CN108312245B - Use method of intelligent trimming robot - Google Patents
Use method of intelligent trimming robot Download PDFInfo
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- CN108312245B CN108312245B CN201810080728.8A CN201810080728A CN108312245B CN 108312245 B CN108312245 B CN 108312245B CN 201810080728 A CN201810080728 A CN 201810080728A CN 108312245 B CN108312245 B CN 108312245B
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- cutting
- plate blank
- controller
- slab
- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B19/00—Other reciprocating saws with power drive; Fret-saws
- B27B19/10—Fret-saws, i.e. with bilaterally chucked saw blade in a manually-guided bow
- B27B19/12—Fret-saws, i.e. with bilaterally chucked saw blade in a manually-guided bow with power drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/547—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a wire-like cutting member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B29/00—Gripping, clamping, or holding devices for the trunk or log in saw mills or sawing machines; Travelling trunk or log carriages
Abstract
The use method of the intelligent trimming robot comprises a following cutting manipulator, a rotary sucker device, a sucker manipulator, a rack and a controller; the following cutting manipulator comprises a fixed column, a swing arm, a following wheel, a reset electric push rod, a cutting frame, a cutting motor, a cutting steel wire and a lifting electric pull rod; when the automatic plate blank trimming machine is used, the controller controls the sucker manipulator to suck a plate blank onto the rotary vacuum sucker tightly, the rotary vacuum sucker is controlled to drive the plate blank to rotate, the following wheel of the gravity swing device is used for following the plate blank to rotate, the cutting steel wire of the cutting manipulator is used for cutting off burrs of the plate blank, when the cutting steel wire cuts the burrs of the plate edge of the plate blank, the electric pull rod pulls the cutting frame to swing, the cutting steel wire on the cutting frame is located at the optimal position of the plate edge of the cutting plate blank, after the burrs of the plate blank are cut off, the sucker manipulator is controlled to suck a finished plate blank onto a finished product box, unmanned processing of plate blank trimming is implemented, and efficiency.
Description
Technical Field
The invention relates to a use method of a flat blank trimmer, in particular to a use method of an intelligent trimming robot for trimming a square flat blank.
Background
At present, burrs are left on the edges of a wooden plate blank or a plastic plate blank in the production process, and manual trimming efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a using method of an intelligent trimming robot, which is used for improving the production efficiency of plate blank trimming.
The technical scheme adopted by the invention is as follows: the intelligent trimming robot comprises a following cutting manipulator, a rotary sucker device, a sucker manipulator, a rack and a controller; the following cutting manipulator comprises a gravity swing following device and an intelligent cutting device, wherein the gravity swing following device comprises a fixed column, a swing arm, a following wheel and a reset electric push rod, the fixed column is fixedly connected with the rack, the swing arm is hinged with the fixed column through a shaft sleeve, the following wheel is fixedly connected with the swing arm through a following wheel shaft, and the fixed column is in a non-vertical state, so that the swing arm can swing under the action of gravity and friction force between the shaft sleeve and the fixed column; the shell of the reset electric push rod is fixedly connected with the frame, and the push rod head of the reset electric push rod is positioned on the swinging track of the swing arm and used for blocking the swing arm and limiting the swinging amplitude of the swing arm; the intelligent cutting device comprises a cutting frame, a cutting motor, a driving wheel, a driven wheel, a cutting steel wire, a lifting electric pull rod and a distance measuring sensor, wherein the swinging arm is provided with a hinged shaft, the hinged shaft of the swinging arm is hinged with the cutting frame, a base of the cutting motor is fixedly connected with the cutting frame, a motor shaft of the cutting motor is fixedly connected with the driving wheel, the driving wheel is connected with the driven wheel through an annular cutting steel wire, the driving wheel is connected with the cutting frame through a driving wheel shaft, the driven wheel is connected with the cutting frame through a driven wheel shaft, a shell of the lifting electric pull rod is hinged with the swinging arm, and a power lifting rod of the lifting electric pull rod is hinged with the cutting; the cutting device is used for driving the cutting steel wire to rotate by utilizing the cutting motor through the driving wheel and the driven wheel so as to achieve the purpose of cutting the plate edge burrs of the plate blank by utilizing the rotating cutting steel wire; the distance measuring sensor is arranged on the frame, is positioned below the processed plate blank, is used for detecting the rotating position change data of the processed plate blank, and is provided for the controller to control the swinging of the cutting frame so as to be beneficial to cutting the plate edge burrs of the steel wire cutting plate blank; the rotary sucker device comprises a rotary vacuum sucker, a speed regulating motor, a rotary joint, a vacuum pump and a first vacuum solenoid valve; the base of the speed regulating motor is fixedly connected with the frame, the driving shaft of the speed regulating motor is connected with the rotating shaft of the rotating joint, the rotating shaft of the rotating joint is connected with the rotating vacuum chuck, and the shell of the rotating joint is fixedly connected with the shell of the speed regulating motor; the vacuum pump is communicated with an air guide cavity of the rotary joint through a first vacuum electromagnetic valve, the air guide cavity is communicated with an air vent of the rotary shaft, and the air vent is communicated with a vacuumizing channel of the rotary vacuum sucker; the sucker manipulator comprises a mechanical arm and a movable vacuum sucker, the movable vacuum sucker is arranged on the mechanical arm, a machine base of the sucker manipulator is connected with the rack, and the movable vacuum sucker is connected with the vacuum pump through a second vacuum solenoid valve; the controller is provided with a plate blank sensor, a cutting sensor, a sucker sensor, a swing arm sensor, a starting switch and a stopping switch, the plate blank sensor is arranged beside the rotary vacuum sucker, the cutting sensor is arranged beside the distance measuring sensor, the sucker sensor is arranged on the movable vacuum sucker, the swing arm sensor is arranged on the rack, and the swing arm sensor is arranged beside the reset electric push rod; the controller is connected with the cutting motor, the reset electric push rod, the lifting electric pull rod, the speed regulating motor, the vacuum pump, the first vacuum electromagnetic valve, the second vacuum electromagnetic valve, the distance measuring sensor, the plate blank sensor, the sucker sensor and the swing arm sensor through control lines.
