WO2020259521A1 - 一种适用于弹性材料的搬运与纠偏系统及其方法 - Google Patents

一种适用于弹性材料的搬运与纠偏系统及其方法 Download PDF

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Publication number
WO2020259521A1
WO2020259521A1 PCT/CN2020/097844 CN2020097844W WO2020259521A1 WO 2020259521 A1 WO2020259521 A1 WO 2020259521A1 CN 2020097844 W CN2020097844 W CN 2020097844W WO 2020259521 A1 WO2020259521 A1 WO 2020259521A1
Authority
WO
WIPO (PCT)
Prior art keywords
control unit
correcting
image recognition
upper layer
correction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/097844
Other languages
English (en)
French (fr)
Inventor
肖占春
郑友来
张东阳
汪益停
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anji Bata Robot Co Ltd
Original Assignee
Anji Bata Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anji Bata Robot Co Ltd filed Critical Anji Bata Robot Co Ltd
Priority to CA3145737A priority Critical patent/CA3145737A1/en
Priority to US17/621,714 priority patent/US12269176B2/en
Priority to EP20832428.5A priority patent/EP3992125A4/en
Publication of WO2020259521A1 publication Critical patent/WO2020259521A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/0204—Sensing transverse register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/11—Dimensional aspect of article or web
    • B65H2701/113—Size
    • B65H2701/1133—Size of webs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global

Definitions

  • the invention relates to the field of elastic material manufacturing and processing, and in particular to a system and method suitable for conveying and correcting elastic materials.
  • Elastic materials such as sponges are common materials and are often processed into different products.
  • a multi-functional laminated mat disclosed in the Chinese patent document with the authorization announcement number CN201185778Y includes a substrate, a sponge layer and a number of cushion layers with different functions. In the production process of these laminated mats, each The layers are superimposed layer by layer, and the position and angle of the layer must be correct during the stacking process.
  • elastic materials such as sponges are affected by the environmental temperature and humidity, the length of the foaming internal stress release time, and external forces according to their manufacturing process and the physical and chemical properties of their own elastic bodies. They are on the size of common mattresses. , Its outline size has random deformation from several millimeters to tens of millimeters.
  • the sponge lamination process of mattress production at home and abroad often still relies on manual operations. Specifically, 4 workers were used to manually lamination. The sponge was deformed by the naked eye, and the sponge was deformed by pulling or compressing the sponge by hand, so that the outer contours of the upper and lower sponges overlapped.
  • the purpose of the present invention is to provide a system and method for handling and correcting deviations of elastic materials, which rely on automatic equipment for correcting deviations, with high degree of automation and precise control.
  • a handling and correction system suitable for elastic materials including a workbench, and also including:
  • An image recognition device which is used to take images of the substrate and the upper layer
  • a control unit which is in communication connection with the image recognition device, and is configured to receive the image information collected by the image recognition device, and generate control instructions based on the image information;
  • a motion robot the motion robot is in communication with the control unit and receives the control instruction issued by the control unit;
  • a correction device the correction device is connected to the moving robot, the correction device is in communication with the control unit, and receives the control instruction issued by the control unit, and the correction device is used to grab the upper layer Pieces.
  • the image recognition device includes a camera and a flash.
  • control unit calculates the center position data, deflection angle data, and contour data of the substrate and the upper part based on the image information.
  • the center position data includes center point coordinate data
  • the deflection angle data includes rotation angle data relative to the image recognition device
  • the upper layer and the base include multiple features on contour lines Point
  • the contour data includes multiple feature point coordinate data
  • the correcting device includes a main frame, and a correcting device is connected to the main frame, and the correcting device includes a bidirectional correcting device that can move in a horizontal front-to-rear direction or a horizontal left-to-right direction with respect to the main frame. Relative to the four-way rectifier that moves in the horizontal forward and backward directions and the horizontal left and right directions relative to the main frame, the four-way rectifier is located at the corner of the main frame.
  • the number of the four-way correcting device is 4, which are located at the four corners of the main frame.
  • the main frame includes an outer frame and an inner frame located in the outer frame, and diagonal reinforcement posts are connected at the diagonal positions of the outer frame and the inner frame.
  • a middle connecting block is arranged at the intersection position, and a lifting arm connecting port for connecting a lifting arm is connected to the middle connecting block.
  • the two-way rectifier is movably connected with the outer frame
  • the four-way rectifier is movably connected with the outer frame and the diagonal reinforcement column.
  • the two-way rectifier includes a motor three fixedly connected to the outer frame and a bending sliding piece threadedly connected to the motor shaft of the motor three, and the bending sliding piece includes two The low part and the high part located in the middle, the low part is connected with the horizontal connecting piece, the high part is slidingly connected to the vertical connecting column, the vertical connecting column is connected with the outer frame, and the horizontal connecting piece is connected with The joint board is provided with a piercing unit.
  • the puncturing unit includes a driving rod and a needle connected to the end of the driving rod, the needle is arranged obliquely, and the extending direction of the needle is consistent with the extending direction of the driving rod.
  • a correction plate is connected to the end of each drive rod, and a plurality of parallel pins are installed on the correction plate, and the correction plate is located above the common plate in the height direction.
  • the common coupling plate is provided with a guide hole for the needle to pass through.
  • the correction board is changed to a correction board, or a correction board, and a correction moving board.
  • each of the two-way rectifiers includes two sets of the piercing units that are symmetrically arranged, the extension direction of the needle and the extension direction of the drive rod are both inclined, and the The oblique direction is a horizontal downward direction gradually away from the needles of another set of the puncture unit in the horizontal direction.
  • the four-way correcting device includes a sliding device 1 slidably connected to the main frame, the sliding device 1 is slidably connected to the sliding device 2, and the sliding device 2 is provided with a fixed cushion for clamping and fixing The pad picker.
