WO2021031363A1

WO2021031363A1 - Automatic molding, picking and inspection integrated production line for grinding wheel meshes

Info

Publication number: WO2021031363A1
Application number: PCT/CN2019/115681
Authority: WO
Inventors: 潘万雨; 赵俊杰; 秦勇; 徐军; 顾明
Original assignee: 江苏九鼎新材料股份有限公司
Priority date: 2019-08-21
Filing date: 2019-11-05
Publication date: 2021-02-25
Also published as: CN110589587A

Abstract

An automatic molding, picking and inspection integrated production line for grinding wheel meshes, comprising conveying equipment, visual inspection equipment (2), cutting equipment (3) and picking equipment (4). The conveying equipment is used for conveying a grinding wheel mesh, and comprises a cutting section conveying platform (11) and a picking section conveying platform (12) which are provided with clamping and positioning assemblies respectively; the visual inspection equipment (2) is arranged in front of the material feeding side of the cutting section conveying platform (11), and is used for recognizing a defect of grinding wheel mesh cloth to be cut and transmitting the coordinates of the defect to the picking equipment (4); the cutting equipment (3) is arranged on the cutting section conveying platform (11) and is used for cutting the grinding wheel mesh cloth into grinding wheel meshes; and the picking equipment (4) is arranged on the picking section conveying platform (12) and is used for sorting and stacking standard or substandard grinding wheel meshes. By means of the conveying equipment, grinding wheel mesh cloth successively passes through the visual inspection equipment (2), the cutting equipment (3) and the picking equipment (4) to streamline cutting, picking and inspection for production. Therefore, the production efficiency is greatly enhanced.

Description

An integrated production line for automatic forming, picking and inspection of grinding wheel mesh

Technical field

The invention relates to a grinding wheel mesh production line, in particular to an integrated production line of automatic molding, picking and inspection of the grinding wheel mesh.

Background technique

The grinding wheel mesh is used as the reinforcing substrate of the grinding wheel to enhance the tensile performance of the grinding wheel. In the production process, the mesh cloth needs to be punched into circular meshes first, then the punched meshes are picked up, and finally the grinding wheel meshes are inspected to screen out unqualified meshes.

The current grinding wheel mesh manufacturing process has the following problems:

(1) The forming of the mesh is usually carried out by stamping equipment. After punching, the mesh and the leftover material are prone to overlap, and the noise is large and the working environment is poor;

(2) The punched mesh is picked up manually at the earliest, with low picking efficiency and high labor intensity. Later, the corresponding automatic pick-up equipment appeared, mainly divided into clamping picking and adhesive adsorption picking: for example, Patent Application No. 201010527154.8 discloses a grinding wheel-enhanced mesh picking method, which simultaneously clamps a row of meshes through multiple grippers The sheet is placed on the lottery group to realize the picking up of the mesh; another example is a grinding wheel mesh picking mechanism disclosed in the patent ZL201510714817.X, which adsorbs the mesh by means of adhesive adsorption, and then transfers it to the collecting lot using an air cylinder Push it off the glue; the above two greatly improve the efficiency of picking and reduce labor intensity, but during or after picking, it still needs to be manually inspected for defects. The overall efficiency is still low, and only random inspections. It is impossible to achieve full inspection, and it is impossible to realize a true streamlined production.

Summary of the invention

The technical problem to be solved by the present invention is to provide an integrated production line for the automatic forming, picking and inspection of the grinding wheel mesh, which can efficiently realize the streamlined production of the forming, picking and inspection of the mesh.

In order to solve the above technical problems, the technical solution of the present invention is: an integrated production line for automatic forming, picking and inspection of grinding wheel meshes. The innovations are: including conveying equipment, visual inspection equipment, cutting equipment, and picking equipment.

Conveying equipment for conveying and positioning the grinding wheel mesh cloth to be cut and the grinding wheel mesh sheet formed after cutting, including at least one cutting section conveying platform and at least one picking up in sequence from the feeding side to the discharging side along the conveying direction Section conveyor platform,

The cutting section conveying platform includes a cutting section frame, a cutting section conveyor belt, a cutting section conveying motor and a pair of cutting section clamping and positioning components, and the cutting section conveyor belt is arranged on the cutting section frame And is driven by the cutting section conveying motor to move along the conveying direction. The cutting section clamping and positioning components are arranged on both sides of the cutting section conveyor belt for clamping the cutting section conveyor belt and conveying it with the cutting section. Motors jointly drive the cutting section conveyor belt to move along the conveying direction to achieve precise positioning;

The pickup section conveyor platform includes a pickup section frame, a pickup section conveyor belt, a pickup section conveying motor, and a pair of pickup section clamping and positioning components. The pickup section conveyor belt is arranged on the pickup section frame and is transported by the pickup section. The motor drives to move along the conveying direction. The pick-up section clamping and positioning components are arranged on both sides of the pick-up section conveyor belt, and are used to clamp the pick-up section conveyor belt and drive the pickup section conveyor belt to move in the conveying direction together with the pickup section conveying motor. Precise positioning;

Visual inspection equipment, set in front of the feeding side of the cutting section conveyor platform, used to generate the origin coordinates of the cutting layout on the grinding wheel mesh to be cut and send it to the cutting equipment, and to make defects on the grinding wheel mesh to be cut Identify and send the defect coordinates to the picking equipment;