The use method of the intelligent trimming robot comprises the following steps: when in use, the controller is used for controlling the vacuum pump to work; after the vacuum pump works, the controller controls the sucker manipulator to suck and place the square plate blank in the plate blank box on the rotary vacuum sucker; after the plate blank is sucked and placed on the rotary vacuum chuck, the plate blank is close to a plate blank sensor beside the rotary vacuum chuck, the plate blank sensor transmits a signal of the plate blank sensor to the controller, and the controller controls the rotary vacuum chuck to suck the plate blank tightly on the rotary vacuum chuck through the first vacuum electromagnetic valve; after the plate blank is sucked tightly on the rotary vacuum chuck, the controller controls the push rod head of the reset electric push rod to retract, the swing arm of the gravity swing following device swings along with the retraction of the push rod head under the action of gravity, when the following wheel of the gravity swing following device is contacted with the lower edge of the plate blank, the swing arm is blocked by the lower edge of the plate blank, and the swing arm stops swinging; when the following wheel is contacted with the lower edge of the plate blank, the cutting steel wire of the intelligent cutting device moves to the cutting position of the plate edge of the plate blank; meanwhile, the following wheel approaches to the cutting sensor, the cutting sensor transmits a signal of the cutting sensor to the controller, and the controller controls the cutting motor to drive the cutting steel wire to rotate through the driving wheel and the driven wheel; meanwhile, after the push rod head of the reset electric push rod retracts in place, the push rod head is close to the swing arm sensor, the swing arm sensor transmits a signal of the swing arm sensor to the controller, the controller controls the speed regulating motor to drive the rotary vacuum chuck to rotate through the rotary joint, the plate blank tightly sucked to the rotary vacuum chuck rotates along with the rotary vacuum chuck, the following wheel rotates along with the rotation of the plate blank, the swing arm swings along with the rotation of the plate blank, and the rotating cutting steel wire is used for cutting burrs on the plate edge of the plate blank; after the plate blank rotates along with the rotary vacuum chuck, the distance measuring sensor continuously transmits the rotating position data of the plate blank to the controller, the controller controls the lifting electric pull rod to work according to the rotating position data of the plate blank detected by the distance measuring sensor, and the electric pull rod is used for drawing the cutting frame to swing, so that the cutting steel wire on the cutting frame is positioned at the optimal position of burrs on the edge of the plate blank to be cut; after the burrs at the plate edges of the plate blank are cut by the cutting steel wire for one circle, the burrs at the plate edges of the plate blank are cut cleanly, the controller controls the push rod head of the reset electric push rod to push out, the push rod head push swing arm swings in the opposite direction, the following wheel is made to leave the plate blank, and the cutting steel wire of the intelligent cutting device is made to leave the plate edges of the plate blank; after the cutting steel wire leaves the plate edge of the plate blank, the controller controls the speed regulating motor to stop, and the rotary vacuum chuck stops rotating; after the rotating vacuum chuck stops rotating, the controller controls the first vacuum electromagnetic valve to be closed, air is introduced into the rotating vacuum chuck by closing the first vacuum electromagnetic valve, and a repaired plate blank on the rotating vacuum chuck is loosened; and after the repaired plate blank on the rotary vacuum chuck is loosened, the controller controls the chuck manipulator to suck and place the repaired plate blank on the rotary vacuum chuck on a finished product box.
The invention has the beneficial effects that: the use method of the intelligent trimming robot comprises a following cutting manipulator, a rotary sucker device, a sucker manipulator, a rack and a controller; the following cutting manipulator comprises a gravity swing following device and an intelligent cutting device, wherein the gravity swing following device comprises a fixed column, a swing arm, a following wheel and a reset electric push rod, and the intelligent cutting device comprises a cutting frame, a cutting motor, a driving wheel, a driven wheel, a cutting steel wire, a lifting electric pull rod and a distance measuring sensor; when the automatic plate blank cutting machine is used, the controller controls the sucker manipulator to suck a plate blank of a plate blank box onto the rotary vacuum sucker for tight suction, the rotary vacuum sucker is controlled to drive the plate blank to rotate, then the following wheel of the gravity swing following device is used for following the plate blank to rotate, the cutting steel wire of the cutting manipulator is used for cutting off burrs of the plate blank, when the cutting steel wire cuts the burrs of the plate blank edge, the electric pull rod pulls the cutting frame to swing, so that the cutting steel wire on the cutting frame is located at the optimal position for cutting the burrs of the plate blank edge, after the burrs of the plate blank are cut off, the controller controls the sucker manipulator to move a finished plate blank product with the burrs cut off onto a finished; the unmanned processing in the plate blank trimming process is implemented, and the production efficiency of plate blank trimming is improved.
Drawings
FIG. 1 is a schematic diagram of a smart trim robot configuration;
fig. 2 is a top view of fig. 1.
Detailed Description
The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:
as shown in a schematic structural diagram of the intelligent trimming robot shown in fig. 1 and a top view of fig. 1 shown in fig. 2, the intelligent trimming robot includes a following cutting manipulator 1, a rotary suction cup device 2, a suction cup manipulator 3, a frame 4 and a controller 5, and the controller 5 is connected with the following cutting manipulator 1, the rotary suction cup device 2 and the suction cup manipulator 3 through control lines; the following cutting manipulator 1 comprises a gravity swing following device 6 and an intelligent cutting device 7, the gravity swing following device 6 comprises a fixed column 8, a swing arm 9, a following wheel 10 and a reset electric push rod 11, the fixed column 8 is fixedly connected with the rack 4, the swing arm 9 is hinged with the fixed column 8 through a shaft sleeve 12, the following wheel 10 is fixedly connected with the swing arm 9 through a following wheel shaft 13, and the fixed column 8 is in a non-vertical state, so that the swing arm 9 can swing under the action of gravity of the swing arm 9 and the friction force between the shaft sleeve 12 and the fixed column 8; the shell of the reset electric push rod 11 is fixedly connected with the frame 4, and the push rod head 14 of the reset electric push rod 11 is positioned on the swinging track of the swing arm 9 and used for blocking the swing arm 9 and limiting the swinging amplitude of the swing arm 9; the intelligent cutting device 7 comprises a cutting frame 15, a cutting motor 16, a driving wheel 17, a driven wheel 18, a cutting steel wire 19, a lifting electric pull rod 20 