CN105710891A - Refuse wood clamping device and method - Google Patents
Refuse wood clamping device and method Download PDFInfo
- Publication number
- CN105710891A CN105710891A CN201610225461.8A CN201610225461A CN105710891A CN 105710891 A CN105710891 A CN 105710891A CN 201610225461 A CN201610225461 A CN 201610225461A CN 105710891 A CN105710891 A CN 105710891A
- Authority
- CN
- China
- Prior art keywords
- electromagnetic
- clamping
- current
- electromagnetic clamping
- residual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002023 wood Substances 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 202
- 238000005520 cutting process Methods 0.000 claims abstract description 19
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 238000006748 scratching Methods 0.000 abstract description 6
- 230000002393 scratching effect Effects 0.000 abstract description 6
- 238000004140 cleaning Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 description 45
- 230000035699 permeability Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a refuse wood clamping device and method. The refuse wood clamping device comprises a motor, a movable mechanism, an electromagnetic clamping mechanism and a current control system, wherein the motor drives the movable mechanism to move; the electromagnetic clamping mechanism is arranged on the movable mechanism and comprises two electromagnetic clamping plates; the motor is used for driving the movable mechanism to move, so that the electromagnetic clamping mechanism reaches the preset clamping position; the current control system is used for controlling the amplitude of current applied to the electromagnetic clamping mechanism so as to control acting force of the electromagnetic clamping mechanism to act on clamped refuse wood and the clamping speed; and when the refuse wood is clamped, the magnetic poles of the two electromagnetic clamping plates are opposite and the magnetic forces are the same. In this way, the probability of scratching a panel during refuse wood cleaning can be effectively reduced, the panel cutting quality is improved, and the rejection rate of the panel is effectively reduced.
Description
Technical Field
The invention relates to the field of display, in particular to a residual wood clamping device and a residual wood clamping method.
Background
In the cutting process, the large substrate is usually cut into small panels, and during the cutting process, the separation between the panels and the exposed terminal edges produce remnants. These cut remnants are typically cleaned by a gripper (CulletChuck).
The existing residual wood clamping device usually drives a clamping plate to be opened or closed through an air cylinder to clamp residual wood, and because the control of acting force for clamping the residual wood by the clamping plate is not ideal, the acting force exerted on the residual wood by the clamping plate of the residual wood clamping device is not uniform, when the residual wood cut by a panel is cleaned, the clamped residual wood is easily stressed unevenly to scratch the cutting edge of the panel, and the cutting yield is influenced.
Disclosure of Invention
The invention provides a residual material clamping device and a residual material clamping method, which effectively reduce the probability of scratching a panel when cleaning residual materials, improve the cutting quality of the panel and effectively reduce the rejection rate of the panel.
In order to solve the technical problems, the invention adopts a technical scheme that: the residual wood clamping device comprises a motor, a moving mechanism, an electromagnetic clamping mechanism and a current control system; the motor drives the moving mechanism to move; the electromagnetic clamping mechanism is arranged on the moving mechanism; the electromagnetic clamping mechanism comprises two electromagnetic clamping plates; the motor is used for driving the moving mechanism to move so as to enable the electromagnetic clamping mechanism to reach a preset clamping position; the current control system is used for controlling current applied to the electromagnetic clamping mechanism so as to control acting force of the electromagnetic clamping mechanism on the clamped residual timber and clamping speed; when the residual wood is clamped, the magnetic poles of the two electromagnetic clamping plates are opposite and the magnetic force is the same.
The number of the electromagnetic clamping mechanisms is at least two; the current control system is specifically used for controlling currents applied to the at least two electromagnetic clamping mechanisms so as to control acting forces of the at least two electromagnetic clamping mechanisms acting on the clamped residual timber and clamping speed; after current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms are the same.
A digital ammeter is also arranged between the electromagnetic clamping plate and the current control system; the digital current meter is used for displaying the current applied to the electromagnetic splint by the current control system.
The electromagnetic clamping plate comprises an electromagnet and a gasket which are arranged in a laminated mode; wherein the spacers of the two electromagnetic splints are adjacent.
The current control system is specifically used for controlling the magnitude of current applied to the electromagnetic clamping mechanism according to the residual materials of different products.
The motor is a servo motor or a linear motor and is further used for controlling the electromagnetic clamping mechanism to clamp the residual wood according to a preset residual wood feeding amount.
In order to solve the technical problem, the invention adopts another technical scheme that: provided is a method for clamping remnant materials, comprising: after cutting the residual wood, controlling the electromagnetic clamping mechanism to reach a preset clamping position; applying a preset current to the electromagnetic clamping mechanism, and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current; after the preset current is applied, the magnetic force of the two electromagnetic clamping plates of the electromagnetic clamping mechanism is the same.
The number of the electromagnetic clamping mechanisms is at least two; the step of applying a preset current to the electromagnetic clamping mechanism and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current specifically comprises the following steps: simultaneously applying a preset current to at least two electromagnetic clamping mechanisms, and controlling the at least two electromagnetic clamping mechanisms to clamp the residual timber at a speed corresponding to the preset current; after a preset current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms are the same.
