CN106743561A - A kind of method that plate Height Adjustment is put for unloader - Google Patents
A kind of method that plate Height Adjustment is put for unloader Download PDFInfo
- Publication number
- CN106743561A CN106743561A CN201611213735.8A CN201611213735A CN106743561A CN 106743561 A CN106743561 A CN 106743561A CN 201611213735 A CN201611213735 A CN 201611213735A CN 106743561 A CN106743561 A CN 106743561A
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- CN
- China
- Prior art keywords
- plate
- manipulator
- unloader
- height adjustment
- adjustment
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- 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.)
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Classifications
-
- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of method that plate Height Adjustment is put for unloader, comprise the following steps：S1：The initial position of manipulator on plate putting machine is set；S2：Obtain the essential information of plate, the real time position of manipulator on essential information real-time adjustment plate putting machine according to plate, wherein the essential information of plate at least includes the quantity and thickness of plate, and the real time position adjustment of manipulator includes X-axis, Y-axis, three adjustment in direction of Z axis；S3：Detection puts whether Board position meets the requirements, if met the requirements, into step S4；Otherwise enter step S2；S4：Be put into plate in bearing frame by plate putting machine.The present invention can eliminate the possibility that plate drifts about during free-falling, plate is accurately positioned in bearing frame.
Description
Technical field
The present invention relates to automation control area, a kind of side that plate Height Adjustment is put for unloader is particularly related to
Method.
Background technology
Unloader of the prior art its main operational principle is：Positioned to bearing frame after moveable arm feeding
Side (about 150mm positions), discharges plate, makes in its free-falling to bearing frame.But during plate free-falling, plate
Part can drift about, it is impossible to be accurately put into bearing frame, cause plate to lose, and influence product quality.
Therefore, the present inventor needs a kind of new technology of design badly to improve its problem.
The content of the invention
The present invention is intended to provide a kind of method that plate Height Adjustment is put for unloader, it can eliminate plate under freedom
The possibility drifted about during falling, makes plate be accurately positioned in bearing frame.
In order to solve the above technical problems, the technical scheme is that：
A kind of method that plate Height Adjustment is put for unloader, comprises the following steps：
S1：The initial position of manipulator on plate putting machine is set；
S2：The essential information of plate is obtained, manipulator is real-time on the essential information real-time adjustment plate putting machine according to plate
Quantity and thickness of the essential information of position, wherein plate at least including plate, the real time position adjustment of manipulator include X-axis, Y
Axle, three adjustment in direction of Z axis；
S3：Detection puts whether Board position meets the requirements, if met the requirements, into step S4；Otherwise enter step S2；
S4：Be put into plate in bearing frame by plate putting machine.
Preferably, the step S2 is specifically included：
S21：The essential information of plate is obtained in real time, and wherein H is a thickness for plate, and N is the quantity of plate；
S22：The position for adjusting manipulator is at N*H positions directly over bearing frame；It is undesirable when Board position is put,
Continue the position of manipulator of adjustment plate putting machine.
Preferably, the step S3 is specifically included：
Put whether Board position meets the requirements by positioning vision detection system detection, if met the requirements, into step S4；
Otherwise detection information is sent to plate putting machine, and enters step S2.
Preferably, the initial position of manipulator is set to directly over bearing frame at M millimeters on plate putting machine in the step S1,
Wherein M >=N*H.
Preferably, M=300.
Preferably, H=10.
Preferably, 1≤N≤30.
Using above-mentioned technical proposal, the present invention at least includes following beneficial effect：
The method that plate Height Adjustment is put for unloader of the present invention, it can eliminate plate in free-falling process
The possibility of middle drift, makes plate be accurately positioned in bearing frame.
Brief description of the drawings
Fig. 1 is the flow chart of the method that plate Height Adjustment is put for unloader of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, to meet a kind of method that plate Height Adjustment is put for unloader of the invention, including following step
Suddenly：
S1：The initial position of manipulator on plate putting machine is set；
S2：The essential information of plate is obtained, manipulator is real-time on the essential information real-time adjustment plate putting machine according to plate
Quantity and thickness of the essential information of position, wherein plate at least including plate, the real time position adjustment of manipulator include X-axis, Y
Axle, three adjustment in direction of Z axis；
S3：Detection puts whether Board position meets the requirements, if met the requirements, into step S4；Otherwise enter step S2；
S4：Be put into plate in bearing frame by plate putting machine.
Preferably, the step S2 is specifically included：
S21：The essential information of plate is obtained in real time, and wherein H is a thickness for plate, and N is the quantity of plate；Obtain plate
The mode of the essential information of part can be manually entered, or machinery can only be detected, those skilled in the art can basis
Actual use demand is selected accordingly, and the present embodiment is not construed as limiting to this.
S22：The position for adjusting manipulator is at N*H positions directly over bearing frame；It is undesirable when Board position is put,
Continue the position of manipulator of adjustment plate putting machine.