and a distance measuring sensor 21, wherein the swing arm 9 is provided with a hinge shaft 22, the hinge shaft 22 of the swing arm 9 is hinged with the cutting frame 15, a base of the cutting motor 16 is fixedly connected with the cutting frame 15, a motor shaft of the cutting motor 16 is fixedly connected with the driving wheel 17, the driving wheel 17 is connected with the driven wheel 18 through the annular cutting steel wire 19, the driving wheel 17 is connected with the cutting frame 15 through a driving wheel shaft 23, the driven wheel 18 is connected with the cutting frame 15 through a driven wheel shaft 24, a shell of the lifting electric pull rod 20 is hinged with the swing arm 9, and a power lifting rod 25 of the lifting electric pull rod 20 is hinged with the cutting frame 15 through; the cutting device is used for driving the cutting steel wire 19 to rotate by utilizing the cutting motor 16 through the driving wheel 17 and the driven wheel 18 so as to achieve the purpose of cutting burrs on the plate edges 28 of the plate blank 27 by utilizing the rotating cutting steel wire 19; the distance measuring sensor 21 is mounted on the frame 4, is positioned below the processed plate blank 27, and is used for detecting the position change data of the rotation of the processed plate blank 27 and providing the position change data to the controller 5 for controlling the swing of the cutting frame 15 so as to facilitate the cutting steel wire 19 to cut the burrs of the plate edge 28 of the plate blank 27; the rotary sucker device 2 comprises a rotary vacuum sucker 29, a speed regulating motor 30, a rotary joint 31, a vacuum pump 32 and a first vacuum solenoid valve 33; the base of the speed regulating motor 30 is fixedly connected with the frame 4, the driving shaft 34 of the speed regulating motor 30 is connected with the rotating shaft 35 of the rotating joint 31, the rotating shaft 35 of the rotating joint 31 is connected with the rotating vacuum chuck 29, and the shell 36 of the rotating joint 31 is fixedly connected with the shell of the speed regulating motor 30; the vacuum pump 32 is communicated with an air guide cavity 37 of the rotary joint 31 through a first vacuum solenoid valve 33, the air guide cavity 37 is communicated with a vent hole 38 of the rotary shaft 35, and the vent hole 38 is communicated with a vacuumizing channel 39 of the rotary vacuum suction cup 29; the sucker manipulator 3 comprises a mechanical arm 40 and a movable vacuum sucker 41, the movable vacuum sucker 41 is arranged on the mechanical arm 40, a base of the sucker manipulator 3 is connected with the rack 4, and the movable vacuum sucker 41 is connected with the vacuum pump 32 through a second vacuum solenoid valve 42; the controller 5 is provided with a plate blank sensor 43, a cutting sensor 44, a suction cup sensor 45, a swing arm sensor 46, a starting switch 47 and a stopping switch 48, the plate blank sensor 43 is arranged beside the rotary vacuum suction cup 29, the cutting sensor 44 is arranged beside the distance measuring sensor 21, the suction cup sensor 45 is arranged on the movable vacuum suction cup 41, the swing arm sensor 46 is arranged on the frame 4, and the swing arm sensor 46 is arranged beside the reset electric push rod 11; the controller 5 is connected with the cutting motor 16, the reset electric push rod 11, the lifting electric pull rod 20, the speed regulating motor 30, the vacuum pump 32, the first vacuum electromagnetic valve 33, the second vacuum electromagnetic valve 42, the distance measuring sensor 21, the slab sensor 43, the suction cup sensor 45 and the swing arm sensor 46 through control lines.
In order to adjust the angle between the cutting wire 19 of the intelligent cutting device 7 and the trimmed plate blank 27 to obtain a good cutting effect, the hinge shaft 22 of the swing arm 9 is positioned between the driven wheel shaft 24 of the driven wheel 18 and the driving wheel shaft 23 of the driving wheel 17; the cutting frame 15 is dragged to swing through the lifting electric pull rod 20, and the angle between the cutting steel wire 19 and the trimmed plate blank 27 is adjusted through the cutting frame 15; the axis of the articulated shaft 22 of the swing arm 9 is the same as the axis of the driving wheel shaft 23 and the cutting motor 16, the driven wheel shaft 24 of the driven wheel 18 is positioned at the right side of the driving wheel shaft 23, and the cutting steel wire 19 is positioned at the right side of the lifting shaft 26.
In order to realize that the swing arm 9 automatically swings to the trimmed plate blank 27 under the action of the gravity of the swing arm, the axes of the fixed columns 8 are on the same vertical plane, the axes of the fixed columns 8 are inclined with the horizontal plane, and the rotary vacuum suction cup 29 is positioned on the right side of the fixed columns 8; the center 47 of the top end of the fixed column 8 is positioned in front of and above the center 48 of the bottom end of the fixed column 8, the axis of the fixed column 8 inclines forwards, and the included angle between the axis of the swing column fixed column 8 and the horizontal plane is 65-85 degrees; the initial state of the following cutting robot 1 is: the push rod head 14 of the reset electric push rod 11 is in an extending state, the push rod head 14 is in contact with the swing arm 9, and the push rod head 14 blocks the swing arm 9, so that the intelligent cutting device 7 and the following wheel 10 leave the range of the plate blank 27 rotating along with the rotary vacuum chuck 29; when the push rod head 14 of the reset electric push rod 11 is in a retraction state, under the action of the combined gravity of the swing arm 9, the following wheel 10 and the intelligent cutting device 7 and the friction force of the shaft sleeve 12 of the swing arm 9 and the fixed column 8, the swing arm 9 swings in the direction of swinging to the plate blank 27 on the rotary vacuum chuck 29; when the push rod head 14 of the reset electric push rod 11 extends out, the push rod head 14 of the reset electric push rod 11 leaves the swing arm sensor 46, and when the push rod head 14 of the reset electric push rod 11 retracts to the right position, the push rod head 14 of the reset electric push rod 11 approaches the swing arm sensor 46; the top circle center 63 of the fixed column 8 is positioned in front of and above the bottom circle center 64 of the fixed column 8, the axis of the fixed column 8 inclines forwards, and the included angle between the axis of the swing column fixed column 8 and the horizontal plane is 65-85 degrees.
In order to suck the unfinished slab 27 to the rotary vacuum chuck 29 by the suction cup manipulator 3 and suck the trimmed slab 27 away from the rotary vacuum chuck 29 by the suction cup manipulator 3, the suction cup manipulator 3 is provided with a first station 49, a second station 50, a third station 51, a slab box 52 and a finished box 53, the slab box 52 is used for placing the unfinished slab 27, the finished box 53 is used for placing the finished product of the processed slab 27, the first station 49 is arranged on the left side of the rotary vacuum chuck 29, the second station 50 is arranged on the right side of the rotary vacuum chuck 29, the third station 52 is arranged on the rotary vacuum chuck 29, the slab box 52 is arranged on the first station 49, and the finished box 53 is arranged on the second station 50; the initial state of the suction cup manipulator 3 is: the moving vacuum chuck 41 of the chuck robot 3 is located above the first station 50.
