CN110125968A - A kind of plate sorting manipulator and method for sorting - Google Patents
A kind of plate sorting manipulator and method for sorting Download PDFInfo
- Publication number
- CN110125968A CN110125968A CN201910534363.6A CN201910534363A CN110125968A CN 110125968 A CN110125968 A CN 110125968A CN 201910534363 A CN201910534363 A CN 201910534363A CN 110125968 A CN110125968 A CN 110125968A
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- Prior art keywords
- plate
- sorting
- clamping jaw
- manipulator
- contact
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of plate sorting manipulator and method for sorting, belong to plate sorting field.Wherein, a kind of plate sorting manipulator includes: clamping jaw manipulator, it is removably mounted at the vacuum absorption device of clamping jaw arm end, the Electric Appliance Cabinet being mounted on outside the working range of clamping jaw manipulator, and it is mounted on the video camera on clamping jaw manipulator, the vacuum absorption device includes: the mounting plate for being mounted on clamping jaw arm end, several vacuum chucks being screwed onto below mounting plate, the dust-extraction unit being hinged on around mounting plate, and it is fixed on the first contact-making switch around vacuum chuck, the dust-extraction unit includes: dust blower, and it is fixed on second contact-making switch at dust blower rear, pneumatic element group and main control computer are provided in the Electric Appliance Cabinet；The present invention avoids manual operation bring personal damage, reduces the incidence of failure, can adapt to the plate of unlike material.
Description
Technical field
The present invention relates to plates to sort field, especially a kind of plate sorting manipulator and method for sorting.
Background technique
Since non-standard equipment is customized equipment, production scale is small, so can not accomplish to produce components on a large scale, so
It needs to design, customized plate of different shapes, uses purpose to reach.
However usually plate is mixed for convenient transportation during plate is transported to assembly shop from cutting factory
It is transported together, needs to sort plate after reaching assembly shop, can just check number, and manually plate is divided
The efficiency picked is too low, and manually carries out the problems such as sorting is easy to appear scuffing to the plate just cut.
And existing some plate sorting equipments exist and break down because plate surface impurity is excessive, and can only apply
In the plate of specific materials, the problems such as being only applicable to plate higher containing ferro element such as electromagnet type plate sorting equipment.
Summary of the invention
Goal of the invention: a kind of plate sorting manipulator and method for sorting, to solve the above problem of the existing technology.
Technical solution: a kind of plate sorting manipulator includes: clamping jaw manipulator,
It is removably mounted at the vacuum absorption device of clamping jaw arm end, the vacuum absorption device includes: to be mounted on clamping jaw
The mounting plate of arm end, several vacuum chucks being screwed onto below mounting plate, the dust-extraction unit being hinged on around mounting plate,
And it is fixed on the first contact-making switch around vacuum chuck, wherein the dust-extraction unit includes that dust blower and being fixed on is blown
Second contact-making switch at dirt rifle rear；
The Electric Appliance Cabinet being mounted on outside the working range of clamping jaw manipulator is provided with pneumatic element group and master control electricity in the Electric Appliance Cabinet
Brain；
And it is mounted on the video camera on clamping jaw manipulator；
Wherein, lower position of the video camera towards mounting plate, the pneumatic element group are filled with vacuum chuck and dedusting respectively
Set and communicate, main control computer respectively with clamping jaw manipulator, the first contact-making switch, the second contact-making switch, video camera and pneumatic element group
Electrical connection.
In a further embodiment, the upper surface of the mounting plate, which is provided with, matches with the clamping jaw of clamping jaw manipulator
Mounting blocks, since clamping jaw manipulator carries clamping jaw, if not by the way that mounting blocks are arranged in the top of mounting plate, it is also necessary to by clamping jaw
The clamping jaw of arm end removes the end that mounting plate is mounted on to clamping jaw manipulator again, so being arranged in the upper surface of mounting plate
The mounting blocks matched with the clamping jaw of clamping jaw manipulator, clamping jaw manipulator are realized the fixation of mounting plate by clamping jaw, can reduce
The time cost of assembly is produced, and facilitates the maintenance and replacement of vacuum absorption device using the mode of clamping jaw clamping mounting blocks.
