CN112657860A - Automatic queuing system and queuing method - Google Patents
Automatic queuing system and queuing method Download PDFInfo
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- CN112657860A CN112657860A CN202110056938.5A CN202110056938A CN112657860A CN 112657860 A CN112657860 A CN 112657860A CN 202110056938 A CN202110056938 A CN 202110056938A CN 112657860 A CN112657860 A CN 112657860A
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Abstract
The invention discloses an automatic queuing system and a queuing method, wherein the queuing method comprises the following steps: the control device acquires the positions and the number of the placing areas on the placing platform and numbers the placing areas; when the detection mechanism feeds back a detection signal, the control device controls the grabbing mechanism to grab the workpiece according to a preset action instruction, and places the workpiece in a placement area with the smallest number; the control device adds 1 to the serial number of the placing area; when the times of executing the action instructions by the grabbing mechanism are less than the number of the placing areas and the detection mechanism feeds back detection signals, the control device controls the grabbing mechanism to repeatedly execute the action instructions, and adds 1 to the number of the placing area after the action instructions are executed each time; when the times of executing the action instructions by the grabbing mechanism are equal to the number of the placing areas, the control device outputs basket loading signals; the queuing method disclosed by the application can be used for neatly placing the workpieces on the placing platform, ensuring effective operation of subsequent basket loading action and improving the production efficiency.
Description
Technical Field
The invention relates to the technical field of industrial production, in particular to an automatic queuing system and a queuing method.
Background
In the existing casting workshop, when the cylinder sleeve type part completes blank production, the part is generally taken manually, so that the problems of high labor cost and low working efficiency exist; in the prior art, a part of production workshops adopt robots to automatically load and unload workpieces, but because the workpiece taking points arranged by the robots are fixed, the positions of products on a production line are prone to deviation or turnover, and the robots cannot effectively grab the workpieces.
It is seen that improvements and enhancements to the prior art are needed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a queuing method of an automatic queuing system, which can neatly place workpieces on a placing platform, ensure effective subsequent basket loading action and improve production efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a queuing method of an automatic queuing system comprises a control device, a placing platform, a grabbing mechanism, a conveyor belt and a detection mechanism, wherein the grabbing mechanism, the conveyor belt and the detection mechanism are respectively and electrically connected with the control device, a plurality of placing areas are arranged on the placing platform, and the queuing method comprises the following steps:
the control device acquires the positions and the number of the placing areas on the placing platform, and numbers the placing areas from small to large according to the distance between the placing areas and the conveyor belt;
when the detection signal is fed back by the detection mechanism, the control device controls the grabbing mechanism to grab the workpiece according to an action command preset in the control device, and the workpiece is placed in the placement area with the smallest number;
the control device adds 1 to the serial number of the placing area;
when the times of executing the action instructions by the grabbing mechanism are less than the number of the placing areas and the detection signals are fed back by the detection mechanism, the control device controls the grabbing mechanism to repeatedly execute the action instructions, and after the action instructions are executed each time, the control device adds 1 to the number of the placing areas;
when the times of executing the action instructions by the grabbing mechanism are equal to the number of the placing areas, the control device controls the grabbing mechanism to return to the original position and outputs a basket loading signal to an external mechanism.
In the queuing method of the automatic queuing system, when the detection signal is fed back by the detection mechanism, the control device controls the grabbing mechanism to grab the workpiece according to an action command preset in the control device, and after the workpiece is placed in the placement area with the smallest number, the method further comprises the following steps:
the control device obtains the number of the workpieces on the placing platform.
In the queuing method of the automatic queuing system, after the action command is executed each time, the control device adds 1 to the number of the placement area, the method further comprises the following steps:
the control device obtains the number of the workpieces on the placing platform.
In the queuing method of the automatic queuing system, the grabbing mechanism comprises a servo motor, a cylinder and a manipulator, the control device controls the grabbing mechanism to grab the workpiece according to an action command preset in the control device, and the workpiece is placed in a placing area with the smallest number, and the method specifically comprises the following steps:
the control device controls the manipulator to sequentially execute a first descending action, a clamping action and an ascending action so as to grab the workpiece; the control device controls the manipulator to sequentially execute horizontal displacement action, second descending action and loosening action so as to place the workpiece in the placement area with the minimum number;
the operating distances of the first lowering operation, the raising operation, the horizontal displacement operation, and the second lowering operation are set in the control device in advance.
In the queuing method of the automatic queuing system, the detection mechanism comprises a first in-place sensor for detecting whether a first descending action is in place, a second in-place sensor for detecting whether an ascending action is in place, a third in-place sensor for detecting whether a horizontal displacement action is in place and a fourth in-place sensor for detecting whether a second descending action is in place, and the control device controls the manipulator to sequentially execute the first descending action, the clamping action and the ascending action so as to grab a workpiece; the control device controls the manipulator to sequentially execute horizontal displacement action, second descending action and loosening action so as to place the workpiece in the placement area with the minimum serial number, and the method specifically comprises the following steps:
the control device controls the manipulator to execute a first descending action;
when the first in-position sensor feeds back an in-position signal to the control device; the control device controls the manipulator to perform clamping action and lifting action;
when the second in-position sensor feeds back an in-position signal to the control device; the control device controls the mechanical arm to execute horizontal displacement action;
when the third in-position sensor feeds back an in-position signal to the control device; the control device controls the manipulator to execute a second descending action;
when the fourth in-place sensor feeds back an in-place signal to the control device, the control device controls the manipulator to execute a loosening action.
In the queuing method of the automatic queuing system, the detection mechanism comprises a first detection sensor and a second detection sensor which are respectively electrically connected with the control device, the control device controls the manipulator to sequentially execute a first descending action, a clamping action and an ascending action so as to grab a workpiece, and the queuing method further comprises the following steps:
if the first detection sensor and the second detection sensor both feed back detection signals to the control device, the control device controls the manipulator to execute the overturning action.
In the queuing method of the automatic queuing system, the automatic queuing system further comprises a control panel electrically connected with the control device, the control panel is provided with a control key, and the control method further comprises the following steps:
the control device controls the grabbing mechanism to grab and place the workpiece according to the control instruction fed back by the control panel.
The invention also correspondingly provides an automatic queuing system, which adopts any queuing method of the automatic queuing system to realize work control, and comprises a control device, a grabbing mechanism, a conveyor belt, a detection mechanism and a placing platform, wherein the placing platform is arranged along the conveying direction of the conveyor belt and is positioned at the output end of the conveyor belt, and a plurality of placing areas are arranged on the placing platform; the grabbing mechanism is used for grabbing the workpieces on the conveyor belt into a placing area of the placing platform, and the detection mechanism is used for detecting position information of the workpieces and position information of the grabbing mechanism; the grabbing mechanism, the conveying belt and the detection mechanism are respectively electrically connected with the control device.
In the automatic queuing system, the grabbing mechanism comprises a motor, a cylinder and a manipulator, and the motor and the cylinder are respectively in transmission connection with the manipulator; the motor is used for driving the mechanical arm to perform horizontal displacement, the cylinder is used for driving the mechanical arm to perform ascending and descending actions, and the mechanical arm is used for picking and placing workpieces.
In the automatic queuing system, the detection mechanism comprises a first detection part for detecting whether the workpieces reach the grabbing point, a second detection part for detecting whether the grabbing mechanism acts in place and a third detection part for detecting the number of the workpieces on the placing platform; the first detection part, the second detection part and the third detection part are respectively electrically connected with the control device.
Has the advantages that:
the invention provides a queuing method of an automatic queuing system.A control device controls a grabbing mechanism to grab and place workpieces in each placing area on a placing platform in sequence according to a preset action instruction, the workpieces are placed on the placing platform in order, and the positions of the workpieces are limited by the placing areas, so that the effective proceeding of subsequent basket loading work can be ensured, and the phenomenon that the basket loading work cannot be normally carried out due to the position deviation of the workpieces is avoided; the workpiece taking automation is realized, the labor cost is reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a first logic flow diagram of a queuing method provided by the present invention;
FIG. 2 is a second logic flow diagram of a queuing method provided by the present invention;
FIG. 3 is a first logic flow diagram of step S200 provided by the present invention;
FIG. 4 is a second logic flow diagram of step S200 provided by the present invention;
fig. 5 is a system configuration diagram of the automatic queuing system provided by the present invention.
Description of the main element symbols: 1-control device, 2-placing platform, 3-conveyor belt, 4-grabbing mechanism, 41-manipulator, 42-motor, 43-cylinder, 5-detection mechanism, 51-first detection portion, 52-second detection portion and 53-third detection portion.
Detailed Description
The invention provides an automatic queuing system and a queuing method, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and embodiments.
In the description of the present invention, it is to be understood that the terms "mounted," "connected," and the like are to be interpreted broadly, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
Referring to fig. 1, the present invention provides a queuing method for an automatic queuing system, where the automatic queuing system includes a control device 1, a placing platform 2, and a grabbing mechanism 4, a conveyor belt 3, and a detection mechanism 5, which are electrically connected to the control device 1, respectively, and the placing platform 2 is provided with a plurality of placing areas, and the queuing method includes the steps of:
s100, the control device 1 obtains the positions and the number of the placing areas on the placing platform 2, and numbers the placing areas from small to large according to the distance between the placing areas and the conveyor belt 3; assuming that N placing areas are provided on the placing platform 2, where N is an integer, the controller 1 sets the number of the placing area farthest from the conveyor belt 3 to N, and as the distance between the placing area and the conveyor belt 3 decreases, the number of the placing area gradually decreases by 1, and the number of the placing area closest to the conveyor belt 3 is 1.
S200, when the detection signal is fed back by the detection mechanism 5, the control device 1 controls the grabbing mechanism 4 to grab the workpiece according to an action command preset in the control device 1, and the workpiece is placed in a placement area with the smallest number;
s300, adding 1 to the serial number of the placement area by the control device 1;
s400, when the times of executing the action instructions by the grabbing mechanism 4 are less than the number of the placing areas and the detection signals are fed back by the detection mechanism 5, the control device 1 controls the grabbing mechanism 4 to repeatedly execute the action instructions, and after the action instructions are executed each time, the control device 1 adds 1 to the serial number of the placing area;
the placing position of the workpiece is related to the number of times of executing the action command by the grabbing mechanism 4, namely when the grabbing mechanism 4 executes the action command for the first time, the grabbing mechanism 4 places the workpiece in the placing area with the number of 1, when the grabbing mechanism 4 executes the action command for the second time, the grabbing mechanism 4 places the workpiece in the placing area with the number of 2, and so on, when the grabbing mechanism 4 executes the action command for the Nth time, the grabbing mechanism 4 places the workpiece in the placing area with the number of N.
S500, when the times of executing the action instructions by the grabbing mechanism 4 are equal to the number of the placing areas, the control device 1 controls the grabbing mechanism 4 to return to the original position and outputs a basket filling signal to an external mechanism, and the external mechanism carries out basket filling on placed workpieces; after the basket loading action is finished, the control device 1 clears the grabbing times of the grabbing mechanism 4 to ensure the normal operation of each queuing operation.
According to the queuing method of the automatic queuing system, the control device 1 controls the grabbing mechanism 4 to grab and place workpieces in each placing area on the placing platform 2 in sequence according to a preset action instruction, the workpieces are placed on the placing platform 2 in order, the moving positions of the workpieces are limited by the placing areas, the effective proceeding of subsequent basket loading work can be ensured, and the phenomenon that the basket loading work cannot be normally carried out due to the position deviation of the workpieces is avoided; the workpiece taking automation is realized, the labor cost is reduced, and the production efficiency is improved.