Cutting equipment, set on the cutting section conveyor platform, used to cut the grinding wheel mesh to be cut into grinding wheel mesh, including tool holder, tool holder X-axis drive mechanism, tool holder Y-axis drive mechanism, tool holder Z-axis driving mechanism, cutting knife horizontal position adjustment mechanism, vibrating cutting knife, cutting knife vibration motor and cutting knife rotating motor, the knife holder is set up above the cutting section conveyor belt and driven by the knife holder X axis , The Y-axis drive mechanism of the tool post and the Z-axis drive mechanism of the tool post are driven to realize the movement in the X, Y, and Z axis directions. The tool post is equipped with an array of cutting knife horizontal position adjustment mechanisms, in the horizontal position of each cutting knife A cutting knife rotating motor with a vertical axis is installed on the adjustment mechanism, and the cutting knife rotating motor is connected to a vibrating cutter driven by a vibrating cutter vibration motor;

The tool post X-axis drive mechanism, tool post Y-axis drive mechanism, and tool post Z-axis drive mechanism use tool post X-axis drive motor, tool post Y-axis drive motor, and tool post Z-axis drive motor as drive sources;

Picking equipment, set on the conveyor platform of the picking section, is used to sort and stack qualified or unqualified grinding wheel meshes, including picking racks, three-dimensional picking robotic arms, end pickers, mesh stacking signs and stackers Position switching motor, the picking frame is provided with at least one three-dimensional picking mechanical arm, the three-dimensional picking mechanical arm is installed with a plurality of end picker assemblies for picking up the grinding wheel mesh, the end picker assembly is The pick-up drive cylinder drives the adsorption or separation of the grinding wheel mesh, and is driven by the three-dimensional picking mechanical arm to move between the upper surface of the picking section conveyor platform and a stacking station; the mesh stacking sign and stacking station switching motor is installed in the picking On the frame, the mesh stacking label has at least two sets of sticks on which the mesh can be accommodated, and the two sets of sticks of the mesh stacking label can be driven by the stacking station switching motor to rotate away or enter Stacking station.

Further, the cutting section clamping and positioning assembly includes a cutting section conveyor belt clamping assembly, a cutting section linear drive positioning assembly, and a cutting section linear guide assembly. The guiding direction of the cutting section linear guide assembly and the cutting The conveying direction of the cutting section conveyor belt is the same. The cutting section conveyor belt clamping assembly is installed on the cutting section frame through the cutting section linear guide assembly, and is driven by the cutting section linear drive positioning assembly to drive along the cutting section. The conveying direction of the belt moves back and forth.

Further, the cutting section linear drive positioning assembly adopts a cutting section to clamp a rack and pinion pair driven by a feeding motor.

Further, the cutting section conveyor belt clamping assembly includes a cutting section clamping bracket, and a cutting section clamping lower pallet and a cutting section clamping cylinder installed on the cutting section clamping bracket. The cutting section clamping cylinder is located above the cutting section clamping lower pallet.

Further, the pickup section clamping and positioning assembly includes a pickup section conveyor belt clamping assembly, a pickup section linear drive positioning assembly, and a pickup section linear guide assembly. The guiding direction of the pickup section linear guide assembly is consistent with the transportation of the pickup section conveyor belt. In the same direction, the pickup section conveyor belt clamping assembly is installed on the pickup section frame through the pickup section linear guide assembly, and the pickup section linear drive positioning assembly is driven to move back and forth along the conveying direction of the pickup section conveyor belt.

Further, the linear drive positioning assembly of the pick-up section adopts a rack and pinion pair driven by the pick-up section clamping and feeding motor.

Further, the pickup section conveyor belt clamping assembly includes a pickup section clamping bracket, a pickup section clamping lower pallet and a pickup section clamping cylinder installed on the pickup section clamping bracket, and the pickup section clamping cylinder Located above the lower pallet clamped by the pickup section.

Further, the visual inspection equipment includes a visual inspection system industrial computer, a visual inspection system PLC, a line scan camera, an LED light source, and a roller encoder. The visual inspection system industrial computer has built-in template division software and visual defect recognition software, and visual inspection The system industrial computer communicates with the visual inspection system PLC. The output signal of the visual inspection system PLC is connected to the camera controller of the line scan camera and the light source controller of the LED light source. The roller encoder is arranged on the upper surface of the cutting section conveying platform, And the output signal is connected to the vision detection system PLC, and the output signal of the line scan camera is connected to the vision detection system industrial computer.

Further, 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 symmetrically arranged positive-rotation threaded sections and reverse-rotated threaded sections, a normal-rotated threaded section and a reverse-rotated threaded section. The nuts on the segments are respectively connected with a vibrating cutter;

Further, the three-dimensional pick-up robotic arm includes a base, a first link arm, a second link arm, a third link arm, a first link arm drive motor, a second link arm drive motor, and a third link arm. The lever arm driving motor and the lower connecting seat, the first connecting rod arm driving motor, the second connecting rod arm driving motor, the third connecting rod arm driving motor, the first connecting rod arm driving motor, the The second link arm drive motor and the third link arm drive motor are respectively connected to the upper ends of the first link arm, the second link arm, and the third link arm through each swing rod. The first link arm and the second link arm The lower ends of the lever arm and the third link arm are connected to a lower connecting seat through a universal joint, and the lower connecting seat is connected with a plurality of end pickers.

