the sheet.
Preferably, the feeding system further comprises at least two clamping mechanisms movable along the Z direction, and each clamping mechanism comprises a clamping part positioned in the main door frame; the clamping parts of at least two clamping mechanisms are arranged oppositely and can move towards each other oppositely; the analysis control unit is in communication connection with the clamping mechanism; and when the step S3 is executed, according to the received and analyzed plate material position and posture information and the hand grip position and posture information which are collected by the camera module, the clamping mechanism is controlled to move along the Z direction and the clamping parts move oppositely, and the hovering plate material posture is adjusted until the plate material falls into the range of the preset position.
As described above, the feeding device, the feeding system and the feeding method according to the present invention have the following advantages: the structure is simple, the operation is convenient, the application range is wide, and the feeding scheme and the discharging scheme can be automatically configured according to the shape of the actual plate; in the transportation process, the problems of shaking, difficult positioning and the like of the bent plates in the hoisting process can be effectively avoided, the traditional feeding by manual experience can be replaced, the intelligent feeding and discharging operation of the bent plates with various complex shapes is realized, the processing requirements of hull planking with various complex shapes are met, and the method has good popularization value.
Drawings
FIG. 1 is a schematic view of a feed system of the present invention.
FIG. 2 is another schematic view of a feed system of the present invention.
FIG. 3 is another schematic view of a feed system of the present invention.
Fig. 4 is a partial schematic view of a gripping mechanism in a feeding system of the present invention.
FIG. 5 is a schematic view of a gripper in a feeding system according to the present invention
FIG. 6 is another schematic view of a feed system of the present invention.
Reference numerals are as follows:
100. a main gantry; 101. a main door beam; 102. a stringer; 110. a first drive motor; 111. a rack; 112. a gear; 200. a grabbing mechanism; 210. a grip portion; 220. grabbing the bracket; 221. a hoist; 222. a reel; 223. a fixed pulley; 230. a suspension member; 231. a first scissor arm; 232. a steel cord; 240. a grabbing seat; 250. grabbing a disc; 251. an electromagnet; 260. a fixed pulley; 300. a traveling mechanism; 310. a traveling track; 320. a traveling section; 330. a travel driving motor; 400. a clamping mechanism; 410. a clamping seat; 420. a clamping portion; 430. a second scissor arm; 440. a guide rail; 450. a third drive motor; 460. a fourth drive motor; 470. a slider; 500. a camera module; 600. and (5) plate materials.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right", "middle", etc. used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial technical change.
As shown in fig. 1, 2 and 4, an embodiment of a feeding device according to the present invention includes a traveling mechanism 300, a main gantry 100 and a gripping mechanism 200; the grabbing mechanism 200 is arranged on the main gantry 100 and can move along the Y direction; the grasping mechanism 200 includes a grasping portion 210 movable in the Z direction; the traveling mechanism 300 is provided on the main gantry 100, and drives the main gantry 100 to move in the X direction.
Since the position where the sheet material 600 is placed is relatively fixed, the grasping mechanism 200 moves in the Y direction, the grasping part 210 moves in the Z direction, and the main gantry 100 moves in the X direction, so that the grasping part 210 grasps the sheet material 600 at a material appropriate position and moves to a predetermined position along the X direction along with the main gantry 100. The intelligent feeding and discharging device has the advantages of simple structure, convenience in operation and wide application range, facilitates the transportation of bent plates, can replace the traditional feeding based on manual experience, and realizes the intelligent feeding and discharging operation of various complicated bent plates of ships.
In this embodiment, the X direction is divided into a sheet feeding area, a sheet processing area, and a sheet discharging area in sequence. The plate 600 is lifted in the feeding area, conveyed to the plate processing area through the feeding area, lowered into the processing die holder to be processed in the processing area, and lifted again after the processing is finished, and moved out of the discharging area.