The use method of the intelligent trimming robot comprises the following steps: when in use, the controller 5 is used for controlling the vacuum pump 32 to work; after the vacuum pump 32 works, the controller 5 controls the suction cup manipulator 3 to suck and place the square plate blank 27 in the plate blank box 52 on the rotary vacuum suction cup 29; after the slab 27 is sucked and placed on the rotary vacuum chuck 29, the slab 27 approaches the slab sensor 43 beside the rotary vacuum chuck 29, the slab sensor 43 transmits the signal to the controller 5, and the controller 5 controls the rotary vacuum chuck 29 to suck the slab 27 tightly on the rotary vacuum chuck 29 through the first vacuum solenoid valve 33; after the slab 27 is tightly sucked on the rotary vacuum chuck 29, the controller 5 controls the push rod head 14 of the reset electric push rod 11 to retract, the swing arm 9 of the gravity swing following device 6 swings along with the retraction of the push rod head 14 under the action of the gravity, when the following wheel 10 of the gravity swing following device 6 is in contact with the lower edge 54 of the slab 27, the swing arm 9 is blocked by the lower edge 54 of the slab 27, and the swing arm 9 stops swinging; the cutting wire 19 of the smart cutting device 7 is moved to the cutting position of the panel edge 28 of the slab 27 following the contact of the wheel 10 with the lower edge 54 of the slab 27; meanwhile, the following wheel 10 approaches the cutting sensor 44, the cutting sensor 44 transmits a signal thereof to the controller 5, and the controller 5 controls the cutting motor 16 to drive the cutting wire 19 to rotate through the driving wheel 17 and the driven wheel 18; meanwhile, after the push rod head 14 of the reset electric push rod 11 retracts to the right position, the push rod head 14 approaches to the swing arm sensor 46, the swing arm sensor 46 transmits signals to the controller 5, the controller 5 controls the speed regulating motor 30 to drive the rotary vacuum chuck 29 to rotate through the rotary joint 31, the plate blank 27 sucked tightly on the rotary vacuum chuck 29 rotates along with the rotary vacuum chuck 29, the following wheel 10 rotates along with the rotation of the plate blank 27, the swing arm 9 swings along with the rotation of the plate blank 27, and burrs of the plate edge 28 of the plate blank 27 are cut by the rotating cutting steel wire 19; after the plate blank 27 rotates along with the rotary vacuum chuck 29, the distance measuring sensor 21 continuously transmits the rotating position data of the plate blank 27 to the controller 5, the controller 5 controls the lifting electric pull rod 20 to work according to the rotating position data of the plate blank 27 detected by the distance measuring sensor 21, and the lifting electric pull rod 20 is used for drawing the cutting frame 15 to swing, so that the cutting steel wires 19 on the cutting frame 15 are positioned at the optimal position for cutting burrs on the plate edge 28 of the plate blank 27; after the burrs of the plate edge 28 of the plate blank 27 are cut by the cutting steel wire 19 for one circle, the burrs of the plate edge 28 of the plate blank 27 are cut cleanly, the controller 5 controls the push rod head 14 of the reset electric push rod 11 to push out, the push rod head 14 pushes the swing arm 9 to swing in the opposite direction, the following wheel 10 leaves the plate blank 27, and the cutting steel wire 19 of the intelligent cutting device 7 leaves the plate edge 28 of the plate blank 27; after the cutting steel wire 19 leaves the plate edge 28 of the plate blank 27, the controller 5 controls the speed regulating motor 30 to stop, and the rotary vacuum chuck 29 stops rotating; after the rotating vacuum chuck 29 stops rotating, the controller 5 controls the first vacuum electromagnetic valve 33 to be closed, air is introduced into the rotating vacuum chuck 29 by closing the first vacuum electromagnetic valve 33, and the repaired plate blank 27 on the rotating vacuum chuck 29 loosens; after the repaired slab 27 on the rotary vacuum chuck 29 is loosened, the controller 5 controls the chuck robot 3 to suck and place the repaired slab 27 on the rotary vacuum chuck 29 onto the finished product box 53.
Due to the deformation of the plate blank 27, the plate edge 28 of the plate blank 27 rises and falls in the rotating process of the plate blank 27 tightly sucked on the rotating vacuum suction cup 29, in order to implement that the cutting steel wire 19 of the intelligent cutting device 7 cuts the burr of the plate edge 28 of the plate blank 27 along with the lifting of the plate edge 28 of the plate blank 27, when the cutting steel wire 19 of the intelligent cutting device 7 cuts the burr of the plate edge 28 of the plate blank 27, the distance measuring sensor 21 arranged below the cutting and trimming position of the plate blank 27 continuously transmits the distance data between the plate blank 27 and the distance measuring sensor 21 to the controller 5, the controller 5 controls the push rod head 14 of the lifting electric pull rod 20 to rise or fall, controls the cutting steel wire 19 on the cutting frame 15 to lift along with the lifting of the cutting position of the plate edge 28 of the plate blank 27, and enables the cutting.
In order to enable the cutting steel wire 19 of the intelligent cutting device 7 to be in a better position for cutting the plate edge 28 of the plate blank 27, when the cutting steel wire 19 of the intelligent cutting device 7 cuts the burr of the plate edge 28 of the plate blank 27, when the distance between the plate blank 27 and the distance measuring sensor 21 is smaller, the cutting and trimming position of the plate edge 28 of the plate blank 27 is lowered, the controller 5 controls the push rod head 14 of the lifting electric pull rod 20 to ascend, the push rod head 14 pushes the cutting frame 15 to swing in the clockwise direction, the cutting steel wire 19 on the cutting frame 15 is lowered along with the continuous lowering of the cutting frame 15, the cutting steel wire 19 is lowered along with the lowering of the cutting and trimming position of the plate blank 27 plate edge 28, and the cutting steel wire 19 is in a; when the distance between the plate blank 27 and the distance measuring sensor 21 is increased, the cutting and trimming position of the plate edge 28 of the plate blank 27 is raised, the controller 5 controls the push rod head 14 of the lifting electric pull rod 20 to descend, the push rod head 14 pulls the cutting frame 15 to swing in the anticlockwise direction, the cutting steel wire 19 on the cutting frame 15 rises along with the continuous rising of the cutting frame 15, the cutting steel wire 19 rises along with the rising of the cutting and trimming position of the plate blank 27 plate edge 28, and the cutting steel wire 19 is in a good cutting position.