The step of applying a preset current to the electromagnetic clamping mechanism and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current specifically comprises the following steps: respectively applying preset current to the two electromagnetic clamping plates of the electromagnetic clamping mechanism, and clamping the residual timber by acting force corresponding to the preset current; wherein the current corresponds to the acting force one to one; and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current.
Wherein, after cutting the residual wood, the step of controlling the electromagnetic clamping mechanism to reach the position of the preset clamping position specifically is: after cutting the residual wood, the electromagnetic clamping mechanism is controlled to reach a preset clamping position through a servo motor or a linear motor, and the electromagnetic clamping mechanism is controlled to clamp the residual wood according to a preset residual wood intake.
Compared with the prior art, according to the scheme, the residual wood clamping device moves through the motor driving moving mechanism to control the electromagnetic clamping mechanism arranged on the moving mechanism to reach the preset clamping position, and the current control system controls the current applied to the electromagnetic clamping mechanism to control the acting force and the clamping speed of the electromagnetic clamping mechanism acting on the clamped residual wood. The acting force applied to the residual material can be controlled through the current output by the current control system, the magnetic force of the first electromagnetic clamping plate and the second electromagnetic clamping plate of the electromagnetic clamping mechanism after being electrified is the same, and the force acting on the residual material of the panel is uniform and controllable, so that the probability of scratching the panel due to the fact that the force acting on the residual material by the clamping plates is not uniform when the residual material is cleaned can be effectively reduced, the cutting quality of the panel is improved, and the rejection rate of the panel is effectively reduced.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a residual wood gripping device according to the present invention;
FIG. 2 is a schematic structural view of another embodiment of the apparatus for gripping remnant materials of the present invention;
FIG. 3 is a schematic cross-sectional view of an embodiment of the electromagnetic gripper of the present invention;
fig. 4 is a flowchart illustrating an embodiment of a method for clamping the remaining wood of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a residual wood gripping device according to the present invention. The residual wood clamping device is used for clamping cut residual wood. The residual wood gripping device in this embodiment includes a motor 110, a moving mechanism 120, an electromagnetic gripping mechanism 130, and a current control system 140.
Wherein, the motor 110 drives the moving mechanism 120 to move; the electromagnetic gripping mechanism 130 is provided on the moving mechanism 120. The electromagnetic gripping mechanism 120 includes two electromagnetic clamping plates (a first electromagnetic clamping plate 131, a second electromagnetic clamping plate 132).
The motor 110 is used for driving the moving mechanism 120 to move so as to make the electromagnetic gripping mechanism 130 reach a preset gripping position.
The current control system 140 is used to control the current applied to the electromagnetic gripping mechanism 130 to control the force applied by the electromagnetic gripping mechanism 130 on the gripped log and the gripping speed. When the residual wood is clamped, the magnetic poles of the two electromagnetic clamping plates after being electrified are opposite to each other, and the two electromagnetic clamping plates attract each other to clamp the residual wood. The first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 have the same magnetic force.
Specifically, the working principle of the scrap gripping device is as follows:
when the cut log from the panel needs to be gripped, the motor 110 drives the moving mechanism 120 to move, so as to control the electromagnetic gripping mechanism 130 on the moving mechanism 120 to reach a preset gripping position to grip the log. The first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 of the electromagnetic clamping mechanism 130 are disposed opposite to each other, and are parallel to each other with a moving gap therebetween. The gap is larger than the thickness of the residual material to be clamped.
When the electromagnetic gripping mechanism 130 reaches the preset gripping position, the current control system 140 applies a preset current to the electromagnetic gripping mechanism 130. The preset current is set according to the material of the residual material. The current control system 140 can obtain the corresponding relationship between the residual material to be gripped and the preset current. The current control system 140 applies a current to the first electromagnetic clamp plate 131 in a direction opposite to the direction of the current applied to the second electromagnetic clamp plate 132.
When the electromagnetic clamping mechanism 130 is energized, the magnetic poles of the first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 attract each other oppositely, and the gap between the first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 is reduced. The electromagnetic gripping mechanism 130 grips the residual timber with an acting force corresponding to a predetermined current and grips the residual timber with a gripping speed corresponding to the acting force. The preset current corresponds to the acting force one by one, and the acting force corresponds to the clamping speed one by one.
Further, the air conditioner is provided with a fan,in the case where the electromagnet material of the electromagnetic clamping plate is known, the magnitude of the electromagnetic force (F) is a function of the current and the number of turns of the solenoid.That is to say that the first and second electrodes,
wherein I is the current applied to the electromagnet, W is the number of turns of the coil, R1-RnFor each part of the magnetic resistance in the magnetic circuit system, S is the area of the pole face corresponding to the working air gap, mu0The magnetic permeability is 4e-7H/m in vacuum.
