CN216470967U

CN216470967U - Stacking device

Info

Publication number: CN216470967U
Application number: CN202123278007.4U
Authority: CN
Inventors: 黄梓钦; 李煜标; 岑子龙
Original assignee: Guangzhou Ruisong Automation Equipment Co ltd
Current assignee: Guangzhou Ruisong Automation Equipment Co ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-05-10
Anticipated expiration: 2031-12-22

Abstract

The application relates to the field of mechanical automation, and discloses a stacking device which comprises a conveyor belt, a manipulator and a claw, wherein the conveyor belt is used for conveying products to a working area of the stacking device, the claw is connected to the manipulator, a plurality of negative pressure lifting appliances for adsorbing the products are arranged on the claw, each negative pressure lifting appliance comprises a sucker and a connecting pipe, each connecting pipe penetrates through the corresponding sucker, one end of each connecting pipe is fixedly connected to the top of a negative pressure cavity of each sucker, one end, far away from the corresponding sucker, of each connecting pipe is connected to an air exhaust branch pipe in a threaded manner, one end, far away from the corresponding connecting pipe, of each air exhaust branch pipe is connected to an air exhaust main pipe, each air exhaust main pipe is provided with an air pressure sensor for detecting the air pressure value in the air exhaust main pipe, a motor M for driving the manipulator to act is arranged on the manipulator, and the motor M is coupled with a first control circuit for cutting off a power supply of the motor M when the air pressure value in the air exhaust main pipe is detected to be abnormal; this application has the effect that improves pile up neatly device reliability.

Description

Stacking device

Technical Field

The application relates to the field of mechanical automation, in particular to a stacking device.

Background

At present, the stacking work is usually carried out by using a stacking device, and compared with manual stacking, stacking of products can be more tidy and firm by using the stacking device for stacking instead of depending on working experience and proficiency of workers, and the problem that the stacking quality of the products is reduced due to physical strength reduction after the workers continuously work for a period of time is solved.

The existing stacking device usually adopts a claw with a sucker to carry products, the requirement for air tightness is high when the sucker is used for sucking heavy objects, the problem that the air tightness is reduced due to surface abrasion often occurs in the using process of the sucker, and therefore the phenomenon that the product is accidentally separated from the sucker due to insufficient air tightness to cause economic loss or even casualties can occur.

In view of the above-mentioned related art, the inventor believes that there is a problem in that the airtightness of the suction cup of the palletizing device is insufficient, which may cause an accident of unexpected detachment of the product.

SUMMERY OF THE UTILITY MODEL

In order to improve the reliability of pile up neatly device, this application provides a pile up neatly device.

The application provides a pile up neatly device adopts following technical scheme to realize:

a stacking device comprises a conveyor belt, a manipulator, a claw tool and an air exhaust main pipe, wherein the conveyor belt is used for conveying products to a working area of the stacking device, the claw tool is connected to the manipulator, a plurality of negative pressure lifting tools used for adsorbing the products are arranged on the claw tool, each negative pressure lifting tool comprises a sucker and a connecting pipe, the connecting pipe is arranged on the sucker in a penetrating mode, one end of the connecting pipe is fixedly connected to the top of a negative pressure cavity of the sucker, one end, far away from the sucker, of the connecting pipe is connected with an air exhaust branch pipe in a threaded mode, one end, far away from the connecting pipe, of the air exhaust branch pipe is connected to the air exhaust main pipe, the air exhaust main pipe is connected with an air exhaust pump, the air exhaust main pipe is provided with an air pressure sensor used for detecting the air pressure value in the air exhaust main pipe, a piezoresistor RA1 is arranged in the air pressure sensor, the larger the air pressure detected by the air pressure sensor is, the larger the resistance of the piezoresistor RA1 is, the manipulator is provided with a motor M for driving the manipulator to move, a first control circuit is coupled with the motor M, and the first control circuit comprises:

the air pressure detection and comparison module is used for detecting the air pressure value in the air exhaust main pipe and outputting an air pressure detection signal, and the air pressure detection and comparison module is provided with an air pressure reference signal so as to send out an air pressure comparison signal when the air pressure detection signal is greater than the air pressure reference signal;

the first switch module is coupled with the air pressure detection comparison module and used for sending out a first switch signal when receiving the air pressure comparison signal;

the first execution module is coupled to the first switch module and is connected in series in a power supply loop of the motor M to send a first execution signal to cut off a power supply of the motor M when receiving the first switch signal.