In order to ensure the quality of the cutting steel wire 19 cutting the burrs of the plate edges 28 of the plate blank 27 and control the rotating speed of the plate blank 27 according to the amount of the burrs of the plate edges 28, the controller 5 is provided with a current sensor 55, and the current sensor 55 is arranged on the speed regulating motor 30 and used for detecting the load of the speed regulating motor 30; when the cutting steel wire 19 of the intelligent cutting device 7 cuts the burrs of the plate edges 28 of the plate blank 27, when the burrs of the plate edges 28 of the plate blank 27 are increased, the rotating resistance of the rotating vacuum chuck 29 is increased, the load of the speed regulating motor 30 is increased, when the load of the speed regulating motor 30 is increased to exceed a set value, the current sensor 55 transmits a signal to the controller 5, and the controller 5 controls the speed regulating motor 30 to decelerate; when the load of the governor motor 30 decreases below a set value when the burrs on the board edges 28 of the slab 27 are reduced, the current sensor 55 transmits a signal to the controller 5, and the controller 5 controls the governor motor 30 to accelerate so as to control the rotation speed of the governor motor 30 within a set range.
In order to increase the speed of trimming the slab 29 and avoid damaging the corners of the slab 29, the functions of accelerating when cutting the straight edges of the slab 27 and decelerating when cutting the corner edges of the slab 27 are implemented; when the cutting steel wire 19 of the intelligent cutting device 7 cuts burrs on the plate edge 28 of the square plate blank 27, the distance between the following wheel 10 and the axis of the rotary vacuum chuck 29 changes along with the rotation of the square plate blank 27; when the following wheel 10 is contacted with the middle of the straight edge of the plate blank 27, the distance between the following wheel 10 and the axis of the rotary vacuum chuck 29 is reduced; when the following wheel 10 contacts with the corner edge of the plate blank 27, the distance between the following wheel 10 and the axis of the rotary vacuum suction cup 29 is increased; when the following wheel 10 is in contact with the corner edge of the square plate blank 27, the following wheel 10 leaves the detection range of the cutting sensor 44, the cutting sensor 44 transmits a signal to the controller 5, the controller 5 controls the speed regulating motor 30 to decelerate, the rotating speed of the rotating vacuum suction cup 29 is reduced, and the cutting steel wire 19 is prevented from damaging the plate edge 28 of the plate blank 27; when the following wheel 10 is in contact with the straight edge of the square plate blank 27, the following wheel 10 approaches the cutting sensor 44, the cutting sensor 44 transmits a signal to the controller 5, and the controller 5 controls the speed regulating motor 30 to accelerate so as to improve the trimming speed.
In order to implement the automatic cycle processing of the intelligent trimming robot, when the intelligent trimming robot is used, the starting switch 47 is pressed, the controller 5 controls the vacuum pump 32 to work, and after the vacuum pump 32 works, the controller 5 controls the suction cup manipulator 3 to suck and place the first plate blank 27 of the plate blank box 52 on the rotary vacuum suction cup 29; after the first plate blank 27 is sucked and placed on the rotary vacuum chuck 29, the controller 5 controls the cutting manipulator 1 and the rotary chuck device 2 to work, the rotary vacuum chuck 29 of the rotary chuck device 2 sucks the first plate blank 27 tightly, and after the first plate blank 27 is sucked tightly by the rotary vacuum chuck 29, the cutting steel wire 19 of the intelligent cutting device 7 cuts the burrs of the plate edges 28 of the first plate blank 27 sucked tightly on the rotary vacuum chuck 29 completely; after the burrs on the edges 28 of the first plate blank 27 are cut, the controller 5 controls the reset electric push rod 11 to drive the intelligent cutting device 7 to leave the first plate blank 27, after the intelligent cutting device 7 leaves the first plate blank 27, the controller 5 controls the first vacuum electromagnetic valve 33 to be closed, and after the first plate blank 27 on the rotary vacuum suction cup 29 is loosened, the controller 5 controls the suction cup manipulator 3 to suck and place the first plate blank 27 with trimmed edges on the rotary vacuum suction cup 29 onto the finished product box 53; after the first trimmed slab 27 is sucked and placed on the finished product box 53, the sucking disc manipulator 3 sucks and places the second slab 27 of the slab box 52 on the rotary vacuum sucking disc 29, and the process is repeated; when the intelligent edge-trimming robot needs to stop, the stop switch 48 is pressed, and the controller 5 controls the cutting robot 1, the rotary suction cup device 2, and the suction cup robot 3 to stop operating.
In order to perform the intelligent operation of the suction cup robot 3, the controller 5 is provided with an operation program for sucking the slab 27 in the slab box 52 to the rotary vacuum suction cup 29 by the suction cup robot 3; a rotary vacuum chuck 29 for sucking the slab 27 of the slab box 52 at the first station 42 position to the third station 51 position by the chuck robot 3; the controller 5 is provided with an operation program that the sucker manipulator 3 sucks the plate blank 27 on the rotary vacuum sucker 29 to the finished product box 53; for sucking the finished slabs 27 on the third station 51 position rotating vacuum cups 29 to the finished product boxes 53 of the second station 50 by means of the cup robots 3.
In order to reduce the impact of the following wheel 10 of the cutting frame 15 on the plate blank 27 on the rotating vacuum chuck 29, the swing arm 9 of the gravity swing following device 6 comprises a swing sleeve 56, a swing column 57 and a buffer spring 58, wherein the swing sleeve 56 is fixedly connected with the fixed column 8, one end of the swing column 57 is movably matched and connected with the swing sleeve 56, the buffer spring 58 is positioned in the swing sleeve 56, and the other end of the swing column 57 is fixedly connected with the cutting frame 15; when the following wheel 10 swings along with the swing arm 9 and the following wheel 10 is in contact with the plate blank 27 on the rotary vacuum suction cup 29, the buffer spring 58 is used for absorbing the collision force between the following wheel 10 and the plate blank 27; in order to reduce the impact of the swing arm 9 on the reset electric putter 11, a bumper 59 is provided to the putter head 14 of the reset electric putter 11, and the impact force of the swing arm 9 and the putter head 14 is absorbed by the bumper 59.
In order to tightly suck the plate blank 27 on the rotary vacuum chuck 29 and avoid air leakage of a vacuum channel, a first sealing ring 61 is arranged between the shell 60 of the rotary joint 31 and the rotating shaft 35, the rotating shaft 35 is hermetically connected with the shell 60 of the rotary joint 31 through the first sealing ring 61, and the rotating shaft 35 is movably matched and connected with the shell 60; a second sealing ring 62 is arranged between the housing 60 of the rotary joint 31 and the driving shaft 34 of the speed regulating motor 30, the driving shaft 34 is connected with the housing 60 of the rotary joint 31 in a sealing way through the second sealing ring 62, and the driving shaft 34 is connected with the housing 60 in a movable fit way.