After the residual wood is separated, the motor 110 controls the moving mechanism 120 to move, so as to place the residual wood gripped by the electromagnetic gripping mechanism 130 at a predetermined position. When the electromagnetic gripper 130 places the gripped remnant, the current control system 140 applies the current to the first electromagnetic gripper 131 in the same direction as the current applied to the second electromagnetic gripper 132, so that the first electromagnetic gripper 131 and the second electromagnetic gripper 132 repel each other to release the gripped remnant.
According to the scheme, the residual material clamping device moves through the motor driving moving mechanism to control the electromagnetic clamping mechanism arranged on the moving mechanism to reach the preset clamping position, the current control system controls the current applied to the electromagnetic clamping mechanism to control the acting force and the clamping speed of the electromagnetic clamping mechanism acting on the clamped residual material. The acting force applied to the residual material can be controlled through the current output by the current control system, the magnetic force of the first electromagnetic clamping plate and the second electromagnetic clamping plate of the electromagnetic clamping mechanism after being electrified is the same, and the force acting on the residual material of the panel is uniform and controllable, so that the probability of scratching the panel due to the fact that the force acting on the residual material by the clamping plates is not uniform when the residual material is cleaned can be effectively reduced, the cutting quality of the panel is improved, and the rejection rate of the panel is effectively reduced.
Referring to fig. 2, fig. 2 is a schematic structural diagram of another embodiment of the residual wood gripping device of the present invention. The residual wood clamping device is used for clamping cut residual wood. The difference between the present embodiment and the previous embodiment is that the residual wood gripping device in the present embodiment further includes a digital current meter 150. The number of the electromagnetic gripping mechanisms 130 is at least two.
Wherein, the digital current meter 150 is disposed between the electromagnetic clamping plates (the first electromagnetic clamping plate 131, the first electromagnetic clamping plate 132) of each electromagnetic clamping mechanism 130 and the current control system 140. The digital current meter 150 is used to display the current applied by the current control system to the electromagnetic clamps (first electromagnetic clamp 131, first electromagnetic clamp 132).
At least two electromagnetic clamping mechanisms 130; the current control system 140 is specifically configured to control the magnitude of the current applied to the at least two electromagnetic gripping mechanisms 130, so as to control the acting force of the at least two electromagnetic gripping mechanisms 130 on the gripped residual timber and the gripping speed; wherein, after the current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms 130 are the same.
Further, the current control system 140 is specifically configured to control the magnitude of the current applied to the electromagnetic gripper mechanism according to the scrap of different products.
Further, the motor 110 is a servo motor or a linear motor, and further serves to control the electromagnetic gripping mechanism 130 to grip the lumber scrap by a preset lumber scrap intake amount. The residual wood intake is the length of the residual wood between the clamping plates of the electromagnetic clamping mechanism, which is perpendicular to one side of the electromagnetic clamping mechanism.
Referring to fig. 3, fig. 3 is a schematic cross-sectional view of an electromagnetic clamping mechanism according to an embodiment of the present invention.
The electromagnetic clamping plates (the first electromagnetic clamping plate 131 and the first electromagnetic clamping plate 132) comprise an electromagnet 1311 and a gasket 1312 which are arranged in a laminated mode; the spacers of the two electromagnetic splints are adjacent. That is, the first electromagnetic clamp plate 131 includes an electromagnet 1311 and a spacer 1312 laminated; the second electromagnetic clamp 132 includes a laminated electromagnet 1321 and a spacer 1322.
Specifically, the working principle of the scrap gripping device is as follows:
when the at least two electromagnetic clamping mechanisms are required to clamp the cut residual timber from the panel, the motor 110 drives the moving mechanism 120 to move so as to control the at least two electromagnetic clamping mechanisms 130 on the moving mechanism 120 to reach the preset clamping height, and control the electromagnetic clamping mechanisms 130 to move and clamp the residual timber according to the preset residual timber intake.
Wherein, the motor is a servo motor or a linear motor. The first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 of the electromagnetic clamping mechanism 130 are arranged opposite to each other, parallel to each other, and have a moving gap therebetween. The gap is larger than the thickness of the residual material to be clamped.
When the electromagnetic gripping mechanisms 130 reach the preset gripping positions, the current control systems 140 apply preset currents to the electromagnetic gripping mechanisms 130, respectively. The preset current is set according to the material of the residual material, and different residual materials correspond to different preset currents. The current control system 140 can obtain the corresponding relationship between the residual material to be gripped and the preset current. The current applied by the current control system 140 to the at least two electromagnetic gripping mechanisms 130 makes the magnetic forces of the two electromagnetic gripping plates of the at least two electromagnetic gripping mechanisms 130 the same, so that the acting force applied by each electromagnetic gripping mechanism 130 to the residual wood is the same, thereby ensuring that the gripping speeds of the at least two electromagnetic gripping mechanisms 130 are consistent and the synchronism is ensured. The current control system 140 applies a current to the first electromagnetic gripper plate 131 of each electromagnetic gripper mechanism 130 in a direction opposite to the direction of the current applied to the second electromagnetic gripper plate 132.