Preferably, the step S3 is specifically included：
Put whether Board position meets the requirements by positioning vision detection system detection, if met the requirements, into step S4；
Otherwise detection information is sent to plate putting machine, and enters step S2.Preferably, positioning vision detection system main composition has：Work
Industry camera, industrial lens, vision-based detection light source, controller, VISIONPRO, have there is more answering due to it in the prior art
With those skilled in the art should know how to use, therefore here is omitted.Detected by it and put Board position, and will detection
Control system in feedback of the information to the plate putting machine, the motion of control system control machinery hand, so that control is more smart
It is accurate.
Preferably, the initial position of manipulator is set to directly over bearing frame at M millimeters on plate putting machine in the step S1,
Wherein M >=N*H.
Preferably, M=300.
Preferably, H=10.
Preferably, 1≤N≤30.
The operation principle of the present embodiment is：Machinery is manually placed at initial position under original state, and the present embodiment is preferred
It is 300 millimeters.After manipulator captures plate, quantity and thickness according to plate adjust the position of manipulator.Such as plate quantity
It is 10, each panel thickness is 10 millimeters, then the position of adjustment manipulator, is dropped at bearing frame, then
Smoothly plate is put into bearing frame.When plate quantity is reduced, continue to adjust the position of manipulator, be repeated in.Thus
Just the possibility drifted about during plate free-falling can be eliminated, plate is accurately positioned in bearing frame.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (7)
1. a kind of method that plate Height Adjustment is put for unloader, it is characterised in that comprise the following steps：
S1：The initial position of manipulator on plate putting machine is set；
S2：The essential information of acquisition plate, the real time position of manipulator on the essential information real-time adjustment plate putting machine according to plate,
Wherein the essential information of plate at least includes the quantity and thickness of plate, and the real time position adjustment of manipulator includes X-axis, Y-axis, Z
Three adjustment in direction of axle；
S3：Detection puts whether Board position meets the requirements, if met the requirements, into step S4；Otherwise enter step S2；
S4：Be put into plate in bearing frame by plate putting machine.
2. the method for plate Height Adjustment being put for unloader as claimed in claim 1, it is characterised in that the step S2 is specific
Including：
S21：The essential information of plate is obtained in real time, and wherein H is a thickness for plate, and N is the quantity of plate；
S22：The position for adjusting manipulator is at N*H positions directly over bearing frame；It is undesirable when Board position is put, continue
Adjust the position of manipulator of plate putting machine.
3. the method for plate Height Adjustment being put for unloader as claimed in claim 1 or 2, it is characterised in that the step S3
Specifically include：
Put whether Board position meets the requirements by positioning vision detection system detection, if met the requirements, into step S4；Otherwise
Detection information is sent to plate putting machine, and enters step S2.
4. the method for plate Height Adjustment being put for unloader as claimed in claim 2, it is characterised in that put in the step S1
The initial position of manipulator is set to directly over bearing frame at M millimeters on trigger, wherein M >=N*H.
5. the method for plate Height Adjustment being put for unloader as claimed in claim 4, it is characterised in that：M=300.
6. the method that plate Height Adjustment is put for unloader as described in claim 2-5 is any, it is characterised in that：H=10.
7. the method that plate Height Adjustment is put for unloader as described in claim 2-6 is any, it is characterised in that：1≤N≤
30。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611213735.8A CN106743561A (en) | 2016-12-26 | 2016-12-26 | A kind of method that plate Height Adjustment is put for unloader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611213735.8A CN106743561A (en) | 2016-12-26 | 2016-12-26 | A kind of method that plate Height Adjustment is put for unloader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106743561A true CN106743561A (en) | 2017-05-31 |
Family
ID=58919592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611213735.8A Pending CN106743561A (en) | 2016-12-26 | 2016-12-26 | A kind of method that plate Height Adjustment is put for unloader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106743561A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN203392488U (en) * | 2013-07-25 | 2014-01-15 | 信义汽车玻璃(东莞)有限公司 | Automatic glass-feeding device |
| CN204689213U (en) * | 2015-05-15 | 2015-10-07 | 佛山市顺德区迪峰机械有限公司 | Manipulator three station automatic blanking machine |
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| US20160334801A1 (en) * | 2015-05-12 | 2016-11-17 | Gnetic Inc. | Autonomous modular robot |
| CN106241400A (en) * | 2016-08-31 | 2016-12-21 | 江苏华宇印涂设备集团有限公司 | The double feed control method of charger |
-
2016
- 2016-12-26 CN CN201611213735.8A patent/CN106743561A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN203392488U (en) * | 2013-07-25 | 2014-01-15 | 信义汽车玻璃(东莞)有限公司 | Automatic glass-feeding device |
| US20160334801A1 (en) * | 2015-05-12 | 2016-11-17 | Gnetic Inc. | Autonomous modular robot |
| CN204689213U (en) * | 2015-05-15 | 2015-10-07 | 佛山市顺德区迪峰机械有限公司 | Manipulator three station automatic blanking machine |
| CN106078730A (en) * | 2016-08-11 | 2016-11-09 | 汕头大学 | A kind of loading and unloading manipulator |
| CN106241400A (en) * | 2016-08-31 | 2016-12-21 | 江苏华宇印涂设备集团有限公司 | The double feed control method of charger |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |