CN110713002A - Vacuum carrying control method - Google Patents
Vacuum carrying control method Download PDFInfo
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- CN110713002A CN110713002A CN201910944342.1A CN201910944342A CN110713002A CN 110713002 A CN110713002 A CN 110713002A CN 201910944342 A CN201910944342 A CN 201910944342A CN 110713002 A CN110713002 A CN 110713002A
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- vacuum
- falling
- suction plate
- valve
- lifting appliance
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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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
Abstract
The invention relates to the technical field of mechanical structures, in particular to a vacuum carrying control method, which adopts a mode of combining a vacuum suction plate mechanism and an anti-falling mechanism into a whole to replace manual carrying of heavy objects, and solves the problems that the mechanical clamping mode of products in the current market is easy to clamp objects, the adaptability is limited, the vacuum adsorption is easy to break vacuum, and no anti-falling measures are taken. The turnover mechanism is composed of the cylinder, the rotating shaft and the side plates, turnover is controlled through the cylinder, the turnover angle is large, feeding and discharging of the carrying body can be conveniently carried, and the space between the carrying body and the carrying body is not occupied. The side plates positioned on two opposite sides and the bottom protection claw group form a protection device, so that the body to be carried is effectively protected, and the body to be carried is prevented from sliding off. The anti-falling vacuum carrying lifting appliance provided by the invention has the characteristics of high safety, high reliability and strong applicability.
Description
Technical Field
The invention relates to the technical field of mechanical structures, in particular to a vacuum carrying control method.
Background
With the development of industrial automation, people are liberated from heavy physical labor and severe dangerous environments, the invention provides a safe, reliable and intelligent lifting appliance product for replacing manual heavy object carrying, which is a market demand, and although the existing market also has lifting appliance products for replacing manual carrying, more or less problems exist, either safety is not enough or suitability is not enough, and two main types are summarized, namely: adopt the mode of mechanical clamping, also be the mode that many products adopted, adopt this kind of mode to have the shortcoming: the surface of the article is easy to be clipped, and the corresponding clipping position and space are required, so the adaptability is limited. The second method is as follows: the vacuum adsorption mode is adopted, but certain defects still exist, the durability of vacuum cannot be guaranteed, once the power failure and the gas interruption occur, the vacuum disappears, and then the danger that the article falls to injure personnel and the article is damaged occurs.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a vacuum carrying control method, and meanwhile, the characteristics of high safety, high reliability and strong applicability are realized.
In order to solve the technical problems, the invention adopts the technical scheme that:
a vacuum transfer control method includes the following steps:
providing a falling-prevention vacuum conveying lifting appliance, and when the falling-prevention vacuum conveying lifting appliance is controlled to move to a position right above a workpiece and the vertical distance between the falling-prevention vacuum conveying lifting appliance and a table top for placing the workpiece is a preset first distance, driving a falling-prevention mechanism of the falling-prevention vacuum conveying lifting appliance to be converted from a clamping state to an unfolding state;
when the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance is in an unfolded state, controlling the anti-falling vacuum conveying lifting appliance to descend to the point that the vacuum suction plate mechanism on the anti-falling vacuum conveying lifting appliance is attached to the upper surface of a workpiece, and driving the vacuum suction plate mechanism to perform vacuum suction operation;
and judging whether the vacuum pressure value of the vacuum suction plate mechanism reaches a preset threshold value, if so, controlling the anti-falling vacuum conveying lifting appliance to rise to the preset first distance, and driving the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance to be converted from an unfolding state to a clamping state.
The invention has the beneficial effects that:
the vacuum carrying control method provided by the invention adopts a mode of combining the vacuum suction plate mechanism and the anti-falling mechanism into a whole to replace manual carrying of heavy objects, and simultaneously solves the problems that the mechanical clamping mode of products in the current market is easy to clamp objects, the adaptability is limited, the vacuum adsorption is easy to break vacuum, and no anti-falling measures are adopted. The driving of a falling prevention mechanism of the falling prevention vacuum conveying lifting appliance is controlled by detecting the vertical distance between the falling prevention mechanism and a table board for placing a workpiece, and when the falling height of the falling prevention vacuum conveying lifting appliance is up to the point that a vacuum suction plate mechanism on the falling prevention vacuum conveying lifting appliance is attached to the upper surface of the workpiece, the vacuum suction plate mechanism is driven to perform vacuum suction operation. The vacuum carrying control method provided by the invention has the characteristics of high safety, high reliability and strong applicability.