  • the sliding directions of the first sliding device and the second sliding device are both horizontal, and the two sliding directions are perpendicular to each other.
  • the sliding device includes a motor connected to the main frame, a rotating shaft driven by the motor, a connecting piece connected to the rotating shaft, and a connecting piece connected to and connected to the connecting piece.
  • the sliding frame is slidably connected to the main frame, and the connecting piece includes a nut connecting piece threadedly connected with the rotating shaft.
  • the second sliding device includes a second motor, a second rotating shaft, and a second connecting piece.
  • the second connecting piece is connected to the second rotating shaft, and the second connecting piece is slidingly connected to the connecting piece.
  • the second motor is fixedly connected to the connecting piece.
  • the second connecting piece is connected to the pad remover.
  • the pad removing device includes a fixing plate connected to the connecting piece and a pad removing device connected to the fixing plate, and the pad removing device includes a needle.
  • the lancet is arranged obliquely, and the inclination direction is gradually away from the central axis of the fixing plate in the horizontal direction in a vertical downward direction.
  • the pad remover includes a pad remover connected to the fixed plate, the pad remover includes a driver and a needle connecting plate connected to the end of the driver, and the lancet is connected to the needle connecting plate .
  • the extension direction of the lancet is parallel to the expansion and contraction direction of the driver.
  • the padding removal includes forward padding removal and reverse padding removal, and the forward padding removal and the reverse padding removal are arranged opposite to each other.
  • a method for handling and correcting elastic materials including the following steps:
  • the image recognition device takes an image frame of the substrate and the upper layer and transmits it to the control unit;
  • the control unit calculates the adjustment data of the upper layer piece and the base based on the picture of the captured image, and generates motion control data based on the adjustment data;
  • the control unit controls the movement of the moving robot and the correction device, and adjusts the upper part.
  • the adjustment step includes a positioning and overlaying step and a deviation correction step; the control unit calculates the center point coordinates, deflection angle and contour coordinates of the substrate and the upper part based on the picture of the captured image Difference,
  • the moving robot moves and rotates the upper part so that the center points of the upper part and the base are aligned with the deflection angle;
  • the correction device corrects the grasped upper layer part based on the contour coordinate difference, so that the outer contour of the upper layer part is consistent with the outer contour of the base.
  • the present invention has the following beneficial effects:
  • the main frame is moved in all directions by the mechanical arm to move the mat.
  • the corrector includes two-way corrector and four-way corrector, which are suitable for different sizes and types of laminated mat products.
  • the puncture unit adopts a two-way external puncture design, the puncture effect is stable, and the mat is not easy to slip off.
  • Figure 1 is a schematic diagram of the first embodiment
  • Figure 2 is a schematic diagram of the base and the upper layer
  • Figure 3 is a schematic diagram of the correction device
  • Figure 4 is a schematic diagram of the bidirectional corrector
  • Figure 5 is a detailed enlarged view of A in Figure 3;
  • Figure 6 is a detailed enlarged view of A in Figure 5;
  • Fig. 7 is a schematic diagram of bolstering in the four-way corrector
  • Fig. 8 is a schematic diagram of the correction device in the second embodiment
  • Fig. 9 is a detailed enlarged view of A in Fig. 8.
  • Bending sliding piece 513, motor three, 52, four-way rectifier, 6, common plate, 61, guide hole, 7, piercing unit, 71, driving rod, 72, rectifying plate, 73, needle, 81.
  • Example 1 as shown in Figure 1 and Figure 2.
  • the base 82 and the upper layer 83 are placed on different workbenches 81, and the upper layer 83 needs to be stacked on the base 82, and the upper layer 83 must be correctly positioned, angled and contour coincident.
  • the substrate 82 can be a sponge or a template, etc., and the outlines of both often have a certain irregular deformation deviation as shown in FIG. 2.
  • the upper part 83 is often large in size and heavy in weight, and the labor intensity is too great if it is manually operated by workers. And because the upper layer 83 is often made of sponge, rubber or other elastic materials, or even cloth, the contour is irregularly deformed. Therefore, manual operations are often inaccurate.
  • This technical solution uses an automated technical solution.
  • the motion robot 86 may be a multi-joint robot, and its multi-segment manipulator arm can complete actions such as rotation, rotation, and translation.
  • the articulated robot is mature in the prior art, and its specific structure will not be repeated here, and the ABB-IRB6700-245 robot in the prior art can be used.
  • a correction device 87 is connected to the end of the moving robot 86.
  • the correction device 87 can use a needle-punching technical solution to pierce the upper part 83, or a sucker technical solution to suck the upper part 83.
  • the following will give an example of acupuncture technical solutions.
  • the image recognition device 84 is used to take pictures, and can be a video camera or a camera, and is often equipped with a flash to ensure the brightness of the picture and suppress ambient light interference. There may be two image recognition devices 84, which respectively take images of the upper layer member 83 and the substrate 82, and send the image frames to the control unit 85 through wired or wireless transmission.
  • the control unit 85 is a control cabinet, and the control cabinet may be an industrial control computer or other electronic circuit board capable of running software. Corresponding computing software is preset in the computer, and the programming language of the software is not limited, and those skilled in the art can perform programming according to functions.
  • the industrial control computer calculates at least three data from the image just captured, which are the center point coordinates, deflection angle and contour coordinate difference of the base 82 and the upper layer 83 respectively.
  • the control unit 85 controls the movement and rotation of the manipulator arm of the mobile robot 86. This process ensures that the center points of the two workpieces are aligned and coincide with the deflection angle.
  • the correction step on the upper part 83 and the base 82, the system divides the contour lines of these two parts into several characteristic points, and records the coordinate data corresponding to each characteristic point. According to the contour coordinate difference, the deviation correction device 87 is used to correct the deviation, so that the outer contour of the upper layer member 83 is completely consistent with the outer contour of the base 82.