In a further embodiment, the bottom end of the vacuum chuck is silicone rubber material, and the edge of vacuum chuck is set
There is sealing lip, because the plate surface without finishing is coarse, selection is suitble to thick in absorption surface with sealing lip
The silicone rubber material of rough product is sealed the edge of vacuum chuck and the surface contact position of plate by sealing lip, from
And increase adsorption capacity.
In a further embodiment, the top of the silicone rubber material of the vacuum chuck is equipped with threaded post, threaded post
Top is bolted with quick coupling, and the bottom end along top axis direction to the silicone rubber material of quick coupling is provided with through-hole；Wherein, very
The threaded post of suction disk passes through mounting plate and is spirally connected with mounting plate, and silicone rubber material is located at the lower section of mounting plate, quick coupling position
In the top of mounting plate, it is spirally connected by the way that threaded post is arranged on vacuum chuck with mounting plate, vacuum chuck can be fixed on to peace
Avoided in loading board during use vacuum chuck fallen from mounting plate, increase the stability of vacuum chuck, by
Quick coupling is set on vacuum chuck, can quickly be connect the tracheae that the inlet end with air pump communicates in vacuum chuck sucker
On, to reduce the time cost of production assembly.
In a further embodiment, the pneumatic element group includes: air pump, and the commutation being connected to air pump one end
Valve, the air pump are two-way air pump, and reversal valve is two-position two-way electromagnetic directional valve, is changed by two-way air pump and bi-bit bi-pass electromagnetism
It can receive the order that main control computer is sent to valve, to realize the working condition for changing vacuum chuck and dust blower, entire work
Make process by the process control stored in main control computer, simplified control process being capable of convenient to overhaul and maintenance.
In a further embodiment, the logical relation between the first contact-making switch and the second contact-making switch be logic or,
In order to adapt to different size of plate, so the logical relation between the first contact-making switch and the second contact-making switch is designed as patrolling
It, also can be so that the second contact-making switch can not be touched volume or, accordingly even when plate is less than the mounting plate of vacuum absorption device
When first contact-making switch is abutted with plate, vacuum absorption device is made to enter subsequent work state.
A kind of method for sorting of plate sorting manipulator includes: that pallet circumference equal dividing is placed on clamping jaw manipulator first
In working range, then the location information of pallet is transmitted in main control computer by video camera, it then will by main control computer
Pallet is divided into pallet, sorting tray and standby tray to be sorted, then clamping jaw manipulator by vacuum absorption device be moved to
The top of sorting tray, then the graphical information of the plate of pallet top layer to be sorted is sent in main control computer by video camera,
Then the plate of pallet top layer to be sorted is picked up by clamping jaw manipulator, vacuum absorption device and air pump and is put into distance most
Close one is on sorting tray, and then clamping jaw manipulator returns the top of pallet to be sorted, and video camera is by pallet to be sorted
The graphical information of the plate of top layer is sent to the graphical information of the stored plate of comparison in main control computer, if graphical information phase
Fu Ze is placed on same sorting tray, is successively placed on farther away sorting tray if graphical information is not consistent, with
This analogizes until sorting finishes.
In a further embodiment, the dust blower of the vacuum chuck of the vacuum absorption device and dust-extraction unit not with plate
When material abuts, i.e. when the first contact-making switch and the second contact-making switch are not triggered, the electromagnet Y1 power loss of reversal valve, air pump up time
Needle rotation, vacuum chuck and dust blower jet, remove the sundries on plate at this time, can by vacuum chuck and dust blower jet
The impurity of plate surface can be removed before adsorbing to plate, while can remove the impurity in vacuum chuck, prevented
It blocks in vacuum chuck and intratracheally, influences using effect.