The traveling mechanism 300 includes a traveling rail 310 extending in the X direction, a traveling unit 320 moving along the traveling rail 310, and a traveling drive motor 330 driving the traveling unit 320 to travel; the traveling unit 320 is provided on the main gantry 100. The travel track 310 generally extends from a feed area to a discharge area. The traveling driving motor 330 drives the traveling unit 320 to move from the feeding area to the processing area along the traveling rail 310, and then to the discharging area.
As shown in fig. 1, in the present embodiment, the feeding device further includes a first driving mechanism, the main door frame 100 includes a main door beam 101 extending in the Y direction, the first driving mechanism includes a rack 111 disposed along a portion of the main door beam 101, a first driving motor 110 connected to the grasping mechanism 200, and a gear 112 provided on an output shaft of the first driving motor 110, and the gear 112 is engaged with the rack 111. When the first driving motor 110 is started, the gear 112 of the output shaft of the first driving motor 110 moves relatively on the rack 111, and drives the grabbing mechanism 200 to move along the Y direction.
As shown in fig. 2, 3 and 6, in the present embodiment, the grasping mechanism 200 further includes a grasping bracket 220, a second driving mechanism, and a suspension 230; the second driving mechanism is located on the grabbing bracket 220, the second driving mechanism is a winch 221, one end of the suspension member 230 is connected with the grabbing part 210, and the other end is wound on the winding drum 220 of the winch 221. When the hoist 221 is started, the winding drum 200 drives the suspension member 230 to hoist, and further drives the gripper portion 210 to move up and down along the Z direction. Wherein, the suspension member 230 further includes a steel cable 232 and a first scissor arm 231, the steel cable 232 is wound on the drum 220, one end of the first scissor arm 231 is connected with the grabbing bracket 220, and the other end is connected with the grabbing portion 210. The first scissor arm 231 enables the gripper portion 210 suspended from the main mast 100 to shake as little as possible. In this embodiment, the suspension member 230 includes two first scissor arms 231 fixed to both sides of the grip holder 240, respectively. Preferably, the clamping bracket 220 is further provided with a fixed pulley 223, one end of the steel cable 232 is connected with the winding drum 222, the other end is connected with the gripper portion 210, and the middle is wound around the fixed pulley 223 on the gripping bracket 220.
As shown in fig. 4 and 5, the hand grip 210 includes a gripping base 240 fixedly connected to the suspension member 230 and a gripping disk 250 rotatably disposed on the gripping base 240, and electromagnets 251 are uniformly distributed on the gripping disk 250. The grabbing plate 250 rotates along a rotation axis which is in the same line with the hanging part 210, and the rotating grabbing plate 250 can rotate and adjust the posture of the material grabbed by the grabbing plate 250. In this embodiment, the electromagnets 251 are uniformly distributed on the outer circumference of the gripping disk 250 for gripping the sheet material 600. When the power is on, the electromagnet 251 attracts the sheet material 600, and the sheet material 600 is grabbed; when de-energized, the electromagnet 251 releases the sheet 600 so that the sheet 600 falls into a predetermined area.
As shown in fig. 1 and 2, the feeding device further includes at least two clamping mechanisms 400 movable along the Z direction, wherein the clamping mechanisms 400 include clamping portions 420 located in the main door frame 100; the clamping portions 420 of at least two clamping mechanisms 400 are arranged facing each other and are movable towards each other. The clamping portion 420 can move up and down along the Z direction and is used for clamping the plate material to prevent the plate material from swinging, and can also be matched with the rotating grabbing disc 250 to partially adjust the posture of the plate material. That is, when the slab on the grabbing plate 250 is suspended at a certain height, the clamping portion 420 first moves to the same height as the slab 600 in the Z direction. When the clamping parts 420 move towards each other, the extending lengths of the two clamping parts 420 can be different, the positions of the plates 600 can be finely adjusted by propping against the plates 600 to rotate around the rotation axis, and finally, the opposite clamping parts 420 clamp the plates 600 together to fix the positions of the plates 600. When the plate material 600 is moved to the processing area, fine adjustment and fixation of the pose of the plate material can be achieved through the clamping mechanism 400, and finally the plate material 600 is lowered into the processing die holder.