Further, the end picker assembly includes an end picker guide rail, an end picker, a buffer press, and at least one end picker guide rail. The end picker guide rail is horizontally connected to the lower end of the three-dimensional picking mechanical arm. The two sides of the guide rail are provided with inverted T-shaped guide grooves along the extension direction of the end picker guide rail; a plurality of buffer compactors are distributed on both sides of the end picker guide rail along the extension direction of the end picker guide rail, so The buffer compactor is a damping cylinder or a compression rod with a compression spring arranged vertically downwards; a plurality of end picks are distributed on one or both sides of the end pick guide rail along the extension direction of the end pick guide rail On the other hand, the end pickup includes a locking hoop, an end pickup seat, an end pickup drive cylinder, and an end pickup needle. The upper part of the end pickup seat has a locking body that accommodates the locking hoop and is sleeved outside it, The upper part of the end pick-up seat is locked in the inverted T-shaped guide groove on the side of the end picker rail by a locking hoop and an inverted T-shaped bolt; the lower part of the end pick-up seat has at least a pair of X-shaped distribution Through the oblique hole, an end picker driving cylinder is arranged above the through oblique hole, the end picker driving cylinder is connected with an end picker inserted into the through oblique hole, and the end picker is driven by the end picker driving cylinder to extend Out or retract through the oblique hole.

The advantages of the present invention are:

Conveying equipment, visual inspection equipment, cutting equipment, picking equipment

In the present invention, the mesh cloth of the grinding wheel is firstly collected by the visual inspection equipment to obtain the associated cutting reference and picking reference, and then through the cutting section conveying platform equipped with the cutting section clamping positioning assembly and the picking section clamping positioning assembly And the pick-up section conveyor platform to accurately move the grinding wheel mesh and the grinding wheel mesh to ensure that the cutting system is cutting the grinding wheel mesh and the picking system is in the process of sorting and picking. The theoretical and actual working standards of the system are Consistent,

The whole process is based on the conveying system, combined with the visual inspection system, the cutting system, and the picking system to realize the high-precision automatic logic control of cutting, picking and inspection in the manufacturing process of the grinding wheel mesh, which greatly reduces the turnover and Wait, the production efficiency is high. Compared with the traditional final product visual identification inspection, the present invention adopts the scheme of first inspection and then cutting and picking. Since there is no need to identify the cut grinding wheel mesh, the influence of the contour and inner hole of the grinding wheel mesh on identification is reduced. The detection accuracy is higher, which can reduce the workload of the visual inspection system, and can save the number of line scan cameras and save costs.

The clamping and positioning components of the cutting section or the picking section adopt pneumatic clamping components, linear drive positioning components of the cutting section, and linear guide components to clamp and convey the conveyor belt, which plays the role of auxiliary conveying and precise positioning of the movement of the conveyor belt. Simple and high positioning accuracy.

Description of the drawings

Fig. 1 is a front view of an integrated production line for automatic forming, picking and inspection of the grinding wheel mesh of the present invention.

Figure 2 is a top view of the conveying equipment, cutting equipment and picking equipment in the present invention.

Figure 3 is a front view of the conveying equipment in the present invention.

Figure 4 is a top view of the conveying equipment in the present invention.

Figure 5 is a left side view of the conveying equipment in the present invention.

Fig. 6 is a structural schematic diagram of the linear drive positioning assembly of the cutting section of the present invention.

Fig. 7 is a schematic structural diagram of the linear drive positioning assembly of the pickup section of the present invention.

Fig. 8 is a hardware connection diagram of the visual inspection device in the present invention.

Figure 9 is a front view of the cutting device in the present invention arranged on the cutting section conveying platform.

Fig. 10 is a top view of the cutting device in the present invention arranged on the cutting section conveying platform.

Figure 11 is a side view of the pick-up device in the present invention arranged on the transport platform of the pick-up section.

Figure 12 is a top view of the pick-up device in the present invention arranged on the transport platform of the pick-up section.

Figure 13 is a perspective view of a three-dimensional picking mechanical arm of the picking device of the present invention.

Fig. 14 is a front view of the three-dimensional picking mechanical arm of the picking device of the present invention.

Fig. 15 is a top view of the three-dimensional picking mechanical arm of the picking device of the present invention.

Figure 16 is a schematic diagram of the structure of the mid-end pickup assembly of the present invention.

Figure 17 is a front view of the connection between the end picker and the end picker rail of the present invention.

Figure 18 is a cross-sectional view of the connection between the end picker and the end picker rail of the present invention.

Figure 19 is a cross-sectional view of the middle end pickup of the present invention.

detailed description

As shown in Figures 1, 2, including conveying equipment, visual inspection equipment 2, cutting equipment 3, picking equipment 4,

Conveying equipment for conveying and positioning the grinding wheel mesh cloth to be cut and the grinding wheel mesh sheet formed after cutting, including at least one cutting section conveying platform 11 and at least one cutting section conveying platform 11 arranged in sequence from the feeding side to the discharging side along the conveying direction Pick-up section conveyor platform 12,

Among them, as shown in Figures 3, 4, and 5, the cutting section conveying platform 11 includes a cutting section frame 111, a cutting section conveyor belt 112, a cutting section conveying motor (not shown in the figure) and a pair of cutting sections. The section clamping and positioning assembly 114, the cutting section conveyor belt 112 is arranged on the cutting section frame 111, and it is driven by the cutting section conveying motor to move in the conveying direction, and the cutting section clamping and positioning assembly 114 is arranged in the cutting section to convey Both sides of the belt 112 are used to clamp the cutting section conveyor belt 112 and drive the cutting section conveyor belt 112 to move in the conveying direction together with the cutting section conveying motor to achieve precise positioning.

