US 12,269,176 B2
Carrying and deflection correction system for elastic material, and method thereof
Zhanchun Xiao, Huzhou (CN); Youlai Zheng, Huzhou (CN); Dongyang Zhang, Huzhou (CN); and Yiting Wang, Huzhou (CN)
Assigned to ANJI BATA ROBOT CO., LTD., Huzhou (CN)
Appl. No. 17/621,714
Filed by ANJI BATA ROBOT CO., LTD., Huzhou (CN)
PCT Filed Jun. 24, 2020, PCT No. PCT/CN2020/097844
§ 371(c)(1), (2) Date Dec. 22, 2021,
PCT Pub. No. WO2020/259521, PCT Pub. Date Dec. 30, 2020.
Claims priority of application No. 201910555750.8 (CN), filed on Jun. 25, 2019.
Prior Publication US 2022/0241979 A1, Aug. 4, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1602 (2013.01); B25J 11/005 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A system suitable for handling and correcting elastic materials, comprising a workbench, wherein the system further comprises:
an image recognition device, configured for photographing images of a base and an upper piece, such that a taken image is obtained;
a control unit in communication connection with the image recognition device, and configured for receiving image information collected by the image recognition device and generating control instructions based on the image information;
a motion robot in communication connection with the control unit, and configured for receiving the control instructions sent by the control unit;
a correction device connected to the motion robot and in communication connection with the control unit, and configured for receiving the control instructions sent by the control unit, and grabbing the upper piece;
the image recognition device comprises a camera equipped with a flash;
the control unit is a control cabinet;
the correction device comprises a main frame, and the main frame is connected with correctors; the correctors comprises two-way correctors that can move back and forth in a horizontal direction or can move left and right in the horizontal direction relative to the main frame, and four-way correctors that can move back and forth in a horizontal direction or can move left and right in the horizontal direction relative to the main frame; the four-way correctors are distributed on four corners of the main frame;
wherein center point coordinates, deflection angles and contour coordinate differences of the base and the upper piece are calculated by the control unit based on the taken image;
the motion robot moves and rotates the upper piece, making the center points of the upper piece and the base coincide with the deflection angles;
the correction device corrects the upper piece to be stabbed based on the contour coordinate differences, making the outer contour of the upper piece consistent with an outer contour of the base.