CN114313986B - Sucking disc mechanism of automatic upper base plate robot and plate sucking and releasing method - Google Patents
Sucking disc mechanism of automatic upper base plate robot and plate sucking and releasing method Download PDFInfo
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Abstract
The invention discloses a sucking disc mechanism of an automatic pad loading robot and a sucking and releasing plate method, wherein the sucking disc mechanism comprises a sucking disc and a sucking disc air sucking assembly, and the sucking disc air sucking assembly is positioned right above the sucking disc and communicated with the sucking disc and is used for sucking or filling air between the sucking disc and a contact surface of the pad so as to reduce or raise the pressure between the sucking disc and the contact surface of the pad, so that the sucking disc is tightly adsorbed on the contact surface of the pad or separated from the contact surface of the pad under the action of atmospheric pressure. According to the invention, the branch sucker forms which are arranged in an array are changed into the inside of the main sucker, so that the unique main adsorption force of the main sucker can be effectively dispersed into the branch adsorption force which is arranged in an array, the adsorption force at each part of the contact surface of the base plate and the base plate is consistent to form uniform adsorption in an array form, and the shaking of the base plate and the sucker caused by uneven stress due to the existence of the main adsorption force in the high-speed conveying process is avoided.
Description
Technical Field
The invention relates to the technical field of gypsum board production and separation, in particular to a sucker mechanism of an automatic upper base plate robot and a board sucking and releasing method.
Background
The gypsum board is a material made from building gypsum as a main raw material. The light-weight building material is light in weight, high in strength, thin in thickness, convenient to process, good in sound insulation, heat insulation, fire resistance and the like, and is one of the novel light-weight boards which are developed seriously at present. Gypsum boards have been widely used for interior partition walls, wall cladding boards (instead of wall plastering), ceilings, sound absorbing boards, floor base boards, various decorative boards, etc. of various buildings such as houses, office buildings, shops, hotels, industrial plants, etc., and are not suitable for indoor installation in bathrooms or kitchens.
On a gypsum board high-speed production line (more than 6000 square meters per hour), in consideration of compactness of field structure layout, a double-stacking table system is often adopted to perform stacking work of gypsum boards (namely, 100-120 gypsum boards are stacked together through a hydraulic stacking table to form 1 stack of gypsum boards). The lowermost of each stack of plasterboards is in direct contact with the hydraulic stacking table, which tends to result in a loss of appearance, and therefore requires the pre-placement of 1 plasterboard mat under each stack.
The existing upper backing plate mode used in the whole pile conveying process of the gypsum board high-speed production line is usually conveying operation of a conveying belt at a high speed, namely, the backing plates are required to be conveyed to a stacking table by utilizing a high-speed conveying mechanism such as the conveying belt, but the conveying speed is very high in frequency on the high-speed production line, so that the backing plates are not firmly adsorbed in the conveying process, so that the shaking of the backing plates is caused, the gravity center in the conveying process is offset, the backing plates are easy to collide and fall off or even damage, the production cost is improved, and the safety is reduced.
Disclosure of Invention
The invention aims to provide a sucker mechanism and a sucker-releasing plate method of an automatic pad robot, which are used for solving the technical problems of high production cost and low safety caused by easy collision and falling-off and even damage of a pad due to the fact that the center of gravity is deviated in the conveying process caused by shaking of the pad due to weak adsorption of the pad in the conveying process in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
The sucker mechanism of the automatic upper pad robot comprises a sucker and a sucker air suction assembly, wherein the sucker air suction assembly is positioned right above the sucker and communicated with the sucker for sucking or filling air between the sucker and the contact surface of the pad so as to realize the reduction or the rising of the pressure intensity between the sucker and the contact surface of the pad, so that the sucker is tightly adsorbed on the contact surface of the pad or separated from the contact surface of the pad under the action of atmospheric pressure intensity,
The suction cup air suction assembly comprises a suction driving piece or a pressurizing driving piece and a fixed pipe sleeve for fixing the suction driving piece or the pressurizing driving piece, the fixed pipe sleeve is vertically erected on the top of the suction cup, the suction driving piece is positioned on the right side of the fixed pipe sleeve, the pressurizing driving piece is positioned on the left side of the fixed pipe sleeve, the suction driving piece is used for sucking air between the suction cup and the contact surface of the base plate so as to reduce the pressure between the suction cup and the contact surface of the base plate, so that the suction cup is tightly adsorbed on the contact surface of the base plate under the action of atmospheric pressure to form an integral transmission form, the plate taking operation of the base plate is completed, and the pressurizing driving piece is used for filling air between the suction cup and the contact surface of the base plate so as to realize the pressure rising between the suction cup and the contact surface of the base plate, so that the suction cup is separated from the contact surface of the base plate under the action of atmospheric pressure to form an independent transmission form, and the plate releasing operation of the base plate is completed.