Further, referring to fig. 2, when the detection signal is fed back by the detection mechanism 5, the control device 1 controls the grabbing mechanism 4 to grab the workpiece according to the action command preset in the control device 1, and places the workpiece in the placement area with the smallest number, and then the method further includes the steps of:
s210, the control device 1 obtains the number of the workpieces on the placing platform 2.
Further, referring to fig. 2, after the action command is executed each time, the control device 1 adds 1 to the number of the placement area, and the method further includes the following steps:
and S410, the control device 1 acquires the number of the workpieces on the placing platform 2.
After the workpieces are placed on the grabbing mechanism 4, the control device 1 detects the number of the workpieces on the placing platform 2, so that the number of the workpieces on the discharging platform is consistent with the grabbing times of the grabbing mechanism 4, and the problem that the basket loading action is invalid due to the fact that the actual number of the workpieces is inconsistent with the preset number of the workpieces is solved; in one embodiment, the placing platform 2 is provided with a pressure sensor electrically connected to the control device 1, the weight of the workpieces to be grabbed can be preset in the control device 1, and in the actual queuing process, the control device 1 can calculate the ratio between the real-time value and the single working weight according to the real-time value fed back by the pressure sensor, so as to determine the number of the workpieces placed on the placing platform 2.
Further, referring to fig. 3, the grabbing mechanism 4 includes a servo motor 42, a cylinder 43 and a manipulator 41, the control device 1 controls the grabbing mechanism 4 to grab the workpiece according to an action command preset in the control device 1, and places the workpiece in a placement area with the smallest number, which specifically includes the steps of:
s201, the control device 1 controls the manipulator 41 to sequentially execute a first descending action, a clamping action and an ascending action so as to grab a workpiece; the control device 1 then controls the manipulator 41 to sequentially execute the horizontal displacement action, the second descending action and the loosening action so as to place the workpiece in the placement area with the smallest number;
the operating distances of the first lowering operation, the raising operation, the horizontal displacement operation, and the second lowering operation are preset in the control device 1; the action distance of the horizontal displacement action is related to the grabbing times of the grabbing mechanism 4, namely the action distance of the horizontal displacement action is related to the distance between the placing area where the workpiece is placed and the conveyor belt 3, and the action distance of the horizontal displacement action is increased along with the increase of the grabbing times of the grabbing mechanism 4.
Further, referring to fig. 4, the detecting mechanism 5 includes a first in-position sensor for detecting whether the first descending motion is in place, a second in-position sensor for detecting whether the ascending motion is in place, a third in-position sensor for detecting whether the horizontal displacement motion is in place, and a fourth in-position sensor for detecting whether the second descending motion is in place, and the control device 1 controls the manipulator 41 to sequentially execute the first descending motion, the clamping motion, and the ascending motion to grab the workpiece; the control device 1 then controls the manipulator 41 to sequentially execute the horizontal displacement action, the second descending action and the loosening action so as to place the workpiece in the placement area with the minimum number, and the method specifically comprises the following steps:
s2011, the control device 1 controls the robot 41 to perform the first lowering operation;
s2012, when the first in-place sensor feeds back the in-place signal to the control device 1; the control device 1 controls the manipulator 41 to perform the clamping action and the lifting action; the first in-place sensor is arranged to ensure that the manipulator 41 completes the first descending action, and the reliability of the manipulator 41 during working is improved.
S2014, when the second in-place sensor feeds back the in-place signal to the control device 1; the control device 1 controls the manipulator 41 to perform horizontal displacement; the second in-place sensor is arranged to ensure that the manipulator 41 completes the lifting action and improve the reliability of the manipulator 41 during working.
S2015, when the third in-position sensor feeds back an in-position signal to the control device 1; the control device 1 controls the robot 41 to perform the second lowering operation; a third in-place sensor is arranged to ensure that the manipulator 41 completes the horizontal displacement action and improve the reliability of the manipulator 41 during working; since the action distance of the horizontal displacement action includes a plurality of, in the present embodiment, the third-to-position sensor includes a plurality of.