When the at least two electromagnetic clamping mechanisms 130 are energized, the magnetic poles of the first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 attract each other oppositely, and the gap between the first electromagnetic clamping plate 131 and the second electromagnetic clamping plate 132 is reduced. The electromagnetic gripping mechanism 130 grips the residual timber with an acting force corresponding to a predetermined current and grips the residual timber with a gripping speed corresponding to the acting force. The preset current corresponds to the acting force one by one, and the acting force corresponds to the clamping speed one by one.
Further, with the known material of the electromagnets 1321, 1322 of the electromagnetic clamping plate, the magnitude of the electromagnetic force (F) is a function of the current and the number of turns of the solenoid.That is to say that the first and second electrodes,
wherein I is the current applied to the electromagnet, W is the number of turns of the coil, R1-RnFor each part of the magnetic resistance in the magnetic circuit system, S is the area of the pole face corresponding to the working air gap, mu0The magnetic permeability is 4e-7H/m in vacuum.
After the wood residue is separated, the motor 110 controls the moving mechanism 120 to move, so as to place the wood residue clamped by the at least two electromagnetic clamping mechanisms 130 at a predetermined position. Wherein, when the at least two electromagnetic gripping mechanisms 130 place the gripped remnant, the direction of the current applied by the current control system 140 to the first electromagnetic gripper 131 of each electromagnetic gripping mechanism 130 is the same as the direction of the current applied to the second electromagnetic gripper 132, so that the first electromagnetic gripper 131 and the second electromagnetic gripper 132 repel each other to release the gripped remnant.
According to the scheme, the residual material clamping device moves through the motor driving moving mechanism to control the electromagnetic clamping mechanism arranged on the moving mechanism to reach the preset clamping position, the current control system controls the current applied to the electromagnetic clamping mechanism to control the acting force and the clamping speed of the electromagnetic clamping mechanism acting on the clamped residual material. The acting force applied to the residual material can be controlled through the current output by the current control system, the magnetic force of the first electromagnetic clamping plate and the second electromagnetic clamping plate of the electromagnetic clamping mechanism after being electrified is the same, and the force acting on the residual material of the panel is uniform and controllable, so that the probability of scratching the panel due to the fact that the force acting on the residual material by the clamping plates is not uniform when the residual material is cleaned can be effectively reduced, the cutting quality of the panel is improved, and the rejection rate of the panel is effectively reduced.
Because the electromagnetic clamping device is provided with at least two electromagnetic clamping mechanisms, the current control system controls the magnetic force of each electromagnetic clamping mechanism when clamping the residual wood to be consistent, the acting force applied to the residual wood by each electromagnetic clamping mechanism is the same, and the clamping speed is also the same, so that the synchronism of each electromagnetic clamping mechanism is ensured. The probability that the panel is scratched due to different forces and different clamping speeds of the two electromagnetic clamping mechanisms acting on the residual material when the residual material is cleaned can be effectively reduced, the panel cutting quality is improved, and the panel rejection rate is effectively reduced.
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for clamping residual wood according to an embodiment of the present invention. The execution main body of this embodiment is a residual wood clamping device, and the residual wood clamping device is the residual wood clamping device described in any of the above embodiments. The residual wood clamping device clamps residual wood through the electromagnetic clamping mechanism, and the electromagnetic clamping mechanism comprises two oppositely-arranged electromagnetic clamping plates. The residual wood clamping method comprises the following steps:
s101: and after the residual wood is cut, controlling the electromagnetic clamping mechanism to reach a preset clamping position.
After the residual wood is cut on the panel, the residual wood clamping device is started. The residual wood clamping device controls the electromagnetic clamping mechanism to move to reach a preset clamping position.
Wherein the preset clamping position corresponds to the position of the residual wood.
Further, step S101 specifically includes: after cutting the residual wood, controlling the electromagnetic clamping mechanism to reach a preset clamping position through a servo motor or a linear motor, and controlling the electromagnetic clamping mechanism to clamp the residual wood according to a preset residual wood intake.
For example, after the remnant is cut on the panel, the remnant clamping device controls the electromagnetic clamping mechanism to move to a predetermined height and to a predetermined clamping position, and controls the electromagnetic clamping mechanism to clamp the remnant by a predetermined remnant intake.
Wherein the preset clamping position corresponds to the position of the residual wood. The electromagnetic clamping mechanism comprises two electromagnetic clamping plates. The residual wood intake is the length of the residual wood between the two clamping plates of the electromagnetic clamping mechanism, which is perpendicular to one side of the electromagnetic clamping mechanism.
Further, when at least two electromagnetic clamping mechanisms are required to simultaneously clamp the residual timber, step S101 may further be: and controlling the at least two electromagnetic clamping mechanisms to reach a preset clamping position.