By adopting the technical scheme, when the stacking device is used for stacking, the negative pressure lifting appliance on the claw is abutted to the product and comprises the sucking disc and the connecting pipe, wherein the sucking disc is tightly attached to the product; the air exhaust main pipe is provided with an air pressure sensor for detecting the air pressure value in the air exhaust main pipe, when the air pressure value in the air exhaust main pipe is larger, the resistance value of the piezoresistor RA1 is larger, and meanwhile, the difference value between the air pressure in the negative pressure cavity and the outside air pressure is smaller, so that the bearing capacity of the negative pressure lifting appliance is weakened, and the falling probability of a product is larger; the air pressure detection and comparison module detects the air pressure value in the air exhaust main pipe and outputs an air pressure detection signal, the air pressure detection and comparison module is provided with an air pressure reference signal, when the air tightness of the sucker is insufficient, the air pressure value in the air exhaust main pipe is increased, the air pressure detection signal is greater than the air pressure reference signal, the air pressure detection and comparison module sends the air pressure comparison signal, the first switch module receives the air pressure comparison signal and sends a first switch signal, the first execution module receives the first switch signal and sends a first execution signal to cut off a power supply of the motor M, the action of the manipulator is stopped, the stacking work is suspended, and accidents that products fall off accidentally due to the fact that the bearing capacity of a negative pressure lifting appliance is insufficient are prevented.

Optionally, the atmospheric pressure detects the comparison module and includes atmospheric pressure sensor and the first resistor R1 that is used for detecting the main pipe internal gas pressure value of bleeding, atmospheric pressure sensor wears to establish and threaded connection in the main pipe of bleeding, and the atmospheric pressure that detects when atmospheric pressure sensor is big, then its resistance is big, piezoresistor RA 1's one end ground connection, the other end is coupled in mains voltage VCC after establishing ties with first resistor R1, piezoresistor RA1 is connected in switch module with first resistor R1's connected node.

By adopting the technical scheme, the air pressure sensor is arranged in the air exhaust main pipe in a penetrating and threaded manner, when the air tightness of the sucker is good, the air pressure value in the air exhaust main pipe is lower than the external air pressure, the bearing capacity of the negative pressure lifting appliance is enough to suck up a product, the resistance value of the piezoresistor RA1 is smaller than that of the first resistor R1, and when the voltage at the two ends of the piezoresistor RA1 is smaller than that at the two ends of the first resistor R1, the air pressure detection signal is output to the first switch module at the connection node of the piezoresistor RA1 and the first resistor R1; when the air tightness of the sucker is insufficient, the air pressure value in the air exhaust main pipe is increased, the resistance value of the piezoresistor RA1 is increased, and when the resistance value of the piezoresistor RA1 is larger than that of the first resistor R1, namely the voltage at two ends of the piezoresistor RA1 is larger than that of two ends of the first resistor R1, an air pressure comparison signal is output to the first switch module at the connecting node of the piezoresistor RA1 and the first resistor R1; the air pressure detection comparison module changes an output signal relative to the size of the first resistor R1 through the resistance value of the piezoresistor RA1, and achieves a comparison function.

Optionally, the switch module includes a first transistor Q1, a base of the first transistor Q1 is coupled to a connection node between the voltage dependent resistor RA1 and the first resistor R1, a collector of the first transistor Q1 is coupled to the power supply voltage VCC after being connected in series with the second resistor R2, and an emitter of the first transistor Q1 is coupled to the first execution module and then grounded.

By adopting the technical scheme, when the first triode Q1 receives the air pressure comparison signal, the first triode Q1 is converted from the high level to the low level and sends a first switching signal to the first execution module, and the first execution module receives the first switching signal and sends the first execution signal to cut off the power supply of the motor M; when the first triode Q1 does not receive the air pressure comparison signal, the first triode Q1 maintains a high level and is in a non-conducting state, the first triode Q1 does not send a first switching signal, the power supply of the motor M is kept in a conducting state, and the first triode Q1 is used for detecting a signal from the pressure detection comparison module and controlling the working state of the first execution module according to different received signals.

Optionally, the first execution module includes a first relay KM1, one end of a coil of the first relay KM1 is connected in series to an emitter of the first transistor Q1, and the other end of the coil is grounded, the first relay KM1 includes a first normally closed contact switch KM1-1, and the first normally closed contact switch KM1-1 is connected in series in a power supply loop of the motor M.