Drawings
FIG. 1 is a flow chart illustrating the steps of a vacuum transfer control method of the present invention;
FIG. 2 is a schematic diagram of the construction of the fall arrest vacuum handling sling of the present invention with a cover;
FIG. 3 is a schematic diagram of the structure of the uncapped anti-fall vacuum handling sling of the present invention;
FIG. 4 is a schematic view showing the structure of the suction plate attaching bracket of the present invention;
FIG. 5 is a top view of the suction plate attachment bracket of the present invention;
FIG. 6 is a side view of the suction plate attachment bracket of the present invention;
FIG. 7 is an exploded view of the vacuum plate mechanism of the present invention;
FIG. 8 is a top view of the suction plate of the present invention;
FIG. 9 is a cross-sectional view of the vacuum plate mechanism of the present invention;
FIG. 10 is an enlarged view taken at A in FIG. 7;
FIG. 11 is an enlarged view at B of FIG. 9;
FIG. 12 illustrates a cross-sectional view of the chuck assembly of the present invention;
FIG. 13 illustrates an exploded view of the chuck assembly of the present invention;
FIG. 14 is a schematic view of the fall arrest mechanism of the present invention in a closed position;
figure 15 shows a top view of the fall arrest mechanism of the present invention in a closed condition;
figure 16 is a side view of the fall arrest mechanism of the present invention in a closed condition;
figure 17 is a schematic view of the fall arrest mechanism of the present invention in an extended configuration;
figure 18 is a front view of the fall arrest mechanism of the present invention shown in an extended condition;
figure 19 is a top view of the fall arrest mechanism of the present invention shown in an extended condition;
FIG. 20 is a schematic view of the construction of the hoisting mechanism of the present invention;
figure 21 shows a cross-sectional view of the sling mechanism of the present invention;
figure 22 shows a schematic connection of the control device for a fall arrest assembly according to the present invention;
FIG. 23 is a schematic connection diagram of the air passage control device for the vacuum suction plate mechanism according to the present invention;
FIG. 24 is a schematic view showing the connection of the control means for the vacuum chuck mechanism and the air passage control means according to the present invention;
description of reference numerals:
1. the suction plate is connected with the bracket; 11. a long strut; 12. a short strut; 13. a corner support;
2. a vacuum suction plate mechanism; 21. sucking a plate; 211. a left side cover; 212. a suction plate main body; 213. a nut block; 214. a right side cover; 215. a side cover gasket; 216. a screw; 217. stainless steel balls; 218. pressing a strip by a sucker; 219. a seal ring; 22. a sucker component; 221. the sucker fixes the nut; 222. an annular seal ring; 223. a filter screen; 224. a throttle valve; 225. a vacuum chuck;
3. a fall prevention mechanism; 31. a cylinder; 32. a bearing seat; 33. a rotating shaft; 34. a side plate; 35. a set of guard claws; 36. a baffle plate;
4. a hoisting mechanism; 41. lifting lugs; 42. a hanging shaft; 43. a shaft sleeve; 44. a fixing plate; 45. a proximity switch; 46. an induction plate; 47. a fixing pin;
5. a displacement sensor; 6. a three-position three-way middle-sealed double electric control pilot-operated electromagnetic valve; 7. a two-position two-way normally closed single-acting locking valve; 8. the three-position five-way middle-relief double-electric-control pilot electromagnetic valve; 81. a speed control valve with a pilot check valve; 9. a multi-stage vacuum generator; 91. a scram switch; 92. a control button; 93. a handle; 94. a pressure gauge; 95. an indicator light; 96. a workpiece; 97. positioning a guide block; 98. and a limiting block.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a vacuum transfer control method of the present invention includes the following steps:
providing a falling-prevention vacuum conveying lifting appliance, and when the falling-prevention vacuum conveying lifting appliance is controlled to move to a position right above a workpiece and the vertical distance between the falling-prevention vacuum conveying lifting appliance and a table top for placing the workpiece is a preset first distance, driving a falling-prevention mechanism of the falling-prevention vacuum conveying lifting appliance to be converted from a clamping state to an unfolding state;
when the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance is in an unfolded state, controlling the anti-falling vacuum conveying lifting appliance to descend to the point that the vacuum suction plate mechanism on the anti-falling vacuum conveying lifting appliance is attached to the upper surface of a workpiece, and driving the vacuum suction plate mechanism to perform vacuum suction operation;
and judging whether the vacuum pressure value of the vacuum suction plate mechanism reaches a preset threshold value, if so, controlling the anti-falling vacuum conveying lifting appliance to rise to the preset first distance, and driving the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance to be converted from an unfolding state to a clamping state.
The vacuum carrying control method provided by the invention adopts a mode of combining the vacuum suction plate mechanism and the anti-falling mechanism into a whole to replace manual carrying of heavy objects, and simultaneously solves the problems that the mechanical clamping mode of products in the current market is easy to clamp objects, the adaptability is limited, the vacuum adsorption is easy to break vacuum, and no anti-falling measures are adopted. The driving of a falling prevention mechanism of the falling prevention vacuum conveying lifting appliance is controlled by detecting the vertical distance between the falling prevention mechanism and a table board for placing a workpiece, and when the falling height of the falling prevention vacuum conveying lifting appliance is up to the point that a vacuum suction plate mechanism on the falling prevention vacuum conveying lifting appliance is attached to the upper surface of the workpiece, the vacuum suction plate mechanism is driven to perform vacuum suction operation. The vacuum carrying control method provided by the invention has the characteristics of high safety, high reliability and strong applicability.
Further, when the vertical distance between the anti-falling vacuum conveying lifting appliance and the table board for placing the workpiece is a preset first distance, whether data differences acquired by the displacement sensors respectively located at the two opposite ends of the anti-falling vacuum conveying lifting appliance are within a preset value range is judged, and if yes, the anti-falling mechanism for driving the anti-falling vacuum conveying lifting appliance is switched from a clamping state to an unfolding state.
According to the description, the data acquired by the displacement sensors respectively positioned at the two opposite ends of the anti-falling vacuum conveying lifting appliance can be used for knowing whether the anti-falling vacuum conveying lifting appliance is stable or not through the data difference of the data at the two ends, and the anti-falling mechanism is allowed to be converted from the clamping state to the unfolding state under the stable state.
Further, the method also comprises the following steps:
controlling the anti-falling vacuum conveying lifting appliance to move above a destination and driving an anti-falling mechanism of the anti-falling vacuum conveying lifting appliance to be converted from a clamping state to an unfolding state when the vertical distance between the anti-falling vacuum conveying lifting appliance and a table top for placing a workpiece is a preset first distance;
when the anti-falling mechanism of the anti-falling vacuum transporting lifting appliance is in an unfolded state, the falling height of the anti-falling vacuum transporting lifting appliance is continuously controlled, and the vacuum suction plate mechanism is driven to perform vacuum breaking operation until no signal is output from a proximity switch of the lifting mechanism on the anti-falling vacuum transporting lifting appliance.
