CN106081569A - A kind of sucker transporter and control method thereof - Google Patents
A kind of sucker transporter and control method thereof Download PDFInfo
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- CN106081569A CN106081569A CN201610573215.1A CN201610573215A CN106081569A CN 106081569 A CN106081569 A CN 106081569A CN 201610573215 A CN201610573215 A CN 201610573215A CN 106081569 A CN106081569 A CN 106081569A
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- sucker
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- sensor
- connecting gear
- electromagnetic valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Specific Conveyance Elements (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of sucker transporter and control method thereof, wherein, a kind of sucker transporter, including sucker connecting gear and control system, described sucker connecting gear includes conveyer belt, electromagnetic valve and multiple sucker, and sucker is respectively arranged on conveyer belt, and electromagnetic valve is multiple, it is connected with sucker respectively, is used for controlling sucker and is turned on and off；Control system is used for controlling each electromagnetic valve to be made sucker open when workpiece enters and closes when workpiece exports.The present invention can carry continuously, fast and efficiently to workpiece, and the most multiple combination application, when camera system carries out vision-based detection, can be acquired the view data on each surface of workpiece successively.
Description
Technical field
The present invention relates to a kind of transporter and control method, be specifically related to a kind of sucker transporter and controlling party thereof
Method.
Background technology
At workpiece outward appearance detection field, need, with photographic head, outward appearance or the size of workpiece are carried out 360 degree of comprehensive shootings
During detection, carry out, before needing each face of workpiece to deliver to photographic head, detection of taking pictures.Need to be with machinery during traditional fabrication evaluation
Hands detects before piece-holder to photographic head once, then with another one manipulator clamping surface the most after testing, in order to
Due to need to be with held and that cannot be detected surface during the detection of photographic head detection last time.This mode of movement is used to examine
Survey, cause speed slow, weak effect, it is impossible to realize continuous print on-line checking.
Summary of the invention
For technical problem present in prior art, it is an object of the invention to: a kind of sucker transporter is provided.
It is another object of the present invention to: the control method of a kind of above-mentioned sucker transporter is provided.
The purpose of the present invention is achieved through the following technical solutions: a kind of sucker transporter, including sucker connecting gear with
And control system, described sucker connecting gear includes conveyer belt, electromagnetic valve and multiple sucker, and sucker is respectively arranged at conveyer belt
On, electromagnetic valve is multiple, is connected with sucker respectively, is used for controlling sucker and is turned on and off；
Control system is used for controlling each electromagnetic valve to be made sucker open when workpiece enters and closes when workpiece exports.
Preferably, sucker all protrudes from the zone face of conveyer belt.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the sucker between two rows apart from equal, electromagnetic valve
For multiple, respectively with often arrange sucker and be connected, be turned on and off for controlling often row's sucker；
Control system includes control equipment, workpiece detector and sucker sensor, workpiece detector and sucker sensor
Being connected with control equipment respectively, each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor are arranged on
Conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and according to sucker sensor
Distance between detection data and two row's suckers, judges that workpiece is after obtaining displacement compared with the workpiece transmission range set
The required position of transmitting of no arrival, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, described control system includes control equipment, entrance workpiece detector, enters oral sucker sensor and outlet
Sucker sensor, entrance workpiece detector, enters oral sucker sensor and goes out oral sucker sensor and be connected with control equipment respectively,
Each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is for receiving entrance workpiece detector, entering oral sucker sensor and go out what oral sucker sensor sent
Data, and make sucker open when workpiece enters according to the data received by controlling each electromagnetic valve and close when workpiece exports
Close.
Preferably, also including exporting workpiece detector, outlet workpiece detector is arranged on conveyer belt exit, exports workpiece
Detector is connected with controlling equipment, and outlet workpiece detector, for detecting whether there is workpiece to arrive conveyer belt outlet, controls equipment
For receiving the data that outlet workpiece detector sends, and control each electromagnetic valve and make sucker close when workpiece exports.
Preferably, described sucker connecting gear is multiple, and the plurality of sucker connecting gear head and the tail respectively connect or multiple
The conveyer belt entrance of sucker connecting gear is provided respectively therein the lower section of a sucker connecting gear and respectively along its sender
To setting.