  • the moving robot 86 positions and folds the upper layer 83, and places the upper layer 83 on the base 82 and then performs targeted corrections, but moves In the process of moving the upper part 83, the robot 86 has already performed and completed the correction work.
  • This design method has greatly improved the efficiency of the process and greatly shortened the process time.
  • the specific structure of the correction device 87 is shown in Fig. 3, including the main frame 1.
  • the main frame 1 is also the main support of the technical solution, and the material is not limited.
  • the main frame 1 includes two lip-shaped outer frames 11 and an inner frame 12 inside, and two diagonal reinforcement posts 13 are provided on the diagonal of the outer frame 11.
  • the diagonal reinforcement column 13 is also connected to the diagonal of the inner frame 12.
  • the diagonal reinforcement column 13 not only strengthens the structural strength of the inner frame 12 and the outer frame 11, but also facilitates the installation and guidance of other components.
  • a rectangular middle connecting block 14 is provided at the central staggered connection of the two diagonal reinforcement columns 13 to further increase the force structure of the central area.
  • a lifting arm connecting port 15 is provided on the middle connecting block 14 for connection The robotic arm of the motion robot 86. Under the traction of the mechanical arm, the entire main frame 1 moves in the vertical and horizontal directions.
  • a rectifier 5 is connected to the main frame 1, and there are multiple rectifiers 5, which are used to fork the bottom cushion, that is, the upper layer 83. Different rectifiers 5 are installed at different positions on the main frame 1. During the working process, the upper layer member 83 needs to be placed on the base 82.
  • main frame 1 is provided with a plurality of rectifiers 5, different sizes of cushions can use different numbers of rectifiers 5.
  • the corrector 5 is divided into two types according to its structure and function, namely a two-way corrector 51 and a four-way corrector 52.
  • the former is horizontal sliding on the left and right sides, or front and back sliding.
  • the latter is able to slide on the left and right sides as well as the front and back sides.
  • the four-way rectifiers 52 are distributed at the corners of the outer frame 11. In this case, there are four four-way rectifiers 52, which are respectively located at the four corners of the outer frame 11.
  • the working principle of the bidirectional rectifier 51 is first introduced below.
  • FIG. 3 and FIG. 4 there are a plurality of two-way rectifiers 51, which are respectively installed on different sides of the outer frame 11. The direction of its movement is often perpendicular to the side to which it is connected.
  • a third motor 513 is installed on the outer frame 11. When the third motor 513 rotates, the motor connecting shaft starts to rotate, and the connecting shaft is provided with threads.
  • the bending sliding piece 512 is provided with a connecting component, such as a nut, and is screwed to the motor connecting shaft. When the motor connecting shaft rotates, the distance between the bent sliding piece 512 and the motor 513 is also locked or extended.
  • Vertical connecting posts 511 are vertically arranged on the outer frame 11, the left and right sides of which not only strengthen the structural bearing capacity, but also serve as a guide for the movement path.
  • the bending sliding piece 512 is in the shape of a few characters, and includes a high part in the middle and low parts on both sides. The high part slides on the vertical connecting post 511, and the two low parts are used to connect the transverse connecting piece 514 on both sides.
  • transverse connecting pieces 514 there may be multiple transverse connecting pieces 514.
  • the two sides of the plurality of transverse connecting pieces 514 are connected to two common joint plates 6.
  • Each joint plate 6 has a set of piercing units 7.
  • the two sets of puncturing units 7 are arranged opposite to each other, and the needle ejection directions are opposite.
  • the piercing unit 7 includes a driving rod 71, which may be an air rod or other similar driving structure.
  • a correction plate 72 is connected to the end of the air rod, and a plurality of needles 73 are installed on the correction plate 72.
  • the air rod operates and extends, and the correcting plate 72 is driven to move down, and the needle 73 passes through the guide hole 61 on the joint plate 6 and penetrates the cushion.
  • the lower surface of the correcting plate 72 conflicts with the upper surface of the co-linking plate 6 and interferes, so that the needle 73 will not move down, so as to control the penetration length of the needle 73 and avoid excessive penetration of the mat.
  • the expansion and contraction direction of the drive rod 71 is parallel to the extension direction of the needle 73 and forms a certain angle with the horizontal plane, for example, between 40° and 60°.
  • the tilt direction is outward tilt.
  • two sets of puncture units 7 are arranged opposite to each other, and the needle ejection direction is opposite.
  • Each needle 73 in a vertical downward direction, gradually moves away from the corresponding needle 73 on the other group of corresponding puncturing units 7 in the horizontal direction.
  • This design can not only ensure that the mat is not penetrated too deeply, secondly, expand the horizontal penetration, the mat is not easy to fall off, and thirdly, this double-group spreading needle method is conducive to the flatness and spread of the mat .
  • a four-way corrector 52 is provided at the corner of the main frame 1.
  • the four-way corrector 52 means that it can move in four horizontal directions, so as to adjust the position of the cushion.
  • the specific structure is shown in Figure 6 and Figure 7.
  • the sliding device 2 includes a motor 21 that drives the rotating shaft 22 to rotate.
  • the motor 21 can be fixedly connected to the diagonal reinforcement column 13.
  • the connecting piece 23 is provided with a nut connecting piece 231, and the nut connecting piece 231 is screwed to the rotating shaft 22. When the rotating shaft 22 rotates, the nut connecting piece 231 will move relative to it.
  • the connecting piece 23 is L-shaped, and the sliding device 2 3 is connected to the connecting piece 23.
  • the second motor 31 is fixedly connected to the connecting piece 23.
  • the second rotating shaft 32 rotates, the second connecting piece 33 is also screwed to it, and moves relative to its axial direction.
  • the axial directions of the second rotating shaft 32 and the rotating shaft 22 are perpendicular, so that the second connecting piece 33 can move in four horizontal directions: front, back, left, and right.