The pickup section conveyor platform 12 includes a pickup section frame 121, a pickup section conveyor belt 122, a pickup section conveying motor (not shown in the figure), and a pair of pickup section clamping and positioning components 124. The pickup section conveyor belt 122 is set on the pickup section machine. It is mounted on the frame 121 and driven by the pickup section conveying motor 1 to move in the conveying direction. The pickup section clamping and positioning components 124 are arranged on both sides of the pickup section conveyor belt 122 to hold the pickup section conveyor belt 122 and communicate with the pickup section conveying motor. The pick-up section conveyor belt 122 is jointly driven to move along the conveying direction to achieve precise positioning. In this embodiment, the pick-up conveyor belt 122 adopts a double-layer composite structure (see FIG. 6), the outer layer of the conveyor belt is a porous brush layer 1221, and the inner layer is a conveyor belt body 1222.

As a more specific embodiment of the present invention:

The cutting section clamping and positioning assembly 114 includes a cutting section conveyor belt clamping assembly, a cutting section linear drive positioning assembly, a cutting section linear guide assembly, and the guiding direction of the cutting section linear guide assembly is the same as that of the cutting section conveyor belt 112. The conveying direction is the same. The cutting section conveyor belt clamping assembly is installed on the cutting section frame 111 through the cutting section linear guide assembly, and the cutting section linear drive positioning assembly drives reciprocating movement along the cutting section conveyor belt conveying direction .

In this embodiment, as shown in Figure 6, the cutting section linear drive positioning assembly adopts a cutting section clamping and feeding motor 1141 driven rack and pinion pair 1142, and the cutting section linear guide assembly is installed on the cutting section frame 111 Linear guide rail and slider on the side, the cutting section conveyor belt clamping assembly includes a cutting section clamping bracket 1144, and a cutting section clamping lower pallet 1145 installed on the cutting section clamping bracket 1144 and a cutting section clamp The holding cylinder 1146 is located above the cutting section clamping lower pallet 1145. In this embodiment, the cutting section clamping and positioning assembly 114 on each side is equipped with two linear guides and sliding block groups, one linear guide and sliding block group 1143 is located on the upper surface of the side of the cutting section frame 111, and the other linear guide The guide rail and the sliding block group 1147 are located on the outer surface of the side of the cutting section frame 111, so as to support and guide more stably and ensure the accuracy of the movement of the cutting section conveyor belt clamping assembly.

The pickup section clamping and positioning component 124 includes the pickup section conveyor belt clamping component, the pickup section linear drive positioning component, and the pickup section linear guide component. The guiding direction of the pickup section linear guide component is consistent with the conveying direction of the pickup section conveyor belt 122. The pickup section The conveyor belt clamping assembly is installed on the pickup section frame 121 through the pickup section linear guide assembly, and is driven by the pickup section linear drive positioning assembly to reciprocate along the conveying direction of the pickup section conveyor belt.

In this embodiment, as shown in Figure 7, the pick-up section linear drive positioning assembly uses a rack and pinion pair 1242 driven by a pick-up section clamping and feeding motor 1241, and the pick-up section linear guide components are straight lines installed on both sides of the pick-up section frame 121 The guide rail 1243 and the sliding block, the pickup section conveyor belt clamping assembly includes the pickup section clamping bracket 1244, and the pickup section clamping lower pallet 1245 installed on the pickup section clamping bracket 1244 and the pickup section clamping cylinder 1246, the pickup section The clamping cylinder 1246 is located above the clamping lower pallet 1245 of the pickup section. In this embodiment, the pick-up section clamping and positioning assembly 124 on each side is equipped with two linear guide rails and slider sets. One linear guide rail and slider set 1243 is located on the upper surface of the side of the pick-up section frame 121, and the other linear guide rail and The sliding block group 1247 is located on the outer surface of the side of the pick-up section frame 121 for more stable support and guidance, and ensures the accuracy of the movement of the pick-up section conveyor belt clamping assembly.

Those skilled in the art should understand that before and after the cutting section conveying platform 11 or the picking section conveying platform 12, an additional traction conveying platform 13 and a winding conveying platform can be selected according to actual conditions (the grinding wheel mesh is cut out of the grinding wheel The leftover material after the mesh can still be recycled and broken through winding).

The visual inspection device 2 is set in front of the feeding side of the cutting section conveying platform 11, and is used to generate the origin coordinates of the cutting layout on the grinding wheel mesh to be cut as the cutting reference and send to the cutting device, and to be cut The mesh cloth of the grinding wheel is used for defect identification, and the defect coordinates are sent to the picking equipment as the picking reference.

The visual inspection equipment 2 of the present invention is shown in Fig. 8, which mainly includes a visual inspection system industrial computer 21, a visual inspection system PLC22, a line scan camera 23, an LED light source 24 and a roller encoder 25, and a visual inspection system industrial computer 21 has a built-in template Grid software and visual defect recognition software, the visual inspection system industrial computer 21 communicates with the visual inspection system PLC22, the output signal of the visual inspection system PLC22 is connected to the camera controller 26 of the line scan camera 23 and the light source controller 27 of the LED light source 24, The roller encoder 25 is used to detect the moving speed of the grinding wheel mesh so that the visual inspection system PLC22 controls the shooting speed of the line scan camera 23. It is set on the upper surface of the cutting section conveying platform 11, and the output signal is connected to the visual inspection The output signal of the system PLC22 and the line scan camera 23 is connected to the industrial computer 21 of the vision inspection system.