As shown in fig. 1 and 2, the feeding device further includes a third driving mechanism; gripper mechanism 400 further comprises gripper block 410, fourth drive mechanism, and second scissor arm 430; a guide rail 440 in sliding fit with the clamping seat 410 is arranged on the longitudinal beam 102 of the main gantry 100, the third driving mechanism comprises a third driving motor 450 arranged on the longitudinal beam 102 of the main gantry 100 and a first nut-screw pair, and the clamping seat 410 is positioned on a nut seat of the nut-screw pair; the holder 410 is provided with a sliding groove (not shown), and a sliding block 470 is arranged in the sliding groove; the fourth driving mechanism comprises a fourth driving motor 460 and a second nut-screw pair arranged on the clamping seat 410, and the sliding block 470 is positioned on the nut seat of the second nut-screw pair; one end of the second scissor arm 430 is connected to the grip holder 410 and the other end is connected to the grip portion 420. Since one end of the second scissors arm includes two ends, and the approaching and separating movement of the two ends makes it possible to lengthen or shorten the second scissors arm. One end of the second scissor arm 430 near one end of the grip holder 410 is connected to the slider 470 and the other end is connected to the grip holder 430. By the activation of the third driving motor 450 and the transmission of the first nut-screw pair, the clamping base 410 can move along the longitudinal beam 102 of the main gantry 100 along with the nut base of the first nut-screw pair, so as to adjust the whole clamping mechanism 400 to move up and down along the Z direction. By activating the fourth driving motor 460 and driving the second nut-screw pair, the slider 470 can move up and down along the Z-direction with the nut of the second nut-screw pair relative to the holder 410. Since one end of the scissors arm close to the end of the holder 410 is connected to the slider 470 and the other end is directly connected to the holder 410, the movement of the slider 470 changes the distance between the two ends of the scissors arm, so that the scissors arm with the holder 420 moves along the Y direction. In this embodiment, the clamping portion 420 is a clamping block, and the lower end of the working surface of the clamping block extends toward the other clamping portion 420 to form a receiving block.
As shown in fig. 1, an embodiment of a feeding system according to the present invention includes a traveling mechanism 300, a main gantry 100, a gripping mechanism 200, a camera module 500 disposed on the main gantry 100, and an analysis control module; the grabbing mechanism 200 is arranged on the main gantry 100 and can move along the Y direction; the grasping mechanism 200 includes a grasping portion 210 movable in the Z direction; the traveling mechanism 300 is arranged on the main gantry 100 and drives the main gantry 100 to move along the X direction; the analysis control module is respectively in communication connection with the camera module 500, the grabbing mechanism 200, the grabbing part 210 and the traveling mechanism 300, the camera module 500 is used for collecting the position and posture information of the plate 600 and the position and posture information of the grabbing part 210, and the analysis control module respectively controls the grabbing mechanism 200 to move in the Y direction, the grabbing part 210 to move in the Z direction and the main gantry 100 to move in the X direction based on the received position and posture information of the plate 600 and the grabbing part 210 collected by the camera module 500. The feeding system can automatically configure feeding and discharging according to the shape of the actual bent plate, the lifting and falling of the plate are accurate, and the automation of plate conveying is realized.
