CN113879855A - Panel pile up neatly device - Google Patents
Panel pile up neatly device Download PDFInfo
- Publication number
- CN113879855A CN113879855A CN202110998073.4A CN202110998073A CN113879855A CN 113879855 A CN113879855 A CN 113879855A CN 202110998073 A CN202110998073 A CN 202110998073A CN 113879855 A CN113879855 A CN 113879855A
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- Prior art keywords
- plate
- measuring
- stacking
- gripper mechanism
- photoelectric switch
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- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000005259 measurement Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 4
- 229910052602 gypsum Inorganic materials 0.000 description 3
- 239000010440 gypsum Substances 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011490 mineral wool Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The application provides a panel pile up neatly device, panel pile up neatly device includes conveyor, pile up neatly platform, tongs mechanism and control system, tongs mechanism will panel on the conveyor snatchs to pile up neatly platform carries out the pile up neatly, be provided with measurement system in the tongs mechanism, measurement system is in after grabbing panel to the tongs mechanism measures panel relatively the position of tongs mechanism, control system receives measurement system's signal and control tongs mechanism action.
Description
Technical Field
The application relates to but is not limited to the panel production field, especially a panel pile up neatly device.
Background
In the production process of plates such as gypsum boards, the gypsum boards need to be stacked for convenient subsequent transportation. The existing manual stacking can not meet the production requirements completely; in the existing stacking device, during the stacking process, the plates are not stacked neatly, and the efficiency of subsequent packing, transportation and other work is reduced.
Disclosure of Invention
In order to solve at least one of the above problems, an embodiment of the present application provides a plate stacking device, which can perform position measurement in a plate moving process, and ensure that stacking is orderly.
The embodiment of the application provides a plate stacking device which comprises a conveying device, a stacking platform, a gripper mechanism and a control system, wherein the gripper mechanism grabs plates on the conveying device to the stacking platform for stacking,
the gripper mechanism is provided with a measuring system which measures the position of the plate relative to the gripper mechanism after the gripper mechanism grips the plate,
the control system receives signals of the measuring system and controls the gripper mechanism to act.
Compared with the prior art, the method has the following beneficial effects:
the plate stacking device provided by the embodiment of the application is provided with the measuring system, the relative position relation between the captured plates and the gripper mechanism can be measured, the falling position of the plates can be adjusted in real time according to the relative position relation when the gripper mechanism is used for placing the plates, the plurality of plates are guaranteed to be stacked neatly when being stacked, and the efficiency of subsequent packing, transportation and other work is improved. And, set up measurement system on tongs mechanism, measurement system to the relative position relation between panel and tongs mechanism's measurement, can accomplish in the motion process of panel, promptly: need not to make panel static measure, improved the pile up neatly efficiency of panel greatly.
Other features and advantages of the present application will be set forth in the description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of the claimed subject matter and are incorporated in and constitute a part of this specification, illustrate embodiments of the subject matter and together with the description serve to explain the principles of the subject matter and not to limit the subject matter.
Fig. 1 is a schematic structural view (front view) of a plate stacking device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram (top view) of a plate stacking device according to an embodiment of the present application.
Illustration of the drawings:
1-conveying roller way, 11-detecting photoelectric switch, 21-first stacking platform, 22-second stacking platform, 3-gripper mechanism, 31-lifting mechanism, 32-gripper frame, 33-suction cup, 41-first measuring unit, 411-first measuring photoelectric switch, 412-first cylinder rod, 413-first position sensor, 414-second position sensor, 42-second measuring unit, 421-second measuring photoelectric switch, 422-second cylinder rod, 423-third position sensor, 424-fourth position sensor, 43-measuring support and 5-plate.
Detailed Description
To make the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The application provides a panel pile up neatly device, as shown in fig. 1 and fig. 2, the panel pile up neatly device includes conveyor, pile up neatly platform, tongs mechanism 3 and control system, tongs mechanism 3 snatchs panel 5 on the conveyor to the pile up neatly platform and carries out the pile up neatly, is provided with measurement system on the tongs mechanism 3, measurement system measures the position of panel 5 relative tongs mechanism 3 after tongs mechanism 3 snatchs panel 5, control system receives measurement system's signal and controls tongs mechanism 3 action.