As a preferable scheme of the invention, the sucker is composed of a plurality of branch suckers distributed in an array, and the sum of the cross sectional areas of the open sides of all the branch suckers is consistent with the cross sectional area of the open sides of the suckers so as to realize the multipoint uniform absorption of the contact surfaces of the branch suckers to the backing plate.
As a preferable scheme of the invention, the sucker mechanism further comprises an air-through pipeline arranged in the fixed pipe sleeve, one end of the air-through pipeline positioned at the upper end of the fixed pipe sleeve is in a double-branch form, two branches in the double-branch form are respectively communicated with the pumping driving piece and the driving end of the pressurizing driving piece, one end of the air-through pipeline positioned at the lower end of the fixed pipe sleeve is in a multi-branch form, a plurality of branches in the multi-branch form are communicated with the branch sucker one by one, the driving end of the pumping driving piece, the air-through pipeline and the branch sucker are sequentially communicated to form a pumping channel for pumping air between contact surfaces of the branch sucker and the cushion plate, and the driving end of the pressurizing driving piece, the air-through pipeline and the branch sucker are sequentially communicated to form a pressurizing channel for filling air between contact surfaces of the branch sucker and the cushion plate.
As a preferable mode of the invention, the number of the multiple branches at one end of the multiple branch form of the air passage pipeline is consistent with the number of the branch sucking discs.
As a preferable scheme of the invention, the sucker mechanism further comprises a gravity center balancing mechanism, the gravity center balancing mechanism comprises a gravity sensor matrix correspondingly paved on the outer surface of each branch sucker, a data processing platform connected with the gravity sensor matrix, and an adsorption force planning unit arranged at the end part of the sucker air suction assembly so as to control the pumping driving piece and the pressurizing driving piece to adjust the adsorption force of the branch sucker to the base plate to keep the gravity center balance of the base plate, wherein,
The gravity sensor matrix is used for monitoring the downward pulling force of the base plate on the branch sucker in real time and transmitting the downward pulling force to the data processing platform to calculate the real-time gravity center of the base plate;
The adsorption force planning unit is used for planning the adsorption force of the branch sucker on the base plate in real time according to the position deviation degree of the real-time center of gravity and the standard center of gravity of the base plate, and obtaining the driving force of the pumping driving piece or the pressurizing driving piece required for ensuring that the center of gravity of the base plate is maintained at the standard center of gravity according to the conversion of the adsorption force.
As a preferred embodiment of the present invention, the calculating of the positional deviation includes:
Quantifying a gravity center line where the real-time gravity center is located into a real-time gravity center function, and quantifying a gravity center line where the standard gravity center is located into a standard gravity center function;
And calculating the distance between the gravity center line where the real-time gravity center is located and the gravity center line where the standard gravity center is located based on the real-time gravity center function and the standard gravity center function, and taking the distance as the position offset degree.
As a preferred embodiment of the present invention, the present invention provides a suction plate releasing method of a suction plate mechanism of an automatic upper plate robot, comprising the steps of:
S1, enabling a sucker to be in contact with the contact surface of the base plate, and using a pumping driving piece to pump air between the branch sucker and the contact surface of the base plate along a pumping channel so that the pressure between the branch sucker and the contact surface of the base plate is reduced to be lower than the external atmospheric pressure, and enabling the branch sucker to be tightly adsorbed on the contact surface of the base plate under the action of the external atmospheric pressure;
S2, in the process of transferring the base plate to a target position, monitoring the real-time gravity center of the base plate in real time by using a gravity center balancing mechanism, planning the adsorption force of the branch sucker to the base plate in real time according to the position deviation degree of the real-time gravity center and the standard gravity center, and then performing driving force on the pumping driving piece or the pressurizing driving piece according to the driving force required by the pumping driving piece or the pressurizing driving piece for ensuring that the gravity center of the base plate is maintained at the standard gravity center;
And S3, after the base plate is transferred to the target position, filling air between the branch sucking disc and the contact surface of the base plate along the pressurizing channel by using the pressurizing driving piece so that the pressure between the branch sucking disc and the contact surface of the base plate is increased to be higher than or equal to the external atmospheric pressure, and the action of the external atmospheric pressure is counteracted so that the branch sucking disc is separated from the contact surface of the base plate, so that the base plate is placed to the target position.