  • the upper end of the second connecting piece 33 is connected to the second rotating shaft 32, and the lower end can be fixedly connected to the fixing plate 41.
  • the fixed connecting plate 41 is also connected with a retractable driver 421, such as a gas rod.
  • a needle connecting plate 422 is connected to the end of the air rod, and a needle 423 is arranged on it.
  • Each fixed connecting plate 41 may be provided with two-direction pick-up pads 42, and the working principle, the tilt direction and the needle-out direction are the same as those of the bidirectional corrector 51 mentioned above.
  • components such as the mechanical arm of the mobile robot 86 drive the entire main frame 1 to move in the horizontal and vertical directions through the lifting arm connection port 15. Get the mat through the needle on the corrector 5. Then in the process of placing this layer of mat on top of the lower layer of mat, the air rod is controlled by the control system to control the correctors in different positions to slide in the specified direction.
  • the bidirectional corrector 51 slides in two directions, and the four-way corrector 52 slides in four directions.
  • the position, angle and flatness of the cushion can be adjusted by sliding the corrector in different positions.
  • the whole process is controlled by the numerical control system, the stroke is accurate, the response is fast, and the work is completely unmanned.
  • the step of correcting deviation does not start after the moving robot 86 moves the upper part 83 into position, but when the moving robot 86 moves and rotates the upper part 83, that is, the positioning and lamination process In, synchronous radial correction operation.
  • the working principle of this embodiment is the same as that of the first embodiment, but the difference is that the mechanical design and structure of the correction device 87 connected to the moving robot for grabbing the upper part is different.
  • the structure of the correction device 87 is changed.
  • the frame design has changed from the X-shaped frame in the first embodiment to the T-shaped frame in FIG. 8.
  • the staggered diagonal reinforcement posts 13 in the original embodiment 1 are eliminated.
  • the specific numbers of the two-way corrector 51 and the four-way corrector 52 are changed.
  • the bidirectional corrector 51 slides on the left and right sides in the horizontal direction, or slides on the front and back sides.
  • the four-way corrector 52 can slide on the left and right sides as well as on the front and back sides. In terms of position distribution, the four-way film corrector 52 is still at the four corners of the main frame 1.
  • the specific number of the two-way film corrector 51 and the four-way corrector 52 may not be limited, and the specific settings and adjustments can be made according to the size and shape of the upper layer 83 actually operated.
  • this embodiment also modifies the sliding modes of the two-way corrector 51 and the four-way corrector 52.
  • a linear guide rail is added.
  • the main frame 1 includes a main beam 16, a rail beam 17 is connected to the main beam 16, and a linear guide rail can be installed on the rail beam 17. Driven by the motor, the piercing unit 7 can slide stably on the rail beam 17.
  • FIG. 9 is a detailed enlarged view of A in FIG. 8, which is the specific structure of the four-direction corrector 52 at the four corners of the main frame 1. Similar to the first embodiment, two independent motors are also used to enable each piercing unit 7 to slide in the horizontal direction, front, back, left, and right. However, in this implementation, on the one hand, the number of four-way rectifiers 52 and the number of needle-punching units 7 thereon are increased, thereby increasing the stability of the device for fixing the edges and corners of the material, so that the material is not easy to slip off.
  • the puncture unit 7 In the spatial arrangement of the puncture unit 7, it is divided into two parts, namely the normal puncture unit and the avoidance puncture unit.
  • the common piercing unit is shown in the lower left corner of FIG. 9, and its arrangement is still oblique and staggered, which is the same as the first embodiment.
  • the avoidance puncture unit that is, the two groups of acupuncture units 7 in the upper right corner in FIG. 9. Parallel to each other, they are also slanted outwardly, but provide space for the installation of the motor and avoid spatial interference.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

一种适用于弹性材料的搬运与纠偏系统，包括工作台（81）；图像识别装置（84），图像识别装置（84）用于拍摄基底（82）和上层件（83）的图像；控制单元（85），与图像识别装置（84）通讯连接，用于接收图像识别装置（84）所收集到的图像信息，并将基于图像信息产生控制指令；运动机器人（86），运动机器人（86）与控制单元（85）通讯连接，且接收所述控制单元（85）发出的控制指令；纠偏装置（87），纠偏装置（87）与运动机器人（86）连接，纠偏装置（87）与控制单元（85）通讯连接，且接收控制单元（85）发出的控制指令，纠偏装置（87）用于抓取上层件（83）。该系统通过自动化设备进行纠偏操作，自动化程度高，控制精准。还涉及一种适用于弹性材料的搬运与纠偏系统的使用方法。

Description

一种适用于弹性材料的搬运与纠偏系统及其方法 技术领域
本发明涉及弹性材料制造加工领域，具体涉及一种适用于弹性材料的搬运与纠偏系统及其方法。
 背景技术
弹性材料诸如海绵等材料是常见的材料，往往会被加工成为不同的产品。如授权公告号为CN201185778Y的中国专利文件所公布的一种多功能覆合垫，就包括有基底、海绵层和多个不同功能的垫层，在这些覆合垫生产的过程中，需要将各个层逐层进行叠加，在叠加过程中尤其需要叠层的位置和角度正确。
然而在这生产过程中，弹性材料如海绵，根据其制造工艺与自身弹力体的物理化学特性，受环境温湿度、发泡内应力释放时间长度、外力的影响，在常见床垫的大小尺度上，其轮廓尺寸有数毫米到数十毫米的无规则变形。目前国内外的床垫生产的海绵覆合工序，往往依然依靠人工操作。具体的，采用4名工人，手工覆合的方式，人的肉眼观察海绵变形，人手拉扯或压缩海绵变形，使上下两层海绵外轮廓重合。
但这样的操作方式存在一定的缺陷，由于弹性材料对应的产品，例如海绵床垫尺寸大且柔软，非常不容易搬取，部分高密度的产品一件就达到了50公斤的重量，需要多位工人才能进行操作，人工劳动强度高。此外，由于是工人肉眼观察变形并进行人工拉扯，生产效率低，覆合的精度与质量稳定性差。
 技术解决方案
本发明的目的是提供一种适用于弹性材料的搬运与纠偏系统及其方法，依靠自动化设备进行纠偏操作，自动化程度高，控制精准。
本发明的上述技术目的是通过以下技术方案得以实现的：一种适用于弹性材料的搬运与纠偏系统，包括工作台，还包括：
图像识别装置，所述图像识别装置用于拍摄基底和上层件的图像；
控制单元，所述控制单元与所述图像识别装置通讯连接，用于接收所述图像识别装置所收集到的图像信息，并将基于所述图像信息产生控制指令；
运动机器人，所述运动机器人与所述控制单元通讯连接，且接收所述控制单元发出的所述控制指令；
纠偏装置，所述纠偏装置与所述运动机器人连接，所述纠偏装置与所述控制单元通讯连接，且接收所述控制单元发出的所述控制指令，所述纠偏装置用于抓取所述上层件。
作为本发明的优选，所述图像识别装置包括相机和闪光灯。