According to the above description, when the proximity switch of the hoisting mechanism on the anti-falling vacuum transporting lifting appliance is detected to have no signal output, the anti-falling vacuum transporting lifting appliance is indicated to have contacted the table top on which a workpiece is placed, and the vacuum suction plate mechanism is allowed to be driven to perform vacuum breaking operation.
Further, the anti-falling vacuum carrying lifting appliance comprises a suction plate connecting support 1, a vacuum suction plate mechanism 2 and an anti-falling mechanism 3;
with particular reference to fig. 2-6, the suction plate connecting bracket 1 comprises two long support rods 11, two short support rods 12 and an angle support member 13, wherein the two long support rods 11 are positioned on the same horizontal plane and are arranged in parallel with each other; the short supporting rod 12 is positioned below the long supporting rod 11, the short supporting rod 12 is perpendicular to the long supporting rod 11, the lower end of the long supporting rod 11 is connected with the upper end of the corner supporting piece 13 through a screw, one end face of the short supporting rod 12 is connected with the side face of the corner supporting piece 13 through a screw, and the upper end of the vacuum suction plate mechanism 2 is connected with the lower end of the corner supporting piece 13 through a screw, so that the long supporting rod, the short supporting rod and the vacuum suction plate mechanism are integrated; the anti-falling mechanism 3 comprises two groups of anti-falling assemblies which are respectively arranged on two opposite sides of the suction plate connecting bracket;
with particular reference to fig. 7-13, the vacuum suction plate mechanism 2 comprises a suction plate 21 and a suction cup assembly 22; the upper end of the suction plate 21 is connected with the lower end of the corner support piece through a screw, and the sucker assembly 22 is arranged at the lower end of the suction plate 21 and used for sucking an object to be conveyed;
referring to fig. 14-19 specifically, the fall prevention assembly includes cylinder 31, bearing frame 32, rotation axis 33, curb plate 34 and protection claw group 35, bearing frame 32 is fixed to be set up on suction plate linking bridge 1 upper surface, the top of curb plate 34 passes through rotation axis 33 rotatable setting on bearing frame 32, the stiff end of cylinder 31 articulates on suction plate linking bridge 1, the drive end of cylinder 31 articulates on curb plate 34, protection claw group 35 sets up in the bottom of curb plate 34 and protection claw group 35 extends to under vacuum suction plate mechanism 2, specifically is that protection claw group is the L type, and the minor face of L type passes through screw releasable connection in the bottom of curb plate, and the long limit of L type is located under vacuum suction plate mechanism.
From the above description, the beneficial effects of the present invention are:
the anti-falling vacuum carrying lifting appliance provided by the invention adopts a mode of combining the vacuum suction plate mechanism and the anti-falling mechanism into a whole to replace manual carrying of heavy objects, and simultaneously solves the problems that the mechanical clamping mode of products in the current market is easy to clamp objects, the adaptability is limited, the vacuum adsorption is easy to break and no anti-falling measures are taken. The turnover mechanism is composed of the cylinder, the rotating shaft and the side plates, turnover is controlled through the cylinder, the turnover angle is large, feeding and discharging of the carrying body can be conveniently carried, and the space between the carrying body and the carrying body is not occupied. The side plates positioned on two opposite sides and the bottom protection claw group form a protection device, so that the body to be carried is effectively protected, and the body to be carried is prevented from sliding off.
The side plate 34 is further provided with baffle plates 36, and the two baffle plates 36 are arranged on two sides of the side plate 34 in parallel and are positioned between the suction plate connecting bracket 1 and the protection claw group 35. The side plates positioned on two opposite sides and the bottom protection claw group form a protection device, and a baffle is further added on the basis, so that the body to be carried is comprehensively surrounded, and the safety is further improved.
The side plates 34 are angled from the vertical plane in the range of 0-80 degrees, preferably 56 degrees. The structure can be suitable for the bodies to be transported in most specifications, and industrial popularization is facilitated.
The lower surface of the suction plate connecting support is also provided with two positioning guide blocks 97 positioned on two sides of the width direction of the suction plate connecting support, two side plates are positioned on the length direction of the suction plate connecting support, the distance between the two positioning guide blocks 97 is matched with the width of a body to be carried, a limiting block 98 is further arranged on the lower surface of the suction plate connecting support, the adsorption position of a workpiece to be carried is accurately positioned under the action of the positioning guide blocks and the limiting block, and the safety and the reliability of carrying the workpiece are ensured.
The anti-falling vacuum carrying lifting appliance further comprises a cover body arranged above the suction plate connecting support 1.
With particular reference to fig. 19-20, the anti-falling vacuum handling sling further comprises a hoisting mechanism 4 arranged in the middle of the upper surface of the suction plate connecting support; the hoisting mechanism 4 comprises a lifting lug 41, a lifting shaft 42, a shaft sleeve 43, a fixing plate 44, a proximity switch 45 and an induction plate 46; be equipped with the through-hole on the fixed plate 44, axle sleeve 43 is fixed in the through-hole, hang axle 42 and wear to locate in the axle sleeve 43 just hang axle 42 both ends and all extend to axle sleeve 43 outside, the one end of hanging axle 42 is connected with lug 41, the other end of hanging axle 42 is equipped with along the radial outside border that extends of hanging axle just the sectional area of the hanging axle tip at border place is greater than axle sleeve inner space area, be equipped with the tablet 46 that is on a parallel with fixed plate 44 on the terminal surface of the other end of hanging axle, the interval has between tablet 46 and the fixed plate 44, be equipped with on the fixed plate 44 and be located in the interval and with the relative proximity switch 45 that sets up of tablet.