By adopting the technical scheme, when the first relay KM1 receives a first switching signal, the first relay KM1 sends a first execution signal to enable the normally closed contact switch KM1-1 to be switched off, so that a power supply loop of the motor M is cut off; when the first relay KM1 does not receive the first switch signal, the normally closed contact switch KM1-1 is in a closed state, and the motor M is electrified; the power supply circuit of the motor M is in a normally closed state, when the first relay KM1 does not receive the first switch signal, the power supply circuit of the motor M is in a communicated state, the manipulator normally performs stacking work, when the first relay KM1 receives the first switch signal, the power supply circuit of the motor M is cut off, the action of the manipulator is stopped, the stacking work is paused, accidents that products drop accidentally are prevented, manual operation is not needed, and the timeliness of stopping the stacking device is improved.

Optionally, the stacker crane further comprises a second execution module, a buzzer is installed on the stacker crane, the second execution module comprises a second relay KM2, the second relay KM2 is connected in series in a power supply loop of the motor M, the second relay KM2 comprises a second normally open contact switch KM2-1, and the second normally open contact switch KM2-1 is connected in series in the power supply loop of the buzzer.

By adopting the technical scheme, the second relay KM2 is connected in series in the power supply loop of the motor M, the second relay KM2 and the motor M receive the first switch signal at the same time, the second normally open contact switch KM2-1 is closed by the signal sent by the second relay KM2, the power supply loop of the buzzer is further switched on, and the buzzer sounds; so that when the sucking disc gas tightness is not enough, send the sound when cutting off motor M power to remind the staff in time to overhaul the gas tightness of sucking disc, so that improve pile up neatly device's work efficiency.

Optionally, the air suction pump further comprises a third execution module, the third execution module comprises a third relay KM3, the third relay KM3 is connected in series in a power supply loop of the buzzer, the third relay KM3 comprises a third normally open contact switch KM3-1, and the third normally open contact switch KM3-1 is connected in series in the power supply loop of the air suction pump.

Through adopting above-mentioned technical scheme, third relay KM3 establishes ties in the power supply loop of bee calling organ, third relay KM3 and bee calling organ are electrified simultaneously, the signal that third relay KM3 sent makes third normally open contact switch KM3-1 closed, and then the power supply loop of switch-on aspiration pump, make the aspiration pump start, the air in the main pipe of exhausting air bleed is in order to reduce the atmospheric pressure value in the main pipe of bleeding, so that when the sucking disc gas tightness is not enough, improve the difference between negative pressure chamber internal gas pressure and the external atmospheric pressure through the bleeder valve, and then improve the bearing capacity of negative pressure hoist, reduce the probability that the product dropped when the manipulator action stops.

Optionally, the connecting pipe is located the one end at the negative pressure chamber top of sucking disc is provided with the force sensing resistor RA2 that is used for detecting the connecting pipe and receives the pressure of product, and is a plurality of the branch pipe of bleeding is close to the one end of the person in charge of bleeding all is provided with the branch pipe solenoid valve, and is a plurality of the second control circuit is all coupled to the branch pipe solenoid valve, the second control circuit includes:

the pressure detection and comparison module is used for detecting the pressure of the product on the connecting pipe and outputting a pressure detection signal, and the pressure detection and comparison module is provided with a pressure reference signal so as to send out a pressure comparison signal when the pressure detection signal is greater than the pressure reference signal;

the second switch module is coupled to the pressure detection comparison module and used for sending out a second switch signal when receiving the pressure comparison signal;

and the fourth execution module is coupled to the second switch module and is connected in series in a power supply loop of the branch pipe electromagnetic valve so as to send out a fourth execution signal to control the branch pipe electromagnetic valve to be opened when receiving the second switch signal.

By adopting the technical scheme, when the negative pressure lifting appliance sucks up a product, the suction disc is tightly attached to the product, one end, positioned at the top of the negative pressure cavity of the suction disc, of the connecting pipe is provided with the force-sensitive resistor RA2 for detecting the pressure of the connecting pipe on the product, and the force-sensitive resistor RA2 is used for detecting the connecting pipe successfully abutted against the surface of the product, so that the branch pipe electromagnetic valve corresponding to the air exhaust branch pipe connected with the connecting pipe successfully abutted against the surface of the product is controlled to be opened, the connecting pipe successfully abutted against the surface of the product starts to exhaust air, the air pressure in the negative pressure cavity of the suction disc is reduced, and the negative pressure lifting appliance can suck up the product; the pressure detection comparison module detects that the connecting pipe receives the pressure of a product and outputs a pressure detection signal, the pressure detection comparison module is provided with a pressure reference signal, when the sucker is attached to the surface of the product, the connecting pipe is abutted to the surface of the product, the resistance value of the force-sensitive resistor RA2 is increased, when the pressure detection signal is greater than the pressure reference signal, the pressure detection comparison module sends the pressure comparison signal, the second switch module receives the pressure comparison signal and sends a second switch signal, and the fourth execution module receives the second switch signal and sends a fourth execution signal to open the corresponding branch pipe electromagnetic valve.

