Flexible leather slice blanking apparatus and implementation method

Abstract

The present invention discloses a flexible leather slice blanking apparatus and an implementation method. The apparatus comprises a working table, a projector, an industrial camera, an installing support, a manipulator, a matrix chuck fixture and a base. The installing support is arranged on the working table and disposed in a corresponding range of a cutting region behind a numerical-control leather cutting machine. The projector and the industrial camera are respectively arranged on the installing support. The manipulator is installed on the base. The matrix chuck fixture is located above the manipulator and connected with the manipulator through a matrix chuck fixture installing frame. The blanking apparatus provided by the present invention is low in labor cost and high in efficiency; and moreover, leather slices can be classified and collected, thereby saving labor force and increasing production efficiency.

Claims

1. A flexible leather slice blanking apparatus, comprising a working table, a projector, an industrial camera, an installing support, a manipulator, a matrix chuck fixture, and a base, wherein the installing support is arranged on the working table and disposed in a corresponding range of a cutting region; the projector and the industrial camera are respectively arranged on the installing support; the manipulator is installed on the base; and the matrix chuck fixture is disposed above the manipulator and is connected with a flange on a front end of the manipulator through a disc.

2. The flexible leather slice blanking apparatus according to claim 1, wherein the working table is divided into a cutting region and a blanking and sorting region; the cutting region is used for cutting a flexible leather material into slices of various shapes; and the blanking and sorting region is used for sorting the slices.

3. The flexible leather slice blanking apparatus according to claim 1, wherein two horizontal supports and one longitudinal support are installed on the installing support, and the bottom of the installing support is formed by welding square steel tubes.

4. The flexible leather slice blanking apparatus according to claim 1, wherein the projector is installed on the horizontal supports, and a projection region range covers the cutting region; and the industrial camera is installed on the longitudinal support through a right-angle installing plate and disposed right above the cutting region.

5. An implementation method of the flexible leather slice blanking apparatus according to claim 1, comprising: A, performing camera calibration on a blanking and sorting region, and converting a coordinate of a camera to a view coordinate of a manipulator, thereby realizing the unification of a camera output coordinate system and a robot coordinate system; B, photographing, by an industrial camera, a projection outline of a pre-cut pattern track in a cutting region; C, recognizing information about shapes of leather slices of an independent outline region in the projection outline, the number of the leather slices of a same type and the centroid of each leather slice outline; D, transmitting the information about the shapes, the number and the centroid of the leather slices to the manipulator; E, classifying, by the manipulator, the types of the outline shapes according to the information of the track region outline; F, searching the leather slices in a region below the chuck fixture according to the types of the outline shapes; and G, driving the chuck fixture to rotate through the manipulator to realize the blanking, and counting the blanking number.

6. The implementation method of the flexible leather slice blanking apparatus according to claim 5, wherein in the step C, the information about the shapes, the number and the centroid of leather slices in the independent outline region in the projection outline are recognized through an image segmentation algorithm.

7. The implementation method of the flexible leather slice blanking apparatus according to claim 5, wherein before the step F is executed, an origin of matrix chucks is moved to an origin of the blanking and sorting region.

8. The implementation method of the flexible leather slice blanking apparatus according to claim 5, wherein the step G further comprises: driving, by the manipulator, the chuck fixture to perform a serpentine motion search in the blanking and sorting region until the slices of the same shape are completely blanked if the slices of the same shape are not completely blanked.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 and FIG. 2 are structural schematic diagrams of a flexible leather slice blanking apparatus;

(2) FIG. 3 is a structural schematic diagram of a matrix chuck fixture; and

(3) FIG. 4 is a flow chart of an implementation method of a flexible leather slice blanking apparatus.

DETAILED DESCRIPTION OF THE EMBODIMENTS

(4) In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is further described below in detail in combination with embodiments and drawings.

(5) FIG. 1 and FIG. 2 show a structure of a flexible leather slice blanking apparatus. The flexible leather slice blanking apparatus comprises a working table 1, a projector 2, an industrial camera 3, an installing support 4, a manipulator 5, a matrix chuck fixture 6 and a base 7.

(6) The installing support is arranged on the working table and disposed in a corresponding range of a cutting region behind a numerical-control leather cutting machine.

(7) The projector and the industrial camera are respectively arranged on the installing support.

(8) The manipulator is installed on the base.

(9) The matrix chuck fixture is disposed above the manipulator and connected with the manipulator through a matrix chuck fixture installing frame.

(10) The above working table is divided into two portions: a cutting region 11 and a blanking and sorting region 12, and a flexible leather material is cut into slices of various shapes in the cutting region and then transferred to the blanking and sorting region.

(11) Two horizontal supports 41 and one longitudinal support 42 are installed on the installing support, and the bottom of the installing support is formed by welding square steel tubes.

(12) The above projector is installed on the horizontal supports 41; a projection region can cover the cutting region range and has an area of 2500 mm1600 mm; the industrial camera is installed on the longitudinal support 42 through a right-angle installing plate 31 and disposed right above the cutting region; and a view area range is 2500 mm1600 mm.

(13) The above manipulator is installed on a heightening base so as to ensure that the working range of the manipulator can completely cover the sorting region.

(14) The above matrix chuck fixture is connected with a flange on a front end of the manipulator through a disc 9 (as shown in FIG. 3); and the matrix chuck fixture adopts vacuum chucks with a diameter of 20 mm. Switches of the vacuum chucks are independently controlled and are not influenced one another. The chucks are distributed in a matrix of 23, installed on the support through the right-angle installing plates and connected with the flange on the front end of the manipulator through discs. Only the chucks within a boundary of the leather slices to be collected are opened during blanking, and other chucks in the matrix are kept in a closed state.

(15) The present embodiment also provides an implementation method of the flexible leather slice blanking apparatus (as shown in FIG. 4). The method comprises the following steps:

(16) step 10, performing dislocation calibration on a blanking and sorting region, and converting a coordinate of a camera to a view coordinate of a manipulator, thereby realizing the unification of a camera output coordinate system and a robot coordinate system;

(17) step 20, photographing, by an industrial camera, a projection outline 8 of a pre-cut pattern track in a cutting region;

(18) step 30, recognizing information about the shapes of leather slices of an independent outline region in the projection outline, the number of the leather slices of a same type and the centroid of each leather slice outline;

(19) step 40, transmitting the information about the shapes, the number and the centroid of the leather slices to the blanking manipulator;

(20) step 50, classifying, by the blanking manipulator, the types of the outline shapes according to the information of the track area outline;

(21) step 60, searching the leather slices in a region below the chuck fixture according to the types of the outline shapes; and

(22) step 70, driving the chuck fixture to rotate through the manipulator to realize the blanking, and counting the blanking number.

(23) In the above step 30, the information about the shapes, the number and the centroid of leather slices in the independent outline region (i.e., each unconnected pattern track region) in the projection outline is recognized through an image segmentation algorithm.

(24) Before the above step 60 is executed, an origin of the matrix chucks is moved to an origin of the blanking and sorting region.

(25) The above step 70 also comprises: the manipulator drives the chuck fixture to perform a serpentine motion search in the blanking and sorting region until the slices of the same shape are completely blanked if the slices of the same shape are not completely blanked.

(26) Although the embodiments disclosed by the present invention are described above, the described embodiments are only embodiments for facilitating the understanding of the present invention, rather than limiting the present invention. Any modification and change can be made to implementation forms and details by those skilled in the art on the premise of not departing from the spirit and scope disclosed by the present invention. However, the protection scope of the patent of the present invention should still be based on the scope defined by appended claims.