The hoisting mechanism comprises a lifting lug, a lifting shaft, a shaft sleeve, a fixing plate, a proximity switch and an induction plate, the hoisting mechanism is connected with the upper surface of a suction plate connecting support through the fixing plate into a whole, when lifting action is carried out, the lifting lug lifts the lifting shaft upwards, the edge of the other end of the lifting shaft acts on the fixing plate, the whole is lifted, the induction plate fixed at the other end of the lifting shaft moves upwards together, the induction plate triggers the proximity switch fixed on the fixing plate to act, linkage of the anti-falling mechanism is controlled, after the hoisting mechanism carries a workpiece 96 to be placed in place, the lifting shaft moves downwards under the action of gravity, the induction plate also moves downwards to leave the induction range of the proximity switch, the proximity switch returns to the normal state, and the anti-falling mechanism is controlled. Whether hoisting machine constructs through proximity switch detection and hangs to this judgement can continue to carry out control action on next step, and this structure detects more accurately reliably for the mode that the gravity sensor detected through the tradition, and the structure is also simpler and low-cost.
Foretell vacuum transport hoist of preventing falling still includes fixed pin 47, be equipped with on the lateral wall of hanging axle 42 and pass the through-hole of the axis of hanging axle, the through-hole is the bar at the ascending cross-sectional shape of hanging axle axial, be equipped with two relative through holes that set up on axle sleeve 43, fixed pin 47 passes through a through-hole, through-hole and another through-hole on the axle sleeve in proper order, the through-hole of bar in length direction aperture with interval looks adaptation between tablet and the fixed plate. Through the cooperation of bar through-hole and fixed pin in order to realize hanging the spacing of axle, when the fixed pin was located bar through-hole lower extreme (the one end that is close to the fixed plate), proximity switch was triggered just to the tablet, and can not press too tightly, effectively protected proximity switch to ensure equipment stability.
As shown in fig. 21, the anti-falling vacuum transporting hanger further comprises a control device for an anti-falling assembly, wherein the control device comprises a three-position five-way middle-discharging dual-electric-control pilot electromagnetic valve 8, two speed control valves 81 with pilot check valves and two silencers, one speed control valve 81 with pilot check valves is communicated with the upper chamber of the cylinder 31, the other speed control valve 81 with pilot check valves is communicated with the lower chamber of the cylinder 31, the two speed control valves 81 with pilot check valves are respectively connected with the two silencers through the three-position five-way middle-discharging dual-electric-control pilot electromagnetic valve 8, the pilot check valve of the speed control valve with pilot check valves is connected to a pipeline between the three-position five-way middle-discharging dual-electric-control pilot electromagnetic valve 8 and the other speed control valve 81 with pilot check valves, and the pilot check valve of the speed control valve with pilot check valves is connected to the three-position five-way middle-discharging dual-electric-control pilot electromagnetic valve 8, and the other speed control valve 81 with pilot check valves And a pipeline between the double-electric-control pilot electromagnetic valve 8 and the speed control valve with the pilot type one-way valve.
The control device for the anti-falling assembly comprises a three-position five-way middle-discharge double-electric-control pilot electromagnetic valve, two speed control valves with pilot type one-way valves and two silencers, wherein one speed control valve with a pilot type one-way valve is communicated with the upper cavity of the cylinder, the other speed control valve with a pilot type one-way valve is communicated with the lower cavity of the cylinder, when gas passes through the speed control valve with the pilot-operated one-way valve in the lower cavity (upper cavity) of the cylinder and simultaneously enters the pilot control port of the speed control valve with the pilot-operated one-way valve in the upper cavity (lower cavity) of the cylinder, the pilot-operated one-way valve of the speed control valve with the pilot-operated one-way valve in the upper cavity (lower cavity) of the cylinder is opened, and after the gas in the upper cavity (lower cavity) of the cylinder passes through the speed control valve with the pilot-operated one-way valve in the upper cavity (lower cavity), the air enters the atmosphere through a middle discharge port of the three-position five-pass band middle discharge double-electric control pilot electromagnetic valve and finally through a silencer; when the air pressure source is cut off, the pilot control ports of the speed control valves with the pilot check valves on the two sides of the air cylinder are free of pressure, the air in the two cavities of the air cylinder cannot pass through the speed control valves with the pilot check valves, and the movement speed of the air cylinder can be regulated and controlled by matching the three-position five-way middle-leakage double-electric-control pilot electromagnetic valve with the speed control valves with the pilot check valves, so that the air cylinder can keep the original state when an accident occurs, the out-of-control states of air cylinder retraction and the like when the air cylinder is suddenly cut off and the power is cut off are avoided, the anti-falling mechanism is prevented from colliding with other objects to cause damage, and the anti-.
With continued reference to fig. 6-12, the suction plate 21 includes a left side cover 211, a suction plate main body 212, a nut block 213, a right side cover 214, a side cover gasket 215, a screw 216, a stainless steel ball 217, a suction cup bead 218, and a gasket 219; the suction plate body 212 is a hollow casing with openings at two opposite ends, and the casing is in a strip-shaped rectangular shape and is integrally formed by metal materials. The left side cover 211 and the right side cover 214 are respectively arranged at openings at two ends of the suction plate main body 212, grooves matched with the end parts of the suction plate main body are respectively arranged at one side surface of the left side cover 211 close to the suction plate main body and one side surface of the right side cover close to the suction plate main body, two end parts of the suction plate main body are respectively embedded into the grooves of the left side cover and the right side cover, and two side cover sealing gaskets 215 are respectively embedded into the grooves of the left side cover 211 and the right side cover 214 and are respectively positioned between the left side cover and the suction plate main body and between the right side cover and the suction plate main body;
the nut block 213 is arranged on the upper surface of the suction plate main body 212, the sucker pressing strip 218 is fixedly arranged on the lower surface of the suction plate main body 212 through the screw 216, a stepped hole, specifically a two-stage stepped hole, is different in upper and lower pore diameters, and is respectively a large hole and a small hole, a through hole with internal threads is arranged at the position of the sucker pressing strip 218 corresponding to the step, the stepped hole is communicated with the through hole, an annular groove surrounding the through hole is arranged on the contact surface of the sucker pressing strip and the lower surface of the suction plate main body, the sealing ring 219 is arranged in the annular groove, the sealing ring is made of rubber and has certain elasticity, the annular groove is filled with the sealing ring when the sealing ring is placed in the annular groove, and part of the sealing ring overflows, when the sucker pressing strip is fixedly connected with the suction plate main body, the sealing ring is compacted into the annular groove, so, so that the sealing effect is better.