作为本发明的优选，所述控制单元根据所述图像信息，计算出所述基底和所述上层件的中心位置数据、偏转角数据和轮廓数据。
作为本发明的优选，所述中心位置数据包括中心点坐标数据，所述偏转角数据包括相对所述图像识别装置的旋转角数据，所述上层件和所述基底包括轮廓线条上的多个特征点，所述轮廓数据包括多个特征点坐标数据。
作为本发明的优选，所述纠偏装置包括主框，所述主框上连接有纠偏器，所述纠偏器包括可相对所述主框在水平前后方向或水平左右方向移动的双向纠偏器和可相对所述主框在水平前后方向和水平左右方向移动的四向纠偏器，所述四向纠偏器位于所述主框的角落位置。
作为本发明的优选，所述四向纠偏器数量为4个，位于所述主框的框体上的四个角落。
作为本发明的优选，所述主框包括外框和位于所述外框内的内框，所述外框和所述内框的对角线位置连接有对角加强柱。
作为本发明的优选，所述对角加强柱有两条，在其交汇位置设有中连块，所述中连块上连接有用于连接升降臂的升降臂连接口。
作为本发明的优选，所述双向纠偏器与所述外框活动连接，所述四向纠偏器与所述外框和所述对角加强柱活动连接。
作为本发明的优选，所述双向纠偏器包括与所述外框固定连接的电机三和与所述电机三的电机轴螺纹连接的弯折滑动片，所述弯折滑动片包括位于两侧的低部和位于中间的高部，所述低部与横向连接片连接，所述高部滑动连接在垂连柱上，所述垂连柱与所述外框连接，所述横向连接片上连接有共联板，所述共联板上安装有扎刺单元。
作为本发明的优选，所述扎刺单元包括驱动杆和连接在所述驱动杆末端的针，所述针倾斜设置，所述针的延伸方向与所述驱动杆的伸出方向一致。
作为本发明的优选，每个驱动杆末端连接有一个纠偏板，多个相互平行的所述针安装在所述纠偏板上，所述纠偏板在高度方向上位于所述共联板上方，所述共联板上设有供所述针通过的导向孔。纠偏板改为纠偏板，或纠偏移板，纠偏动板。
作为本发明的优选，每个所述双向纠偏器均包括两套对称设置的所述扎刺单元，所述针的延伸方向与所述驱动杆的伸出方向均为倾斜设置，所述针的倾斜方向为按水平向下方向逐渐在水平方向上远离另一套所述扎刺单元的所述针。
作为本发明的优选，所述四向纠偏器包括在所述主框上滑动连接的滑动装置一，所述滑动装置一滑动连接滑动装置二，所述滑动装置二上设有用于夹持固定垫子的取垫器。
作为本发明的优选，所述滑动装置一与所述滑动装置二的滑动方向均为水平方向，且两个滑动方向相互垂直。
作为本发明的优选，所述滑动装置一包括与所述主框连接的电机、在所述电机驱动下旋转的转动轴、与所述转动轴连接的连接片和与所述连接片连接且与所述主框滑动连接的滑动架，所述连接片包括与所述转动轴螺纹连接的螺母连接片。
作为本发明的优选，所述滑动装置二包括电机二、转动轴二和连接片二，所述连接片二与所述转动轴二连接，所述连接片二与所述连接片滑动连接，所述电机二固定连接在所述连接片上。
作为本发明的优选， 所述连接片二连接所述取垫器。
作为本发明的优选，所述取垫器包括与所述连接片二连接的固定板和与所述固定板连接的取垫扎，所述取垫扎包括刺针。
作为本发明的优选，所述刺针倾斜设置，倾斜方向为按竖直向下方向逐渐在水平方向上远离所述固定板的中轴线。
作为本发明的优选，所述取垫器包括与所述固定板连接的取垫扎，所述取垫扎包括驱动器和连接在所述驱动器末端的连针板，所述刺针连接在连针板。
作为本发明的优选， 所述刺针的延伸方向与所述驱动器的伸缩方向平行。
作为本发明的优选，所述取垫扎包括正向取垫扎和反向取垫扎，所述正向取垫扎和所述反向取垫扎相对设置。
一种适用于弹性材料的搬运与纠偏系统的使用方法，包括如下步骤：
S01、图像拍摄步骤：
所述图像识别装置针对所述基底和上层件拍摄图像画面且传送给所述控制单元；
S02、计算步骤：
所述控制单元基于所述拍摄图像的画面计算出所述上层件和所述基底的调整数据，并基于所述调整数据产生运动控制数据；
S03、调整步骤：
所述控制单元控制所述运动机器人和所述纠偏装置移动，对所述上层件进行调整。
作为本发明的优选，所述调整步骤包括定位覆合步骤与纠偏步骤；所述控制单元基于所述拍摄图像的画面计算出所述基底和所述上层件的中心点坐标、偏转角和轮廓坐标差值，
在所述覆合步骤中，所述运动机器人通过移动和旋转所述上层件，使得所述上层件和所述基底这两个部件的中心点与偏转角对齐重合；
在所述纠偏步骤中，所述纠偏装置基于所述轮廓坐标差值对抓取的所述上层件进行纠偏，使得所述上层件的外轮廓与所述基底的外轮廓一致。
 有益效果
综上所述，本发明具有如下有益效果：
1、全程通过视觉识别、软件计算，对垫子进行移动、转向、对位、纠偏等操作，效率高。等效8个工人的效率。
2、使用自动化机械设备操作，全程无人化操作。
3、主框通过机械臂在各个方向移动，从而移动垫子。
4、纠偏器包括双向纠偏器和四向纠偏器，适用于不同尺寸不同类型的覆合垫产品。
5、在机械臂移动上层工件同时即完成纠偏功能。节约时间，效率高。
6、扎刺单元采用双向外刺的设计，扎刺效果稳定，垫子不容易滑落。
 附图说明
图1是实施例一的示意图；
图2是基底和上层件的示意图；
图3是纠偏装置的示意图；
图4是双向纠偏器的示意图；
图5是图3中的A处的细节放大图；
图6是图5中的A处的细节放大图；
图7是四向纠偏器中的取垫扎的示意图；
图8是实施例二中的纠偏装置的示意图；
图9是图8中的A处的细节放大图。
图中：1、主框，11、外框，12、内框，13、对角加强柱，14、中连块，15、升降臂连接口，16、主梁，17、导轨梁，2、滑动装置一，21、电机，22、转动轴，23、连接片，231、螺母连接片，24、滑动架，3、滑动装置二，31、电机二，32、转动轴二，33、连接片二，4、取垫器，41、固定板，42、取垫扎，421、驱动器，422、连针板，423、刺针，5、纠偏器，51、双向纠偏器，511、垂连柱，512、弯折滑动片，513、电机三，52、四向纠偏器，6、共联板，61、导向孔，7、扎刺单元，71、驱动杆，72、纠偏板，73、针，81、工作台，82、基底，83、上层件，84、图像识别装置，85、控制单元，86、运动机器人，87、纠偏装置。
本发明的具体实施方式
以下结合附图对本发明作进一步详细说明。
本具体实施例仅仅是对本发明的解释，其并不是对本发明的限制，本领域技术人员在阅读完本说明书后可以根据需要对本实施例做出没有创造性贡献的修改，但只要在本发明的权利要求范围内都受到专利法的保护。
实施例1，如图1和图2所示。在不同的工作台81上放置有基底82和上层件83，需要将上层件83放在基底82上进行叠层，并保证上层件83的位置正确、角度正确和轮廓重合。基底82可以是海绵或者是模板等，两者的轮廓往往都如图2所示有一定的无规则的变形偏差。
上层件83往往尺寸大、重量大，若使用工人人工操作则劳动强度太大。并且由于上层件83往往是诸如海绵、橡胶或其他弹性材料，甚至可以是布，轮廓不规则变形。所以人工操作也往往操作不精准。本技术方案则采用了自动化的技术方案。