Optionally, the fourth execution module includes a fourth relay KM4, one end of a coil of the fourth relay KM4 is connected in series to an emitter of the second triode Q2, and the other end of the coil is grounded, the fourth relay KM4 includes a fourth normally-open contact switch KM4-1, and the fourth normally-open contact switch KM4-1 is connected in series to a power supply loop of the branch solenoid valve.

By adopting the technical scheme, when the fourth relay KM4 receives a second switch signal, the fourth relay KM4 sends a second execution signal to close the normally open contact switch KM4-1, so as to communicate with a power supply loop of the branch pipe electromagnetic valve; when the fourth relay KM4 does not receive the second switch signal, the normally open contact switch KM4-1 is in a disconnected state, and the branch pipe electromagnetic valve is not electrified; the power supply circuit of branch pipe solenoid valve is in normally open state, and when fourth relay KM4 did not receive second switching signal, the power supply circuit of branch pipe solenoid valve is in the off-state, and the branch pipe of bleeding that the branch pipe solenoid valve corresponds is blocked by the branch pipe solenoid valve with bleeding between being responsible for to when the claw utensil is used for acquireing the less product of size, partial negative pressure hoist does not laminate in the product and leaks gas, leads to the suction reduction of other negative pressure hoists, and then causes the problem that claw utensil load-carrying capacity descends.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the air pressure sensor is arranged to detect the air pressure value in the air exhaust main pipe, whether air leakage exists or not is detected, and the motor M for driving the mechanical arm is coupled with the first control circuit, so that when the air tightness of the sucking disc is detected to be insufficient, the power supply of the motor M is cut off through the first control circuit, the action of the mechanical arm is stopped, and the accident that a product falls off accidentally due to the insufficient bearing capacity of the negative pressure lifting appliance is prevented;

2. the air exhaust main pipe is also connected with an air exhaust pump so as to start the air exhaust pump when the action of the manipulator stops and exhaust air in the air exhaust main pipe to reduce the air pressure value in the air exhaust main pipe, so that when the air tightness of the sucking disc is insufficient, the difference between the air pressure in the negative pressure cavity and the external air pressure is improved through an air exhaust valve, the bearing capacity of the negative pressure lifting appliance is further improved, and the probability that a product drops when the action of the manipulator stops is reduced;

3. one end of the connecting pipe, which is positioned at the top of the negative pressure cavity of the sucker, is provided with a force-sensitive resistor RA2 for detecting the pressure of the connecting pipe on the product so as to detect the connecting pipe which is successfully abutted against the surface of the product, and control the opening of a branch pipe electromagnetic valve corresponding to an air exhaust branch pipe connected with the connecting pipe which is successfully abutted against the surface of the product to start air exhaust, so that the air pressure in the negative pressure cavity of the sucker is reduced; and meanwhile, a branch pipe electromagnetic valve which is not abutted against the corresponding connecting pipe on the surface of the product is controlled to block the air exhaust branch pipe and the air exhaust main pipe, so that when the claw is used for acquiring a product with a smaller size, part of the negative pressure lifting appliance is not attached to the product and leaks air.

Drawings

Fig. 1 is a schematic view of the construction of the palletizing device.

Fig. 2 is a schematic structural view of the claw.

Fig. 3 is a schematic structural diagram of a negative pressure sling.

FIG. 4 is a schematic structural view of the main exhaust duct.

Fig. 5 is a circuit diagram of the first control circuit in the present embodiment.

Fig. 6 is a circuit diagram of a second control circuit in the present embodiment.

Description of reference numerals: 1. a conveyor belt; 2. a manipulator; 3. a claw tool; 31. a negative pressure sling; 311. a suction cup; 312. a connecting pipe; 4. producing a product; 5. a main exhaust pipe; 51. an air exhaust branch pipe; 52. an air pressure sensor; 511. branch pipe electromagnetic valves; 6. an air pressure detection comparison module; 7. a first switch module; 8. a first execution module; 9. a second execution module; 10. a buzzer; 11. a third execution module; 12. an air pump; 13. a pressure detection module; 14. a second switch module; 15. and a fourth execution module.

Detailed Description

The present application is described in further detail below with reference to figures 1-6.

The existing palletizing device usually adopts the claw 3 with the negative pressure lifting appliance 31 to transport the product 4, the requirement of the negative pressure lifting appliance 31 for sucking the heavy object to the air tightness is high, and the problem that the air tightness is reduced due to the surface abrasion of the suction cup 311 of the negative pressure lifting appliance 31 is often generated in the using process.