The stainless steel ball 217 is arranged in the big hole in the stepped hole, the diameter of the stainless steel ball 217 is larger than that of the small hole in the stepped hole and that of the through hole, and the depth of the big hole in the stepped hole is larger than that of the stainless steel ball;
the annular groove, the stepped hole and the through hole are coaxially arranged, the inner diameter of the annular groove is the largest, namely, the annular groove is located at the outermost periphery of the projection of the annular groove, the annular groove and the projection of the annular groove on the upper surface of the sucker pressing strip, the annular groove can seal the joint of the sucker pressing strip and the suction plate main body, air leakage cannot occur, and the vacuum degree inside the whole body is not affected. In the specific implementation process, the sucker pressing strips with different lengths are selected according to the lengths of the suction plates, meanwhile, the sucker pressing strips are alternately arranged in a straight line and at even intervals along the length direction according to the mounting holes and the through holes, and the mounting holes are used for mounting screws.
The sucker assembly 22 comprises a sucker fixing nut 221, an annular sealing ring 222, a filter screen 223, a throttle valve 224 and a vacuum sucker 225;
The connecting head part of the air inlet end of the vacuum sucker adopts an inverted groove structure, and the vacuum sucker can be conveniently inserted into the sucker fixing nut by matching with the large-taper conical surface structure at the front end, and is sealed by the rubber material of the vacuum sucker. The sucker component is simple and convenient in assembly structure, and the whole sucker component is connected with the suction plate conveniently and quickly.
The suction plate main body and the left and right side covers adopt an embedded design, the matching surfaces of the side covers and the main body are processed into grooves with the shapes which are basically consistent with the end surfaces of the suction plate main board, the bottom surfaces of the grooves are processed into sealing grooves, the side cover sealing gaskets are firstly embedded into the sealing gasket positioning grooves on the bottom surfaces of the grooves, and then the suction plate main body is embedded into the side cover grooves and is fastened with the suction plate main body through the fixing screws on the end surfaces of. The structure can enhance the strength of the suction plate main body, prevent the problem of unsealing caused by stress deformation in the use process of the suction plate main plate and prevent the problem of unsealing caused by the displacement of the sealing gasket in the long-term use process. The stainless steel ball is self-adaptively adjusted in position in the stepped hole according to the vacuum suction force, and the sucker component is in threaded connection with the internal thread of the through hole of the sucker pressing bar through the external thread of the sucker fixing nut and is sealed through the annular sealing ring; the filter screen is arranged between the sucker fixing nut and the throttle valve and positioned on an air channel of the sucker fixing nut and the throttle valve to filter air, so that dust impurities in the air are prevented from being sucked into the suction plate through the air channel and influencing a vacuum control element after being blocked, and damage and action failure are prevented; meanwhile, the throttle valve is arranged at the air outlet end of the vacuum sucker, plays a role in throttling and limiting current, simultaneously enhances the strength of the vacuum sucker connecting head, limits the deformation of the vacuum sucker connecting head, and prevents the vacuum sucker from being pulled out due to the action of the self weight of a conveyed object when the vacuum sucker works under a higher vacuum degree.
The left side cover and the right side cover are respectively provided with a threaded hole, and the screws penetrate through the threaded holes to fixedly install the left side cover and the right side cover on two ends of the suction plate main body respectively so as to seal two end openings of the suction plate main body. The left side cover and the right side cover are fixedly arranged at the two end parts of the suction plate main body through screws, so that the suction plate is convenient to disassemble and assemble and is convenient to maintain and replace. The air inlet end of the vacuum chuck is of a corrugated structure. Can play a good height compensation role and can meet the requirements of workpieces with uneven surfaces of conveyed objects. According to the structure designed by the invention, in the experimental process, when the vacuum is powered off and the gas is cut off, the pressure can be maintained for 3min, the response time of abnormal treatment can be met, 26 kg of suction force can be provided (remark: the suction force can be customized), and the carrying requirements of various working conditions can be met.
As shown in fig. 23, the anti-falling vacuum handling hanger further comprises an air path control device for the vacuum suction plate mechanism, wherein the air path control device comprises a multistage vacuum generator 9, a three-position three-way middle-sealing dual electrically-controlled pilot electromagnetic valve 6 and a two-position two-way normally-closed single-acting locking valve 7;
the multi-stage vacuum generator 9 is arranged at the air port end of the suction plate 21 and provides a vacuum source for the suction plate, the three-position three-way middle-sealed double-electric-control pilot-operated solenoid valve 6 is respectively communicated with a compressed air source and the multi-stage vacuum generator 9, the three-position three-way middle-sealed double-electric-control pilot-operated solenoid valve 6 is connected with the two-position two-way normally closed single-acting locking valve 7, and the control ends of the three-position three-way middle-sealed double-electric-control pilot-operated solenoid valve 6 and the two-position two-way normally closed single-acting locking valve 7 are connected with the compressed. The vacuum source of suction plate is produced by multistage vacuum generator 9, seal two electronic control pilot operated solenoid valve 8 by three-position tee bend in and control the suction vacuum and the broken vacuum of suction plate, add two-position two-way normal close nonoculture locking valve 7 on this basis, vacuum in the suction plate can not leak through the gas accuse return circuit when realizing cutting off the power supply suddenly and cutting off the gas, make the vacuum state in the suction plate can keep a period of time, thereby avoid the vacuum adsorption work piece sudden release when cutting off the power supply suddenly and cutting off the gas and cause the work piece to fall, win the time for this kind of incident of manual handling.