The plate 5 (such as gypsum board, mineral wool board and the like) is conveyed on the conveying device, when the plate 5 is moved to the gripper mechanism 3, the gripper mechanism 3 grips the plate 5 and moves towards the stacking platform, during the moving process, the measuring system measures the position of the plate 5 relative to the gripper mechanism 3 (namely whether the plate 5 is gripped or not, the gripper mechanism 3 adjusts the position for releasing the plate 5 according to the measured relative position relation data, and therefore the plurality of plates are stacked in order on the stacking platform. For example: when the gripper mechanism 3 grips a first plate, the measuring system measures that the central position of the plate is superposed with the central position of the gripper mechanism 3, and at the moment, the gripper mechanism 3 places the plate at the standard position of the stacking platform; when the gripper mechanism 3 grips the second plate, the measuring system measures that the central position of the plate deviates by 1cm from the central position of the gripper mechanism 3, and at the moment, when the gripper mechanism 3 places the plate on the stacking platform, the central position deviates by 1cm relative to the first placing, so that the second plate and the first plate are completely overlapped, and the stacking is neat.
Of course, the control system may receive other signals (e.g., signals from the photoelectric switch 11, the first position sensor 413 and the second position sensor 414) in addition to the signals from the measurement system; besides controlling the motion of the gripper mechanism 3, the control system can also send commands to control the motion of other components (for example, to control the extension and retraction of the first cylinder rod 412 and the second cylinder rod 422). The control system can be a PLC host, the PLC host can design the grabbing flow according to the size and thickness of various plates in a targeted manner, and if data errors and equipment fault programs occur in the grabbing process, the automatic alarm equipment can stop running. The gripper mechanism can be driven by a servo motor to move.
The application provides a panel pile up neatly device is provided with measurement system, can measure the relative position relation between panel 5 and the tongs mechanism 3 that snatchs, makes tongs mechanism 3 can adjust 5 whereabouts positions of panel according to the relative position relation in real time when placing panel 5, guarantees that a plurality of panels stack neatly when the pile up neatly, improves the efficiency of work such as follow-up packing and transportation. And, set up the measurement system on the tongs mechanism 3, the measurement of the relative position relation between panel 5 and tongs mechanism 3 of measurement system can be accomplished in the motion process of panel 5, namely: need not to make 5 static of panel measure, improved the pile up neatly efficiency of panel greatly.
In an exemplary embodiment, as shown in fig. 1, the measuring system includes a first measuring unit 41 and a second measuring unit 42, the first measuring unit 41 measures a distance between a first edge of the sheet and a center of the gripper mechanism 3, and the second measuring unit 42 measures a distance between a second edge of the sheet and the center of the gripper mechanism 3; the first edge is adjacent to the second edge.
The first measurement unit 41 and the second measurement unit 42 measure the positions (distances) of two adjacent sides of the sheet material relative to the center of the gripper mechanism 3, respectively, so that the positional relationship of the sheet material relative to the center of the gripper mechanism 3 can be completely determined. Of course, besides selecting the central position of the gripper mechanism 3 as the relative measurement point, other positions can be adopted as the relative measurement point, and the application is not limited to this.
In an exemplary embodiment, as shown in fig. 1, the first measuring unit 41 includes a first stroke measuring cylinder on which a first cylinder rod 412 is disposed, the first cylinder rod 412 being extended and retracted in a direction perpendicular to the first edge, and a first measuring photoelectric switch 411 installed on the first cylinder rod 412, the first measuring photoelectric switch 411 being provided to detect the position of the first edge. The first measuring photoelectric switch 411 may be mounted on the first cylinder rod 412 through the measuring bracket 43.
Before the gripper mechanism 3 grips the plate 5, the first cylinder rod 412 is in an initial state (retracted state); when the gripper mechanism 3 grabs the plate 5 and moves to the stacking platform, the first measuring photoelectric switch 411 arranged on the first cylinder rod 412 can detect a plate signal, and the first cylinder rod 412 extends out (the first measuring photoelectric switch 411 moves along with the first cylinder rod 412); when the first measuring photoelectric switch 411 cannot detect a plate signal in the extending process (namely, the first measuring photoelectric switch 411 moves to the edge position of the plate), recording is carried out, and the first cylinder rod 412 is retracted; according to the distance between the first cylinder rod 412 and the center of the gripper mechanism 3 in the initial state and the extending distance of the first cylinder rod 412, the distance between the first edge of the plate and the center of the gripper mechanism 3 can be obtained, and the position relation of the plate relative to the gripper mechanism 3 is determined.