In order to implement the cutting steel wire 19 of the intelligent cutting device 7 to cut the plate edge 28 of the plate blank 27 along with the rotation of the plate blank 27, after the following wheel 10 of the cutting frame 15 rotates along with the plate blank 27 on the rotary vacuum suction cup 29, the rotary vacuum suction cup 29 rotates in the anticlockwise direction, the plate blank 27 rotates along with the rotary vacuum suction cup 29 in the anticlockwise direction, and the following wheel 10 rotates along with the plate blank 27 in the clockwise direction; when the following wheel 10 rotates clockwise along with the plate blank 27, the following wheel 10 keeps in a contact state with the plate edge 28 of the plate blank 27, and the distance between the following wheel 10 and the circle center of the rotary vacuum chuck 29 changes along with the change of the distance between the plate edge 28 of the plate blank 27 and the circle center of the rotary vacuum chuck 29; when the distance from the plate edge 28 of the plate blank 27 on the rotary vacuum chuck 29 to the circle center of the rotary vacuum chuck 29 is reduced from large to small, the swing arm 9 of the gravity swing following device 6 swings clockwise under the action of the gravity; when the distance from the plate edge 28 of the plate blank 27 on the rotary vacuum suction cup 29 to the circle center of the rotary vacuum suction cup 29 is increased from small to large, the swing arm 9 of the gravity swing following device 6 swings counterclockwise under the pushing of the plate blank 27, so that the following wheel 10 is kept in a contact state with the plate edge 28 of the plate blank 27.
In order to suck the slabs 27 in the slab box 52 of the first station 42 to the rotary vacuum chuck 29 of the third station 51, when the suction cup robot 3 sucks the slab 27 in the slab box 52 at the position of the first station 42 to the rotary vacuum chuck 29 at the position of the third station 51, the position where the movable vacuum chuck 41 of the suction cup robot 3 and the slab 27 in the slab box 52 are in contact with each other and vacuumized is proportional to the height position where the slab 27 in the slab box 52 is continuously lowered, and the movable vacuum chuck 41 of the suction cup robot 3 lowers the height of one slab 27 every time the slab 27 in the slab box 52 is sucked; for the implementation and application of the suction of the finished slabs 27 on the rotary vacuum cups 29 in the third station 51 onto the finished boxes 53 of the second station 50; when the suction cup robot 3 sucks the finished slab 27 on the rotary vacuum suction cup 29 at the third station 51 to the finished product box 53 at the second station 50, the position where the movable vacuum suction cup 41 of the suction cup robot 3 contacts the finished slab 27 of the finished product box 53 and stops vacuuming is proportional to the height position where the slab 27 of the finished product box 53 is continuously raised, and the movable vacuum suction cup 41 of the suction cup robot 3 is raised by one slab 27 every time the slab 27 of the finished product box 53 is increased by one.
In order to carry out a stable edging of the slab 27, the driven wheel 18 is positioned above the driving wheel 17; when the cutting steel wire 19 cuts the burrs on the plate edges 28 of the plate blank 27, the cutting motor 16 drives the driving wheel 17 to rotate in the counterclockwise direction, the driving wheel 17 drives the cutting steel wire 19 and the driven wheel 18 to rotate in the counterclockwise direction, and the speed regulating motor 30 drives the rotary vacuum chuck 29 to rotate in the counterclockwise direction.
Claims (10)
1. The using method of the intelligent trimming robot comprises a following cutting manipulator (1), a rotary sucker device (2), a sucker manipulator (3), a rack (4) and a controller (5); the following cutting manipulator (1) comprises a gravity swing following device (6) and an intelligent cutting device (7), the gravity swing following device (6) comprises a fixed column (8), a swing arm (9), a following wheel (10) and a reset electric push rod (11), and the fixed column (8) is in a non-vertical state; the shell of the reset electric push rod (11) is connected with the frame (4), and the push rod head (14) of the reset electric push rod (11) is positioned on the swinging track of the swing arm (9); the intelligent cutting device (7) comprises a cutting frame (15), a cutting motor (16), a driving wheel (17), a driven wheel (18), a cutting steel wire (19), a lifting electric pull rod (20) and a distance measuring sensor (21), wherein a hinge shaft (22) is arranged on a swing arm (9), the hinge shaft (22) of the swing arm (9) is hinged to the cutting frame (15), a base of the cutting motor (16) is fixedly connected with the cutting frame (15), the cutting motor (16) is connected with the driving wheel (17), the driving wheel (17) is connected with the driven wheel (18) through the annular cutting steel wire (19), a shell of the lifting electric pull rod (20) is hinged to the swing arm (9), a power lifting rod (25) of the lifting electric pull rod (20) is hinged to the cutting frame (15), and the distance measuring sensor (21) is installed on the rack (4); the rotary sucker device (2) comprises a rotary vacuum sucker (29), a speed regulating motor (30), a rotary joint (31), a vacuum pump (32) and a first vacuum solenoid valve (33); the base of the speed regulating motor (30) is fixedly connected with the rack (4), the driving shaft (34) of the speed regulating motor (30) is connected with the rotating shaft (35) of the rotating joint (31), the rotating shaft (35) of the rotating joint (31) is connected with the rotating vacuum chuck (29), and the shell (36) of the rotating joint (31) is connected with the shell of the speed regulating motor (30); the sucker manipulator (3) comprises a mechanical arm (40) and a movable vacuum sucker (41), the movable vacuum sucker (41) is arranged on the mechanical arm (40), and a base of the sucker manipulator (3) is connected with the rack (4); the controller (5) is provided with a slab sensor (43), a cutting sensor (44), a sucker sensor (45), a swing arm sensor (46), a starting switch (47) and a stopping switch (48); the method is characterized in that: the use method of the intelligent trimming robot comprises the following steps: when in use, the controller (5) is used for controlling the vacuum pump (32) to work; after the vacuum pump (32) works, the controller (5) controls the sucker manipulator (3) to suck and place the square slab (27) in the slab box (52) on the rotary vacuum sucker (29); after the slab (27) is sucked and placed on the rotary vacuum sucker (29), the slab (27) approaches a slab sensor (43) beside the rotary vacuum sucker (29), the slab sensor (43) transmits signals to the controller (5), and the controller (5) controls the rotary vacuum sucker (29) to suck the slab (27) on the rotary vacuum sucker (29) through a first vacuum solenoid valve (33); after the slab (27) is tightly sucked on the rotary vacuum sucker (29), the controller (5) controls the push rod head (14) of the reset electric push rod (11) to retract, the swing arm (9) of the gravity swing following device (6) swings along with the retraction of the push rod head (14) under