When the vacuum chuck and dust blower are abutted with plate, since dust blower is hinged with mounting plate, the second contact-making switch
It is mounted below dust blower, dust blower pipette tips are abutted with plate at this time, then pikestaff is abutted with the second contact-making switch, and the first contact is opened
Pass is abutted with plate, sends electric signal to main control computer, main control computer makes reversal valve commutate at this time, and dust blower is made not work, and makes
Air pump rotates counterclockwise, and vacuum chuck air-breathing picks up plate, until being moved in scheduled working region answers reversal valve again
Position, air pump rotates clockwise, so that plate be put down, is reached by the direction of rotation of the station and air pump that change reversal valve by plate
The effect that material picks up, simple and convenient easy Maintenance and Repair, and during vacuum chuck adsorbs plate, at dust blower
In state of pressure keeping, it can be avoided dust blower and plate continued to blow, influence vacuum chuck to the adsorption capacity of plate.
In a further embodiment, since the logical relation between the first contact-making switch and the second contact-making switch is logic
Or, so the first contact-making switch and the second contact-making switch any one when being touched, all can send electric signal to main control computer, make
The electromagnet Y1 of reversal valve obtains electric, rotates air pump counterclockwise, so that dust blower be made not work, makes vacuum chuck air-breathing by plate
It picks up, in order to adapt to different size of plate, so the logical relation between the first contact-making switch and the second contact-making switch is set
Logic is calculated as or, accordingly even when plate is less than the mounting plate of vacuum absorption device, so that the second contact-making switch can not be touched,
Vacuum absorption device can be made to enter subsequent work state when the first contact-making switch is abutted with plate.
In a further embodiment, the quantity of every kind of plate of different shapes can be automatically stored in the main control computer,
And the position that every kind of plate of different shapes is placed, it can be avoided and manually check number, reduce cost of labor, and pass through
The position that every kind of plate of different shapes is placed is automatically stored, mechanical hand can be automatically brought into operation by the plate of needs from having sorted support
It is taken out on disk, can be avoided hand picking, reduce cost of labor, improved work efficiency.
The utility model has the advantages that the invention discloses a kind of plate sorting manipulator and method for sorting, in whole work process only
Staff is needed to operate Electric Appliance Cabinet, and by clamping jaw manipulator, vacuum chuck, video camera and main control computer to plate
It is sorted and is recorded, avoided manual operation bring personal damage, improve the efficiency for checking number；In vacuum chuck pair
Plate is purged before being adsorbed by impurity of the dust-extraction unit to plate surface, and the incidence of failure is reduced；By true
Suction disk adsorbs plate, can adapt to the plate of unlike material.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of vacuum absorption device of the present invention.
Fig. 3 is pneumatic principle rough schematic view of the present invention.
Appended drawing reference shown in Fig. 1 to Fig. 3 are as follows: clamping jaw manipulator 1, vacuum absorption device 2, video camera 3, Electric Appliance Cabinet 4, to point
Pick pallet 5, sorting tray 6, standby tray 7, mounting plate 21, vacuum chuck 22, dust-extraction unit 23, air pump 41, mounting blocks
211, quick coupling 221, the first contact-making switch 222, dust blower 231, the second contact-making switch 232, reversal valve 233.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
A kind of plate sorting manipulator includes: clamping jaw manipulator 1, the model KR40 industrial robot of clamping jaw manipulator 1.
Mounting plate 21, mounting plate 21 are rectangular aluminium alloy plate, and the surface of mounting plate 21 is provided with several tapped through holes, are pacified
The upper surface of loading board 21 is provided with mounting blocks 211, and several articulated sections are provided with around mounting plate 21, wherein mounting blocks 211 are
Rectangular shape, the two sides of mounting blocks 211 are provided with symmetrical groove, and the shape of groove is matched with the clamping jaw of clamping jaw manipulator 1.
Vacuum chuck 22, vacuum chuck 22 are the vacuum chuck of the silicone rubber material of WEJ03-d50-WEM22-A8 model
22, it is equipped with sealing lip circle at the edge of vacuum chuck 22, due to the coarse simple use vacuum of the plate surface without finishing
Sucker 22 can not make suction cup interior generate vacuum environment, so needing the contact by sealing lip circle by vacuum chuck 22 with plate
The gap of position is blocked, and makes to generate vacuum environment inside vacuum chuck 22；Axis along the silicone rubber material of vacuum chuck 22 prolongs
Stretching has the threaded post closed with the corresponding threaded holes on mounting plate 21.
The model 8-04 female coupling of quick coupling 221, quick coupling 221 connects fastly.
