CN216658292U

CN216658292U - Panel forming device based on visual identification

Info

Publication number: CN216658292U
Application number: CN202023016032.0U
Authority: CN
Inventors: 黄胜利
Original assignee: Aurora China Co Ltd
Current assignee: Aurora China Co Ltd
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2022-06-03
Anticipated expiration: 2030-12-14

Abstract

The utility model relates to a plate forming device based on visual identification, which comprises a shell, a connecting rod type clamping component, a visual information acquisition component and a cutting component, wherein the connecting rod type clamping component comprises clamping arms symmetrically arranged at the top and the bottom of the shell, and the lifting, the inclination and the translation of a plate are realized through the movement of the two clamping arms; the visual information acquisition assembly acquires front, rear, left and right views of the plate at a specific position and posture from a side visual angle, and acquires a top view of the plate at the specific position and posture from a top visual angle; the cutting unit cuts the plate material in a specific position and posture. Compared with the prior art, the blanking processing technology and the trimming processing technology in the plate forming process are integrated into an automatic operation technology, and the visual information acquisition assembly is matched to realize accurate plate size information, position information and posture information, so that one-step accurate plate forming is realized.

Description

Panel forming device based on visual identification

Technical Field

The utility model relates to a plate forming device, in particular to a plate forming device based on visual identification.

Background

In the production process of wooden furniture, wood raw materials are required to be processed into primary board raw materials with equal thickness, and then the primary board raw materials are subjected to multi-link blanking processing and trimming processing to obtain the final board finished product.

In the existing production process, a production line operator performs specific processing control according to the size requirements of each blanking processing process and trimming processing process, the control is performed gradually through reference lines on blanking equipment in the blanking process, and chamfering degree and polishing radian control are performed by experience in the trimming process, so that operation errors of each process link form accumulated errors, and the forming quality of a plate finished product is difficult to improve.

Therefore, how to perform quality control of sheet forming on the whole and avoid the occurrence of accumulated errors is a starting point for improvement of the sheet forming apparatus in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects in the prior art and provide a plate forming device based on visual identification, which regulates the blanking process and the trimming process in the plate forming process to an automatic operation process, and realizes accurate plate size information, position information and posture information by matching with a visual information acquisition assembly, thereby realizing one-step accurate plate forming.

The purpose of the utility model can be realized by the following technical scheme:

the plate forming device based on visual identification comprises a shell, a connecting rod type clamping assembly, a visual information acquisition assembly and a cutting assembly, wherein the visual information acquisition assembly specifically comprises:

the connecting rod type clamping assembly comprises clamping arms symmetrically arranged at the top and the bottom of the shell, the plate is clamped between the two clamping arms, and the lifting, the inclination and the translation of the plate are realized through the movement of the two clamping arms;

the visual information acquisition assembly is arranged at the top and the side of the shell, the visual information acquisition assembly acquires front, rear, left and right views of the plate at a specific position and posture from a side view angle, acquires a top view of the plate at the specific position and posture from a top view angle, and determines the spatial position information of the plate according to the front, rear, left, right and top views of the plate at the specific position and posture;

the cutting assembly comprises a guide rail arranged at the bottom of the shell, a moving unit arranged on the guide rail and a cutting unit arranged on the moving unit, wherein the cutting unit is used for cutting the plate at a specific position and posture.

Furthermore, the clamping arm comprises a rotating motor, a first electric cylinder, a first connecting rod, a second connecting rod and a clamping plate which are connected in sequence;

the rotating motor is arranged at the bottom of the shell;

the first electric cylinder is arranged on a rotating shaft of the rotating motor;

one end of the first connecting rod is hinged to the pushing rod of the first electric cylinder, the other end of the first connecting rod is hinged to one end of the second connecting rod, the clamping plate is connected to the other end of the second connecting rod, and the plate is clamped between the upper clamping plate and the lower clamping plate.

Furthermore, one end of the first connecting rod is provided with a first hinge shaft in a horizontal direction, and the first hinge shaft is hinged to the pushing rod of the first electric cylinder.

Furthermore, one end of the second connecting rod is provided with a second hinge shaft in a horizontal direction, and the second hinge shaft is hinged to one end of the first connecting rod.

Further, the clamping arm further comprises a first servo motor and a second servo motor;

and the output shaft of the first servo motor and the output shaft of the second servo motor are in transmission connection with the first hinge shaft and the second hinge shaft respectively.

Further, the visual information acquisition assembly comprises a top shooting unit and a circumferential shooting unit which are respectively arranged on the top wall and the side wall of the shell in an array mode.

Further, the top shooting unit and the annular shooting unit are both cameras.

Further, the guide rail is a linear guide rail, and the moving unit is a GAV trolley arranged on the linear guide rail.

Further, the cutting unit is a water cutter.

Further, the plate forming device based on visual identification further comprises a microprocessor, and the microprocessor is electrically connected with the connecting rod type clamping assembly, the visual information acquisition assembly and the cutting assembly respectively.

