CN106868229A - A kind of device of the leather processed that stretches tight automatically - Google Patents

Abstract

The present invention relates to leather processing field, a kind of device of the leather processed that stretches tight automatically is disclosed, including leather tightens moving component, leather marginal position recognizer component, leather holds down assembly, leather horizontal movement and positioning element.Described leather horizontal movement is arranged in frame with positioning element, is oriented to by guide rail；The leather marginal position recognizer component is across in frame；Described leather is held down assembly by dead electricity type electromagnet, clamps iron, and dual-arm robot is constituted.Ensure that leather can stretch tight system in the present invention, can also be sent to next working cell.Present invention advantage compared with prior art is：Leather can be carried out quickly, uniformly, automatically stretch tight system, saves human cost, improves the quality of leather processing.

Description

A device for automatically stretching leather

technical field

The invention relates to the field of leather manufacturing and processing, in particular to a leather stretching device.

Background technique

With the development of science and technology and the expansion of the leather market, leather technology has also developed rapidly. The stretcher drying process in the tanning process is a key link in the tanning process. The current stretching equipment is mainly to manually pave the leather and manually install clips on the edge of the leather. The clips are fixed on two plates that can move relatively, and the plates move relatively to stretch the leather.

The current stretching device mainly has the following defects:

The current stretching device requires 5-6 workers to spread the leather on the stretching board, and manually install 80-100 clips on the edge of the leather. The production efficiency is low, the labor intensity is high, and the quality of the leather The quality is difficult to guarantee; the stretching process is produced by the relative movement of two boards, the stretching direction is single, and the leather yield is low.

Contents of the invention

The purpose of the present invention is to overcome the above disadvantages, and the purpose is to provide an automatic leather stretching device, which can reduce labor intensity and improve production efficiency under the premise of ensuring the leather yield.

In order to achieve the above object, the present invention adopts following technical scheme:

A device for automatically stretching leather, comprising a leather tensioning moving part (13), a leather edge position recognition component, a leather pressing and tensioning component, and a leather horizontal movement and positioning component. Use LabVIEW-based man-machine interface and PLC controller to control each moving component to move regularly, and use DSP-based image processing technology to identify the position of the leather edge. The leather horizontal movement and positioning component is installed on the frame and guided by guide rails; the leather edge position recognition component is installed across the frame; the leather pressing component is clamped by a de-energized electromagnet. Iron, two-arm manipulator constitutes. Guarantee that leather can be stretched in the present invention, also can be sent to next working unit.

The leather horizontal movement and positioning assembly includes a three-phase motor, the worm gear reducer and the three-phase motor are connected through an elastic coupling, the output end of the worm gear reducer is connected to a transmission shaft through an elastic coupling, and the transmission shaft Two synchronous pulleys are installed on the frame, and the transmission shaft and matching deep groove ball bearings are installed on the frame. A same transmission shaft and two synchronous pulleys are also installed on the other end of the frame. The synchronous belt and Stretch base is connected, there are guide grooves on both sides of the stretcher base, which cooperate with the guide rail of the frame, and the rotation of the three-phase motor can drive the whole stretcher base to move back and forth horizontally on the guide rail. A photoelectric switch is installed under the guide rail to identify the stretcher The position of the seat is used for the positioning of the stretcher seat when it moves horizontally.

The leather edge position recognition component uses machine vision technology, the bracket is installed across the frame, an industrial CCD camera is installed in the middle of the bracket, and light sources with adjustable irradiation angles are evenly installed on both sides. The industrial CCD camera transmits the collected image information to the DSP image processing component, and after the image is filtered, binarized, segmented, and boundary extracted, the absolute coordinates of the leather edge in the frame coordinate system are found, and then the leather boundary Divide it into 50 segments evenly, then extract the absolute coordinates of each division point, and send it to the manipulator via RS485 communication.

The leather pressing assembly includes two dual-arm manipulators symmetrically installed on both sides of the frame. The control element of the manipulator receives the leather edge position information sent by the leather edge position recognition component, that is, the position coordinates of the clamping iron, and grabs The clamping iron is placed in the coordinates, and the de-energized electromagnet generates an adsorption force on the clamping iron after the deenergized electromagnet, and presses the leather on the stretch plate to realize the clamping of the edge of the leather.