When the number of the electromagnetic clamping mechanisms of the residual wood clamping device is one, the plurality of residual wood clamping devices control the respective electromagnetic clamping mechanisms to reach the preset clamping position.
When the number of the electromagnetic clamping mechanisms of the residual wood clamping device is at least two, the residual wood clamping device controls the at least two electromagnetic clamping mechanisms to reach the corresponding preset clamping positions.
S102: applying a preset current to the electromagnetic clamping mechanism, and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current; after the preset current is applied, the magnetic force of the two electromagnetic clamping plates of the electromagnetic clamping mechanism is the same.
The residual wood clamping device acquires a preset current corresponding to the residual wood and applies the preset current to the electromagnetic clamping mechanism. After the preset current is applied to the electromagnetic clamping mechanism, the magnetic poles of the two electromagnetic clamping plates attract each other oppositely, and the gap between every two electromagnetic clamping plates is reduced. The electromagnetic clamping mechanism clamps the residual timber with an acting force corresponding to a preset current and clamps the residual timber with a clamping speed corresponding to the acting force.
The current applied by the two electromagnetic clamping plates of the electromagnetic clamping mechanism is the same in magnitude and opposite in direction.
Further, step S102 specifically includes: respectively applying preset current to the two electromagnetic clamping plates of the electromagnetic clamping mechanism, and clamping the residual timber by acting force corresponding to the preset current; controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current; the preset current corresponds to the acting force one by one, and the acting force corresponds to the clamping speed one by one.
For example, the residual wood clamping device obtains a preset current corresponding to the residual wood, and applies the preset current to the two electromagnetic clamping plates of the electromagnetic clamping mechanism respectively, so as to clamp the residual wood with an acting force corresponding to the preset current, and controls the electromagnetic clamping mechanism to clamp the residual wood at a speed corresponding to the preset current, so as to place the clamped residual wood at a preset position. The preset current corresponds to the acting force one by one, and the acting force corresponds to the clamping speed one by one.
Further, with the electromagnet material of the electromagnet clamp known, the magnitude of the electromagnetic force (F) is a function of the current and the number of turns of the solenoid.That is to say that the first and second electrodes,
wherein I is the current applied to the electromagnet, W is the number of turns of the coil, R1-RnFor each part of the magnetic resistance in the magnetic circuit system, S is the area of the pole face corresponding to the working air gap, mu0The magnetic permeability is 4e-7H/m in vacuum.
Further, when at least two electromagnetic gripping mechanisms are required to grip the residual timber simultaneously, step S102 may be: simultaneously applying a preset current to at least two electromagnetic clamping mechanisms, and controlling the at least two electromagnetic clamping mechanisms to clamp the residual timber at a speed corresponding to the preset current; after a preset current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms are the same.
When the number of the electromagnetic clamping mechanisms of the residual wood clamping device is one, the at least two residual wood clamping devices respectively acquire preset currents corresponding to the residual wood, simultaneously apply the preset currents to the corresponding electromagnetic clamping mechanisms, control the corresponding electromagnetic clamping mechanisms to reach preset clamping positions, simultaneously clamp the residual wood according to acting forces and clamping speeds corresponding to the preset currents, and guarantee that the forces acting on the residual wood by the at least two electromagnetic clamping mechanisms are the same and the speeds of clamping the residual wood are kept consistent.
When the number of the electromagnetic clamping mechanisms of the residual wood clamping device is at least two, the residual wood clamping device acquires preset currents corresponding to the residual wood, applies the preset currents to the at least two electromagnetic clamping mechanisms simultaneously, controls the at least two electromagnetic clamping mechanisms to reach preset clamping positions, and simultaneously clamps the residual wood according to acting forces and clamping speeds corresponding to the preset currents, so as to ensure that the forces acting on the residual wood by the at least two electromagnetic clamping mechanisms are the same and the clamping speeds of the residual wood are consistent.
Further, after the residual wood is separated, the residual wood clamping device releases the residual wood clamped by the electromagnetic clamping mechanism and places the residual wood in a preset position.
For example, the scrap gripping device applies a current to both electromagnetic jaws of the electromagnetic gripping mechanism, so that both electromagnetic jaws of the electromagnetic gripping mechanism repel each other to release the gripped scrap. Wherein, the current applied to the two electromagnetic clamping plates of the electromagnetic clamping mechanism has the same direction.
According to the scheme, after the residual wood is cut, the residual wood clamping device controls the electromagnetic clamping mechanism to reach the preset clamping position, and the electromagnetic clamping mechanism applies the preset current to control the electromagnetic clamping mechanism to act on the clamped residual wood and clamp the speed, so that the residual wood is clamped. Because the acting force applied on the residual material can be controlled by current, the magnetic force of the two electromagnetic clamping plates of the electromagnetic clamping mechanism after being electrified is the same, and the force acting on the residual material of the panel is uniform and controllable, so that the probability of scratching the panel due to the uneven force of the clamping plates acting on the residual material when the residual material is cleaned can be effectively reduced, the panel cutting quality is improved, and the panel rejection rate is effectively reduced.
When the at least two electromagnetic clamping mechanisms are used for simultaneously clamping the residual material, the magnetic force of each electromagnetic clamping mechanism is consistent when the electromagnetic clamping mechanism clamps the residual material, the acting force applied to the residual material by each electromagnetic clamping mechanism is the same, and the clamping speed is also the same, so that the synchronism of each electromagnetic clamping mechanism is ensured. The probability that the panel is scratched due to different forces and different clamping speeds of the two electromagnetic clamping mechanisms acting on the residual material when the residual material is cleaned can be effectively reduced, the panel cutting quality is improved, and the panel rejection rate is effectively reduced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The residual wood clamping device is characterized by comprising a motor, a moving mechanism, an electromagnetic clamping mechanism and a current control system; the motor drives the moving mechanism to move; the electromagnetic clamping mechanism is arranged on the moving mechanism; wherein,
the electromagnetic clamping mechanism comprises two electromagnetic clamping plates;
the motor is used for driving the moving mechanism to move so as to enable the electromagnetic clamping mechanism to reach a preset clamping position;
the current control system is used for controlling current applied to the electromagnetic clamping mechanism so as to control acting force of the electromagnetic clamping mechanism on the clamped residual timber and clamping speed; when the residual wood is clamped, the magnetic poles of the two electromagnetic clamping plates are opposite and the magnetic force is the same.
2. The apparatus of claim 1, wherein the number of electromagnetic grasping mechanisms is at least two; the current control system is specifically used for controlling currents applied to the at least two electromagnetic clamping mechanisms so as to control acting forces of the at least two electromagnetic clamping mechanisms acting on the clamped residual timber and clamping speed; after current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms are the same.
3. The device of claim 1, wherein a digital current meter is further arranged between the electromagnetic clamping plate and the current control system; the digital current meter is used for displaying the current applied to the electromagnetic splint by the current control system.
4. The apparatus of claim 1, wherein the electromagnetic clamp plate comprises a stack of electromagnets and spacers; wherein the spacers of the two electromagnetic splints are adjacent.
5. The apparatus of claim 1, wherein the current control system is specifically configured to control the amount of current applied to the electromagnetic gripper mechanism based on the scrap for different products.
6. The apparatus of any one of claims 1 to 5, wherein the motor is a servo motor or a linear motor, and further configured to control the electromagnetic gripper mechanism to grip the log at a predetermined log intake.
7. A method of scrap gripping, the method comprising:
after cutting the residual wood, controlling the electromagnetic clamping mechanism to reach a preset clamping position;
applying a preset current to the electromagnetic clamping mechanism, and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current; after the preset current is applied, the magnetic force of the two electromagnetic clamping plates of the electromagnetic clamping mechanism is the same.
8. The method of claim 7, wherein the number of electromagnetic grasping mechanisms is at least two;
the step of applying a preset current to the electromagnetic clamping mechanism and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current specifically comprises the following steps:
simultaneously applying a preset current to at least two electromagnetic clamping mechanisms, and controlling the at least two electromagnetic clamping mechanisms to clamp the residual timber at a speed corresponding to the preset current; after a preset current is applied, the magnetic forces of the two electromagnetic clamping plates of the at least two electromagnetic clamping mechanisms are the same.
9. The method according to claim 7 or 8, wherein the step of applying a preset current to the electromagnetic gripping mechanism and controlling the electromagnetic gripping mechanism to grip the remnant at a speed corresponding to the preset current specifically comprises:
respectively applying preset current to the two electromagnetic clamping plates of the electromagnetic clamping mechanism, and clamping the residual timber by acting force corresponding to the preset current; wherein the current corresponds to the acting force one to one;
and controlling the electromagnetic clamping mechanism to clamp the residual timber at a speed corresponding to the preset current.