The cutting equipment 3, as shown in Figures 9 and 10, is set on the cutting section conveying platform 12, and is used to cut the grinding wheel mesh to be cut into grinding wheel meshes, including a knife holder 31 and a knife holder X-axis drive Mechanism, tool holder Y-axis drive mechanism, tool holder Z-axis drive mechanism, cutting knife horizontal position adjustment mechanism, vibration cutting knife and cutting knife rotation motor, knife holder 31 is erected above the cutting section conveyor belt 112, and is driven by the knife X-axis drive mechanism of the carriage, Y-axis drive mechanism of the tool post, and Z-axis drive mechanism of the tool post to realize movement in the X, Y, and Z-axis directions, X-axis drive mechanism of the tool post, Y-axis drive mechanism of the tool post, and Z axis of the tool post The drive mechanism uses the tool post X-axis drive motor 32, the tool post Y-axis drive motor 33, and the tool post Z-axis drive motor 34 as drive sources.

The knife holder 31 is equipped with an array of cutting knife horizontal position adjustment mechanisms, and each cutting knife horizontal position adjustment mechanism is equipped with a cutting knife rotating motor 35 with a vertical axis. The cutting knife rotating motor 35 is connected by a cutting knife vibration motor. Drive a vibrating cutter that vibrates. 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 symmetrically arranged positive and reverse screw thread segments, a positive screw thread segment and a reverse screw thread. The nuts on the segments are respectively connected with a vibrating cutter.

The picking equipment 4, as shown in Figs. 11 and 12, is set on the conveying platform 12 of the picking section for sorting and stacking qualified or unqualified grinding wheel meshes, including a picking frame 41, a three-dimensional picking mechanical arm 42, End picker 43, mesh stacking sign 44 and stacking station switching motor 45,

At least one three-dimensional picking mechanical arm 42 is provided on the picking frame 41, and a plurality of end pickers 43 for picking up the grinding wheel mesh are installed on the three-dimensional picking mechanical arm 42. The end pickers 43 are driven by the end picker driving cylinder to absorb Or it is separated from the grinding wheel mesh, and is driven by the three-dimensional picking mechanical arm 42 to move between the upper surface of the picking section conveyor platform 12 and a stacking station; the mesh stacking sign 44 and the stacking station switching motor 45 are installed in the picking frame On 41, the mesh stacking sign 44 has at least two sets of sign rods that can accommodate the grinding wheel meshes on it. The two sets of sign rods of the mesh stacking sign can be driven by the stacking station switching motor 45 to rotate away from or enter the stacker. Bit.

In this embodiment, as shown in Figures 13, 14, and 15, the three-dimensional pick-up robotic arm 42 includes a base 421, a first link arm 422, a second link arm 423, a third link arm 424, and a first link arm. The arm drive motor 425, the second link arm drive motor 426, the third link arm drive motor 427 and the lower connecting seat 428, the base 421 is evenly distributed with the first link arm drive motor 425 and the second link arm drive The motor 426, the third link arm drive motor 427, the first link arm drive motor 425, the second link arm drive motor 426, and the third link arm drive motor 427 are connected to the first link arm through each swing rod 428, respectively. 422. The upper ends of the second link arm 423 and the third link arm 424 are connected, and the lower ends of the first link arm 422, the second link arm 423, and the third link arm 424 are connected to the lower connecting seat 429 through a universal joint. , The lower connecting seat 429 is connected to a plurality of end pickups 43.

In this embodiment, there are three three-dimensional pick-up robotic arms 42 (see FIG. 12), and their bases 421 are staggered when arranged, so as to shorten the conveyor belt length of the pick-up section and reduce the traction power of the conveyor belt.

In this embodiment, the end picker assembly 43 is used to absorb the grinding wheel mesh or to separate the grinding wheel mesh from the end picker. As shown in FIG. 16, the end picker assembly includes an end picker guide rail 431, a buffer press 432, and Pickup 433,

At least one end picker guide rail 431, the end picker guide rail 431 adopts an aluminum profile structure, which is horizontally connected to the lower end of the three-dimensional picking mechanical arm 42, and both sides of the end picker guide rail 431 have inverted T shapes along the extension direction of the end picker guide rail Guide groove

A number of buffer compressors 432. The buffer compressors 432 are distributed on both sides of the end picker guide rail 431 along the extension direction of the end picker guide rail 431. The buffer presser 432 is a damping cylinder arranged vertically downward or a compression spring with a compression spring. Rod

A number of end pickers 433, the end pickers 433 are distributed on one or both sides of the end picker guide rail 431 along the extension direction of the end picker guide rail 431, as shown in Figures 17, 18, 19, the end picker includes a locking grip Hoop 4331, end pickup seat 4332, end pickup drive cylinder 4333, end pickup needle 4334, the upper part of end pickup seat 4332 has a locking body that accommodates and locks the hoop 4331 outside it, and the upper part of the end pickup seat passes The locking hoop 4331 and the inverted T-bolt 4335 are locked in the inverted T-shaped guide groove on the side of the end picker guide rail 431; the lower part of the end picker 4332 has at least one pair of X-shaped through inclined holes, The end picker driving cylinder 4334 is arranged above the hole. The end picker driving cylinder 4334 is connected with the end picking needle 4334 embedded in the through oblique hole. The end picking needle 4334 is driven by the end picker driving cylinder 4333 to extend or retract through the oblique. hole.

working principle:

First, manually pull the mesh cloth to be cut and place it in place, and the integrated production line for automatic forming, picking and inspection of the mesh is started and standby.