如图1所示，运动机器人86可以为多关节机器人，其多段机械臂可以完成旋转、转动、平移等动作。多关节机器人在现有技术中已经成熟，其具体结构此处不再赘述，可使用现有技术中的ABB-IRB6700-245机器人。运动机器人86末端连接着纠偏装置87，纠偏装置87可以用针刺的技术方案刺取上层件83，也可以用吸盘的技术方案来吸取上层件83。下文会以针刺的技术方案举例。
图像识别装置84用于拍摄画面，可以是摄像机或者是照相机，往往还设有闪光灯来保证画面亮度，压制环境光干扰。图像识别装置84可以有两个，分别对上层件83和基底82拍摄图像，并将图像画面通过有线传输或者无线传输发送给控制单元85。控制单元85是一个控制柜，控制柜中可以是一个工业控制计算机或者其他的能够运行软件的电子电路板。计算机中预设有相应的计算软件，软件的编程语言不做限定，可以是本领域技术人员根据功能来进行编程。工业控制计算机通过刚才拍摄到的图像计算出至少三个数据，分别是所述基底82和所述上层件83的中心点坐标、偏转角和轮廓坐标差值。
定位与覆合步骤。在该步骤中，基于中心点坐标和偏转角数据，控制单元85控制运动机器人86的机械臂移动和旋转，此过程保证覆合两工件的中心点与偏转角对齐重合。纠偏步骤，在上层件83和基底82上，系统将这两个部件的轮廓线分成若干个特征点，并记录下每个特征点对应的坐标数据。根据轮廓坐标差值，使用纠偏装置87对其进行纠偏，使得上层件83的外轮廓与基底82的外轮廓完全一致。需要说明的是，在本技术方案中，并非是运动机器人86将上层件83进行了定位与覆合，且将上层将83放置在了基底82上后再进行针对性的纠偏，而是在运动机器人86在移动上层件83的过程中，已经在进行且完成了纠偏工作，这样的设计方式，极大的提高了工艺的效率，极大缩短了工序时间。
其纠偏的具体结构和步骤如下文所述。
纠偏装置87的具体结构如图3所示，包括主框1，主框1作为一个承重的框体，也是本技术方案的主要支架，材质不限。主框1包括两个呈口字型的外框11和在里面的内框12，外框11的对角线位置设置两个对角加强柱13。对角加强柱13同时也连接着内框12的对角线。对角加强柱13不仅加强了内框12和外框11的结构强度，也为其他部件的安装和导引起到了便利。
在两个对角加强柱13的中央交错连接处设置一矩形的中连块14，进一步增加中央区域的受力结构度，在中连块14上设有一个升降臂连接口15，用于连接运动机器人86的机械臂。在机械臂的牵引下，整个主框1在竖直和水平方向上移动。
在主框1上连接有纠偏器5，纠偏器5为多个，用于叉取底下的垫子，即上层件83。不同的纠偏器5安装在主框1上的不同位置。在工作过程中，需要将上层件83放置在基底82上。
由于主框1上设有多个纠偏器5，不同尺寸的垫子就可以使用到不同数量的纠偏器5。
在本案中，纠偏器5根据其结构和作用分成两种类型，分别是双向纠偏器51和四向纠偏器52。前者为水平方向的左右侧滑动，或者前后侧滑动。后者则是既能在左右侧滑动也能在前后侧滑动。其中，四向纠偏器52分布在外框11的角落，在本案中，四向纠偏器52为四个，分别位于外框11的四个角落。
下文先介绍双向纠偏器51的工作原理。如3和图4所示，双向纠偏器51为多个，分别安装在外框11的不同的边上。其运动方向往往与其连接的边垂直。如图2所示，在外框11上安装有电机三513，电机三513转动时，其电机连接轴开始转动，连接轴上设有螺纹。弯折滑动片512上设有连接部件，诸如螺母，并与电机连接轴螺接。在电机连接轴转动时，弯折滑动片512与电机513的距离也随之锁紧或拉远。在外框11上垂直设有垂连柱511，其左右不仅加强结构承力，也作为运动路径的导引。弯折滑动片512呈几字形，包括位于中间的高部和两侧的低部。高部就在垂连柱511上滑动，两个低部在两侧用来连接横向连接片514。
如图4所示，横向连接片514可有多个，多个横向连接片514的两侧共同连接着两个共联板6，每个共联板6上均有一组扎刺单元7，这两组扎刺单元7相向而设，彼此配合，出针方向相反。
具体的，扎刺单元7包括驱动杆71，这个驱动杆71可以为气杆或其他类似的驱动结构，在气杆的末端连接有一个纠偏板72，纠偏板72上安装有多个针73。在需要扎垫子的时候，气杆运作，伸长，纠偏板72被驱动着下移，针73穿过共联板6上的导向孔61，刺入垫子。纠偏板72下表面与共联板6上表面抵触，发生干涉，使得针73不会再下移，从而控制针73刺入的长度，避免对垫子的过分刺入。
在本技术方案中，驱动杆71的伸缩方向与针73的延伸方向平行，且与水平面呈一定的夹角，例如40°到60°之间。倾斜方向为向外倾斜。具体的，如果图2所示，两组扎刺单元7相向而设，出针方向相反。每个针73，按竖直向下方向，在水平方向上逐渐远离另一组对应的扎刺单元7上的对应的针73。这样的设计，既能保证不过分深入的刺入垫子，其次，扩大横向的刺入度，垫子不容易滑落，第三，这样的双组扩散的刺针方式，利于垫子的平整度和铺开度。
如图3和图5所示，在主框1的角落位置设有四向纠偏器52，四向纠偏器52是指其能在水平方向前后左右四个方向移动，从而调整垫子的位置。具体结构如图6和图7所示。存在滑动装置一2和滑动装置二3。滑动装置一2包括电机21，带动转动轴22旋转。电机21可以固定连接在对角加强柱13上。连接片23上设有螺母连接片231，螺母连接片231与转动轴22螺接。在转动轴22旋转的情况下，螺母连接片231就会相对其移动。
连接片23呈L形，在连接片23上连接有滑动装置二3。其中，电机二31固定连接在连接片23上。同样远离，转动轴二32旋转，连接片二33同样与其螺纹连接，相对其的轴向方向移动。转动轴二32和转动轴22的轴向方向垂直，从而使得连接片二33可以在水平的前后左右四个方向移动。
如图7所示，连接片二33的上端与转动轴二32连接，下端则可以与固定板41固定连接。固定连接板41上同样连接可伸缩的驱动器421，如气杆。气杆末端连接有连针板422，其上设有刺针423。每个固定连接板41上均可以设有两个方向的取垫扎42，其工作原理、倾斜方向和出针方向，均与上文中提到的双向纠偏器51原理相同。
综上所述，诸如运动机器人86的机械臂这样的部件通过升降臂连接口15，带动整个主框1在水平和竖直方向移动。通过纠偏器5上的针取得垫子。随后在将这层垫子放在下层垫上方的过程中，通过控制系统控制气杆，控制各个不同位置的纠偏器在指定方向上滑动。双向纠偏器51在两个方向上滑动，四向纠偏器52在四个方向上滑动。通过滑动不同位置的纠偏器来实现垫子的位置、角度、平整度的调整。全程通过数控系统控制，行程精准，反应迅速，完全无人化工作。
需要说明的是，在本技术方案中，纠偏这一步骤并不是在运动机器人86将上层件83移动到位后才开始操作，而是在运动机器人86移动和旋转上层件83，即定位覆合过程中，同步径向纠偏操作。