Preferably, it is provided respectively therein a sucker connecting gear when the conveyer belt entrance of multiple sucker connecting gears
Lower section and respectively along its direction of transfer arrange time, the plurality of sucker connecting gear include for conveying work pieces output sucker pass
Send mechanism and for transmitting each workpiece and each workpiece being assigned to the distribution sucker connecting gear of each output sucker connecting gear,
Output sucker connecting gear is arranged at below distribution sucker connecting gear and the conveyer belt entrance difference of output sucker connecting gear
Arrange along distribution sucker connecting gear direction of transfer.
Preferably, it is additionally provided with workpiece auxiliary gatherer, workpiece auxiliary gatherer delivery outlet and sucker connecting gear
Connecting, workpiece auxiliary gatherer includes that conveyer device, left importing plate and right importing plate, left importing plate and right importing plate are respectively
It is arranged on the both sides of conveyer device, is formed between left importing plate and right importing plate and ajust logical along the diminishing workpiece in transmission direction
Road.
The control method of a kind of above-mentioned sucker transporter, comprises the following steps:
Sucker identification:
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and trigger sucker sensor once, sucker sensor will be by
The signal triggered feeds back to control equipment successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback, feedback signal is entered successively
Line number, until it reaches stop during the total row of sucker being numbered, thus each sucker is numbered, and by numbering to each row
Sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to the feedback signal of sucker sensor
Judge the sucker being now placed in below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece opened, this sucker air-breathing,
Workpiece is adsorbed；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being touched by sucker sensor
Send out number of times to be multiplied by adjacent two row's interambulacrum distances and obtain workpiece displacement, then the work by the workpiece displacement that obtains with setting
Part transmission range is compared and is judged whether workpiece arrives desired location, the most then the electromagnetic valve controlling to adsorb the sucker of this workpiece closes
Closing, sucker stops suction, and completes the transmission of workpiece.
Preferably, described sucker connecting gear is multiple, and the plurality of sucker connecting gear head and the tail respectively connect or multiple
The conveyer belt entrance of sucker connecting gear is provided respectively therein the lower section of a sucker connecting gear and respectively along its sender
To setting；
Described each sucker connecting gear performs step S1-S3 and carries out sucker identification:
Described step S6 is particularly as follows: control equipment records sucker sensor when workpiece transmits is triggered number of times, by will
The sucker sensor number of times that is triggered is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is moved by the workpiece obtained
Distance judges compared with the workpiece transmission range of setting whether workpiece arrives above the sucker connecting gear of required input, if so,
Then controlling to adsorb the closed electromagnetic valve of the sucker of this workpiece, sucker stops suction, and workpiece drops to be positioned under it after departing from sucker
The sucker connecting gear of side；
When workpiece drops to the sucker connecting gear being positioned at lower section, the sucker connecting gear of lower section is transported according to the following steps
OK:
After B1: workpiece detector detects that workpiece enters, send signal to control equipment；
B2: when control equipment receives the signal that workpiece detector sends, according to the feedback signal of sucker sensor
Judge the sucker being now placed in below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece opened, this sucker air-breathing,
Workpiece is adsorbed；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
B3: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being touched by sucker sensor
Send out number of times to be multiplied by adjacent two row's interambulacrum distances and obtain workpiece displacement, then the work by the workpiece displacement that obtains with setting
Part transmission range is compared and is judged whether workpiece arrives desired location, the most then the electromagnetic valve controlling to adsorb the sucker of this workpiece closes
Closing, sucker stops suction, and completes the transmission of workpiece.
The present invention has such advantages as relative to prior art and effect:
1, the present invention can carry continuously, fast and efficiently to workpiece, and the most multiple combination application are in shooting system
When system carries out vision-based detection, can successively the view data on each surface of workpiece be acquired.