The anti-falling vacuum carrying lifting appliance further comprises a filter, the filter is communicated with the two-position two-way normally closed single-acting locking valve 7, dust impurities in air can be prevented from entering an air path through the suction plate to block the locking valve, the electromagnetic valve and the like, the problems of untight closing and abrasion of a pneumatic element are caused, the service life and the opening and closing reliability of the pneumatic element are ensured, the suction plate is applied to the lifting appliance, and the safety and the reliability of a lifting appliance workpiece can also be ensured.
The inner side wall of the upper portion of the through hole of the sucker pressing strip 218 is integrally formed with three protruding portions extending towards the center of the through hole, the three protruding portions are correspondingly arranged at the circumferential trisection points of the through hole, and the diameter of a circular surface formed by sequentially connecting the three protruding portions is smaller than that of a stainless steel ball. The shape of the circular edge at the upper part of the original through hole is changed, so that the contact surface of the stainless steel ball and the spherical stainless steel ball cannot be completely sealed, a gap exists, the air flow channel is ensured not to be blocked, the structure is stable, the air flow is more balanced, and the stainless steel ball can be kept on the central axis of the through hole as far as possible.
Sucking disc fixation nut 221 includes the nut body, a hollow first cylinder of an inside of up end integrated into one piece of nut body, the external screw thread sets up on the lateral surface of first cylinder, the lower terminal surface of nut body has the opening, the inside extension in open-ended border forms a joint portion, be equipped with the draw-in groove with joint looks adaptation on the lateral wall of the end of giving vent to anger of vacuum chuck. Through the installation cooperation of joint portion and draw-in groove, realize that sucking disc fixation nut installs on vacuum chuck's the end of giving vent to anger.
The throttle valve 224 includes a second cylinder with a hollow inside, a first portion of the second cylinder with a disc shape is integrally formed on the upper surface of the second cylinder, a second portion of the second cylinder with an inverted cone shape is integrally formed on the lower surface of the second cylinder, the outer diameter of the cross section of the second cylinder is equal to the diameter of the cross section of the air outlet end of the vacuum chuck, the diameter of the first portion is larger than the diameter of the cross section of the air outlet end of the vacuum chuck, and the maximum diameter of the second portion is larger than the diameter of the cross section of the air outlet end of the vacuum chuck. According to above-mentioned structure, the choke valve can be stably inlayed and establish on vacuum chuck's the end of giving vent to anger, and assembly structure is comparatively stable.
The filter screen 223 is provided with a plurality of uniformly distributed meshes, and the aperture of each mesh is smaller than the particle size of dust impurities in the air. According to the structure, the air filtering device has the effects of filtering air and preventing dust impurities in the air from being sucked into the suction plate through the air channel and influencing the vacuum control element after being blocked, so that the damage and the action failure are caused.
The two ends of the suction plate connecting support are respectively additionally provided with the displacement sensors 5, the height of the lifting appliance displacement is detected through the displacement sensors, and whether the next control action can be carried out or not is judged, for example, when the lifting appliance is lifted to a certain height, the anti-falling unfolding action can be executed, so that the safety of the lifting action is improved, whether the two ends of the suction plate connecting support are balanced or not is judged, and the phenomenon that the stress is uneven due to the inclination is avoided.
The surface of one side of the whole machine of the invention is provided with an indicator light 95 for 'operation', 'fault' and 'alarm', which is convenient for fault finding on one hand, and prevents dangerous behaviors on the other hand, thereby improving the safety of the product. The suction plate connecting support is also provided with an emergency stop switch 91 and a pressure gauge 94, wherein the emergency stop switch 91 is used for realizing the one-key power-off and air-off function. The pressure gauge 94 is used for displaying the value of the vacuum pressure inside the suction plate.
The whole machine is provided with a handle 93, and a control button 92 is integrated on the handle, so that the machine is simple in structure and convenient to operate. The left handle and the right handle are respectively provided with a 'spreading' control button, a 'clamping' control button, a 'vacuum absorbing' control button and a 'vacuum breaking' control button, and the two buttons are used for controlling, namely the same action is carried out, and the same control buttons on the left handle and the right handle are required to be pressed simultaneously to carry out the action. In addition, an emergency stop button is arranged on the armrest at the front end of the right handle, so that the lifting appliance can be conveniently closed in emergency, and the safety of the lifting appliance is improved.