Compared with the prior art, the utility model has the following technical advantages:

1) according to the technical scheme, the plate forming device based on the visual recognition regulates the blanking processing technology and the trimming processing technology in the plate forming process to an automatic operation technology, and is matched with the visual information acquisition assembly to realize accurate plate size information, position information and posture information, so that one-step accurate plate forming is realized.

2) The connecting rod formula centre gripping subassembly and the cutting subassembly among this technical scheme cooperate each other, and the spatial position information of panel is confirmed to preceding, back, left and right, the top view of real-time panel under specific position and gesture of sharing, realizes more high-efficient and accurate cooperation mode to this realizes the accurate panel shaping of one-step.

3) According to the technical scheme, the chamfering process of the plate can be realized in the vertical cutting mode of the cutting unit through the plate inclining process, and the smoother and burr-free chamfering form is realized through the inclining-cutting process of the dynamic original position.

Drawings

Fig. 1 is a schematic structural diagram of a plate forming device based on visual identification in the technical scheme.

In the figure: 1. the plate comprises a plate body, 2, a shell body, 3, a circumferential shooting unit, 4, a top shooting unit, 5, a rotating motor, 6, a moving unit, 7, a second electric cylinder, 8, a first electric cylinder, 9, a first hinge shaft, 10, a cutting unit, 11, a first connecting rod, 12, a second hinge shaft, 13, a clamping plate, 14, a guide rail, 15 and a second connecting rod.

Detailed Description

The utility model is described in detail below with reference to the figures and specific embodiments.

Example 1

The plate forming device based on visual identification comprises a shell 2, a connecting rod type clamping assembly, a visual information acquisition assembly and a cutting assembly, and is shown in figure 1.

The connecting rod type clamping assembly comprises clamping arms symmetrically arranged at the top and the bottom of the shell 2, the plate 1 is clamped between the two clamping arms, and the lifting, the inclination and the translation of the plate 1 are realized through the movement of the two clamping arms; the clamping arm comprises a rotating motor 5, a first electric cylinder 8, a first connecting rod 11, a second connecting rod 15 and a clamping plate 13 which are connected in sequence; the rotating motor 5 is arranged at the bottom of the shell 2; the first electric cylinder 8 is provided on the rotating shaft of the rotating electric machine 5; one end of the first connecting rod 11 is hinged to the pushing rod of the first electric cylinder 8, the other end of the first connecting rod is hinged to one end of the second connecting rod 15, the clamping plate 13 is connected to the other end of the second connecting rod 15, and the plate 1 is clamped between the upper clamping plate 13 and the lower clamping plate 13. One end of the first connecting rod 11 is provided with a first hinge shaft 9 facing horizontally, and the first hinge shaft 9 is hinged on the pushing rod of the first electric cylinder 8. One end of the second connecting rod 15 is provided with a second hinge shaft 12 which is horizontally oriented, and the second hinge shaft 12 is hinged to one end of the first connecting rod 11. The clamping arm further comprises a first servo motor and a second servo motor which are arranged inside the shell 2, and an output shaft of the first servo motor and an output shaft of the second servo motor are in transmission connection with the first hinge shaft 9 and the second hinge shaft 12 respectively.

Visual information acquires the subassembly and locates the top and the lateral part of casing 2, visual information acquires the subassembly and obtains preceding, back, left and right view of panel 1 under specific position and gesture from the lateral part visual angle, acquires the plan view of panel 1 under specific position and gesture from the top visual angle, and visual information acquires the subassembly and confirms the spatial position information of panel 1 according to preceding, back, left and right, the plan view of panel 1 under specific position and gesture, and panel forming device based on visual identification still includes microprocessor, microprocessor respectively with connecting rod formula centre gripping subassembly, visual information acquire the subassembly and the cutting assembly electricity is connected, and during the specific type selection, microprocessor can select for use ARM treater or the treater of x86 framework. The visual information acquisition assembly comprises a top shooting unit 4 and a circumferential shooting unit 3 which are respectively arranged on the top wall and the side wall of the shell 2 in an array mode. The top shooting unit 4 and the annular shooting unit 3 are both cameras.

The cutting assembly comprises a guide rail 14 arranged at the bottom of the shell 2, a moving unit 6 arranged on the guide rail, and a cutting unit 10 arranged on the moving unit, wherein the cutting unit 10 is used for cutting the plate 1 at a specific position and posture. The guide 14 is a linear guide and the guide 14 comprises a GAV trolley arranged such that the moving unit 6 is arranged on said linear guide. A second electric cylinder 7 is arranged between the cutting unit 10 and the moving unit 6. In a specific model selection, the cutting unit 10 is a water cutting machine.