2, the sucker transporter that the present invention uses by one of them surface of sucker suction workpiece thus realizes transmitting,
Workpiece can also be suspended in and feed in the air by absorption workpiece end face, it is seen then that the present invention can be according to different by the present invention
The surface requiring absorption workpiece is transmitted, and can meet the requirement of different transmission.And when carrying out vision-based detection, due to
Workpiece can be suspended in fed in the air by absorption workpiece end face by the present invention, the most just can be by photographic head to work
The whole bottom surface of part and side carry out image data acquiring, additionally, the sucker of the present invention all protrudes from the zone face of conveyer belt, permissible
Avoid when directly using flat belt conveying, the vision-based detection error caused due to the refraction on flat belt surface, make to collect
View data is more accurate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the sucker connecting gear of the present invention.
Fig. 2 is the front view of the sucker connecting gear of Fig. 1.
Fig. 3 is the signal during sucker suction workpiece of the present invention.
Fig. 4 is workpiece signal when joining between two sucker connecting gears.
Fig. 5 is the structural representation of the workpiece auxiliary gatherer of the present invention.
Fig. 6 is the structural representation of the embodiment of the present invention three.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment one:
A kind of sucker transporter, including sucker connecting gear 1 and control system, described sucker connecting gear includes passing
Sending band 2, electromagnetic valve and multiple sucker 3, sucker is respectively arranged on conveyer belt, and electromagnetic valve is multiple, is connected with sucker respectively,
It is turned on and off for controlling sucker；
Control system is used for controlling each electromagnetic valve to be made sucker open when workpiece 4 enters and closes when workpiece exports.
Preferably, sucker all protrudes from the zone face of conveyer belt.
Preferably, described sucker becomes multiple rows of and is uniformly arranged on a moving belt, the sucker between two rows apart from equal, electromagnetic valve
For multiple, respectively with often arrange sucker and be connected, be turned on and off for controlling often row's sucker；
Control system includes control equipment, workpiece detector 5 and sucker sensor 6, workpiece detector and sucker sensing
Device is connected with control equipment respectively, and each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor are arranged
In conveyer belt porch；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and according to sucker sensor
Distance between detection data and two row's suckers, judges that workpiece is after obtaining displacement compared with the workpiece transmission range set
The required position of transmitting of no arrival, the most then control the closed electromagnetic valve of corresponding sucker.
Preferably, it is additionally provided with workpiece auxiliary gatherer 9, workpiece auxiliary gatherer delivery outlet and sucker connecting gear
Connecting, workpiece auxiliary gatherer includes conveyer device 10, left importing plate 11 and right importing plate 12, left importing plate and right importing
Plate is separately positioned on the support body of conveyer belt both sides of conveyer device, is formed along transmission direction between left importing plate and right importing plate
Passage ajusted by diminishing workpiece.
The work process of the present invention and operation principle: workpiece is respectively put into the conveyer belt of workpiece auxiliary gatherer
On, workpiece transmits with conveyer belt, ajusts in passage then into the workpiece formed between left importing plate and right importing plate,
If workpiece is ajusted the most on request or do not puts setting position, workpiece enters into after workpiece ajusts passage, owing to workpiece is put
Positive passage is gradually reduced along transmission direction, and therefore, workpiece contacts with left importing plate and/or right importing plate during advancing, with
Time the power that advances by means of conveyer belt, left importing plate and right importing plate make workpiece rotate and/or produce mobile thus to workpiece
Correct, it is ensured that the workpiece in rear prologue transmits more smoothly and more sucker can be made to adsorb workpiece, makes transmission
Process is more stable, also improves the efficiency that workpiece is sent into simultaneously.
Workpiece, after workpiece auxiliary gatherer output, enters sucker connecting gear, and workpiece detector detects that workpiece enters
After entering, send signal to control equipment；
When control equipment receives the signal that workpiece detector sends, judge according to the feedback signal of sucker sensor
Being now placed in the sucker below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece is opened, this sucker air-breathing, to work
Part adsorbs；
Sucker distance between two rows is set to less than workpiece bottom length, it is ensured that at least two row's suckers can be the most right
Workpiece adsorbs, it is achieved the stable transmission of workpiece.