S2016, when the fourth in-position sensor feeds back an in-position signal to the control device 1, the control device 1 controls the manipulator 41 to execute a loosening action; and a fourth arrival sensor is arranged to ensure that the manipulator 41 completes the second descending action, so that the working reliability of the manipulator 41 is improved.
When the robot 41 completes the releasing operation, the control device 1 controls the robot 41 to return to the home position, ensuring the normal performance of the next grasping work and placing work.
Further, referring to fig. 4, the detecting mechanism 5 includes a first detecting sensor and a second detecting sensor electrically connected to the control device 1, and the control device 1 controls the robot 41 to sequentially perform a first descending motion, a clamping motion and an ascending motion to grab the workpiece, and further includes:
s2013, if the first detection sensor and the second detection sensor both feed back detection signals to the control device 1, the control device 1 controls the manipulator 41 to perform the turning operation.
Because the work to be grabbed by the grabbing mechanism 4 is a workpiece with a wide end and a narrow end, such as a light bulb, the workpiece is regarded as being placed right when the distance between the end with the smaller width and the first detection sensor and the second detection sensor is smaller than that between the end with the larger width; when the first detection sensor feeds back a detection signal and the second detection sensor does not feed back the detection signal, the detection signal sent by the second detection sensor is not shielded, the end with the smaller width of the workpiece is closer to the first detection sensor, and the workpiece is placed in a positive position and does not need to be turned over; when the first detection sensor and the second detection sensor both feed back detection signals, the first detection sensor and the second detection sensor are both blocked, the end with the larger workpiece width is closer to the first detection sensor, and the workpiece is reversely placed and needs to be turned over; the first detection sensor and the second detection sensor are arranged, so that the overturning instruction of the grabbing mechanism 4 can be realized, the workpieces placed on the placing platform 2 are ensured to be tidy and consistent in direction, and the effective proceeding of the subsequent basket loading work is ensured; in one embodiment, the first detection sensor and the second detection sensor are both photoelectric switches.
Further, the automatic queuing system further comprises a control panel electrically connected with the control device 1, a control key is arranged on the control panel, and the control method further comprises the following steps:
the control device 1 controls the grabbing mechanism 4 to grab and place the workpiece according to a control instruction fed back by the control panel; in one embodiment, the control keys comprise direction keys, and the user can control the moving direction and the action mode of the grabbing mechanism 4 through the direction keys so as to grab and place the workpiece.
In other embodiments, the user may select the number of the workpieces to be placed on the placing platform 2 on the control panel, assuming that there are 5 placing areas on the placing platform 2, that is, N is equal to 5, and the actual user only needs to place 4 workpieces on the placing platform 2, the user may select the number of the workpieces to be discharged by the placing platform 2 to be 4 through the control panel, and in the process of executing the queuing method by the grabbing mechanism 4, the grabbing mechanism 4 executes 4 action instructions, and sequentially places the workpieces in the placing areas numbered 1 to 4.
Referring to fig. 5, the present invention further provides an automatic queuing system, where the automatic queuing system employs any one of the queuing methods of the automatic queuing system to implement work control, the automatic queuing system includes a control device 1, a grabbing mechanism 4, a conveyor belt 3, a detection mechanism 5, and a placement platform 2, the placement platform 2 is arranged along the conveying direction of the conveyor belt 3 and is located at the output end of the conveyor belt 3, and the placement platform 2 is provided with a plurality of placement areas; the grabbing mechanism 4 is used for grabbing the workpieces on the conveyor belt 3 to the placing area of the placing platform 2, and the detecting mechanism 5 is used for detecting the position information of the workpieces and the position information of the grabbing mechanism 4; the grabbing mechanism 4, the conveying belt 3 and the detection mechanism 5 are respectively electrically connected with the control device 1; in one embodiment, the control device 1 includes a control chip of model ST40 in Siemens S7-200 SMART PLC CPU.