如图8和图9所示，这是本技术方案的另一个实施例。本实施例与实施例一的工作原理相同，差别是运动机器人连接的用于抓取上层件的纠偏装置87的机械设计和结构不同。
在本实施例中，纠偏装置87做了结构更改。一方面，框架设计从实施例一的X型框架便成为图8中的井字形框架。取消了原本实施例一中交错的对角加强柱13。另一方面，更改了双向纠偏器51和四向纠偏器52的具体数量。诚如上文所述，双向纠偏器51为水平方向的左右侧滑动，或者前后侧滑动。四向纠偏器52则是既能在左右侧滑动也能在前后侧滑动。位置分布上，四向纠片器52依旧是在主框1的四个角落位置。而双向纠片器51和四向纠偏器52的具体数量可以不做限定，按照实际操作的上层件83的尺寸、形状，来进行针对性的设置和调整。
与实施例一不同的是，本实施例还修改了双向纠偏器51和四向纠偏器52的滑动方式。在本实施例中，增加了直线导轨。具体的，如图8所示，主框1中包括主梁16，主梁16上连接着导轨梁17，导轨梁17上可安装有直线导轨。在电机的推动下，扎刺单元7可在导轨梁17上稳定滑动。
如图9所示，图9是图8的A处的细节放大图，是主框1四个边角位置的四向纠偏器52的具体结构。与实施例一相同，同样采用两个独立的电机使得各个扎刺单元7能在水平方向上的前后左右四个方向滑动。但在本实施中，一方面增加了四向纠偏器52的数量和其上针刺单元7的数量，从而增加本装置对于物料的边角的固定稳定度，使得物料不容易滑脱。
在扎刺单元7的空间排布上，分成了两部分，分别是普通扎刺单元和避让扎刺单元。普通扎刺单元如图9中的左下角位置，其排布方式还是采用倾斜交错的方式，与实施例一相同。但在避让扎刺单元中，即图9中的右上角的两组针刺单元7。彼此平行，也同样是倾斜向外刺出，但是为电机的安装提供了空间，避免空间上的干涉。

Claims (10)

  1. 一种适用于弹性材料的搬运与纠偏系统，包括工作台（81），其特征在于，还包括： 图像识别装置（84），所述图像识别装置（84）用于拍摄基底（82）和上层件（83）的图像； 控制单元（85），所述控制单元（85）与所述图像识别装置（84）通讯连接，用于接收所述图像识别装置（84）所收集到的图像信息，并将基于所述图像信息产生控制指令； 运动机器人（86），所述运动机器人（86）与所述控制单元（85）通讯连接，且接收所述控制单元（85）发出的所述控制指令； 纠偏装置（87），所述纠偏装置（87）与所述运动机器人（86）连接，所述纠偏装置（87）与所述控制单元（85）通讯连接，且接收所述控制单元（85）发出的所述控制指令，所述纠偏装置（87）用于抓取所述上层件（83）。
  2. 根据权利要求1所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：所述纠偏装置（87）包括主框（1），所述主框（1）上连接有纠偏器（5），所述纠偏器（5）包括可相对所述主框（1）在水平前后方向或水平左右方向移动的双向纠偏器（51）和可相对所述主框（1）在水平前后方向和水平左右方向移动的四向纠偏器（52），所述四向纠偏器（52）分布于所述主框（1）的框体上的四个角落。
  3. 根据权利要求1所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：所述控制单元（85）根据所述图像信息，计算出所述基底（82）和所述上层件（83）的中心位置数据、偏转角数据和轮廓数据，所述中心位置数据包括中心点坐标数据，所述偏转角数据包括相对所述图像识别装置（84）的旋转角数据，所述上层件（83）和所述基底（82）包括轮廓线条上的多个特征点，所述轮廓数据包括多个特征点坐标数据。
  4. 根据权利要求1所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：所述图像识别装置（84）包括用于拍摄基底（82）的图像识别装置一和用于拍摄上层件（83）的图像识别装置二。
  5. 根据权利要求1所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：所述图像识别装置（84）包括相机和闪光灯。
  6. 根据权利要求2所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于： 所述纠偏器包括扎刺单元（7），所述扎刺单元（7）包括针（73）和驱动所述针（73）伸出的驱动杆（71），所述针（73）的延伸方向与所述驱动杆（71）的伸出方向一致。
  7. 根据权利要求6所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：所述扎刺单元（7）两两交错对称设置，所述针（73）的倾斜方向为按水平向下方向逐渐在水平方向上远离另一套所述扎刺单元（7）的所述针（73）。
  8. 根据权利要求1-7任意一项所述的一种适用于弹性材料的搬运与纠偏系统，其特征在于：在所述运动机器人通过移动和旋转所述上层件（83）的过程中，所述纠偏装置（87）对所述上层件（83）同时进行纠偏操作。
  9. 根据权利要求1-8任意一项所述的一种适用于弹性材料的搬运与纠偏系统的使用方法，其特征在于，包括如下步骤： S01、图像拍摄步骤： 所述图像识别装置（84）针对所述基底（82）和上层件（83）拍摄图像画面且传送给所述控制单元（85）； S02、计算步骤： 所述控制单元基于所述拍摄图像的画面计算出所述上层件（83）和所述基底（82）的调整数据，并基于所述调整数据产生运动控制数据； S03、覆合运动步骤： 所述控制单元（85）控制所述运动机器人（83）刺取上层件（86）后的搬运移动，将上层件（83）覆盖在基底（82）进行覆合，
    S04、纠偏运动步骤： 所述控制单元（85）控制所述纠片装置（87）内部电机运转，带动纠纠偏机构刺针机构移动，对所述上层件（83）进行外轮廓调整。
  10. 根据权利要9所述的一种适用于弹性材料的搬运与纠偏系统的使用方法，其特征在于：所述调整步骤包括定位覆合步骤与纠偏步骤；所述控制单元基于所述拍摄图像的画面计算出所述基底（82）和所述上层件（83）的中心点坐标、偏转角和轮廓坐标差值， 在所述覆合步骤中，所述运动机器人（86）通过移动和旋转所述上层件（83），使得所述上层件（83）和所述基底（82）这两个部件的中心点与偏转角对齐重合； 在所述纠偏步骤中，所述纠偏装置（87）基于所述轮廓坐标差值对抓取的所述上层件（83）进行纠偏，使得所述上层件（83）的外轮廓与所述基底（82）的外轮廓一致。
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US20220241979A1 (en) 2022-08-04
US12269176B2 (en) 2025-04-08

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