In conclusion, the vacuum carrying control method provided by the invention adopts a mode of combining the vacuum suction plate mechanism and the anti-falling mechanism into a whole to replace manual carrying of heavy objects, and simultaneously solves the problems that the mechanical clamping mode of products in the current market is easy to clamp objects, the adaptability is limited, the vacuum adsorption is easy to break vacuum, and no anti-falling measures are taken. The driving of a falling prevention mechanism of the falling prevention vacuum conveying lifting appliance is controlled by detecting the vertical distance between the falling prevention mechanism and a table board for placing a workpiece, and when the falling height of the falling prevention vacuum conveying lifting appliance is up to the point that a vacuum suction plate mechanism on the falling prevention vacuum conveying lifting appliance is attached to the upper surface of the workpiece, the vacuum suction plate mechanism is driven to perform vacuum suction operation. The vacuum carrying control method provided by the invention has the characteristics of high safety, high reliability and strong applicability. The turnover mechanism is composed of the cylinder, the rotating shaft and the side plates, turnover is controlled through the cylinder, the turnover angle is large, feeding and discharging of the carrying body can be conveniently carried, and the space between the carrying body and the carrying body is not occupied. The side plates positioned on two opposite sides and the bottom protection claw group form a protection device, so that the body to be carried is effectively protected, and the body to be carried is prevented from sliding off.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vacuum conveyance control method is characterized by comprising the following steps:
providing a falling-prevention vacuum conveying lifting appliance, and when the falling-prevention vacuum conveying lifting appliance is controlled to move to a position right above a workpiece and the vertical distance between the falling-prevention vacuum conveying lifting appliance and a table top for placing the workpiece is a preset first distance, driving a falling-prevention mechanism of the falling-prevention vacuum conveying lifting appliance to be converted from a clamping state to an unfolding state;
when the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance is in an unfolded state, controlling the anti-falling vacuum conveying lifting appliance to descend to the point that the vacuum suction plate mechanism on the anti-falling vacuum conveying lifting appliance is attached to the upper surface of a workpiece, and driving the vacuum suction plate mechanism to perform vacuum suction operation;
and judging whether the vacuum pressure value of the vacuum suction plate mechanism reaches a preset threshold value, if so, controlling the anti-falling vacuum conveying lifting appliance to rise to the preset first distance, and driving the anti-falling mechanism of the anti-falling vacuum conveying lifting appliance to be converted from an unfolding state to a clamping state.
2. The vacuum transfer control method according to claim 1, wherein when the vertical distance between the anti-falling vacuum transfer hanger and the surface on which the workpiece is placed is a predetermined first distance, it is determined whether the difference between data acquired by the displacement sensors respectively located at the opposite ends of the anti-falling vacuum transfer hanger is within a predetermined range, and if so, the anti-falling mechanism that drives the anti-falling vacuum transfer hanger is switched from the clamped state to the deployed state.
3. The vacuum transfer control method according to claim 1, further comprising:
controlling the anti-falling vacuum conveying lifting appliance to move above a destination and driving an anti-falling mechanism of the anti-falling vacuum conveying lifting appliance to be converted from a clamping state to an unfolding state when the vertical distance between the anti-falling vacuum conveying lifting appliance and a table top for placing a workpiece is a preset first distance;
when the anti-falling mechanism of the anti-falling vacuum transporting lifting appliance is in an unfolded state, the falling height of the anti-falling vacuum transporting lifting appliance is continuously controlled, and the vacuum suction plate mechanism is driven to perform vacuum breaking operation until no signal is output from a proximity switch of the lifting mechanism on the anti-falling vacuum transporting lifting appliance.
4. The vacuum handling control method of claim 1, wherein the anti-falling vacuum handling hanger comprises a suction plate connecting bracket, a vacuum suction plate mechanism and an anti-falling mechanism;
the suction plate connecting support comprises two long supporting rods, two short supporting rods and an angle supporting piece, wherein the two long supporting rods are positioned on the same horizontal plane and are arranged in parallel, and the two short supporting rods and the angle supporting piece are positioned on the same horizontal plane and are arranged in parallel; the short supporting rod is positioned below the long supporting rod and is vertical to the long supporting rod, the lower end of the long supporting rod is connected with the upper end of the corner supporting piece through a screw, one end face of the short supporting rod is connected with the side face of the corner supporting piece through a screw, and the upper end of the vacuum suction plate mechanism is connected with the lower end of the corner supporting piece through a screw, so that the long supporting rod, the short supporting rod and the vacuum suction plate mechanism are integrated; the anti-falling mechanism comprises two groups of anti-falling assemblies which are respectively arranged on two opposite sides of the suction plate connecting bracket;
the vacuum suction plate mechanism comprises a suction plate and a sucker assembly; the upper end of the suction plate is connected with the lower end of the corner support piece through a screw, and the sucker assembly is arranged at the lower end of the suction plate and used for sucking an object to be conveyed;
the anti-falling assembly comprises an air cylinder, a bearing seat, a rotating shaft, a side plate and a protection claw group, wherein the bearing seat is fixedly arranged on the upper surface of the suction plate connecting support, the top end of the side plate is rotatably arranged on the bearing seat through the rotating shaft, the fixed end of the air cylinder is hinged on the suction plate connecting support, the driving end of the air cylinder is hinged on the side plate, and the protection claw group is arranged at the bottom end of the side plate and extends to the position under the vacuum suction plate mechanism.
5. The vacuum transfer control method of claim 4, further comprising a hoisting mechanism disposed at a middle position of an upper surface of the suction plate connecting bracket; the hoisting mechanism comprises a lifting lug, a hoisting shaft, a shaft sleeve, a fixing plate, a proximity switch and an induction plate; be equipped with the through-hole on the fixed plate, the axle sleeve is fixed in the through-hole, the hanging shaft is worn to locate in the axle sleeve just the hanging shaft both ends all extend to the axle sleeve outside, the one end of hanging shaft is connected with the lug, the other end of hanging shaft is equipped with along the radial outside border that extends of hanging shaft just the sectional area of the hanging shaft tip at border place is greater than axle sleeve inner space area, be equipped with the tablet that is on a parallel with the fixed plate on the terminal surface of the other end of hanging shaft, the interval has between tablet and the fixed plate, be equipped with on the fixed plate and be located in the interval and the proximity switch who sets up relatively with the tablet.
6. The vacuum transfer control method of claim 5, further comprising a fixing pin, wherein two strip-shaped through holes are formed in the side wall of the shaft sleeve, the two strip-shaped through holes are arranged oppositely and extend along the axial direction of the shaft sleeve, the hanging shaft is provided with a through hole, the fixing pin sequentially passes through one strip-shaped through hole, the through hole and the other strip-shaped through hole, and the aperture of the strip-shaped through hole in the length direction is matched with the distance between the induction plate and the fixing plate.