In other embodiments, the automatic queuing system further comprises a control panel, the control panel is provided with a touch screen and control keys, the control panel is used for receiving an operation instruction issued by a user, and the control panel is electrically connected with the control device 1.
Further, referring to fig. 5, the gripping mechanism 4 includes a motor 42, an air cylinder 43 and a manipulator 41, and the motor 42 and the air cylinder 43 are respectively in transmission connection with the manipulator 41; the motor 42 is used for driving the manipulator 41 to perform horizontal displacement, the cylinder 43 is used for driving the manipulator 41 to perform ascending and descending actions, and the manipulator 41 is used for picking and placing workpieces; in one embodiment, the motor 42 is a servo motor and the cylinder 43 is a multi-stroke cylinder; in other embodiments, the gripping mechanism 4 includes a plurality of air cylinders, and the raising and lowering operations of the robot 41 are controlled by different air cylinders.
Further, referring to fig. 5, the detecting mechanism 5 includes a first detecting portion 51 for detecting whether the workpiece reaches the grabbing point, a second detecting portion 52 for detecting whether the action of the grabbing mechanism 4 is in place, and a third detecting portion 53 for detecting the number of workpieces on the placing platform 2; the first detection part 51, the second detection part 52 and the third detection part 53 are respectively electrically connected with the control device 1; in one embodiment, the first detection portion 51 includes a first photoelectric switch for detecting whether the workpiece reaches the gripping point, and a second photoelectric switch for detecting whether the workpiece needs to be turned over; the second detecting part 52 includes a first in-position sensor for detecting whether the first lowering operation is in place, a second in-position sensor for detecting whether the raising operation is in place, a third in-position sensor for detecting whether the horizontal displacement operation is in place, and a fourth in-position sensor for detecting whether the second lowering operation is in place; the third detection portion 53 includes a pressure sensor.
Through the cooperation of the detection mechanism 5, the control device 1 and the grabbing mechanism 4, the automatic completion of the workpiece queuing action can be realized, and the stability and the reliability of the automatic queuing system during working are improved.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the protective scope of the present invention.
Claims (10)
1. A queuing method of an automatic queuing system is characterized in that the automatic queuing system comprises a control device, a placing platform, a grabbing mechanism, a conveyor belt and a detection mechanism, wherein the grabbing mechanism, the conveyor belt and the detection mechanism are respectively electrically connected with the control device, a plurality of placing areas are arranged on the placing platform, and the queuing method comprises the following steps:
the control device acquires the positions and the number of the placing areas on the placing platform, and numbers the placing areas from small to large according to the distance between the placing areas and the conveyor belt;
when the detection signal is fed back by the detection mechanism, the control device controls the grabbing mechanism to grab the workpiece according to an action command preset in the control device, and the workpiece is placed in the placement area with the smallest number;
the control device adds 1 to the serial number of the placing area;
when the times of executing the action instructions by the grabbing mechanism are less than the number of the placing areas and the detection signals are fed back by the detection mechanism, the control device controls the grabbing mechanism to repeatedly execute the action instructions, and after the action instructions are executed each time, the control device adds 1 to the number of the placing areas;
when the times of executing the action instructions by the grabbing mechanism are equal to the number of the placing areas, the control device controls the grabbing mechanism to return to the original position and outputs a basket loading signal to an external mechanism.
2. The queuing method of claim 1 wherein, when the detection mechanism feeds back the detection signal, the control device controls the gripping mechanism to grip the workpiece according to the action command preset in the control device, and places the workpiece in the placement area with the smallest number, further comprising the steps of:
the control device obtains the number of the workpieces on the placing platform.
3. The queuing method of claim 1 wherein the control device adds 1 to the number of the placing area after each execution of the action command, further comprising the steps of:
the control device obtains the number of the workpieces on the placing platform.