The embodiment of the application discloses pile up neatly device. Referring to fig. 1, the stacking device comprises a conveyor belt 1, a manipulator 2, a claw 3 and a product 4, wherein the conveyor belt 1 is used for conveying the product 4 to be stacked to a working area of the stacking device, the claw 3 is connected to the manipulator 2 and used for sucking the product 4, the manipulator 2 is used for conveying the product 4 from the conveyor belt 1 to the top of a stack, the manipulator 2 selects a six-axis manipulator 2, the manipulator 2 is provided with a motor M for driving the manipulator 2 to act, and specifically, the motor M can be composed of a plurality of motors powered by the same power supply loop.

Referring to fig. 2 and 3, the gripper 3 includes a negative pressure lifting tool 31 for adsorbing the product 4, the negative pressure lifting tool 31 includes a suction cup 311 and a connection tube 312, wherein the suction cup 311 is used for abutting against the product 4 to form a negative pressure cavity between the product 4 and the suction cup 311, and when the negative pressure lifting tool 31 is in normal use, the air pressure in the negative pressure cavity is smaller than the outside air pressure, so that the negative pressure lifting tool 31 can be tightly attached to the product 4 under the action of the atmospheric pressure, thereby achieving the effect of lifting the product 4; connecting pipe 312 wears to locate sucking disc 311, and the one end fixed connection of connecting pipe 312 is in the negative pressure chamber top of sucking disc 311, and the one end that connecting pipe 312 is located sucking disc 311 negative pressure chamber top is provided with the force sensing resistor RA2 that is used for detecting connecting pipe 312 and receives the pressure of product 4 to when sucking disc 311 hugs closely in product 4, force sensing resistor RA2 receives the pressure from product 4, thereby reach the effect of detecting whether sucking disc 311 and product 4 laminating.

The claw 3 is also provided with an air extraction main pipe 5 for extracting air from the negative pressure cavity and a plurality of air extraction branch pipes 51, wherein one end of each air extraction branch pipe 51 is respectively connected with the air extraction main pipe 5; the outer surface of one end of the connecting pipe 312, which is far away from the suction cup 311, is provided with an external thread, the inner wall of one end of the air exhaust branch pipe 51, which is far away from the air exhaust main pipe 5, is provided with an internal thread, the connecting pipe 312 is in threaded connection with the air exhaust branch pipe 51, so that the negative pressure cavity, the air exhaust branch pipe 51 and the air exhaust main pipe 5 have the same air pressure, and the air exhaust main pipe 5 is further connected with an air exhaust pump 12 which is used for exhausting air from the air exhaust main pipe 5 to reduce the air pressure in the air exhaust main pipe 5.

Referring to fig. 4, the main exhaust pipe 5 is further provided with an air pressure sensor 52, wherein one end of the air pressure sensor 52, which is used for detecting air pressure, is provided with an external thread, a threaded hole is formed in a pipe wall of the main exhaust pipe 5, which is used for installing the air pressure sensor 52, the air pressure sensor 52 is inserted into and threaded with the main exhaust pipe 5, the air pressure sensor 52 is used for detecting air pressure in the main exhaust pipe 5 so as to find out abnormal conditions of the air pressure in the main exhaust pipe 5 caused by insufficient air tightness of the pipeline or the suction cup 311 in time and to process the abnormal conditions in time, the air pressure sensor 52 is provided with a piezoresistor RA1, and the larger the air pressure detected by the air pressure sensor 52 is, the larger the resistance value of the piezoresistor RA1 is; the branch pipe electromagnetic valves 511 are arranged at one ends of the plurality of the air exhaust branch pipes 51 close to the air exhaust main pipe 5, when the branch pipe electromagnetic valves 511 are electrified, valve cores of the branch pipe electromagnetic valves 511 are attracted by electromagnets in the branch pipe electromagnetic valves 511, and then a passage between the air exhaust branch pipes 51 and the air exhaust main pipe 5 is opened, so that air pressure between the air exhaust branch pipes 51 and the air exhaust main pipe 5 is balanced, and when the branch pipe electromagnetic valves 511 are not electrified, the valve cores of the branch pipe electromagnetic valves 511 plug the passage between the air exhaust branch pipes 51 and the air exhaust main pipe 5 under the action of elastic pieces.

Referring to fig. 5, a first control circuit for controlling the on-off state of the power supply circuit of the motor M is coupled to the motor M, and the first control circuit includes an air pressure detection comparing module 6, a first switch module 7 and a first executing module 8.