The model 48011 of dust blower 231, the top of dust blower 231 are steel pipe made of 304 stainless steels, dust blower 231
Handle position be additionally provided with mounting plate 21 cooperate articulated section, and dust blower 231 be normal open state.
Video camera 3, video camera 3 are internally provided with vision detection system, and cooperation main control computer being capable of automatic identification difference plate
The shape of material simultaneously classifies to plate.
One pallet 5 to be sorted, two sorting tray 6 and a standby tray 7 are to be grown up by wood board splicing
Cube is transported using fork truck for convenience, as preferably opening the slot there are two width 400mm in the bottom of cuboid, two
Spacing between a slot is 200mm.
The outer layer of Electric Appliance Cabinet 4, Electric Appliance Cabinet 4 is equipped with 304 stainless steels, and the inner bottom of Electric Appliance Cabinet 4 is equipped with pneumatic element group,
Pneumatic element group includes: an air pump 41, the two-way air pump 41 of the model 22KW of air pump 41, and is connected to 41 one end of air pump
Reversal valve 233, the model 2W025-06 two-position two-way electromagnetic directional valve 233 of reversal valve 233, wherein the both ends of air pump 41
Air filter is fitted with to reduce the failure rate of air pump 41；The inside upper layer of Electric Appliance Cabinet 4 is equipped with main control computer, master control electricity
The position that the quantity of every kind of plate of different shapes is enough automatically stored in brain-capacity and every kind of plate of different shapes is placed；Electric appliance
The side of cabinet 4 is equipped with touch display screen；Wherein, main control computer is electrically connected with air pump 41 and touch display screen respectively by conducting wire.
Vacuum chuck 22: being screwed onto the lower section of mounting plate 21 by assembling process first, then by quick coupling 221 and vacuum
Sucker 22 is spirally connected, and then tracheae is plugged in quick coupling 221, make the air pump 41 in vacuum chuck 22 and Electric Appliance Cabinet 4 into
Gas end communicates, and then dust blower 231 is hinged on mounting plate 21 using pin shaft, so far completes the assembly of dust-blowing device；Then
Manipulator will be clamped to fix on the ground, then video camera 3 will be mounted on clamping jaw manipulator 1 using screw, then by leading
Main control computer is electrically connected with clamping jaw manipulator 1 and video camera 3 by line respectively, then clamps peace by the clamping jaw of clamping jaw manipulator 1
The mounting blocks 211 of 21 top of loading board, are fixed on mounting plate 21 on clamping jaw manipulator 1, so far complete the dress of vacuum absorption device 2
Match；Then pallet circumference equal dividing is placed in the working range of clamping jaw manipulator 1, Electric Appliance Cabinet 4 is placed on clamping jaw manipulator 1
Working range except, so far complete a kind of assembly of plate sorting manipulator.
Pallet circumference equal dividing: being placed in the working range of clamping jaw manipulator 1 by working principle first, then passes through camera shooting
The location information of pallet is transmitted in main control computer by machine 3, and pallet is then divided into pallet 5 to be sorted, by main control computer
Sorting tray 6 and standby tray 7, then vacuum absorption device 2 is moved to the top of pallet 5 to be sorted by clamping jaw manipulator 1, so
The graphical information of the plate of 5 top layer of pallet to be sorted is sent in main control computer by video camera 3 afterwards.
Wherein, vacuum absorption device 2 is moved to the upper surface of 5 top layer's plate of pallet to be sorted in clamping jaw manipulator 1
The impurity above plate is removed by vacuum chuck 22 and 231 jet of dust blower in moving process.
Then pass through clamping jaw manipulator 1, vacuum absorption device 2 and air pump 41 for the plate of 5 top layer of pallet to be sorted
It picks up and is put on nearest one sorting tray 6, then clamping jaw manipulator 1 returns the top of pallet 5 to be sorted, weight
The multiple above-mentioned course of work.