the action of the gravity, when the following wheel (10) of the gravity swing following device (6) is in contact with the lower edge (54) of the slab (27), the swing arm (9) is blocked by the lower edge (54) of the slab (27), and the swing arm (9) stops swinging; when the following wheel (10) is in contact with the lower edge (54) of the plate blank (27), the cutting steel wire (19) of the intelligent cutting device (7) moves to the cutting position of the plate edge (28) of the plate blank (27); meanwhile, the following wheel (10) approaches to the cutting sensor (44), the cutting sensor (44) transmits a signal to the controller (5), and the controller (5) controls the cutting motor (16) to drive the cutting steel wire (19) to rotate through the driving wheel (17) and the driven wheel (18); meanwhile, after a push rod head (14) of the reset electric push rod (11) retracts to the right position, the push rod head (14) is close to a swing arm sensor (46), the swing arm sensor (46) transmits a signal to a controller (5), the controller (5) controls a speed regulating motor (30) to drive a rotary vacuum chuck (29) to rotate through a rotary joint (31), a plate blank (27) tightly sucked on the rotary vacuum chuck (29) rotates along with the rotary vacuum chuck (29), a following wheel (10) rotates along with the rotation of the plate blank (27), a swing arm (9) swings along with the rotation of the plate blank (27), and a rotating cutting steel wire (19) is used for cutting burrs on the plate edge (28) of the plate blank (27); after the plate blank (27) rotates along with the rotary vacuum chuck (29), the distance measuring sensor (21) continuously transmits the rotating position data of the plate blank (27) to the controller (5), the controller (5) controls the lifting electric pull rod (20) to work according to the rotating position data of the plate blank (27) detected by the distance measuring sensor (21), and the lifting electric pull rod (20) is utilized to pull the cutting frame (15) to swing, so that the cutting steel wire (19) on the cutting frame (15) is located at the optimal position for cutting burrs on the plate edge (28) of the plate blank (27); after the burrs of the plate edges (28) of the plate blank (27) are cut for one circle by the cutting steel wires (19), the burrs of the plate edges (28) of the plate blank (27) are cut cleanly, the controller (5) controls the push rod head (14) of the reset electric push rod (11) to push out, the push rod head (14) pushes the swing arm (9) to swing in the opposite direction, the following wheel (10) is made to leave the plate blank (27), and the cutting steel wires (19) of the intelligent cutting device (7) are made to leave the plate edges (28) of the plate blank (27); after the cutting steel wire (19) leaves the plate edge (28) of the plate blank (27), the controller (5) controls the speed regulating motor (30) to stop, and the rotary vacuum chuck (29) stops rotating; after the rotary vacuum chuck (29) stops rotating, the controller (5) controls the first vacuum electromagnetic valve (33) to be closed, air is introduced into the rotary vacuum chuck (29) by closing the first vacuum electromagnetic valve (33), and a repaired plate blank (27) on the rotary vacuum chuck (29) loosens; after the repaired plate blank (27) on the rotary vacuum sucker (29) loosens, the controller (5) controls the sucker manipulator (3) to suck and place the repaired plate blank (27) on the rotary vacuum sucker (29) on the finished product box (53).
2. The method of using the intelligent edger robot of claim 1, wherein: when the cutting steel wire (19) of the intelligent cutting device (7) cuts burrs of the plate edge (28) of the plate blank (27), due to the deformation of the plate blank (27), the plate blank (27) is sucked tightly on the rotary vacuum suction cup (29) in the rotating process, the plate edge (28) of the plate blank (27) can rise and fall, the distance measuring sensor (21) arranged below the cutting and trimming position of the plate blank (27) continuously transmits distance data between the plate blank (27) and the distance measuring sensor (21) to the controller (5), the controller (5) controls the push rod head (14) of the lifting electric pull rod (20) to rise or fall, the cutting steel wire (19) on the cutting frame (15) is controlled to rise and fall along with the lifting of the cutting position of the plate edge (28) of the plate blank (27), and the cutting steel wire (19) is enabled to be in a good cutting position.
3. The method of using the intelligent edger robot of claim 2, wherein: when the cutting steel wire (19) of the intelligent cutting device (7) cuts burrs of the plate edge (28) of the plate blank (27), when the distance between the plate blank (27) and the distance measuring sensor (21) is reduced, the cutting and trimming position of the plate edge (28) of the plate blank (27) is reduced, the controller (5) controls the push rod head (14) of the lifting electric pull rod (20) to ascend, the push rod head (14) pushes the cutting frame (15) to swing clockwise, the cutting steel wire (19) on the cutting frame (15) is reduced along with the continuous reduction of the cutting frame (15), the cutting steel wire (19) is reduced along with the reduction of the cutting and trimming position of the plate blank (27) plate edge (28), and the cutting steel wire (19) is in a good cutting position; when the distance between the plate blank (27) and the distance measuring sensor (21) is increased, the cutting and trimming position of the plate edge (28) of the plate blank (27) is raised, the controller (5) controls the push rod head (14) of the lifting electric pull rod (20) to descend, the push rod head (14) pulls the cutting frame (15) to swing in the anticlockwise direction, the cutting steel wire (19) on the cutting frame (15) rises along with the continuous rising of the cutting frame (15), the cutting steel wire (19) rises along with the rising of the cutting position of the plate edge (28) of the plate blank (27), and the trimming steel wire (19) is located at a good cutting position.
4. The method of using the intelligent edger robot of claim 3, wherein: the controller (5) is provided with a current sensor (55), and the current sensor (55) is arranged on the speed regulating motor (30) and used for detecting the load of the speed regulating motor (30); when the cutting steel wire (19) of the intelligent cutting device (7) cuts burrs of the plate edges (28) of the plate blank (27), when the burrs of the plate edges (28) of the plate blank (27) are increased, the rotating resistance of the rotating vacuum suction disc (29) is increased, the load of the speed regulating motor (30) is increased, when the load of the speed regulating motor (30) is increased to exceed a set value, the current sensor (55) transmits a signal to the controller (5), and the controller (5) controls the speed regulating motor (30) to decelerate; when the burrs of the plate edges (28) of the plate blank (27) are reduced and the load reduction of the speed regulating motor (30) is lower than a set value, the current sensor (55) transmits a signal to the controller (5), the controller (5) controls the speed regulating motor (30) to accelerate, and the rotating speed of the speed regulating motor (30) is controlled within a set range.