The atmospheric pressure detects the comparison module 6 and is used for detecting the atmospheric pressure of bleeding in the main pipe 5 and output atmospheric pressure detection signal, atmospheric pressure detects the comparison module 6 and is provided with atmospheric pressure reference signal in order to send out atmospheric pressure comparison signal when atmospheric pressure detection signal is greater than atmospheric pressure reference signal, atmospheric pressure detects the comparison module 6 and includes piezo-resistor RA1 and first resistor R1, piezo-resistor RA 1's one end ground connection, the other end is coupled in mains voltage VCC after establishing ties with first resistor R1, piezo-resistor RA1 is connected in first switch module 7 with first resistor R1's connected node.

The first switch module 7 is coupled to the pressure detection comparing module 6 to send out a first switch signal when receiving the pressure comparison signal, the first switch module 7 includes a first NPN transistor Q1 and a second resistor R2, a base of the first transistor Q1 is coupled to a connection node between the voltage dependent resistor RA1 and the first resistor R1, a collector of the first transistor Q1 is coupled to the power voltage VCC after being connected in series with the second resistor R2, and an emitter of the first transistor Q1 is coupled to the first execution module 8 and then grounded.

The first executing module 8 is coupled to the first switching module 7 and connected in series in the power supply loop of the motor M, and sends out a first executing signal to cut off the power supply loop of the motor M when receiving the first switching signal, the first executing module 8 includes a first relay KM1, one end of a coil of the first relay KM1 is connected in series with an emitter of the first triode Q1, the other end is grounded, the first relay KM1 includes a first normally closed contact switch KM1-1, and the first normally closed contact switch KM1-1 is connected in series in the power supply loop of the motor M.

The first control circuit further comprises a second execution module 9, the second execution module 9 comprises a second relay KM2, the second relay KM2 is connected in series in a power supply loop of the motor M, the second relay KM2 comprises a second normally open contact switch KM2-1, and the second normally open contact switch KM2-1 is connected in series in the power supply loop of the buzzer 10.

The first control circuit further comprises a third execution module 11, the third execution module 11 comprises a third relay KM3, the third relay KM3 is connected in series in the power supply loop of the buzzer 10, the third relay KM3 comprises a third normally open contact switch KM3-1, and the third normally open contact switch KM3-1 is connected in series in the power supply loop of the buzzer 10.

Referring to fig. 6, a second control circuit for controlling the on/off state of the power supply circuit of the branch solenoid valve 511 is coupled to the branch solenoid valve 511, and the second control circuit includes a pressure detection comparing module, a second switching module 14 and a fourth executing module 15.

The pressure detection comparing module is used for detecting the pressure of the product 4 on the connecting pipe 312 and outputting a pressure detection signal, the pressure detection comparing module is provided with a pressure reference signal so as to send out a pressure comparison signal when the pressure detection signal is greater than the pressure reference signal, the pressure detection comparing module comprises a force sensing resistor RA2 and a fourth resistor R4, one end of the force sensing resistor RA2 is grounded, the other end of the force sensing resistor RA2 is connected in series with the fourth resistor R4 and then is coupled to a power supply voltage VCC, and the connecting node of the force sensing resistor RA2 and the fourth resistor R4 is connected to the second switch module 14.

The second switching module 14 is coupled to the pressure detection comparing module to send a second switching signal when receiving the pressure comparison signal, the second switching module 14 includes an NPN-type second transistor Q2 and a fifth resistor R5, a base of the second transistor Q2 is coupled to a connection node between the force-sensitive resistor RA2 and the fifth resistor R5, a collector of the second transistor Q2 is coupled to the power voltage VCC after being connected in series with the fifth resistor R5, and an emitter of the second transistor Q2 is coupled to the fourth execution module 15 and then grounded.

The fourth execution module 15 is coupled to the second switch module 14 and connected in series to the power supply loop of the branch solenoid valve 511, and sends out a fourth execution signal to communicate with the power supply loop of the branch solenoid valve 511 when receiving the second switch signal, the fourth execution module 15 includes a fourth relay KM4, one end of a coil of the fourth relay KM4 is connected in series to an emitter of the second transistor Q2, and the other end is grounded, the fourth relay KM4 includes a fourth normally open contact switch KM4-1, and the fourth normally closed contact switch KM4-1 is connected in series to the power supply loop of the branch solenoid valve 511.