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
Control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being triggered by sucker sensor time
Number is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is passed by the workpiece of the workpiece displacement obtained with setting
Defeated distance is compared and is judged whether workpiece arrives desired location, the most then control the closed electromagnetic valve of sucker below this workpiece, inhales
Dish stops suction, now workpiece arrive needed for need out position.
Embodiment two:
The present embodiment is with embodiment one difference: described sucker connecting gear is three, and described three suckers pass
Send mechanism's respectively head and the tail to connect, three sucker connecting gears be respectively the first sucker connecting gear, the second sucker connecting gear with
And the 3rd sucker connecting gear.
The entrance of the second sucker connecting gear is positioned at the top of the first sucker connecting gear outlet, the second sucker connecting gear
Outlet be positioned at the top of the 3rd sucker connecting gear entrance, the second sucker connecting gear and the 3rd sucker connecting gear are L-shaped
Arrange.
The work process of the present invention and operation principle: this sentences vision-based detection is that embodiment illustrates:
Workpiece enters into the first sucker connecting gear after workpiece auxiliary gatherer output；First sucker connecting gear band
Part of starting building moves, in moving process, be arranged at above the first sucker connecting gear and both sides photographic head to the upper surface of workpiece,
Left surface and right flank carry out image information collecting.
Workpiece is when the first sucker connecting gear sends into the second sucker connecting gear, and workpiece is from the second sucker connecting gear
Bottom surface is transmitted, thus by unsettled for the bottom surface of workpiece, now, is used for the photographic head detecting workpiece bottom below workpiece to work
The bottom surface of part carries out image information collecting.
Workpiece when the second sucker connecting gear sends into the 3rd sucker connecting gear, due to, the second sucker connecting gear with
3rd sucker connecting gear is connected L-shaped setting, and therefore, workpiece is when entering the 3rd sucker connecting gear, and direction of transfer produces
The break-in of 90 degree, forms the effect of commutation, i.e. the leading flank of workpiece and trailing flank (do not carry out two of image information collecting
Outer surface) it is respectively facing two photographic head being arranged on the 3rd sucker connecting gear, therefore in workpiece moving process, to work
The leading flank of part and trailing flank carry out image information collecting.Thus the image information of the six of workpiece outer surfaces is collected.
Embodiment three:
Preferably, it is provided respectively therein a sucker connecting gear when the conveyer belt entrance of multiple sucker connecting gears
Lower section and respectively along its direction of transfer arrange time, the plurality of sucker connecting gear include for conveying work pieces output sucker pass
Send mechanism 7 and for transmitting each workpiece and each workpiece being assigned to the distribution sucker connecting gear of each output sucker connecting gear
8, output sucker connecting gear is arranged at below distribution sucker connecting gear and the conveyer belt entrance of output sucker connecting gear divides
Do not arrange along distribution sucker connecting gear direction of transfer.
The work process of the present invention and operation principle: workpiece, after workpiece auxiliary gatherer output, is first into point
Join sucker connecting gear, the fed distance that distribution sucker connecting gear sets according to each workpiece, each workpiece is transported to each output
The top (porch of the most each output sucker connecting gear) of sucker connecting gear, then, when each workpiece is transported to the defeated of correspondence
When the workpiece detector of the output sucker connecting gear going out sucker connecting gear and this correspondence detects workpiece, control equipment and control
The electromagnetic valve of the output sucker connecting gear of this correspondence is opened, and workpiece is adsorbed by the sucker below workpiece, then to workpiece
Transmit, until workpiece is exported.
Embodiment four:
The control method of the sucker transporter described in a kind of embodiment one, comprises the following steps:
Sucker identification:
Total for sucker row parameter and two interambulacrum distance parameters are input to control equipment；
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arrange the sucker from sucker sensor front process and trigger sucker sensor once, sucker sensor will be by
The signal triggered feeds back to control equipment successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback, feedback signal is entered successively
Line number, until it reaches stop during the total row of sucker being numbered, thus each sucker is numbered, and by numbering to each row
Sucker is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, according to the feedback signal of sucker sensor
Judge the sucker being now placed in below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece opened, this sucker air-breathing,
Workpiece is adsorbed；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being touched by sucker sensor
Send out number of times to be multiplied by adjacent two row's interambulacrum distances and obtain workpiece displacement, then the work by the workpiece displacement that obtains with setting
Part transmission range is compared and is judged whether workpiece arrives desired location, the most then the electromagnetic valve controlling to adsorb the sucker of this workpiece closes
Closing, sucker stops suction, and completes the transmission of workpiece.
Preferably, described sucker connecting gear is multiple, and the plurality of sucker connecting gear head and the tail respectively connect or multiple
The conveyer belt entrance of sucker connecting gear is provided respectively therein the lower section of a sucker connecting gear and respectively along its sender
To setting；
Described each sucker connecting gear performs step S1-S3 and carries out sucker identification:
Described step S6 is particularly as follows: control equipment records sucker sensor when workpiece transmits is triggered number of times, by will
The sucker sensor number of times that is triggered is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is moved by the workpiece obtained
Distance judges compared with the workpiece transmission range of setting whether workpiece arrives above the sucker connecting gear of required input, if so,
Then controlling to adsorb the closed electromagnetic valve of the sucker of this workpiece, sucker stops suction, and workpiece drops to be positioned under it after departing from sucker
The sucker connecting gear of side；
When workpiece drops to the sucker connecting gear being positioned at lower section, the sucker connecting gear of lower section is transported according to the following steps
OK:
After B1: workpiece detector detects that workpiece enters, send signal to control equipment；
B2: when control equipment receives the signal that workpiece detector sends, according to the feedback signal of sucker sensor
Judge the sucker being now placed in below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece opened, this sucker air-breathing,
Workpiece is adsorbed；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
B3: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being touched by sucker sensor
Send out number of times to be multiplied by adjacent two row's interambulacrum distances and obtain workpiece displacement, then the work by the workpiece displacement that obtains with setting
Part transmission range is compared and is judged whether workpiece arrives desired location, the most then the electromagnetic valve controlling to adsorb the sucker of this workpiece closes
Closing, sucker stops suction, and completes the transmission of workpiece.
Embodiment five:
The present embodiment is with embodiment one difference: described control system includes control equipment, entrance workpiece sensing
Device, enter oral sucker sensor and go out oral sucker sensor, entrance workpiece detector, enter oral sucker sensor and go out oral sucker
Sensor is connected with control equipment respectively, and each electromagnetic valve is connected with control equipment respectively；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is for receiving entrance workpiece detector, entering oral sucker sensor and go out what oral sucker sensor sent
Data, and make sucker open when workpiece enters according to the data received by controlling each electromagnetic valve and close when workpiece exports
Close.
Preferably, also including exporting workpiece detector, outlet workpiece detector is arranged on conveyer belt exit, exports workpiece
Detector is connected with controlling equipment, and outlet workpiece detector, for detecting whether there is workpiece to arrive conveyer belt outlet, controls equipment
For receiving the data that outlet workpiece detector sends, and control each electromagnetic valve and make sucker close when workpiece exports.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. a sucker transporter, it is characterised in that: include sucker connecting gear and control system, described sucker conveyer
Structure includes conveyer belt, electromagnetic valve and multiple sucker, and sucker is respectively arranged on conveyer belt, and electromagnetic valve is multiple, respectively with suction
Dish connects, and is used for controlling sucker and is turned on and off；
Control system is used for controlling each electromagnetic valve to be made sucker open when workpiece enters and closes when workpiece exports.
Sucker transporter the most according to claim 1, it is characterised in that: sucker all protrudes from the zone face of conveyer belt.