The graphical information of the plate of 5 top layer of pallet to be sorted is sent to compare in main control computer and stored by video camera 3
Plate graphical information, be placed on if graphical information is consistent on same sorting tray 6, if graphical information is not consistent successively
Be placed on farther away sorting tray 6, and so on until sorting finish, in whole work process utilize vacuum suction
Device 2 picks up plate, and raising stores scheduled program in main control computer and plate is sorted and recorded, and reaches and avoids
Personal damage improves the efficiency for checking number, and adapts to the purpose of the plate of unlike material.
In a further embodiment, the first contact that model K2-8816SP type is also equipped on mounting plate 21 is opened
Pass 222 and the second contact-making switch 232.
First contact-making switch 222 and the second contact-making switch 232 are corresponded with vacuum chuck 22 and dust blower 231 respectively
Installation, the second contact-making switch 232 are fixed on the rear of dust blower 231, then pass through conducting wire for the first contact-making switch 222 and second
Contact-making switch is all electrically connected with air pump 41 and reversal valve 233, so far completes the assembly of dust-blowing device.
Wherein, the logical relation between the first contact-making switch 222 and the second contact-making switch is logic or, i.e. first contacts out
Close 222 with second contact-making switch 232 any one be touched when, all can to main control computer transmission electric signal, make reversal valve 233
Electromagnet Y1 obtain it is electric, make air pump 41 counterclockwise rotate, so that dust blower 231 be made not work, make 22 air-breathing of vacuum chuck by plate
It picks up.
Working principle: the dust blower 231 of the vacuum chuck 22 of the vacuum absorption device 2 and dust-extraction unit 23 not with plate
When abutting, i.e. when the first contact-making switch 222 and the second contact-making switch 232 are not triggered, the electromagnet Y1 power loss of reversal valve 233,
Air pump 41 rotates clockwise, at this time 231 jet of vacuum chuck 22 and dust blower, removes the sundries on plate, passes through vacuum chuck
22 and 231 jet of dust blower the impurity of plate surface can be removed before adsorbing to plate, while can remove
Impurity in vacuum chuck 22 prevents in vacuum chuck 22 and intratracheally blocks, influences using effect.
When the vacuum chuck 22 and dust blower 231 are abutted with plate, since dust blower 231 and mounting plate 21 are hinged, the
Two contact-making switches 232 are mounted on 231 lower section of dust blower, and 231 pipette tips of dust blower are abutted with plate at this time, then pikestaff is contacted with second
Switch 232 abuts, and the first contact-making switch 222 is abutted with plate, sends electric signal to main control computer, main control computer makes to commutate at this time
Valve 233 commutates, and dust blower 231 is made not work, and rotates air pump 41 counterclockwise, and 22 air-breathing of vacuum chuck picks up plate, until
Being moved in scheduled working region again resets reversal valve 233, and air pump 41 rotates clockwise, so that plate be put down, passes through
The direction of rotation of the station and air pump 41 that change reversal valve 233 achievees the effect that pick up plate, simple and convenient easy maintenance inspection
It repairs, and during vacuum chuck 22 adsorbs plate, dust blower 231 is in state of pressure keeping, can be avoided dust blower
231 pairs of plates continue to blow, and influence vacuum chuck 22 to the adsorption capacity of plate.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (10)
1. a kind of plate sorting manipulator characterized by comprising clamping jaw manipulator (1),
It is removably mounted at the vacuum absorption device (2) of clamping jaw manipulator (1) end, the vacuum absorption device (2) includes: peace
Mounting plate (21) mounted in clamping jaw manipulator (1) end, several vacuum chucks (22) being screwed onto below mounting plate (21), hingedly
Dust-extraction unit (23) around mounting plate (21), and the first contact-making switch (222) being fixed on around vacuum chuck (22),
Wherein, the dust-extraction unit (23) includes dust blower (231) and the second contact-making switch for being fixed on dust blower (231) rear
(232)；
The Electric Appliance Cabinet (4) being mounted on outside the working range of clamping jaw manipulator (1), the Electric Appliance Cabinet (4) is interior to be provided with pneumatic element
Group and main control computer；
And it is mounted on the video camera (3) on clamping jaw manipulator (1)；
Wherein, the lower position of the video camera (3) towards mounting plate (21), the pneumatic element group respectively with vacuum chuck
(22) it is communicated with dust-extraction unit (23), main control computer is contacted with clamping jaw manipulator (1), the first contact-making switch (222), second respectively
Switch (232), video camera (3) and the electrical connection of pneumatic element group.
2. a kind of plate sorting manipulator according to claim 1, it is characterised in that: the upper surface of the mounting plate (21)
It is provided with the mounting blocks (211) matched with the clamping jaw of clamping jaw manipulator (1).
3. a kind of plate sorting manipulator according to claim 1, it is characterised in that: the bottom end of the vacuum chuck (22)
For silicone rubber material, and the edge of vacuum chuck (22) is equipped with sealing lip.
4. a kind of plate sorting manipulator according to claim 3, it is characterised in that: the silicon rubber of the vacuum chuck (22)
The top of glue material matter is equipped with threaded post, quick coupling (221) is bolted with above threaded post, along the top of quick coupling (221)
The bottom end of axis direction to silicone rubber material is provided with through-hole；Wherein, the threaded post of vacuum chuck (22) passes through mounting plate (21) simultaneously
It is spirally connected with mounting plate (21), silicone rubber material is located at the lower section of mounting plate (21), and quick coupling (221) is located at mounting plate (21)
Top.
5. a kind of plate sorting manipulator according to claim 1, it is characterised in that: the pneumatic element group includes: gas
Pump (41) and the reversal valve (233) being connected to air pump (41) one end, the air pump (41) are two-way air pump (41), reversal valve
(233) it is two-position two-way electromagnetic directional valve (233).
6. a kind of plate sorting manipulator according to claim 5, it is characterised in that: the first contact-making switch (222) and
Logical relation between two contact-making switches (232) be logic or.
7. a kind of method for sorting of plate sorting manipulator characterized by comprising pallet circumference equal dividing is placed on folder first
In the working range of pawl manipulator (1), then the location information of pallet is transmitted in main control computer by video camera (3), so
Pallet is divided by pallet to be sorted (5), sorting tray (6) and standby tray (7) by main control computer afterwards, then clamping jaw is mechanical
Vacuum absorption device (2) is moved to the top of pallet to be sorted (5) by hand (1), and then video camera (3) is by pallet to be sorted (5)
The graphical information of the plate of top layer is sent in main control computer, then passes through clamping jaw manipulator (1), vacuum absorption device (2)
And the plate of pallet to be sorted (5) top layer is picked up and is put on nearest one sorting tray (6) by air pump (41),
Then clamping jaw manipulator (1) returns the top of pallet to be sorted (5), and video camera (3) is by the plate of pallet to be sorted (5) top layer
The graphical information of material is sent to the graphical information of the stored plate of comparison in main control computer, is placed on if graphical information is consistent same
One on sorting tray (6), is successively placed on farther away sorting tray (6) if graphical information is not consistent, with such
It pushes away until sorting finishes.
8. a kind of method for sorting of plate sorting manipulator according to claim 7, it is characterised in that: the vacuum suction
When the vacuum chuck (22) of device (2) and the dust blower (231) of dust-extraction unit (23) are not abutted with plate, i.e. the first contact-making switch
(222) when and the second contact-making switch (232) is not triggered, the electromagnet Y1 power loss of reversal valve (233), air pump (41) revolves clockwise
Turn, at this time vacuum chuck (22) and dust blower (231) jet, removes the sundries on plate；
When the vacuum chuck (22) and dust blower (231) are abutted with plate, since dust blower (231) and mounting plate (21) are cut with scissors
It connects, the second contact-making switch (232) is mounted below dust blower (231), and dust blower (231) pipette tips are abutted with plate at this time, then rifle
Handle is abutted with the second contact-making switch (232), and the first contact-making switch (222) is abutted with plate, sends electric signal to main control computer, this
When main control computer make reversal valve (233) commutate, so that dust blower (231) is not worked, make air pump (41) counterclockwise rotate, vacuum chuck
(22) air-breathing picks up plate, until being moved in scheduled working region again resets reversal valve (233), air pump (41) up time
Needle rotation, so that plate be put down.
9. a kind of method for sorting of plate sorting manipulator according to claim 8, it is characterised in that: due to the first contact
Switching the logical relation between (222) and the second contact-making switch (232) is logic or, so the first contact-making switch (222) and the
Two contact-making switches (232) any one when being touched, all can send electric signal to main control computer, make the electromagnetism of reversal valve (233)
Iron Y1 obtain it is electric, make air pump (41) counterclockwise rotate, so that dust blower (231) be made not work, make vacuum chuck (22) air-breathing by plate
Material picks up.
10. a kind of method for sorting of plate sorting manipulator according to claim 7, it is characterised in that: the master control electricity
The position that the quantity of every kind of plate of different shapes is enough automatically stored in brain-capacity and every kind of plate of different shapes is placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534363.6A CN110125968A (en) | 2019-06-20 | 2019-06-20 | A kind of plate sorting manipulator and method for sorting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910534363.6A CN110125968A (en) | 2019-06-20 | 2019-06-20 | A kind of plate sorting manipulator and method for sorting |
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| Publication Number | Publication Date |
|---|---|
| CN110125968A true CN110125968A (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910534363.6A Pending CN110125968A (en) | 2019-06-20 | 2019-06-20 | A kind of plate sorting manipulator and method for sorting |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111232658A (en) * | 2020-01-14 | 2020-06-05 | 深圳市壹闻科技有限公司 | Stacker crane with good adsorption effect and reliable work |
| CN111439419A (en) * | 2020-04-15 | 2020-07-24 | 盐城佳华塑料制品有限公司 | Finished swim ring packaging production line |
| CN112358167A (en) * | 2020-11-21 | 2021-02-12 | 湖南省方为节能建材有限责任公司 | Stable supporting device for blow molding of glass products |
| CN112660813A (en) * | 2020-11-30 | 2021-04-16 | 哈工大机器人（合肥）国际创新研究院 | Electric vacuum chuck at tail end of mechanical arm |
| CN113695253A (en) * | 2021-09-08 | 2021-11-26 | 郑州航空工业管理学院 | Sorting and screening equipment based on logistics volume size |
| CN114560145A (en) * | 2022-03-24 | 2022-05-31 | 深圳市深科达智能装备股份有限公司 | Automatic sorting and packaging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111115275A (en) * | 2020-01-14 | 2020-05-08 | 深圳市壹闻科技有限公司 | Clean type hacking machine with overweight protect function |
| CN111232658A (en) * | 2020-01-14 | 2020-06-05 | 深圳市壹闻科技有限公司 | Stacker crane with good adsorption effect and reliable work |
| CN111115275B (en) * | 2020-01-14 | 2021-04-13 | 平湖市开浦机电集成有限公司 | Clean type hacking machine with overweight protect function |
| CN111232658B (en) * | 2020-01-14 | 2021-07-30 | 黄桂婷 | Stacker crane with good adsorption effect and reliable work |
| CN111439419A (en) * | 2020-04-15 | 2020-07-24 | 盐城佳华塑料制品有限公司 | Finished swim ring packaging production line |
| CN111439419B (en) * | 2020-04-15 | 2020-12-04 | 盐城佳华塑料制品有限公司 | Finished swim ring packaging production line |
| CN112358167A (en) * | 2020-11-21 | 2021-02-12 | 湖南省方为节能建材有限责任公司 | Stable supporting device for blow molding of glass products |
| CN112660813A (en) * | 2020-11-30 | 2021-04-16 | 哈工大机器人（合肥）国际创新研究院 | Electric vacuum chuck at tail end of mechanical arm |
| CN113695253A (en) * | 2021-09-08 | 2021-11-26 | 郑州航空工业管理学院 | Sorting and screening equipment based on logistics volume size |
| CN114560145A (en) * | 2022-03-24 | 2022-05-31 | 深圳市深科达智能装备股份有限公司 | Automatic sorting and packaging system |
| CN116654621A (en) * | 2023-06-02 | 2023-08-29 | 郑州宝冶钢结构有限公司 | Intelligent sorting device and working method thereof |
| CN116654621B (en) * | 2023-06-02 | 2024-01-23 | 郑州宝冶钢结构有限公司 | Intelligent sorting device and working method thereof |
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Application publication date: 20190816 |