The leather tensioning moving parts include a de-energized electromagnet group embedded on the stretch board seat, four linear bearings are installed in the grooves of the stretch board seat, and the four stretch boards are respectively connected with the linear bearings through screws, and the tension A centering four-way motion mechanism similar to a four-jaw chuck is installed in the center of the plate base through bolt connections. A cylinder is fixed on the frame through screw connection below, a stepper motor is installed on the piston rod of the cylinder, and transmission keys are arranged on the shaft of the stepper motor. After the tension plate seat is in place, the piston rod of the cylinder is stretched out, and the stepper motor rotates to tighten the leather.

The motion control component looks at the human-machine interface, the PLC communicating with it via Ethernet, and the PLC sends pulses to the frequency converter of the three-phase motor and the driver of the stepping motor, and sends the pulse signal to the three-phase motor after subdivision and adjustment. The motor and stepper motor realize the movement of the three-phase motor and the stepper motor according to the command.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a three-view view of the stretcher mechanism.

Figure 3 is a structural diagram of the centering four-way movement mechanism.

Figure 4 is a schematic diagram of motion control.

Fig. 5 is the leather edge binary image extracted by the leather edge position recognition component.

Fig. 6 is a real picture of the leather processing site at present.

The marks in the figure are: 1 is the frame, 2 is the reducer, 3 is the three-phase motor, 4 is the clamping iron, 5 is the manipulator, 6 is the light source, 7 is the industrial CCD camera, 8 is the transmission shaft, 9 is the timing belt , 10 is the guide rail, 11 is the traction hook, 12 is the de-energized electromagnet, 13 is the stretching board, 14 is the photoelectric switch, 15 is the stretching board seat, 16 is the leather to be stretched, 17 is the stepping motor, 18 is Cylinder, 19 is a linear bearing, 20 is a centering four-way motion mechanism, 21 is a human-machine interface, 22 is a PLC, 23 is a DSP component, 24 is a frequency converter, 25 is a stepper motor driver, 26 is initial leather, 27 is DSP recognition The leather edge map, 28 are the coordinate points for placing the clamping iron.

detailed description

Below in conjunction with accompanying drawing, the present invention is described in further detail:

Referring to Fig. 1, an automatic stretching equipment includes a leather tensioning moving part, a leather edge position recognition component, a leather pressing component, and a leather horizontal movement and positioning component. The PLC-based motion control component controls each component to move according to known laws; the leather horizontal movement and positioning component moves back and forth on the frame 1, and the working position is determined through a photoelectric switch; the leather tensioning moving part is driven by a stepping motor 17 drives the four-way centering motion mechanism 20 with self-locking performance to move the stretcher 13 back and forth, and the stepper motor 17 is installed on the piston rod of the cylinder 18; the leather edge position recognition component uses an industrial CCD camera 7 to take pictures of the leather and then After being processed by the DSP assembly 23, the manipulator 5 places the clamping iron 4 on the edge of the leather in the leather pressing assembly.

With reference to Fig. 1, described leather horizontal motion and positioning assembly comprise three-phase motor 3, and three-phase motor 3 is connected with reducer 2 flanges, transmission shaft 8 is connected with reducer by elastic coupling, and the synchronous pulley on the transmission shaft The synchronous belt is driven to move, the synchronous belt is connected on the traction hook, the traction hook and the stretch plate parts are connected through threads, and the guide rail 10 on the frame cooperates with the stretch plate seat to move smoothly in the horizontal direction.

Referring to Fig. 1, the leather pressing assembly includes a double-arm manipulator, which is symmetrically installed on both sides of the frame, and its end is provided with a special clamp for clamping the clamping iron 4, and the clamping iron is placed in the storage In the object box, it is convenient for the manipulator to place the clamping iron on the leather edge and retract it most conveniently.

Referring to Fig. 1, Fig. 2 and Fig. 3, the leather tensioning movement assembly includes a stretch board seat matched with a guide rail, a de-energized electromagnet is inlaid on the stretch board seat, and a linear bearing is installed in the diagonal slot of the stretch board seat , the linear bearing and the stretching plate are connected by screws to realize linear movement in four directions in the four stretching plate slots; the center of the stretching plate seat is equipped with a centering four-way movement mechanism, and the other four stretching plates are connected by bolts to realize leather There is a cylinder installed on the frame, and a stepping motor is installed on the piston rod of the cylinder. When the photoelectric switch detects that the stretch plate seat moves to the working position, the piston rod of the cylinder is pushed out, and the stepping motor moves up accordingly. , inserted into the input hole of the centering four-way movement mechanism, the principle of the centering four-way mechanism is the same as that of the three-jaw chuck, and the thread has self-locking property. When the de-energized electromagnet is energized, the leather is pressed tightly, and the stepper motor rotates forward to stretch the leather; the motor reverses, and the leather is loosened.