Sucker transporter the most according to claim 1, it is characterised in that: described sucker becomes multiple rows of and is uniformly arranged on transmission
On band, the sucker between two rows is apart from equal, and electromagnetic valve is multiple, respectively with often arrange sucker and be connected, often arrange sucker for controlling
It is turned on and off；
Control system includes that control equipment, workpiece detector and sucker sensor, workpiece detector and sucker sensor are respectively
Being connected with controlling equipment, each electromagnetic valve is connected with control equipment respectively, and workpiece detector and sucker sensor are arranged on transmission
At tape entry；
Workpiece detector is for detecting whether there is workpiece to enter；
Sucker sensor arrives the sucker of conveyer belt porch for detecting；
Control equipment is opened when workpiece enters and is positioned at the electromagnetic valve of sucker below workpiece, and detects according to sucker sensor
Distance between data and two row's suckers, judges whether workpiece arrives after obtaining displacement compared with the workpiece transmission range set
Reach required position of transmitting, the most then control the closed electromagnetic valve of corresponding sucker.
Sucker transporter the most according to claim 1, it is characterised in that: described control system includes control equipment, enters
Mouthful workpiece detector, enter oral sucker sensor and go out oral sucker sensor, entrance workpiece detector, enter oral sucker sensor with
And go out oral sucker sensor and be connected with control equipment respectively, each electromagnetic valve respectively with control equipment and be connected；
Entrance workpiece detector and enter oral sucker sensor and be arranged on conveyer belt porch；
Go out oral sucker sensor and be arranged on conveyer belt exit；
Entrance workpiece detector is for detecting whether there is workpiece to enter；
Enter oral sucker sensor for detecting the sucker arriving conveyer belt porch；
Go out oral sucker sensor for detecting the sucker arriving conveyer belt exit；
Control equipment is for receiving entrance workpiece detector, entering oral sucker sensor and go out the number that oral sucker sensor sends
According to, and make sucker open when workpiece enters according to the data received by controlling each electromagnetic valve and close when workpiece exports
Close.
Sucker transporter the most according to claim 4, it is characterised in that: also include exporting workpiece detector, export work
Part detector is arranged on conveyer belt exit, and outlet workpiece detector is connected with controlling equipment, and outlet workpiece detector is used for examining
Whether survey and have workpiece to arrive conveyer belt outlet, control equipment is for receiving the data that outlet workpiece detector sends, and controls each
Electromagnetic valve makes sucker cut out when workpiece exports.
6. according to the arbitrary described sucker transporter of claim 1-5, it is characterised in that: described sucker connecting gear is many
Individual, the plurality of sucker connecting gear head and the tail respectively connect or the conveyer belt entrance of multiple sucker connecting gear is separately positioned on it
In the lower section of a sucker connecting gear and arranging along its direction of transfer respectively.
Sucker transporter the most according to claim 6, it is characterised in that: when the transmission of multiple sucker connecting gears is brought into
Mouth be provided respectively therein a sucker connecting gear lower section and respectively along its direction of transfer arrange time, the plurality of sucker pass
Mechanism is sent to include for the output sucker connecting gear of conveying work pieces and for transmitting each workpiece and being assigned to respectively by each workpiece
The distribution sucker connecting gear of output sucker connecting gear, output sucker connecting gear is arranged at below distribution sucker connecting gear
And the conveyer belt entrance of output sucker connecting gear is arranged along distribution sucker connecting gear direction of transfer respectively.
Sucker transporter the most according to claim 1, it is characterised in that: it is additionally provided with workpiece auxiliary gatherer, work
Part auxiliary gatherer delivery outlet is connected with sucker connecting gear, and workpiece auxiliary gatherer includes conveyer device, left importing plate
And right importing plate, left importing plate and right importing plate be separately positioned on the both sides of conveyer device, left importing plate and right importing plate it
Between formed and ajust passage along transmission direction diminishing workpiece.
9. the control method of the sucker transporter described in a claim 3, it is characterised in that comprise the following steps:
Sucker identification:
S1: conveyer belt rotates and drives often row's sucker to move from sucker sensor front；
S2: often arranging the sucker from sucker sensor front process and all trigger sucker sensor once, sucker sensor will be triggered
Signal feed back to control equipment successively；
S3: control the equipment feedback signal according to sucker sensor, by the sequencing of feedback, feedback signal is compiled successively
Number, until it reaches stop during the total row of sucker being numbered, thus each sucker is numbered, and by numbering to each row's sucker
It is identified；
Control to carry:
After S4: workpiece detector detects that workpiece enters, send signal to control equipment；
S5: when control equipment receives the signal that workpiece detector sends, judges according to the feedback signal of sucker sensor
Being now placed in the sucker below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece is opened, this sucker air-breathing, to work
Part adsorbs；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
S6: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being triggered by sucker sensor time
Number is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is passed by the workpiece of the workpiece displacement obtained with setting
Defeated distance is compared and is judged whether workpiece arrives desired location, the most then control to adsorb the closed electromagnetic valve of the sucker of this workpiece, inhale
Dish stops suction, and completes the transmission of workpiece.