As a preferable scheme of the invention, the maximum tension data is selected from the gravity sensor matrix in real time, and the gravity center position point corresponding to the maximum tension data is positioned on the detection platform as the real-time gravity center.
As a preferred embodiment of the present invention, the driving force is performed to drive the pumping driving member or the pressurizing driving member, including:
When the pressure of the branch sucking disc which is positioned in the pad contact surface and is close to the standard gravity center and far from the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and is close to the standard gravity center and far from the real-time gravity center are increased to the limit, the driving force control pumping driving piece pumps the air which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center and the branch sucking disc which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center, so that the pressure of the branch sucking disc which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center are further reduced, and the height which is positioned in the pad contact surface and far from the standard gravity center and near to the real-time gravity center is further improved under the action of atmospheric pressure so as to realize the movement of the real-time gravity center of the pad to the standard gravity center;
When the pressure of the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center are reduced to the limit, the driving force control pumping driving piece moves along the pressurizing channel to the height which is positioned in the pad contact surface and is close to the standard gravity center and is far away from the real-time gravity center along the pressurizing channel, and the air which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center, so that the pressure of the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center and the pressure which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center are further increased, and the effect of further counteracting the external atmospheric pressure is reduced, and the height which is positioned in the pad contact surface and is close to the standard gravity center and is far from the real-time gravity center and is far from the standard gravity center to the standard gravity center is moved to the standard gravity center.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, the branch sucker forms which are arranged in an array are changed into the inside of the main sucker, so that the unique main adsorption force of the main sucker can be effectively dispersed into the branch adsorption force which is arranged in an array, the adsorption force at each part of the contact surface of the base plate and the base plate is consistent to form uniform adsorption in an array form, and the shaking of the base plate and the sucker caused by uneven stress due to the existence of only a single main adsorption force in the high-speed conveying process is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a schematic front view of a sucker mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a suction cup according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the working structure of a sucker mechanism according to an embodiment of the present invention;
fig. 4 is a schematic diagram of center of gravity adjustment of a suction cup mechanism according to an embodiment of the present invention.
Reference numerals in the drawings are respectively as follows:
1-a suction cup mechanism; 2-sucking discs; 3-sucking disc air sucking component; 4-an air-through pipeline; 5-backing plate; 6-contact surface with backing plate; 7-real-time center of gravity; 8-standard center of gravity;
201-a branch sucker;
301-pumping and pressing driving piece; 302-pressurizing the driving member; 303-securing the sleeve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-4, the invention provides a suction cup mechanism of an automatic upper-pad robot, the suction cup mechanism comprises a suction cup 2 and a suction cup air suction assembly 3, wherein the suction cup air suction assembly 3 is positioned right above the suction cup 2 and communicated with the suction cup for sucking or filling air between the suction cup 2 and the contact surface of a pad so as to realize the reduction or the rising of the pressure between the suction cup 2 and the contact surface of the pad, so that the suction cup 2 is tightly adsorbed on the contact surface of the pad or separated from the contact surface of the pad under the action of atmospheric pressure.
Wherein, the suction cup air sucking component 3 drives the suction cup 2 and the pad contact surface to form an adsorption form and a separation form by changing the air pressure between the suction cup 2 and the pad contact surface, and the air pressure is mainly changed in such a way that the air between the suction cup 2 and the pad contact surface is extracted to reduce the pressure between the suction cup 2 and the pad contact surface below the external atmospheric pressure, the suction cup 2 is tightly adsorbed on the pad contact surface under the action of the external atmospheric pressure, and the air is filled between the suction cup 2 and the pad contact surface to increase the pressure between the suction cup 2 and the pad contact surface to be higher than or equal to the external atmospheric pressure, and the suction cup 2 is separated from the pad contact surface under the action of counteracting the external atmospheric pressure.
The suction cup air suction assembly 3 comprises a suction driving piece 301 and an pressurizing driving piece 302, wherein the suction driving piece 301 is a gas extraction device or other components with the same function, the pressurizing driving piece 302 is a gas filling device or other components with the same function, and a fixing sleeve 303 for fixing the suction driving piece 301 and the pressurizing driving piece 302, the fixing sleeve 303 is vertically erected on the top of the suction cup 2, the suction driving piece 301 is positioned on the right side of the fixing sleeve 303, the pressurizing driving piece 302 is positioned on the left side of the fixing sleeve 303, the suction driving piece 301 is used for extracting air between the contact surface of the suction cup 2 and the backing plate so as to reduce the pressure between the contact surface of the suction cup 2 and the backing plate, the suction cup 2 is tightly adsorbed on the contact surface of the backing plate under the action of atmospheric pressure to form an integral transmission mode to complete the plate taking operation of the backing plate, and the pressurizing driving piece 302 is used for filling the air between the contact surface of the suction cup 2 and the backing plate to realize the rising of the pressure between the suction cup 2 and the contact surface of the backing plate so that the suction cup 2 is separated from the contact surface of the backing plate and the backing plate to form an independent transmission mode to complete plate releasing operation under the action of the atmospheric pressure.