5. The method of using the intelligent edger robot of claim 4, wherein: when the cutting steel wire (19) of the intelligent cutting device (7) cuts burrs of the plate edges (28) of the square plate blank (27), the distance between the following wheel (10) and the axis of the rotary vacuum chuck (29) changes along with the rotation of the square plate blank (27); when the following wheel (10) is in contact with the middle of the straight edge of the slab (27), the distance between the following wheel (10) and the axis of the rotary vacuum chuck (29) is reduced; when the following wheel (10) is contacted with the corner edge of the plate blank (27), the distance between the following wheel (10) and the axis of the rotary vacuum suction cup (29) is increased; when the following wheel (10) is in contact with the corner edge of the square plate blank (27), the following wheel (10) leaves the detection range of the cutting sensor (44), the cutting sensor (44) transmits a signal to the controller (5), the controller (5) controls the speed regulating motor (30) to decelerate, the rotating speed of the rotary vacuum chuck (29) is reduced, and the cutting steel wire (19) is prevented from damaging the plate edge (28) of the plate blank (27); when the following wheel (10) is in contact with the straight edge of the square plate blank (27), the following wheel (10) approaches to the cutting sensor (44), the cutting sensor (44) transmits a signal to the controller (5), and the controller (5) controls the speed regulating motor (30) to accelerate so as to provide the trimming speed.
6. The method of using the intelligent edger robot of claim 5, wherein: when the intelligent trimming robot is used, the starting switch (47) is pressed, the controller (5) controls the vacuum pump (32) to work, and after the vacuum pump (32) works, the controller (5) controls the sucker manipulator (3) to suck and place a first slab (27) of the slab box (52) on the rotary vacuum sucker (29); after the first plate blank (27) is sucked and placed on the rotary vacuum chuck (29), the controller (5) controls the first plate blank to work along with the cutting manipulator (1) and the rotary chuck device (2), the rotary vacuum chuck (29) of the rotary chuck device (2) sucks the first plate blank (27) tightly, after the first plate blank (27) is sucked by the rotary vacuum chuck (29), the cutting steel wire (19) of the intelligent cutting device (7) cuts the burrs of the plate edge (28) of the first plate blank (27) sucked on the rotary vacuum chuck (29) completely; after burrs on the plate edge (28) of the first plate blank (27) are cut, the controller (5) controls the reset electric push rod (11) to drive the intelligent cutting device (7) to leave the first plate blank (27), after the intelligent cutting device (7) leaves the first plate blank (27), the controller (5) controls the first vacuum electromagnetic valve (33) to be closed, and after the first plate blank (27) on the rotary vacuum suction disc (29) is loosened, the controller (5) controls the suction disc manipulator (3) to suck and place the first plate blank (27) trimmed on the rotary vacuum suction disc (29) onto the finished product box (53); after the first repaired slab (27) is sucked and placed on the finished product box (53), the sucking disc manipulator (3) sucks and places the second slab (27) of the slab box (52) on the rotary vacuum sucking disc (29), and the circulation is continued; when the intelligent trimming robot needs to stop, the stop switch (48) is pressed, and the controller (5) controls the cutting manipulator (1), the rotary sucker device (2) and the sucker manipulator (3) to stop working.
7. The method of using the intelligent edger robot of claim 6, wherein: the controller (5) is provided with an operation program that the sucker manipulator (3) sucks the slab (27) of the slab box (52) to the rotary vacuum sucker (29); the rotary vacuum chuck (29) is used for sucking the slab (27) of the slab box (52) at the position of the first station (42) to the position of the third station (51) by using the suction cup manipulator (3); the controller (5) is provided with an operation program that the sucker manipulator (3) sucks the plate blank (27) on the rotary vacuum sucker (29) to the finished product box (53); the suction cup manipulator (3) is used for sucking the finished product of the plate blank (27) on the rotary vacuum suction cup (29) at the third station (51) position to a finished product box (53) of the second station (50).
8. The method of using the intelligent edger robot of claim 7, wherein: the follow-up wheel (10) of cutting frame (15) follow slab (27) on the rotatory vacuum chuck (29) and rotate the back, rotatory vacuum chuck (29) rotate according to the anticlockwise, slab (27) follow rotatory vacuum chuck (29) and rotate according to the anticlockwise, follow wheel (10) and follow slab (27) and rotate according to the clockwise.
9. The method of using an intelligent edger robot of claim 8, wherein: when the following wheel (10) rotates clockwise along with the plate blank (27), the following wheel (10) is kept in a contact state with the plate edge (28) of the plate blank (27), and the distance between the following wheel (10) and the circle center of the rotary vacuum chuck (29) changes along with the change of the distance between the plate edge (28) of the plate blank (27) and the circle center of the rotary vacuum chuck (29); when the distance from the plate edge (28) of the plate blank (27) on the rotary vacuum chuck (29) to the circle center of the rotary vacuum chuck (29) is reduced from large to small, the swing arm (9) of the gravity swing following device (6) swings clockwise under the action of the gravity; when the distance from the plate edge (28) of the plate blank (27) on the rotary vacuum chuck (29) to the circle center of the rotary vacuum chuck (29) is increased from small to large, the swing arm (9) of the gravity swing following device (6) swings counterclockwise under the pushing of the plate blank (27), so that the following wheel (10) and the plate edge (28) of the plate blank (27) are kept in a contact state.
10. The method of using the intelligent edger robot of claim 9, wherein: when the suction cup manipulator (3) sucks the slab (27) of the slab box (52) at the first station (42) position onto the rotary vacuum suction cup (29) at the third station (51) position, the contact and vacuumized position of the movable vacuum suction cup (41) of the suction cup manipulator (3) and the slab (27) of the slab box (52) is in direct proportion to the height position of the slab (27) of the slab box (52) which is continuously reduced, and the height of one slab (27) is reduced by the movable vacuum suction cup (41) of the suction cup manipulator (3) when the slab (27) of the slab box (52) is sucked away one sheet; when the sucker manipulator (3) sucks the finished slab (27) on the rotary vacuum sucker (29) at the position of the third station (51) to the finished product box (53) at the second station (50), the position where the movable vacuum sucker (41) of the sucker manipulator (3) contacts with the finished slab (27) of the finished product box (53) to stop vacuumizing is in direct proportion to the ascending height position of the slab (27) of the finished product box (53), and when the slab (27) of the finished product box (53) is increased by one, the movable vacuum sucker (41) of the sucker manipulator (3) ascends by the height of one slab (27).
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| KR20070097760A (en) * | 2006-03-29 | 2007-10-05 | 주식회사 엔씨비네트웍스 | Variable grinding device |
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Effective date of registration: 20201028 Address after: 312500 Building A 1104, Wanfeng Plaza, Qixing Street, Xinchang County, Shaoxing City, Zhejiang Province Applicant after: Xinchang Liguo Machinery Co.,Ltd. Address before: 523907 Guangdong province Dongguan city Humen town Jinzhou community shatai Road No. 199 Tianyuan computer city four floor shop V-10 Applicant before: DONGGUAN HAOQI ENTERPRISE MANAGEMENT SERVICE Co.,Ltd. |
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