The implementation principle of the stacking device in the embodiment of the application is as follows: when the stacking device performs stacking work, the negative pressure lifting appliance 31 on the claw 3 is adsorbed on the surface of a product 4, the air pump 12 pumps air in the main air extraction pipe 5 to reduce the air pressure in the main air extraction pipe 5, the branch air extraction pipe 51 and the negative pressure cavity of the suction cup 311 are kept consistent, and the suction cup 311 is tightly attached to the surface of the product 4 under the action of the atmospheric pressure, so that the negative pressure lifting appliance 31 can lift the product 4; when the air tightness of the main air extraction pipe 5, the branch air extraction pipe 51 or the suction cup 311 is insufficient, the air pressure in the main air extraction pipe 5 is increased, so that the difference between the negative pressure cavity and the external air pressure is reduced, and further, the load capacity of the negative pressure lifting appliance 31 is reduced, when the air pressure detection comparison module 6 detects that the air pressure is increased, an air pressure comparison signal is sent, the first switch module 7 receives the air pressure comparison signal and sends a first switch signal, the first execution module 8 receives the first switch signal and sends a first execution signal to cut off a power supply loop of the motor M, the second execution module 9 is also connected in series in the power supply loop of the motor M, the second execution module 9 and the first execution module 8 receive the first switch signal at the same time, and the signal sent by the second relay KM2 closes the second normally open contact switch KM2-1, so that the buzzer 10 sounds; thereby reach when the gas tightness of the person in charge of bleeding 5, the branch pipe 51 of bleeding or sucking disc 311 is not enough, manipulator 2 automatic stop work to prevent that product 4 from dropping the occurence of failure, buzzer 10 sends the sound, and the suggestion staff in time overhauls the effect of pile up neatly device.

The first control circuit further comprises a third execution module 11, and when detecting that the air tightness of the main air exhaust pipe 5, the branch air exhaust pipe 51 or the suction cup 311 is insufficient, the air exhaust pump 12 is started to exhaust air in the main air exhaust pipe 5 so as to reduce the air pressure in the main air exhaust pipe 5, thereby increasing the difference between the air pressure in the negative pressure cavity and the external air pressure, further improving the load carrying capacity of the negative pressure lifting appliance 31, and further reducing the probability of the falling accident of the product 4.

One end of the connecting pipe 312, which is positioned at the top of the negative pressure cavity of the suction cup 311, is provided with a force-sensitive resistor RA2 for detecting the pressure of the connecting pipe 312 on the product 4, one ends of the plurality of air-extracting branch pipes 51, which are close to the air-extracting main pipe 5, are provided with branch pipe electromagnetic valves 511, the plurality of branch pipe electromagnetic valves 511 are coupled with a second control circuit for controlling the on-off state of a power supply loop of the branch pipe electromagnetic valves 511, and the second control circuit comprises a pressure detection comparison module, a second switch module 14 and a fourth execution module 15; when the gripper 3 is used for transporting a product 4 with a small volume, part of the negative pressure lifting appliance 31 is not attached to the product 4, the negative pressure lifting appliance 31 attached to the surface of the product 4 can be detected by the force sensitive resistor RA2 arranged on the connecting pipe 312, when the connecting pipe 312 abuts against the product 4, the resistance value of the force sensitive resistor RA2 is increased, when the pressure detection and comparison module detects that the pressure of the product 4 is increased on the connecting pipe 312, the pressure detection and comparison module sends a pressure comparison signal, the second switch module 14 receives the pressure comparison signal and sends a second switch signal, and the fourth execution module 15 receives the second switch signal and sends a fourth execution signal to communicate with the power supply circuit of the branch pipe electromagnetic valve 511, so that the air pressure between the main exhaust pipe 5 and the branch exhaust pipe 51 is balanced.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A palletizing device, characterized in that: the automatic product stacking device comprises a conveyor belt (1), a manipulator (2), a claw (3) and a main exhaust pipe (5), wherein the conveyor belt (1) is used for conveying products (4) to a working area of the stacking device, the claw (3) is connected to the manipulator (2), a plurality of negative pressure lifting tools (31) used for adsorbing the products (4) are arranged on the claw (3), each negative pressure lifting tool (31) comprises a suction disc (311) and a connecting pipe (312), the connecting pipe (312) is arranged in the suction disc (311) in a penetrating manner, one end of the connecting pipe (312) is fixedly connected to the top of a negative pressure cavity of the suction disc (311), one end, far away from the suction disc (311), of the connecting pipe (312) is in threaded connection with an exhaust branch pipe (51), one end, far away from the connecting pipe (312), of the exhaust branch pipe (51) is connected to the main exhaust pipe (5), and the main exhaust pipe (5) is connected with an exhaust pump (12), the main pipe (5) of bleeding is provided with atmospheric pressure sensor (52) that is used for detecting the internal air pressure value of main pipe (5) of bleeding, is provided with piezoresistor RA1 in atmospheric pressure sensor (52), the atmospheric pressure that atmospheric pressure sensor (52) detected is big more, and then piezoresistor RA 1's resistance is big more, be provided with the motor M that is used for driving manipulator (2) action on manipulator (2), first control circuit is coupled to motor M, first control circuit includes:

the air pressure detection and comparison module (6) is used for detecting the air pressure value in the air exhaust main pipe (5) and outputting an air pressure detection signal, and the air pressure detection and comparison module (6) is provided with an air pressure reference signal so as to send out an air pressure comparison signal when the air pressure detection signal is greater than the air pressure reference signal;

the first switch module (7) is coupled with the air pressure detection comparison module (6) and used for sending out a first switch signal when receiving the air pressure comparison signal;

and the first execution module (8) is coupled to the first switch module (7) and is connected in series in a power supply loop of the motor M so as to send out a first execution signal to cut off the power supply of the motor M when receiving the first switch signal.

2. The palletizing device as in claim 1, wherein: the atmospheric pressure detects comparison module (6) including being used for detecting the atmospheric pressure sensor (52) and the first resistor R1 of the interior atmospheric pressure value of the person in charge (5) of bleeding, atmospheric pressure sensor (52) wear to establish and threaded connection in the person in charge (5) of bleeding, and the atmospheric pressure that detects when atmospheric pressure sensor (52) is big, then its resistance is big, piezoresistor RA 1's one end ground connection, the other end is coupled in mains voltage VCC after establishing ties with first resistor R1, piezoresistor RA1 and first resistor R1's connected node is connected in switch module (7).

3. Palletizing device according to claim 2, characterized in that: the switch module (7) comprises a first transistor Q1, a base of the first transistor Q1 is coupled to a connection node of a voltage dependent resistor RA1 and a first resistor R1, a collector of the first transistor Q1 is coupled to a power supply voltage VCC after being connected in series with a second resistor R2, and an emitter of the first transistor Q1 is coupled to a first execution module (8) and then grounded.

4. A palletizing device according to claim 3, characterized in that: the first execution module (8) comprises a first relay KM1, one end of a coil of the first relay KM1 is connected in series with an emitter of a first triode Q1, the other end of the coil is grounded, the first relay KM1 comprises a first normally closed contact switch KM1-1, and the first normally closed contact switch KM1-1 is connected in series in a power supply loop of the motor M.

5. The palletizing device as in claim 1, wherein: still include second execution module (9), and buzzer (10) are installed to the pile up neatly device, second execution module (9) include second relay KM2, second relay KM2 is established ties in the power supply loop of motor M, second relay KM2 includes second normally open contact switch KM2-1, second normally open contact switch KM2-1 is established ties in the power supply loop of buzzer (10).

6. The palletizing device as in claim 1, wherein: the air suction pump further comprises a third execution module (11), wherein the third execution module (11) comprises a third relay KM3, the third relay KM3 is connected in series in a power supply loop of the buzzer (10), the third relay KM3 comprises a third normally open contact switch KM3-1, and the third normally open contact switch KM3-1 is connected in series in the power supply loop of the air suction pump (12).

7. The palletizing device as in claim 1, wherein: the connecting pipe (312) is located the one end at the negative pressure chamber top of sucking disc (311) is provided with the force sensing resistor RA2 that is used for detecting that connecting pipe (312) receives the pressure of product (4), and is a plurality of bleed branch pipe (51) are close to the one end of bleed main pipe (5) all is provided with branch pipe solenoid valve (511), and is a plurality of second control circuit is all coupled in branch pipe solenoid valve (511), the second control circuit includes:

the pressure detection and comparison module (13) is used for detecting that the connecting pipe (312) is subjected to the pressure of the product (4) and outputting a pressure detection signal, and the pressure detection and comparison module (13) is provided with a pressure reference signal so as to send out a pressure comparison signal when the pressure detection signal is greater than the pressure reference signal;

the second switch module (14) is coupled to the pressure detection comparison module (13) and used for sending out a second switch signal when receiving the pressure comparison signal;

and the fourth execution module (15) is coupled to the second switch module (14) and is connected in series in the power supply loop of the branch pipe electromagnetic valve (511) to send out a fourth execution signal to control the branch pipe electromagnetic valve (511) to be opened when receiving the second switch signal.

8. The palletizing device as in claim 7, wherein: the fourth execution module (15) comprises a fourth relay KM4, one end of a coil of the fourth relay KM4 is connected in series with an emitter of the second triode Q2, the other end of the coil is grounded, the fourth relay KM4 comprises a fourth normally-open contact switch KM4-1, and the fourth normally-open contact switch KM4-1 is connected in series in a power supply loop of the branch solenoid valve (511).