The suction cup 2 is composed of a plurality of branch suction cups 201 distributed in an array, and the sum of the cross sectional areas of the open sides of all the branch suction cups 201 is consistent with the cross sectional area of the open sides of the suction cup 2 so as to realize the multipoint uniform adsorption of the contact surfaces of the branch suction cups 201 to the backing plates.
Wherein, branch sucking disc 201 makes the single main atress dispersion of being the even atress of array arrangement with the contact surface department of backing plate that is located on the backing plate contact surface for each position department adsorption affinity with the contact surface of backing plate is more even, changes traditional single-point adsorption affinity promptly and has increased adsorption uniformity and fastness to the contact surface department with the backing plate for the multiple spot adsorption affinity, avoids appearing being located the single main adsorption affinity in middle part of traditional sucking disc 2 and is stronger and be located traditional sucking disc 2 marginal adsorption affinity poor appearance not hard up phenomenon more, converts the security that even absorption can ensure the conveying in-process.
The sucker mechanism further comprises an air-through pipeline 4 arranged inside the fixed sleeve 303, one end of the air-through pipeline 4, which is positioned at the upper end part of the fixed sleeve 303, is in a double-branch form, two branches in the double-branch form are respectively communicated with the driving ends of the pumping driving piece 301 and the pressurizing driving piece 302, one end of the air-through pipeline 4, which is positioned at the lower end part of the fixed sleeve 303, is in a multi-branch form, a plurality of branches in the multi-branch form are communicated with the branch sucker 201 one by one, the driving end of the pumping driving piece 301, the air-through pipeline 4 and the branch sucker 201 are sequentially communicated to form a pumping channel for pumping air between the contact surfaces of the branch sucker 201 and the cushion plate, and the driving end of the pressurizing driving piece 302, the air-through pipeline 4 and the branch sucker 201 are sequentially communicated to form a pressurizing channel for filling air between the contact surfaces of the branch sucker 201 and the cushion plate.
Specifically, the pumping driving member 301 pumps air between the branched sucking disc 201 and the pad contact surface along the pumping channel so that the pressure between the branched sucking disc 201 and the pad contact surface is reduced below the external atmospheric pressure, and the branched sucking disc 201 is tightly adsorbed on the pad contact surface under the action of the external atmospheric pressure.
Specifically, the air charging between the branch suction cup 201 and the pad contact surface is performed by the air charging driving member 302 along the air charging channel, so that the pressure between the branch suction cup 201 and the pad contact surface is increased to be higher than or equal to the external atmospheric pressure, and the action of the external atmospheric pressure is counteracted to separate the branch suction cup 201 from the pad contact surface.
And the connecting end of the air passage pipe 4 and the pumping driving piece 301 or the pressurizing driving piece 302 is in a double-branch form, so that the independent operation of the pumping channel and the pressurizing channel can be realized by isolating the air pumping process inside the branch sucker 201 and the air filling process inside the branch sucker 201.
Because the pressurizing driving member 302 and the pumping driving member 301 are operated independently and mutually exclusive, and they have consistent gas circulation requirements, they can share the gas circulation pipeline 4, thereby saving cost and reducing structural complexity.
The number of multiple branches at one end of the multiple branch form of the air passage pipe 4 is identical to the number of the branch suction cups 2010.
The sucking disc mechanism also comprises a gravity center balancing mechanism, wherein the gravity center balancing mechanism comprises a gravity sensor matrix correspondingly paved on the outer surface of each branch sucking disc, a data processing platform connected with the gravity sensor matrix, and an adsorption force planning unit arranged at the end part of the sucking disc air sucking assembly to control the sucking force of the sucking disc to the backing plate by the sucking and pressing driving part and the pressurizing driving part to adjust the adsorption force of the branch sucking disc to the backing plate so as to keep the gravity center balance of the backing plate,
The gravity sensor matrix is used for monitoring the downward pulling force of the backing plate generated by the branch sucker in real time and transmitting the downward pulling force to the data processing platform to calculate the real-time gravity center of the backing plate;
The adsorption force planning unit is used for planning the adsorption force of the branch sucker on the base plate in real time at the position deviation degree of the real-time center of gravity and the standard center of gravity of the base plate, and obtaining the driving force of the pumping driving piece or the pressurizing driving piece required for ensuring the center of gravity of the base plate to be maintained at the standard center of gravity according to the conversion of the adsorption force.