10. The method according to claim 7 or 8, wherein the step of controlling the electromagnetic gripper mechanism to reach the position of the preset gripping position after cutting the remnant is embodied as:
after cutting the residual wood, the electromagnetic clamping mechanism is controlled to reach a preset clamping position through a servo motor or a linear motor, and the electromagnetic clamping mechanism is controlled to clamp the residual wood according to a preset residual wood intake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610225461.8A CN105710891A (en) | 2016-04-12 | 2016-04-12 | Refuse wood clamping device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610225461.8A CN105710891A (en) | 2016-04-12 | 2016-04-12 | Refuse wood clamping device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105710891A true CN105710891A (en) | 2016-06-29 |
Family
ID=56159912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610225461.8A Pending CN105710891A (en) | 2016-04-12 | 2016-04-12 | Refuse wood clamping device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105710891A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN106894527A (en) * | 2017-04-21 | 2017-06-27 | 佛山诗勤智能科技有限公司 | One kind building preformed hole plug-hole structure |
| CN106917636A (en) * | 2017-04-21 | 2017-07-04 | 佛山驰博科技有限公司 | A kind of mining tunnel rescue aid |
| CN106958713A (en) * | 2017-04-21 | 2017-07-18 | 佛山腾谱工业设计有限公司 | A kind of municipal underground piping cut-off constructing device |
| CN106996497A (en) * | 2017-04-21 | 2017-08-01 | 佛山林稷机电科技有限公司 | A kind of petroleum pipeline intercepts device |
| CN107069637A (en) * | 2017-04-21 | 2017-08-18 | 佛山澹雅自动化技术开发有限公司 | A kind of cable tube sealing device |
| CN107435780A (en) * | 2017-04-21 | 2017-12-05 | 佛山林稷机电科技有限公司 | A kind of petroleum pipeline intercepts device |
| CN107435781A (en) * | 2017-04-21 | 2017-12-05 | 佛山腾谱工业设计有限公司 | A kind of municipal pipeline separates constructing device |
| CN107435560A (en) * | 2017-04-21 | 2017-12-05 | 佛山驰博科技有限公司 | A kind of mining tunnel fire-fighting rescue equipment |
| CN107435782A (en) * | 2017-04-21 | 2017-12-05 | 佛山林稷机电科技有限公司 | A kind of oil pipeline intercepts device |
| CN107435779A (en) * | 2017-04-21 | 2017-12-05 | 佛山腾谱工业设计有限公司 | A kind of municipal underground piping partition apparatus |
| CN107437788A (en) * | 2017-04-21 | 2017-12-05 | 佛山澹雅自动化技术开发有限公司 | A kind of novel cable tube sealing device |
| CN107435555A (en) * | 2017-04-21 | 2017-12-05 | 佛山驰博科技有限公司 | A kind of mining rescue equipment |
| CN107437787A (en) * | 2017-04-21 | 2017-12-05 | 佛山澹雅自动化技术开发有限公司 | A kind of cable conduit sealing device |
| CN107640885A (en) * | 2017-09-19 | 2018-01-30 | 深圳市华星光电技术有限公司 | A kind of offal timber clamp device |
| CN108227251A (en) * | 2018-01-18 | 2018-06-29 | 深圳市华星光电技术有限公司 | Offal timber clamp device |
| CN111451431A (en) * | 2020-04-09 | 2020-07-28 | 王美珠 | Double-arm forging and pressing manipulator |
| CN114794209A (en) * | 2022-03-25 | 2022-07-29 | 湖北省农业科学院农产品加工与核农技术研究所 | Head-tail separating device for crayfishes |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09331195A (en) * | 1996-06-07 | 1997-12-22 | Toshiba Corp | Component mounting device |
| CN1562582A (en) * | 2004-03-16 | 2005-01-12 | 重庆大学 | Finger of robot |
| DE202005002924U1 (en) * | 2005-02-23 | 2006-03-30 | Krones Ag | Clip gripper for a vascular transport system |
| DE102005041929A1 (en) * | 2005-09-03 | 2007-03-08 | Krones Ag | Gripper for container |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN201389856Y (en) * | 2008-11-14 | 2010-01-27 | 王廷廷 | Clamping mechanism of automatic equipment |
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
| CN104609200A (en) * | 2015-01-23 | 2015-05-13 | 浙江理工大学 | Tail end executing mechanism for stacking mechanical arm |
| JP2015162931A (en) * | 2014-02-26 | 2015-09-07 | 樋口 俊郎 | Gripper mechanism and moving mechanism |
| CN105108764A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Robot intelligent manipulator and control system thereof |
-
2016
- 2016-04-12 CN CN201610225461.8A patent/CN105710891A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09331195A (en) * | 1996-06-07 | 1997-12-22 | Toshiba Corp | Component mounting device |
| CN1562582A (en) * | 2004-03-16 | 2005-01-12 | 重庆大学 | Finger of robot |
| DE202005002924U1 (en) * | 2005-02-23 | 2006-03-30 | Krones Ag | Clip gripper for a vascular transport system |
| DE102005041929A1 (en) * | 2005-09-03 | 2007-03-08 | Krones Ag | Gripper for container |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN201389856Y (en) * | 2008-11-14 | 2010-01-27 | 王廷廷 | Clamping mechanism of automatic equipment |
| JP2015162931A (en) * | 2014-02-26 | 2015-09-07 | 樋口 俊郎 | Gripper mechanism and moving mechanism |
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