As shown in fig. 1, 2 and 3, in this embodiment, the camera module 500 acquires a sheet image, a gripper image and an environment image, the analysis control module analyzes the sheet image, the gripper image and the environment image to obtain position information of the sheet 600, position information of the gripper 210 and predetermined sheet placement position information (i.e. a lower die holder area of a processing area), and sends a displacement instruction of the gripping mechanism 200 to control the gripping mechanism 200 to move a predetermined distance along the Y direction; sending a displacement instruction of the gripper portion 210 to the gripper portion 210, for driving the gripper portion 210 to move to a predetermined distance along the Z direction and gripping the sheet material 600; and sending a displacement command of the traveling mechanism 300 to the traveling mechanism 300, and controlling the traveling mechanism 300 to move to a predetermined distance so that the panel 600 is conveyed to a predetermined position. The automatic material conveying of the feeding system is realized through the matching of the camera module 500 and the analysis control module. In this embodiment, the camera module 500 may be a 3D vision device, and the like, and may be suitable for preparation and acquisition of poses of the sheet material 600, the hand grip 210, and the like in various shapes, so that the sheet material 600 is more accurately grabbed and conveyed.
Of course, in this embodiment, the structures and connection relationships of the traveling mechanism 300, the main gantry 100, the gripping mechanism 200, the gripper portion 210 and other devices in the feeding system may be the same as those of the feeding device, and all of them use the traveling driving motor 330 to drive the main gantry 100 to move along the X direction, the first driving motor 110 to drive the gripping mechanism 200 to move along the Y direction, and the winch to drive the gripper portion 210 to move along the Z direction. The analysis control unit is in communication connection with the walking driving motor 330, the first driving motor 110 and the winch 221, and controls starting and stopping signals of each motor and the winch.
As shown in fig. 3 and fig. 6, in the feeding system of the present embodiment, preferably, the analysis control module obtains the position information of the center of gravity of the sheet material 600 based on the sheet material image, and determines the grabbing point of the grabbing part 210 for grabbing the sheet material 600. The analysis control module fits the profile of the sheet material 600 based on the image of the sheet material 600, and then identifies the core position of the sheet material 600, because the density of the sheet material 600 is distributed uniformly in the sheet material 600. Therefore, the center of gravity position of the plate 600 can be determined according to the core position, and after the grabbing position (i.e. the center of gravity position) of the grabbing part 210 is finally determined, the grabbing part 210 is further controlled to grab the plate 600 at the grabbing position of the plate 600, so that the plate is approximately in a balanced state when the grabbing part 210 lifts the plate 600, and the shaking of the plate 600 is reduced. The grabbing point is determined through the center of gravity, so that when the grabbing hand portion 210 grabs the sheet material 600, the sheet material 600 is stably grabbed, and the problems of shaking, difficult positioning and the like of the curved sheet material 600 in the hoisting process can be effectively avoided.
As shown in fig. 1 and 2, preferably, the feeding system further includes at least two clamping mechanisms 400 movable along the Z direction, wherein the clamping mechanisms 400 include clamping portions 420 located in the main door frame 100; the gripping portions 420 of at least two gripping mechanisms 400 are arranged facing each other and movable towards each other; the analysis control unit is in communication connection with the clamping mechanism 400, and controls the clamping mechanism 400 to move along the Z direction and the clamping part 420 to move oppositely according to the position and attitude information of the plate 600 and the position and attitude information of the clamping part 210, which are acquired by the receiving and analyzing camera module 500, so as to clamp the material clamped on the clamping part 210. When the plate material 600 reaches the processing area, the plate material needs to be lowered into the processing die holder. The analysis control unit judges the posture information of the plate material 600 at this time, and judges whether the plate material 600 can fall into the processing die holder correctly. According to the scanned image of the sheet 600 and the information of the processing die holder area, the analysis unit can roughly judge whether the pose of the sheet needs to be adjusted. The analysis control unit controls the clamping mechanism 400 to move the clamping portion 420 to be at the same height as the sheet material 600 in the Z direction, and the posture of the sheet material 600 is finally fixed through the adjustment of the left clamping portion 420 and the right clamping portion 420, so that the posture of the sheet material 600 can correctly fall into the discharging position.