When the conveying equipment starts to work, in the cutting section conveying platform 11, the cutting section conveying motor drives the cutting section conveyor belt to move in the conveying direction, and at the same time, the cutting section clamping cylinder 1146 of the cutting section clamping positioning assembly 114 moves toward The downward movement, together with the cutting section clamping lower pallet 1145, clamps the upper and lower surfaces of the cutting section conveyor belt, while the cutting section clamping and feeding motor 1141 drives the rack and pinion pair 1142 to move, so that The entire cutting section clamping and positioning assembly 114 moves synchronously along the conveying direction, and then jointly drives the cutting section conveyor belt to move along the conveying direction at a set speed and interval time, so as to accurately convey and position the grinding wheel mesh or grinding wheel mesh. ; Avoid the accumulated error caused by the slip of the traditional conveyor roller drive.

Similarly, in the pickup section conveyor platform 12, the pickup section conveying motor drives the pickup section conveyor belt to move in the conveying direction. At the same time, the pickup section clamping cylinder 1246 of the pickup section clamping positioning assembly 124 moves downwards to clamp down with the pickup section. The pallet 1245 cooperates to clamp the upper and lower surfaces of the conveyor belt on both sides of the pickup section, while the rack and pinion pair 1242 driven by the pickup section clamping and feeding motor 1141 moves, so that the entire pickup section clamping and positioning assembly 114 is synchronized along the conveying direction Move, jointly drive the cutting section conveyor belt and the picking section conveyor belt to move along the conveying direction according to the set speed and interval time to carry out the conveying of scraps and the precise conveying and positioning of the grinding wheel mesh;

When the conveying equipment is working, the visual inspection system receives the start signal of the conveying equipment, the visual inspection system PLC sends the corresponding shooting control signal to the corresponding camera controller and light source controller, the line scan camera and LED light source are turned on to the current grinding wheel mesh For image shooting, the image capture card of the line scan camera sends the captured image information to the industrial computer of the vision inspection system through the image transmission bus; the industrial computer of the vision inspection system receives the collected image information and generates it on the grinding wheel mesh at the current position Cut the layout and its origin coordinates, and according to the cutting graphic layout information of the grinding wheel mesh and the built-in template division software, generate virtual center coordinates of the grinding wheel mesh after cutting on the cutting layout; then send the origin coordinates to the cutter Cut system

At the same time, according to the built-in visual defect recognition software, the cutting layout is recognized for defects. After obtaining the defect coordinates, the defect coordinates are calibrated, and the number of defects in the grinding wheel mesh area corresponding to the center coordinates of each virtual grinding wheel mesh is judged according to the defect coordinates. And the defect category; Then, according to the judgment rules of the visual defect recognition software, calibrate the center coordinates of each virtual grinding wheel mesh as the center coordinates of the qualified mesh and the center of the unqualified mesh; combine the center coordinates of the qualified mesh and the center of the unqualified mesh The coordinates are sent to the robot picking system PLC of the picking equipment.

After the cutting equipment is started, it first retrieves the cutting graphic layout information of the grinding wheel mesh, the position adjustment motor of the horizontal position adjustment mechanism of the cutting knife acts according to the distance of the grinding wheel mesh, and drives each vibrating cutter and the equipped cutting The knife rotating motor 35 and the cutting knife vibration motor move together to adjust the spacing of each vibrating cutting knife, and the cutting knife that needs to be cut is vibrated by the corresponding cutting knife vibration motor;

When the grinding wheel mesh, which has been detected and identified by the visual inspection equipment, moves to the bottom of the cutting system, the cutting section conveying platform 11 stops conveying, and the tool rest 31 of the cutting system is driven by the tool rest X axis drive mechanism and the tool rest Y axis The drive mechanism and the Z-axis drive mechanism of the tool post then cut the grinding wheel mesh into the required grinding wheel mesh.

The cutting equipment sends control signals to the tool post X-axis drive motor 32, the tool post Y-axis drive motor 33, and the tool post Z-axis drive motor 34, based on the received coordinates of the cutting layout origin output by the industrial computer of the video detection system. The servo drive of the cutting knife rotating motor 35 drives the movement of the knife holder 31 in the X, Y, and Z axis directions, and then cuts the grinding wheel mesh on the current cutting layout of the grinding wheel mesh cloth, and ensures the cut grinding wheel The coordinates of the center of the mesh are consistent with the coordinates of the center of the mesh of the grinding wheel after the virtual cutting is generated on the cutting layout in the video detection system industrial computer;

After the cutting is completed, the cutting section conveying platform 11 runs again, and the cut grinding wheel mesh is moved from the cutting section conveying platform 11 to the picking section conveying platform 12;