In an exemplary embodiment, as shown in fig. 1, a first position sensor 413 and a second position sensor 414 are further disposed on the first stroke measurement cylinder, and the first position sensor 413 and the second position sensor 414 respectively detect two limit positions of the first cylinder rod 412 in extension and contraction.
The first position sensor 413 is used to detect whether the first cylinder rod 412 is in an initial state, and the second position sensor 414 is used to detect whether the first cylinder rod 412 extends to the farthest distance. When the first measuring photoelectric switch 411 does not detect a plate signal, recording and retracting the first cylinder rod 412, and when the first cylinder rod 412 retracts to an initial state, the first position sensor 413 detects the signal and sends the signal to the control system, the control system sends a command, the first cylinder rod 412 stops moving, and the gripper mechanism 3 waits for next plate gripping. The second position sensor 414 is used for protection against the first cylinder rod 412 being unable to retract after being extended to the farthest distance due to an accident.
In an exemplary embodiment, as shown in fig. 1, the second measuring unit 42 includes a second stroke measuring cylinder on which a second cylinder rod 422 is disposed, the second cylinder rod 422 being extended and retracted in a direction perpendicular to the second edge, and a second measuring photoelectric switch 421 mounted on the second cylinder rod 422, the second measuring photoelectric switch 421 being configured to detect the position of the second edge. The second measuring photoelectric switch 421 may be mounted on the second cylinder rod 422 through the measuring bracket 43. In fig. 1, the actual movement direction of the second cylinder rod 422 is in a horizontal plane (not in a vertical plane), and fig. 1 is for schematically showing the structure of the second measurement unit 42.
Before the gripper mechanism 3 grips the plate, the second cylinder rod 422 is in an initial state (retracted); when the gripper mechanism 3 grabs the plate and moves to the stacking platform, the second measuring photoelectric switch 421 arranged on the second cylinder rod 422 can detect a plate signal, and the second cylinder rod 422 extends out (the second measuring photoelectric switch 421 moves along with the second cylinder rod 422); when the second measuring photoelectric switch 421 cannot detect the plate signal in the extending process, recording is carried out and the second cylinder rod 422 is retracted; according to the distance between the second cylinder rod 422 and the center of the gripper mechanism 3 in the initial state and the extending distance of the second cylinder rod 422, the distance between the second edge of the plate and the center of the gripper mechanism 3 can be obtained, and the position relation of the plate relative to the gripper mechanism 3 is determined.
In an exemplary embodiment, as shown in fig. 1, a third position sensor 423 and a fourth position sensor 424 are further provided on the second stroke measuring cylinder, and the third position sensor 423 and the fourth position sensor 424 respectively detect two limit positions of extension and retraction of the second cylinder rod 422.
The third position sensor 423 is used to detect whether the second cylinder rod 422 is in an initial state, and the fourth position sensor 424 is used to detect whether the second cylinder rod 422 is extended to the farthest distance. When the second measuring photoelectric switch 421 does not detect the plate signal, recording and the second cylinder rod 422 is retracted, and when the second cylinder rod 422 is retracted to the initial state, the third position sensor 423 detects the signal and sends the signal to the control system, the control system sends an instruction, the second cylinder rod 422 stops moving, and the gripper mechanism 3 waits for the next plate gripping. The fourth position sensor 424 is used for protection, and prevents the second cylinder rod 422 from being unable to retract after being extended to the farthest distance due to an accident.
In an exemplary embodiment, as shown in fig. 1, the transport device is a roller conveyor 1. The detection photoelectric switch 11 is arranged at the front end of the conveying direction of the conveying roller way 1, when the detection photoelectric switch 11 detects a plate, a detection signal is sent to the control system, and the control system controls the gripper mechanism 3 to grip the plate.