As shown in fig. 1 to 6, a feeding method for lifting a plate by using the feeding system comprises the following steps: s1, determining a grabbing point of a sheet material 600 by an analysis control unit based on sheet material pose information and grabbing position pose information acquired by a camera module 500; s2, the analysis control unit controls the main door frame 100 to move in the X direction until the grabbing mechanism 200 moves to the position of a to-be-grabbed point of the plate 600 in the X direction; the analysis control unit controls the grabbing mechanism 200 to move in the Y direction until the moving plate 600 moves to the position of the point to be grabbed in the Y direction; the analysis control unit controls the gripper part 210 to move in the Z direction, controls the gripper part 210 to grip the plate material 600 and lifts the plate material to a preset height; and S3, the analysis control unit controls the main door frame 100 to drive the plate material 600 to move to a preset position, and the plate material 600 is lowered to the preset position. The method is convenient to operate and wide in application range, can automatically configure feeding and discharging schemes according to the actual shape and the processing requirements of the actual bent plate, can effectively avoid the problems of shaking, difficult positioning and the like of the bent plate in the hoisting process, can replace the traditional feeding based on manual experience, can realize intelligent feeding and discharging operation of various complicated bent plates of ships, and can meet the processing requirements of hull outer plates with various complicated shapes.
The camera module 500 obtains a sheet image, a hand grip image and an environment image, the analysis control module analyzes the sheet image, the hand grip image and the environment image to obtain position information of the sheet, position information of the hand grip 210 and gravity center information of the sheet 600, and when the step S1 is executed, a gripping point of the sheet 600 is the gravity center position of the sheet 600, so that the sheet 600 is approximately balanced after lifting. Of course, after hoisting, if the slab 600 is found not to be balanced, the slab 600 is lowered to recalculate and correct the pick point. And the correction of whether the plate is balanced can also adopt the judgment of the position and posture of the scanning plate of the camera module and the analysis control unit.
The feeding system further comprises at least two clamping mechanisms 400 movable in the Z-direction, the clamping mechanisms 400 comprising a clamping portion 420 located within the main gantry 100; the clamping portions 420 of at least two clamping mechanisms 400 are arranged in opposition and can move towards each other; the analysis control unit is in communication connection with the clamping mechanism 400; when step S3 is executed, according to the pose information of the sheet material 600 and the pose information of the gripper 210 acquired by the receiving and analyzing camera module 500, the clamping mechanism 400 is controlled to move along the Z direction and the clamping portion 420 moves towards each other, and the attitude of the suspended sheet material 600 is adjusted until the sheet material 600 is placed at a predetermined position in a predetermined attitude. In the process, the image pickup module 500 scans the profile of the sheet material 600, the analysis control unit determines whether the sheet material 600 can fall into a lower die seat in the processing area according to the profile, and if it is determined that the hovering sheet material 600 has a deviation in the processing area, the analysis control unit controls the clamping parts 420 on the two sides of the main gantry 100 to finely adjust the position of the sheet material 600, and finally clamps the sheet material 600 and falls into the lower die seat. Of course, the plate after the lower die holder is machined can be separated from the machining area by the method, and the details are not repeated here.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (11)
1. The feeding device is characterized by comprising a travelling mechanism (300), a main door frame (100) and a grabbing mechanism (200); the grabbing mechanism (200) is arranged on the main door frame (100) and can move along the Y direction; the grasping mechanism (200) includes a grasping portion (210) movable in a Z direction; the travelling mechanism (300) is arranged on the main gantry (100) and drives the main gantry (100) to move along the X direction;
the traveling mechanism (300) comprises a traveling rail (310) extending along the X direction, a traveling part (320) moving along the traveling rail (310), and a traveling driving motor (330) driving the traveling part (320) to travel; the walking part (320) is arranged on the main door frame (100);
the grabbing hand part (210) comprises a grabbing seat (240) fixedly connected with the suspension piece (230) and a grabbing disc (250) rotatably arranged on the grabbing seat (240), and electromagnets (251) are uniformly distributed on the grabbing disc (250);
further comprising at least two gripping mechanisms (400) movable along the Z direction, said gripping mechanisms (400) comprising a gripping portion (420) located inside said main mast (100); the clamping parts (420) of at least two clamping mechanisms (400) are arranged oppositely and can move towards each other; the clamping part (420) is matched with the grabbing disc (250) to adjust the posture of the plate grabbed on the grabbing disc (250).