The picking equipment sends corresponding control signals to the first link arm drive motor, the second link arm drive motor, and the third link arm according to the received coordinates of the center of the qualified mesh and the center of the unqualified mesh from the industrial computer of the visual inspection system. The servo controller of the lever arm drive motor and the solenoid valve of the end pickup drive cylinder,

The first link arm drive motor 425, the second link arm drive motor 426, and the third link arm drive motor 427 respectively drive the first link arm 422 and the second link arm connected together at the lower end through each swing rod 428. 423. The third link arm 424 moves, so that the multiple end picker assemblies connected to the lower connecting seat 429 move to the top of the corresponding grinding wheel mesh, and the grinding wheel mesh is pressed by the buffer press 432 to prevent it from moving;

The end picker drives the cylinder 4333 to start to move. After the drive end picking needle 4334 stretches out to grab the mesh of the grinding wheel, the end picker assembly moves to the top of the mesh stacking tab 44 that is in the stacking station, and passes through the end picker solenoid valve. Control the opening and closing of the grinding wheel to lower the grabbed grinding wheel mesh, so that the grinding wheel mesh end picker assembly is repeatedly driven to reciprocate between the picking section conveyor belt and the mesh stacking sign 44 of the palletizing station to realize the sorting, picking and stacking of the grinding wheel mesh. Of course, for unqualified meshes, the picking equipment can pick up another mesh stacking tag 44 according to the setting, or not pick up. After the picking equipment completes the picking, the conveying equipment works again and enters the next production cycle.

Claims

An integrated production line for automatic forming, picking and inspection of grinding wheel mesh, which is characterized in that it includes conveying equipment, visual inspection equipment, cutting equipment, and picking equipment.

Conveying equipment for conveying and positioning the grinding wheel mesh cloth to be cut and the grinding wheel mesh sheet formed after cutting, including at least one cutting section conveying platform and at least one picking up in sequence from the feeding side to the discharging side along the conveying direction Section conveyor platform,

The cutting section conveying platform includes a cutting section frame, a cutting section conveyor belt, a cutting section conveying motor and a pair of cutting section clamping and positioning components, and the cutting section conveyor belt is arranged on the cutting section frame And is driven by the cutting section conveying motor to move along the conveying direction. The cutting section clamping and positioning components are arranged on both sides of the cutting section conveyor belt for clamping the cutting section conveyor belt and conveying it with the cutting section. Motors jointly drive the cutting section conveyor belt to move along the conveying direction to achieve precise positioning;

The pickup section conveyor platform includes a pickup section frame, a pickup section conveyor belt, a pickup section conveying motor, and a pair of pickup section clamping and positioning components. The pickup section conveyor belt is arranged on the pickup section frame and is transported by the pickup section. The motor drives to move along the conveying direction. The pick-up section clamping and positioning components are arranged on both sides of the pick-up section conveyor belt, and are used to clamp the pick-up section conveyor belt and drive the pickup section conveyor belt to move in the conveying direction together with the pickup section conveying motor. Precise positioning;

Visual inspection equipment, set in front of the feed side of the cutting section conveyor platform, used to generate the origin coordinates of the cutting layout on the grinding wheel mesh to be cut as the cutting reference and send to the cutting equipment, and the grinding wheel to be cut The mesh cloth recognizes defects and sends the coordinates of the defects to the picking equipment as the picking reference;

Cutting equipment, set on the cutting section conveyor platform, used to cut the grinding wheel mesh to be cut into grinding wheel mesh, including tool holder, tool holder X-axis drive mechanism, tool holder Y-axis drive mechanism, tool holder Z-axis driving mechanism, cutting knife horizontal position adjustment mechanism, vibrating cutting knife, cutting knife vibration motor and cutting knife rotating motor, the knife holder is set up above the cutting section conveyor belt and driven by the knife holder X axis , The Y-axis drive mechanism of the tool post and the Z-axis drive mechanism of the tool post are driven to realize the movement in the X, Y, and Z axis directions. The tool post is equipped with an array of cutting knife horizontal position adjustment mechanisms, in the horizontal position of each cutting knife A cutting knife rotating motor with a vertical axis is installed on the adjusting mechanism, and the cutting knife rotating motor is connected to a vibrating cutter driven by a vibrating cutter vibration motor;

The tool post X-axis drive mechanism, tool post Y-axis drive mechanism, and tool post Z-axis drive mechanism use tool post X-axis drive motor, tool post Y-axis drive motor, and tool post Z-axis drive motor as drive sources;