7. The vacuum handling control method of claim 4, further comprising a control device for a fall arrest assembly, the control device comprising a three-position five-way bleed dual electrically controlled pilot solenoid valve, two speed control valves with pilot check valves, and two silencers, one speed control valve with pilot check valve communicating with the upper chamber of the cylinder, the other speed control valve with pilot check valve communicating with the lower chamber of the cylinder, the two speed control valves with pilot check valves being connected to the two silencers through the three-position five-way bleed dual electrically controlled pilot solenoid valves, respectively, the one pilot check valve with pilot check valve being connected to a pipe between the three-position five-way bleed dual electrically controlled pilot solenoid valve and the other speed control valve with pilot check valve, the other pilot check valve with pilot check valve being connected to a pipe between the three-position five-way bleed dual electrically controlled pilot check solenoid valve and the other speed control valve with pilot check valve And a pipeline between the double-discharge electrically-controlled pilot electromagnetic valve and the speed control valve with the pilot one-way valve.
8. The vacuum transfer control method of claim 4, wherein the suction plate comprises a left side cover, a suction plate main body, a nut block, a right side cover, a side cover gasket, a screw, a stainless steel ball, a suction cup bead, and a seal ring; the suction plate main body is a hollow shell with openings at two opposite ends, the left side cover and the right side cover are respectively arranged at the openings at two ends of the suction plate main body, grooves matched with the end parts of the suction plate main body are respectively arranged on one side surface of the left side cover close to the suction plate main body and one side surface of the right side cover close to the suction plate main body, two end parts of the suction plate main body are respectively embedded into the grooves of the left side cover and the right side cover, and two side cover sealing gaskets are respectively embedded into the grooves of the left side cover and the right side cover and are respectively positioned between the left side cover and the suction plate main body and between the right side cover and the suction plate main body;
the sucker pressing strip is fixedly arranged on the lower surface of the sucker main body through the screw, a stepped hole is formed in the lower surface of the sucker main body, a through hole with an internal thread is formed in the position, corresponding to the step, of the sucker pressing strip, the stepped hole is communicated with the through hole, an annular groove surrounding the through hole is formed in the contact surface of the sucker pressing strip and the lower surface of the sucker main body, the sealing ring is arranged in the annular groove, the stainless steel balls are arranged in the large holes in the stepped hole, the diameters of the stainless steel balls are larger than the diameters of the small holes in the stepped hole and the through hole, and the depth of the large holes in the stepped hole is larger than the diameter of the stainless steel balls;
the sucker component comprises a sucker fixing nut, an annular sealing ring, a filter screen, a throttle valve and a vacuum sucker;
vacuum chuck has an inlet end and an end of giving vent to anger, the choke valve is coaxial to be inlayed and to be located give vent to anger and serve just choke valve one end extends to give vent to anger the end outside, sucking disc fixation nut installs and is served at giving vent to anger, the filter screen sets up just be located between sucking disc fixation nut and the choke valve on the terminal surface of choke valve one end, sucking disc fixation nut's lateral wall be equipped with the external screw thread of the internal thread looks adaptation of the through-hole of sucking disc layering, sucking disc layering and sucking disc fixation nut's junction is located to the ring packing cover, and outside gas loops through vacuum chuck's inlet end, choke valve, sucking disc fixation nut and sucking disc layering.
9. The vacuum handling control method of claim 8, further comprising a gas path control device for the vacuum suction plate mechanism, the gas path control device comprising a multi-stage vacuum generator, a three-position three-way center-sealed dual electrically controlled pilot operated solenoid valve, and a two-position two-way normally closed single acting locking valve;
the multi-stage vacuum generator is arranged at the exhaust port end of the suction plate and provides a vacuum source for the suction plate, the three-position three-way middle-sealed double-electric-control pilot-operated electromagnetic valve is respectively communicated with the exhaust port end of the suction plate and the multi-stage vacuum generator, the three-position three-way middle-sealed double-electric-control pilot-operated electromagnetic valve is connected with the two-position two-way normally closed single-acting locking valve, and the control end of the three-position three-way middle-sealed double-electric-control pilot-operated electromagnetic valve is respectively connected with the exhaust port end of the suction plate and the two-position two;
the device also comprises a filter, and the filter is communicated with the two-position two-way normally-closed single-action locking valve.
10. The vacuum transfer control method of claim 8, wherein the number of the protrusions is three, the three protrusions are disposed at positions corresponding to trisection points of the circumference of the through hole, and the diameter of a circular surface formed by sequentially connecting the three protrusions is smaller than that of the stainless steel ball;
the sucker fixing nut comprises a nut body, a first cylinder with a hollow inner part is integrally formed on the upper end face of the nut body, the external thread is arranged on the outer side face of the first cylinder, an opening is formed in the lower end face of the nut body, the edge of the opening extends inwards to form a clamping part, and a clamping groove matched with the clamping part is formed in the outer side wall of the air outlet end of the vacuum sucker;
the throttle valve comprises a hollow second cylinder, a first disc-shaped part is integrally formed on the upper surface of the second cylinder, a second inverted cone-shaped part is integrally formed on the lower surface of the second cylinder, the outer diameter of the cross section of the second cylinder is equal to the diameter of the cross section of the air outlet end of the vacuum chuck, the diameter of the first part is larger than that of the cross section of the air outlet end of the vacuum chuck, and the maximum diameter of the second part is larger than that of the cross section of the air outlet end of the vacuum chuck.
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| CN201910944342.1A CN110713002B (en) | 2019-09-30 | 2019-09-30 | Vacuum carrying control method |
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