2. The feeding device according to claim 1, further comprising a first driving mechanism, wherein the main door frame (100) comprises a main door beam (101) extending along the Y direction, the first driving mechanism comprises a rack (111) arranged along the main door beam (101), a first driving motor connected to the gripping mechanism (200), and a gear (112) provided on an output shaft of the first driving motor, and the gear (112) is engaged with the rack (111).
3. The feeding device according to claim 1, wherein the gripping mechanism (200) further comprises a gripping bracket (220), a second driving mechanism, and a suspension member (230); the second driving mechanism is located on the grabbing bracket (220), the second driving mechanism is a winch (221), one end of the suspension piece (230) is connected with the grabbing part (210), and the other end of the suspension piece is wound on a winding drum (222) of the winch (221).
4. The feeding device according to claim 1, wherein the suspension member (230) further comprises a first scissor arm (231), one end of the first scissor arm (231) is connected with the grabbing bracket (220) and the other end is connected with the grabbing portion (210).
5. The feeding device of claim 1, further comprising a third drive mechanism; the clamping mechanism (400) further comprises a clamping seat (410), a fourth driving mechanism and a second scissor arm (430); a guide rail (440) in sliding fit with the clamping seat (410) is arranged on the longitudinal beam (102) of the main gantry (100), the third driving mechanism comprises a third driving motor (450) arranged on the longitudinal beam (102) of the main gantry (100) and a first nut-screw pair, and the clamping seat (410) is located on a nut seat of the first nut-screw pair; a sliding groove (470) is formed in the clamping seat (410), a sliding block (471) is arranged in the sliding groove (470), the fourth driving mechanism comprises a fourth driving motor (460) and a second nut-screw pair, the fourth driving motor is arranged on the clamping seat (410), and the sliding block (471) is located on a nut seat of the second nut-screw pair; one end of the second scissor arm (430) is connected to the clamping seat (410), and the other end of the second scissor arm is connected to the clamping part (420); one end of the second scissor arm (430) on the clamping seat (410) is connected with the sliding block (471), and the other end is connected on the clamping seat (410).
6. The feeding system is characterized by comprising a travelling mechanism (300), a main gantry (100), a grabbing mechanism (200), a camera module (500) arranged on the main gantry (100) and an analysis control module; the grabbing mechanism (200) is arranged on the main door frame (100) and can move along the Y direction; the grasping mechanism (200) includes a grasping portion (210) movable in a Z direction; the travelling mechanism (300) is arranged on the main gantry (100) and drives the main gantry (100) to move along the X direction; the analysis control module is respectively in communication connection with the camera module (500), the grabbing mechanism (200), the hand grip (210) and the traveling mechanism (300), the camera module (500) is used for collecting the position and posture information of the plate material and the hand grip (210), and the analysis control module respectively controls the grabbing mechanism (200) to move in the Y direction, the grabbing hand (210) to move in the Z direction and the main gantry (100) to move in the X direction on the basis of receiving the position and posture information of the plate material and the hand grip (210) collected by the camera module (500);
the device further comprises at least two clamping mechanisms (400) capable of moving along the Z direction, wherein each clamping mechanism (400) comprises a clamping part (420) positioned in the main door frame (100); the clamping parts (420) of at least two clamping mechanisms (400) are arranged oppositely and can move towards each other; the analysis control module is in communication connection with the clamping mechanism (400), and controls the clamping mechanism (400) to move along the Z direction and the clamping part (420) to move oppositely according to the received and analyzed plate material position and posture information and the hand grip part (210) position and posture information acquired by the camera shooting module (500), so that the plate material grabbed on the hand grip part (210) is clamped and matched with the hand grip part (210), and the plate material grabbed on the hand grip part (210) is adjusted in posture.