Picking equipment, set on the conveyor platform of the picking section, used to sort and stack qualified or unqualified grinding wheel meshes, including picking racks, three-dimensional picking robotic arms, end pickers, mesh stacking signs and stackers Position switching motor, the picking frame is provided with at least one three-dimensional picking mechanical arm, the three-dimensional picking mechanical arm is installed with a plurality of end picker assemblies for picking up the grinding wheel mesh, the end picker assembly is The pick-up drive cylinder drives the adsorption or separation of the grinding wheel mesh, and is driven by the three-dimensional picking mechanical arm to move between the upper surface of the picking section conveyor platform and a stacking station; the mesh stacking sign and stacking station switching motor is installed in the picking On the frame, the mesh stacking label has at least two sets of sticks on which the mesh can be accommodated, and the two sets of sticks of the mesh stacking label can be driven by the stacking station switching motor to rotate away or enter Stacking station.
The automatic forming, picking and inspection integrated production line of grinding wheel mesh according to claim 1, wherein the cutting section clamping and positioning assembly includes a cutting section conveyor belt clamping assembly and a cutting section linear drive positioning assembly , Cutting section linear guide assembly, the guiding direction of the cutting section linear guide assembly is consistent with the conveying direction of the cutting section conveyor belt, and the cutting section conveyor belt clamping assembly is installed in the cutting section through the cutting section linear guide assembly The cutting section is mounted on the frame, and the cutting section linear drive positioning assembly is driven to reciprocate along the conveying direction of the cutting section conveyor belt.
The integrated production line for automatic molding, picking and inspection of the grinding wheel mesh according to claim 2, wherein the linear drive positioning assembly of the cutting section adopts a gear rack pair driven by a cutting section clamping and feeding motor.
The automatic forming, picking and inspection integrated production line of grinding wheel mesh according to claim 2, characterized in that: the cutting section conveyor belt clamping assembly includes a cutting section clamping bracket, and a clamping bracket installed in the cutting section. The cutting section on the bracket clamps the lower pallet and the cutting section clamping cylinder, and the cutting section clamping cylinder is located above the cutting section clamping lower pallet.
The automatic forming, picking and inspection integrated production line of grinding wheel mesh according to claim 1, wherein the picking section clamping and positioning components include picking section conveyor belt clamping components, picking section linear drive positioning components, and picking section Linear guide assembly, the guiding direction of the pickup section linear guide assembly is consistent with the conveying direction of the pickup section conveyor belt, and the pickup section conveyor belt clamping assembly is installed on the pickup section frame through the pickup section linear guide assembly, and the pickup section The segment linear drive positioning component drives reciprocating movement along the conveying direction of the pick-up conveyor belt.
The integrated production line for automatic molding, picking and inspection of the grinding wheel mesh according to claim 5, wherein the linear drive positioning component of the picking section adopts a rack and pinion pair driven by the picking section clamping and feeding motor.
The automatic forming, picking and inspection integrated production line of grinding wheel mesh according to claim 5, characterized in that: the pick-up section conveyor belt clamping assembly includes a pick-up section clamping bracket, and a pick-up section clamping bracket installed on the The pickup section clamps the lower pallet and the pickup section clamping cylinder. The pickup section clamping cylinder is located above the pickup section clamping lower pallet.
The integrated production line of automatic forming, picking and inspection of grinding wheel mesh according to claim 2, characterized in that: the visual inspection equipment includes a visual inspection system industrial computer, a visual inspection system PLC, a line scan camera, an LED light source and a roller type An encoder, the industrial computer of the visual inspection system has built-in template division software and visual defect recognition software, the industrial computer of the visual inspection system communicates with the visual inspection system PLC, and the output signal of the visual inspection system PLC is connected to the camera controller of the line scan camera and The light source controller of the LED light source, the roller encoder is arranged on the upper surface of the cutting section conveying platform, and the output signal is connected to the visual inspection system PLC, and the output signal of the line scan camera is connected to the visual inspection system industrial computer.
The integrated production line for automatic molding, picking and inspection of the grinding wheel mesh according to claim 1, wherein 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 The symmetrically arranged forward-turn thread section and reverse-turn thread section, and the nuts on the forward-turn thread section and the reverse-turn thread section are respectively connected with a vibrating cutter;
The integrated production line of automatic forming, picking and inspection of the grinding wheel mesh according to claim 1, wherein the three-dimensional picking mechanical arm includes a base, a first link arm, a second link arm, and a third link. The arm, the first link arm drive motor, the second link arm drive motor, the third link arm drive motor and the lower connecting seat, the first link arm drive motor and the second link arm are evenly distributed on the base The arm drive motor, the third link arm drive motor, the first link arm drive motor, the second link arm drive motor, and the third link arm drive motor are connected to the first link arm and the second link arm through each swing rod. The upper ends of the lever arm and the third link arm are connected; the lower ends of the first link arm, the second link arm and the third link arm are connected to the lower connecting seat through a universal joint, and the lower connecting seat is connected to multiple end pickers .
The integrated production line for automatic molding, picking and inspection of the grinding wheel mesh according to claim 1 or 10, wherein the end picker assembly includes an end picker guide rail, an end picker, and a buffer compactor,

At least one end picker rail, the end picker rail is horizontally connected to the lower end of the three-dimensional picking mechanical arm, and both sides of the end picker rail have inverted T-shaped guide grooves along the extension direction of the end picker rail;

A plurality of buffer compactors, the buffer compactors are distributed on both sides of the end picker rail along the extension direction of the end picker rail, and the buffer compactors are damping cylinders arranged vertically downwards or compression rods with compression springs ；

A plurality of end pickers, the end pickers are distributed on one or both sides of the end picker guide rail along the extension direction of the end picker guide rail, the end pickers include a locking hoop, an end picker seat, and an end picker drive Cylinder, end picking needle, the upper part of the end picking seat has a locking body that accommodates the locking hoop sleeved outside it, the upper part of the end picking seat is locked in by the locking hoop and the inverted T-bolt In the inverted T-shaped guide groove on the side of the end picker rail; the lower part of the end picker has at least one pair of X-shaped through inclined holes, and the end picker driving cylinder is arranged above the through inclined holes. An end picking needle embedded in the through oblique hole is connected to the pickup driving cylinder, and the end picking needle is driven to extend or retract into the through oblique hole by the end pickup driving cylinder.