During specific operation, firstly, the plate 1 is placed and clamped between an upper clamping plate 13 and a lower clamping plate 13 through an industrial robot, stable clamping force is achieved through adjustment of a first electric cylinder 8, a connecting rod type clamping assembly has sufficient operation space, then a microprocessor reads preset plate target forming information and converts the preset plate target forming information into a coordinate set of 3D contour points of the plate, a visual information acquisition assembly obtains front, rear, left and right views of the plate 1 in a specific position and posture from a side visual angle, a top view of the plate 1 in the specific position and posture is obtained from a top visual angle, fitting assignment of boundary contour points is carried out on each view based on different RGB values to obtain a contour coordinate point set of the plate 1 in each view, coordinate information of each contour point is obtained through a preset scale conversion relation, and the visual information acquisition assembly assigns the boundary contour points according to the front of the plate 1 in the specific position and posture, And then, the space position information of the plate 1 is determined by the left, right and top views, and the space position information is fitted into the same coordinate system, the microprocessor sends instructions to the first servo motor, the second servo motor, the moving unit 6 and the cutting unit 10, so that after the output shafts of the first servo motor and the second servo motor are decelerated through the deceleration motor, the first articulated shaft 9 and the second articulated shaft 12 are driven to operate through suitable transmission parts such as chains, flexible belts or flexible racks and the like, the movement of the clamping arm is realized, the upper clamping arm and the lower clamping arm are matched to operate according to a preset program, and the lifting, the inclination and the translation of the plate 1 are realized. The lifting and translation of the plate 1 are for catering to the cutting process of the cutting assembly on the plate, the moving unit 6 can also determine the spatial position information of the plate 1 on the basis of the front, rear, left, right and top views of the plate 1 at specific positions and postures in real time, and realize a more efficient matching process on the basis of the instruction of the microprocessor. The process of tilting the plate 1 is such that the chamfering process of the plate 1 can be realized by the vertical cutting mode of the cutting unit 10, and a smoother burr-free chamfering form is realized through the dynamic in-situ tilting-cutting process. When the cutting unit 10 needs to perform linear track cutting, the direction of the clamping arm is adjusted through the rotation of the rotating motor 5, so that the direction to be cut on the plate 1 is parallel to the direction of the guide rail 14.

The embodiments described above are intended to facilitate the understanding and use of the utility model by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. A panel forming device based on visual identification, characterized in that includes:

a housing (2);

the connecting rod type clamping assembly comprises clamping arms symmetrically arranged at the top and the bottom of the shell (2), the plate (1) is clamped between the two clamping arms, and the lifting, the inclination and the translation of the plate (1) are realized through the movement of the two clamping arms;

the visual information acquisition assembly is arranged at the top and the side of the shell (2), the visual information acquisition assembly acquires front, rear, left and right views of the plate (1) at a specific position and posture from a side view angle, acquires a top view of the plate (1) at the specific position and posture from a top view angle, and determines the spatial position information of the plate (1) according to the front, rear, left, right and top views of the plate (1) at the specific position and posture;

the cutting assembly comprises a guide rail (14) arranged at the bottom of the shell (2), a moving unit (6) arranged on the guide rail and a cutting unit (10) arranged on the moving unit (6), wherein the cutting unit (10) cuts the plate (1) at a specific position and posture.

2. The visual identification-based plate forming device according to claim 1, wherein the clamping arm comprises a rotating motor (5), a first electric cylinder (8), a first connecting rod (11), a second connecting rod (15) and a clamping plate (13) which are connected in sequence;

the rotating motor (5) is arranged at the bottom of the shell (2);

the first electric cylinder (8) is arranged on a rotating shaft of the rotating motor (5);

one end of the first connecting rod (11) is hinged to the pushing rod of the first electric cylinder (8), the other end of the first connecting rod is hinged to one end of the second connecting rod (15), the clamping plate (13) is connected to the other end of the second connecting rod (15), and the plate (1) is clamped between the upper clamping plate and the lower clamping plate (13).

3. A panel forming apparatus based on visual recognition according to claim 2, wherein one end of the first connecting rod (11) is provided with a first hinge shaft (9) oriented horizontally, the first hinge shaft (9) being hinged to the push rod of the first electric cylinder (8).

4. A panel forming apparatus based on visual recognition according to claim 3, wherein one end of the second link (15) is provided with a second hinge shaft (12) oriented horizontally, and the second hinge shaft (12) is hinged to one end of the first link (11).

5. The visual identification-based sheet forming apparatus of claim 4, wherein the gripper arm further comprises a first servo motor and a second servo motor;

and the output shaft of the first servo motor and the output shaft of the second servo motor are in transmission connection with the first hinge shaft (9) and the second hinge shaft (12) respectively.

6. The visual recognition-based plate forming device according to claim 1, wherein the visual information acquisition assembly comprises a top shooting unit (4) and a circumferential shooting unit (3) which are respectively arranged on the top wall and the side wall of the shell (2) in an array manner.

7. The visual recognition-based sheet material forming device according to claim 6, wherein the top shooting unit (4) and the annular shooting unit (3) are cameras.

8. A visual identification based panel forming apparatus according to claim 1, wherein said guide (14) is a linear guide and said moving unit (6) is a GAV trolley mounted on said linear guide.

9. A visual identification based panel forming apparatus according to claim 1, wherein said cutting unit (10) is a water cutter.

10. The visual identification-based sheet material forming device of claim 1, further comprising a microprocessor electrically connected to the link-type clamping assembly, the visual information acquisition assembly and the cutting assembly, respectively.