7. The feeding system as claimed in claim 6, wherein the camera module (500) acquires an image of the sheet, an image of the gripper portion, and an image of the environment, the analysis control module analyzes the image of the sheet, the image of the gripper portion, and the image of the environment to obtain position information of the sheet, position information of the gripper portion, and a gripping point of the gripper portion (210) for gripping the sheet (600), and sends a displacement command of the traveling mechanism (300) to the traveling mechanism (300), controls the traveling mechanism (300) to move to a predetermined distance along the X direction, sends a displacement command of the gripping mechanism (200) to the gripping mechanism (200), and controls the gripping mechanism (200) to move to a predetermined distance along the Y direction; and sending a displacement instruction of the gripper part (210) to the gripper part (210) for driving the gripper part (210) to move to a preset distance along the Z direction and gripping the plate material (600).
8. The feeding system as claimed in claim 7, wherein the analysis control module obtains the position information of the center of gravity of the plate (600) based on the plate image, and determines the grabbing point at which the grabbing hand (210) grabs the plate (600).
9. The feeding system as claimed in claim 6, wherein the camera module (500) acquires an image of the sheet material, an image of the gripper and an image of the environment, the analysis control module analyzes the image of the sheet material, the image of the gripper and the image of the environment to obtain information of the center of gravity, information of the position of the gripper and information of the position of the gripper of the sheet material, and a gripping point at which the gripper (210) grips the sheet material (600), and sends a displacement instruction of the traveling mechanism (300) to the traveling mechanism (300), controls the traveling mechanism (300) to move to a predetermined distance along the X direction, sends a displacement instruction of the gripping mechanism (200) to the gripping mechanism (200), and controls the gripping mechanism (200) to move to a predetermined distance along the Y direction; and sending a displacement instruction of the gripper part (210) to the gripper part, and driving the gripper part to move to a preset distance along the Z direction and gripping the plate material (600).
10. A method of feeding, using the feeding system of claim 6, comprising the steps of: the method comprises the following steps: s1, determining a grabbing point at which a grabbing hand (210) grabs a plate material (600) based on pose information of the plate material (600) and pose information of the grabbing hand (210) acquired by a camera module (500) by an analysis control unit; s2, the analysis control unit controls the main gantry (100) to move in the X direction until the grabbing mechanism (200) moves to the position of a plate material (600) grabbing point in the X direction; the analysis control unit controls the grabbing mechanism (200) to move in the Y direction until the grabbing mechanism (200) moves to the position of a grabbing point of the sheet material (600) in the Y direction; the analysis control unit controls the gripper part (210) to move in the Z direction until the grabbing mechanism (200) moves to the position of the grabbing point of the sheet material (600) in the Z direction, and controls the gripper part (210) to grab the sheet material (600); s3, the analysis control unit controls the main door frame (100), the grabbing mechanism (200) and the grabbing part (210) to convey the plate (600) to a preset position; according to the received and analyzed position and posture information of the plate (600) and the position and posture information of the hand grip part (210) acquired by the camera module (500), the clamping mechanism (400) is controlled to move along the Z direction and the clamping part (420) moves oppositely, and the posture of the suspended plate (600) is adjusted until the plate (600) completely falls into the range of a preset position.
11. The method as claimed in claim 10, wherein the feeding system as claimed in claim 6 is adopted, the camera module (500) acquires an image of the sheet material, an image of the hand grip portion and an image of the environment, the analysis control module analyzes the image of the sheet material, the image of the hand grip portion and the image of the environment to obtain position information of the sheet material, position information of the hand grip portion and information of the center of gravity of the sheet material (600), and when step S1 is executed, the gripping point of the sheet material (600) is the position of the center of gravity of the sheet material (600).
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