The control method of sucker transporter the most according to claim 9, it is characterised in that: described sucker connecting gear
For multiple, the plurality of sucker connecting gear head and the tail respectively connect or the conveyer belt entrance of multiple sucker connecting gear is respectively provided with
The lower section of a sucker connecting gear and arranging along its direction of transfer respectively wherein；
Described each sucker connecting gear performs step S1-S3 and carries out sucker identification:
Described step S6 is particularly as follows: control equipment records sucker sensor when workpiece transmits is triggered number of times, by by sucker
The sensor number of times that is triggered is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then the workpiece displacement that will obtain
Judge compared with the workpiece transmission range set whether workpiece arrives above the sucker connecting gear of required input, the most then control
System adsorbs the closed electromagnetic valve of sucker of this workpiece, and sucker stops suction, and workpiece drops to after departing from sucker to be disposed below
Sucker connecting gear；
When workpiece drops to the sucker connecting gear being positioned at lower section, the sucker connecting gear of lower section runs according to the following steps:
After B1: workpiece detector detects that workpiece enters, send signal to control equipment；
B2: when control equipment receives the signal that workpiece detector sends, judges according to the feedback signal of sucker sensor
Being now placed in the sucker below workpiece, and the electromagnetic valve controlling the sucker below corresponding to workpiece is opened, this sucker air-breathing, to work
Part adsorbs；
Workpiece transmits with this sucker, and during transmitting, sucker sensor is persistently triggered；
B3: control equipment is recorded sucker sensor when workpiece transmits and is triggered number of times, by being triggered by sucker sensor time
Number is multiplied by adjacent two row's interambulacrum distances and obtains workpiece displacement, then is passed by the workpiece of the workpiece displacement obtained with setting
Defeated distance is compared and is judged whether workpiece arrives desired location, the most then control to adsorb the closed electromagnetic valve of the sucker of this workpiece, inhale
Dish stops suction, and completes the transmission of workpiece.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610573215.1A CN106081569B (en) | 2016-07-19 | 2016-07-19 | A kind of sucker transmission device and its control method |
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| CN201610573215.1A CN106081569B (en) | 2016-07-19 | 2016-07-19 | A kind of sucker transmission device and its control method |
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| CN106081569A true CN106081569A (en) | 2016-11-09 |
| CN106081569B CN106081569B (en) | 2018-04-20 |
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| CN108248937A (en) * | 2018-02-08 | 2018-07-06 | 广州市兴世机械制造有限公司 | The steering stacking apparatus and method of a kind of sanitary belt |
| CN108788675A (en) * | 2018-07-26 | 2018-11-13 | 苏州艾克威尔科技有限公司 | assembling line |
| CN109733792A (en) * | 2019-01-21 | 2019-05-10 | 金锋馥（滁州）输送机械有限公司 | Vacuum adsorption type climbing belt machine |
| CN111661376A (en) * | 2020-07-28 | 2020-09-15 | 苏州新派特信息科技有限公司 | Aseptic preparation equipment of moisturizing and whitening mask |
| CN114055903A (en) * | 2021-10-25 | 2022-02-18 | 合肥轩赢木业有限公司 | Production equipment and production method of energy-saving environment-friendly building board |
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| CN115219885A (en) * | 2022-09-21 | 2022-10-21 | 深圳市麦烁微电子有限公司 | Chip delivery sampling system |
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| CN115219885B (en) * | 2022-09-21 | 2022-12-02 | 深圳市麦烁微电子有限公司 | Chip delivery sampling system |
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| CN106081569B (en) | 2018-04-20 |
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