With reference to Fig. 1 Fig. 4, described leather edge position identification component comprises DSP component, contains the image processing algorithm that this equipment is dedicated in the DSP component, comprises image acquisition, filtering, image segmentation, edge extraction, coordinate acquisition etc.; Industrial CCD camera photographs leather The on-site pictures are transmitted to the DSP components through coaxial cables; the light sources installed on both sides of the industrial CCD camera can adjust the irradiation angle to ensure the quality of the pictures taken. Figure 5 is a schematic diagram of the process of DSP image processing.

With reference to Fig. 4, described motion control component comprises man-machine interface, PLC and DSP component that communicate with man-machine interface through Ethernet, PLC sends pulse to frequency converter to control the rotating speed of three-phase motor, and then controls the movement of leather horizontal motion mechanism Speed and position; PLC sends pulses to the stepper motor driver to control the speed and zero position of the stepper motor, and then control the speed, direction of rotation and zero position of the stepper motor. The CCD camera and the manipulator are in the same world coordinate system, and the DSP component sends the obtained clamping iron placement coordinates to the manipulator. The whole man-machine interface can set the parameters of the equipment.

Claims (7)

1. it is a kind of automatically stretch tight leather processed device, it is characterised in that including：Leather tightens moving component, and leather marginal position is known Other component, leather holds down assembly, leather horizontal movement and positioning element；Described leather horizontal movement is arranged on positioning element In frame, it is oriented to by guide rail；The leather marginal position recognizer component is across in frame；Described leather compression group Part clamps iron by dead electricity type electromagnet, and dual-arm robot is constituted；Ensure that leather can stretch tight system in the present invention, can also be sent to Next working cell；Present invention advantage compared with prior art is：Leather can be carried out quick, uniform, automatically Taut system, saves human cost, improves the quality of leather processing.

2. device according to claim 1, it is characterised in that the leather marginal position recognizer component includes：It is arranged on Industrial CCD camera in the middle of support；The adjustable light source of light irradiating angle；The image transmitting that industrial CCD camera will be gathered is to DSP Component, DSP components extract leather edge through image procossing, extract the coordinate of interval edge point evenly and at intervals, and by coordinate It is sent to leather to hold down assembly, is placed on iron is clamped in above-mentioned coordinate points by mechanical arm.

3. device according to claim 2, it is characterised in that the leather holds down assembly including mechanical arm, the machine Tool arm end has special fixture to clamp clamping iron；Clamping iron bottom annular knurl, in cylindrical structure, intermediate cylindrical diameter is less than Two ends body diameter, is easy to clamping；Clamping iron has different size and weight specifications.

4. device according to claim 1, it is characterised in that the linear motion of the centering four-way motion have from Lock property；The centering four-way motion is driven by stepper motor through driving key；The stepper motor is arranged on cylinder, can be hung down Translation is moved；Measurement and display system of the centering four-way motion also including tensile force.

5. device according to claim 1, it is characterised in that described motion control component includes that man-machine software interacts boundary Image edge information is transferred to machinery by face, the DSP image processing modules being connected by Ethernet with man-machine interface, DSP components Hand, PLC is transferred to by logic control signal, and PLC control cylinders and stepper motor carry out taut system, control frequency converter regulation to leather Motion state of the leather on guide rail.

6. device according to claim 1, it is characterised in that described leather horizontal movement is with positioning element by three-phase electricity Machine drives, and decelerator is arranged on the output end of the three phase electric machine, and drive is provided with the power transmission shaft motion of synchronous pulley, Timing Belt Fixed plate is driven to cause that leather is realized moving horizontally on guide rail, positioner is made up of two optoelectronic switches.

7. device according to claim 3, it is characterised in that the leather tightens the surface that moving component is contacted with leather Annular knurl, with increasing friction force；Each piece of toggling and a sliding shoe of centering four-way motion are by bolt connection；It is each Block toggling is with the linear bearing being arranged in fixed plate gathering sill by mode connects for screw；Inlayed in fixed plate and be mounted with dead electricity type electromagnetism Iron, the trapezoidal shape of dead electricity type electromagnet is distributed in all positions that edge is likely to occur, during dead electricity type electromagnet no power Magnetic force is produced, attracts clamping iron to compress leather, magnetic force is lost after energization, mechanical arm is removed iron is clamped.