4. The queuing method of the automatic queuing system of claim 1 wherein the gripping mechanism comprises a servo motor, a cylinder and a manipulator, the control device controls the gripping mechanism to grip the workpiece according to an action command preset in the control device and place the workpiece in the placement area with the smallest number, comprising the steps of:
the control device controls the manipulator to sequentially execute a first descending action, a clamping action and an ascending action so as to grab the workpiece; the control device controls the manipulator to sequentially execute horizontal displacement action, second descending action and loosening action so as to place the workpiece in the placement area with the minimum number;
the operating distances of the first lowering operation, the raising operation, the horizontal displacement operation, and the second lowering operation are set in the control device in advance.
5. A queuing method for an automatic queuing system as claimed in claim 4 wherein said detection mechanism comprises a first in-position sensor for detecting whether the first lowering action is in place, a second in-position sensor for detecting whether the raising action is in place, a third in-position sensor for detecting whether the horizontal displacement action is in place and a fourth in-position sensor for detecting whether the second lowering action is in place, wherein said control device controls the robot arm to execute the first lowering action, the clamping action and the raising action in sequence to grab the workpiece; the control device controls the manipulator to sequentially execute horizontal displacement action, second descending action and loosening action so as to place the workpiece in the placement area with the minimum serial number, and the method specifically comprises the following steps:
the control device controls the manipulator to execute a first descending action;
when the first in-position sensor feeds back an in-position signal to the control device; the control device controls the manipulator to perform clamping action and lifting action;
when the second in-position sensor feeds back an in-position signal to the control device; the control device controls the mechanical arm to execute horizontal displacement action;
when the third in-position sensor feeds back an in-position signal to the control device; the control device controls the manipulator to execute a second descending action;
when the fourth in-place sensor feeds back an in-place signal to the control device, the control device controls the manipulator to execute a loosening action.
6. The queuing method of the automatic queuing system according to claim 4, wherein the detection mechanism comprises a first detection sensor and a second detection sensor electrically connected to the control device, respectively, and the control device controls the robot to perform a first descending motion, a clamping motion and an ascending motion in sequence to grab the workpiece, further comprising the steps of:
if the first detection sensor and the second detection sensor both feed back detection signals to the control device, the control device controls the manipulator to execute the overturning action.
7. The queuing method of the automatic queuing system according to claim 1, wherein the automatic queuing system further comprises a control panel electrically connected with the control device, the control panel is provided with a control button, and the control method further comprises the steps of:
the control device controls the grabbing mechanism to grab and place the workpiece according to the control instruction fed back by the control panel.
8. An automatic queuing system, which is characterized in that the automatic queuing system adopts the queuing method of the automatic queuing system according to any one of claims 1-7 to realize work control, the automatic queuing system comprises a control device, a grabbing mechanism, a conveyor belt, a detection mechanism and a placing platform, the placing platform is arranged along the conveying direction of the conveyor belt and is positioned at the output end of the conveyor belt, and a plurality of placing areas are arranged on the placing platform; the grabbing mechanism is used for grabbing the workpieces on the conveyor belt into a placing area of the placing platform, and the detection mechanism is used for detecting position information of the workpieces and position information of the grabbing mechanism; the grabbing mechanism, the conveying belt and the detection mechanism are respectively electrically connected with the control device.
9. The automatic queuing system of claim 8 wherein the gripping mechanism comprises a motor, a cylinder and a robot, the motor and the cylinder being in driving connection with the robot, respectively; the motor is used for driving the mechanical arm to perform horizontal displacement, the cylinder is used for driving the mechanical arm to perform ascending and descending actions, and the mechanical arm is used for picking and placing workpieces.
10. The automatic queuing system of claim 8, wherein the detection mechanism comprises a first detection portion for detecting whether the workpiece reaches the grabbing point, a second detection portion for detecting whether the grabbing mechanism is in place, and a third detection portion for detecting the number of workpieces on the placing platform; the first detection part, the second detection part and the third detection part are respectively electrically connected with the control device.
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| CN115231192A (en) * | 2022-06-25 | 2022-10-25 | 深圳市优达智控技术有限公司 | New energy battery snatchs and transport mechanism based on servo module |
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