When the detection photoelectric switch 11 detects a plate, the detection photoelectric switch 11 sends a signal to the control system, and the control system controls the gripper mechanism 3 to start gripping the plate.
In an exemplary embodiment, as shown in fig. 1, the gripper mechanism 3 includes a lifting mechanism 31, a gripper frame 32 and a suction cup 33, the lifting mechanism 31 is connected to the gripper frame 32, and the lifting mechanism 31 is configured to drive the gripper frame 32 to move; the suction cup 33 is disposed below the gripper frame 32, and the suction cup 33 is configured to suck the plate.
The suction cup 33 may be a vacuum cup 33. When the plate needs to be grabbed, the inside of the sucking disc 33 is vacuumized, and the plate is further sucked; when it is desired to release the sheet, the vacuum in the suction cups 33 is removed and the sheet is released by gravity.
In an exemplary embodiment, as shown in fig. 2, the pallet platforms include a first pallet platform 21 and a second pallet platform 22, the first pallet platform 21 and the second pallet platform 22 being respectively disposed on both sides of the gripper mechanism 3.
The first stacking platform 21 and the second stacking platform 22 are arranged, so that the plate storage quantity of the plate stacking device can be increased, plates with different sizes can be stacked, and the working efficiency of the plate stacking device is improved. Of course, the palletization platform may also comprise a third palletization platform or more.
The application embodiment provides a panel pile up neatly device, in use because panel is in the motion state at the snatching in-process in the production, at first need carry out the data matching with entering rollgang 1 rotational speed data to the PLC system, when detecting photoelectric switch 11 on the rollgang 1 and detecting panel, 3 actions of tongs mechanism snatch panel, grab back tongs mechanism 3 and carry out the lifting, first stroke measurement cylinder and second stroke measurement cylinder begin to carry out size position measurement to panel simultaneously, convey measured data to the PLC procedure after accomplishing. The PLC program calculates the size and the position of the plate, and because the relevant data of the placing position is fixed, the data for executing stacking is obtained through comparison and calculation of the PLC program, and the stacking data is sent to the gripper mechanism 3 through the PLC program to be placed on the stacking platform.
The plate stacking device provided by the embodiment of the application can be used for accurately measuring the position of a plate in motion, solves the problem that semi-finished plates are not orderly stacked, and not only improves the working efficiency, but also reduces the labor intensity of workers. The measuring system composed of the measuring photoelectric switch, the stroke cylinder and the like enables the measuring data of the plate in motion to be more accurate, reduces stacking errors and facilitates integral plastic package one-step forming.
In the description of the present application, it should be noted that the term "plurality" refers to two or more, and the directions or positional relationships indicated by "upper", "lower", and the like are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the structures referred to have a specific direction, are constructed and operated in a specific direction, and thus, cannot be construed as limiting the present application.
In the description of the embodiments of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "mounted" are to be construed broadly, e.g., the term "connected" may be a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The embodiments described herein are exemplary rather than limiting and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or instead of any other feature or element in any other embodiment, unless expressly limited otherwise.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements that have been disclosed in this application may also be combined with any conventional features or elements to form unique aspects as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other aspects to form another unique aspect as defined by the claims. Thus, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not limited except as by the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.
Claims (10)
1. The plate stacking device is characterized by comprising a conveying device, a stacking platform, a gripper mechanism and a control system, wherein the gripper mechanism grabs plates on the conveying device to the stacking platform for stacking,
the gripper mechanism is provided with a measuring system which measures the position of the plate relative to the gripper mechanism after the gripper mechanism grips the plate,
the control system receives signals of the measuring system and controls the gripper mechanism to act.
2. Panel stacking device according to claim 1, wherein the measuring system comprises a first measuring unit and a second measuring unit,
the first measuring unit measures the distance between the first edge of the plate and the center of the gripper mechanism, and the second measuring unit measures the distance between the second edge of the plate and the center of the gripper mechanism; the first edge is adjacent to the second edge.
3. Panel stacking device according to claim 2, characterised in that the first measuring unit comprises a first stroke measuring cylinder and a first measuring photoelectric switch,
the first stroke measuring cylinder is provided with a first cylinder rod which extends and retracts along the direction vertical to the first edge,
the first measuring photoelectric switch is mounted on the first cylinder rod, and the first measuring photoelectric switch is configured to detect the position of the first edge.