| CN104609200A (en) * | 2015-01-23 | 2015-05-13 | 浙江理工大学 | Tail end executing mechanism for stacking mechanical arm |
| CN105108764A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Robot intelligent manipulator and control system thereof |
Non-Patent Citations (2)
| Title |
|---|
| 汪懋华: "《现代精细农业理论与实践》", 31 October 2012, 中国农业大学出版社 * |
| 肖南峰: "《服务机器人》", 31 January 2013, 清华大学出版社 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN106514686B (en) * | 2016-11-28 | 2019-02-26 | 山东科技大学 | A kind of adjustable electromagnetic mechanical gripper of clamping power and its application method |
| CN107435560A (en) * | 2017-04-21 | 2017-12-05 | 佛山驰博科技有限公司 | A kind of mining tunnel fire-fighting rescue equipment |
| CN107437788A (en) * | 2017-04-21 | 2017-12-05 | 佛山澹雅自动化技术开发有限公司 | A kind of novel cable tube sealing device |
| CN106996497A (en) * | 2017-04-21 | 2017-08-01 | 佛山林稷机电科技有限公司 | A kind of petroleum pipeline intercepts device |
| CN107069637A (en) * | 2017-04-21 | 2017-08-18 | 佛山澹雅自动化技术开发有限公司 | A kind of cable tube sealing device |
| CN107435780A (en) * | 2017-04-21 | 2017-12-05 | 佛山林稷机电科技有限公司 | A kind of petroleum pipeline intercepts device |
| CN107435781A (en) * | 2017-04-21 | 2017-12-05 | 佛山腾谱工业设计有限公司 | A kind of municipal pipeline separates constructing device |
| CN106917636A (en) * | 2017-04-21 | 2017-07-04 | 佛山驰博科技有限公司 | A kind of mining tunnel rescue aid |
| CN107435782A (en) * | 2017-04-21 | 2017-12-05 | 佛山林稷机电科技有限公司 | A kind of oil pipeline intercepts device |
| CN107435779A (en) * | 2017-04-21 | 2017-12-05 | 佛山腾谱工业设计有限公司 | A kind of municipal underground piping partition apparatus |
| CN106958713A (en) * | 2017-04-21 | 2017-07-18 | 佛山腾谱工业设计有限公司 | A kind of municipal underground piping cut-off constructing device |
| CN107435555A (en) * | 2017-04-21 | 2017-12-05 | 佛山驰博科技有限公司 | A kind of mining rescue equipment |
| CN107437787A (en) * | 2017-04-21 | 2017-12-05 | 佛山澹雅自动化技术开发有限公司 | A kind of cable conduit sealing device |
| CN106894527A (en) * | 2017-04-21 | 2017-06-27 | 佛山诗勤智能科技有限公司 | One kind building preformed hole plug-hole structure |
| CN107640885A (en) * | 2017-09-19 | 2018-01-30 | 深圳市华星光电技术有限公司 | A kind of offal timber clamp device |
| CN108227251A (en) * | 2018-01-18 | 2018-06-29 | 深圳市华星光电技术有限公司 | Offal timber clamp device |
| CN111451431A (en) * | 2020-04-09 | 2020-07-28 | 王美珠 | Double-arm forging and pressing manipulator |
| CN114794209A (en) * | 2022-03-25 | 2022-07-29 | 湖北省农业科学院农产品加工与核农技术研究所 | Head-tail separating device for crayfishes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105710891A (en) | Refuse wood clamping device and method | |
| KR101960132B1 (en) | Method and apparatus for removing a substantially planar non-ferromagnetic metal sheet from the top of a stack of metal sheets | |
| DE102007033242A1 (en) | Method and device for separating a plane plate made of brittle material into several individual plates by means of laser | |
| CN103708713A (en) | Clamping mechanism, liquid crystal panel cutting machine and liquid crystal panel cutting process | |
| CN109526212B (en) | Ultrasonic bonding tool and ultrasonic bonding apparatus | |
| JP2017202896A (en) | Film peeling device | |
| WO2017221562A1 (en) | Frame separation device for solar cell panel | |
| CN102951317B (en) | Full-automatic mylar adhering equipment | |
| CN207497091U (en) | A kind of rotation film-removing device | |
| CN107640885A (en) | A kind of offal timber clamp device | |
| JP2010247985A (en) | Film material separating method and device | |
| CN111099402A (en) | Sheet separating device | |
| CN110252739B (en) | Electrode plate and plasma cleaning machine | |
| CN101491903B (en) | Plate type computer cutting device with automatic feeding function | |
| DE202014008305U1 (en) | Device for dividing a glass sheet, in particular laminated glass sheet, into individual glass sheets, in particular laminated glass sheets | |
| CN110255271B (en) | Insulation film assembling and attaching equipment | |
| DE102012003269A1 (en) | Method for conveying and positioning sheet to e.g. sheet printing machine, involves seizing sheet from above and below, and moving sheet by maintaining certain distance on above and below the sheet | |
| WO2019227477A1 (en) | Electrode feeding device and winding machine | |
| CN210064507U (en) | Overlapped iron sheet separating device | |
| JP2003251714A (en) | Method and apparatus for working sheet | |
| CN116477358B (en) | Device and method for separating glass from paper | |
| EP2921441B1 (en) | Sheet handling apparatus for sheet processing apparatus | |
| US11808693B2 (en) | Apparatus for measuring peel strength of battery part using electromagnet and peel strength measurement method using the same | |
| US20230139292A1 (en) | Film-removing apparatus | |
| CN209698276U (en) | Waste material device is torn in a kind of display panel cutting process |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160629 |