4. Plate stacking device according to claim 3, wherein the first stroke measuring cylinder is further provided with a first position sensor and a second position sensor, which respectively detect two extreme positions of extension and retraction of the first cylinder rod.
5. Panel stacking device according to claim 2, characterised in that the second measuring unit comprises a second stroke measuring cylinder and a second measuring photoelectric switch,
a second cylinder rod is arranged on the second stroke measuring cylinder and extends and retracts along the direction vertical to the second edge,
the second measurement photoelectric switch is mounted on the second cylinder rod, and the second measurement photoelectric switch is configured to detect a position of the second edge.
6. The plate stacking device as claimed in claim 5, wherein a third position sensor and a fourth position sensor are further arranged on the second stroke measuring cylinder, and the third position sensor and the fourth position sensor respectively detect two telescopic limit positions of the second cylinder rod.
7. Panel stacking apparatus as claimed in any one of claims 1 to 6, wherein the conveyor means is a roller conveyor.
8. The plate stacking device as claimed in claim 7, wherein a detection photoelectric switch is arranged at the front end of the conveying roller way in the conveying direction,
when the detection photoelectric switch detects a plate, a detection signal is sent to the control system, and the control system controls the gripper mechanism to grip the plate.
9. A panel stacking apparatus as claimed in any one of claims 1 to 6, wherein the gripper mechanism includes a lifting mechanism, a gripper frame and a suction cup,
the lifting mechanism is connected with the gripper frame and is arranged to drive the gripper frame to move; the sucker is arranged below the gripper frame and is used for sucking the plate.
10. Panel stacking apparatus as claimed in any one of claims 1 to 6, wherein the stacking platforms comprise a first stacking platform and a second stacking platform,
the first stacking platform and the second stacking platform are respectively arranged on two sides of the gripper mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110998073.4A CN113879855A (en) | 2021-08-27 | 2021-08-27 | Panel pile up neatly device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110998073.4A CN113879855A (en) | 2021-08-27 | 2021-08-27 | Panel pile up neatly device |
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| Publication Number | Publication Date |
|---|---|
| CN113879855A true CN113879855A (en) | 2022-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110998073.4A Pending CN113879855A (en) | 2021-08-27 | 2021-08-27 | Panel pile up neatly device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101723182A (en) * | 2009-11-28 | 2010-06-09 | 江阴市锦明玻璃技术有限公司 | Sucking disc assembling bracket for float glass production line cold side glass stacking |
| CN202007039U (en) * | 2011-02-28 | 2011-10-12 | 秦皇岛图成玻璃技术有限公司 | Manipulator stacking machine |
| CA3114789A1 (en) * | 2014-01-22 | 2015-07-22 | Symbotic Canada Ulc | Vision-assisted robotized depalletizer |
| CN209583055U (en) * | 2018-12-06 | 2019-11-05 | 成都环龙智能机器人有限公司 | A kind of robot palletizer work station |
| CN111115279A (en) * | 2019-12-29 | 2020-05-08 | 青岛宝佳自动化设备有限公司 | Robot grabbing system for precisely stacking transparent glass |
-
2021
- 2021-08-27 CN CN202110998073.4A patent/CN113879855A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101723182A (en) * | 2009-11-28 | 2010-06-09 | 江阴市锦明玻璃技术有限公司 | Sucking disc assembling bracket for float glass production line cold side glass stacking |
| CN202007039U (en) * | 2011-02-28 | 2011-10-12 | 秦皇岛图成玻璃技术有限公司 | Manipulator stacking machine |
| CA3114789A1 (en) * | 2014-01-22 | 2015-07-22 | Symbotic Canada Ulc | Vision-assisted robotized depalletizer |
| CN209583055U (en) * | 2018-12-06 | 2019-11-05 | 成都环龙智能机器人有限公司 | A kind of robot palletizer work station |
| CN111115279A (en) * | 2019-12-29 | 2020-05-08 | 青岛宝佳自动化设备有限公司 | Robot grabbing system for precisely stacking transparent glass |
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Application publication date: 20220104 |