The calculation of the position offset degree includes:
Quantifying a gravity center line where the real-time gravity center is located into a real-time gravity center function, and quantifying a gravity center line where the standard gravity center is located into a standard gravity center function;
And calculating the distance between the gravity center line where the real-time gravity center is located and the gravity center line where the standard gravity center is located based on the real-time gravity center function and the standard gravity center function, and taking the distance as the position offset degree.
The invention provides a sucking disc mechanism based on the automatic upper base plate robot, which comprises the following steps:
S1, enabling a sucker to be in contact with a pad contact surface, and using a pumping driving piece to pump air between a branch sucker and the pad contact surface along a pumping channel so that the pressure between the branch sucker and the pad contact surface is reduced to be lower than external atmospheric pressure, and enabling the branch sucker to be tightly adsorbed on the pad contact surface under the action of the external atmospheric pressure;
S2, in the process of transferring the base plate to a target position, monitoring the real-time gravity center of the base plate in real time by using a gravity center balancing mechanism, planning the adsorption force of the branch sucker to the base plate in real time according to the position deviation degree of the real-time gravity center and the standard gravity center, and then performing driving force to drive the pumping driving piece or the pressurizing driving piece according to the driving force required by the pumping driving piece or the pressurizing driving piece for ensuring that the gravity center of the base plate is maintained at the standard gravity center;
And S3, after the base plate is transferred to the target position, filling air between the branch sucking disc and the contact surface of the base plate along the pressurizing channel by using the pressurizing driving piece so that the pressure between the branch sucking disc and the contact surface of the base plate is increased to be higher than or equal to the external atmospheric pressure, and the action of the external atmospheric pressure is counteracted so that the branch sucking disc is separated from the contact surface of the base plate, so that the base plate is placed to the target position.
And selecting the maximum tension data from the gravity sensor matrix in real time, and positioning a gravity center position point corresponding to the maximum tension data on the detection platform to serve as a real-time gravity center.
Executing the driving force to drive the pumping driving member or the pressurizing driving member includes:
When the pressure of the branch sucking disc which is positioned in the pad contact surface and is close to the standard gravity center and far from the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and is close to the standard gravity center and far from the real-time gravity center are increased to the limit, the driving force control pumping driving piece pumps the air which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center and the branch sucking disc which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center, so that the pressure of the branch sucking disc which is positioned in the pad contact surface and is far from the standard gravity center and near to the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and far from the standard gravity center and near to the real-time gravity center are further reduced, and the height which is positioned in the pad contact surface and far from the standard gravity center and near to the real-time gravity center is further increased to the limit, and the real-time gravity center of the pad is moved to the standard gravity center is realized under the atmospheric pressure effect;
when the pressure of the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center and the pressure of the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center are reduced to the limit, the driving force controls the pumping driving piece to move along the pressurizing channel to the height which is positioned in the pad contact surface and is close to the real-time gravity center along the pressurizing channel, so that the branch sucking disc which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center and the pressure which is positioned in the pad contact surface and is far away from the standard gravity center and is close to the real-time gravity center are further increased, and the effect of further counteracting the external atmospheric pressure is reduced, so that the real-time gravity center of the pad moves to the standard gravity center.
According to the invention, the form of the branch sucking disc 201 which is arranged in an array mode is changed into the inside of the main sucking disc 2, so that the unique main adsorption force of the main sucking disc 2 can be effectively dispersed into the branch adsorption force which is arranged in an array mode, the adsorption force at each part of the contact surface of the base plate and the base plate is consistent to form uniform adsorption in an array mode, and shaking of the base plate and the sucking disc 2 caused by uneven stress due to the existence of the main adsorption force in a high-speed conveying process is avoided.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.
Claims (8)
1. The utility model provides an automatic sucking disc mechanism of upper padding plate robot which characterized in that: the sucking disc mechanism comprises a sucking disc (2) and a sucking disc air sucking assembly (3), wherein the sucking disc air sucking assembly (3) is positioned right above the sucking disc (2) and communicated with the sucking disc and is used for sucking or filling air between the sucking disc (2) and the contact surface of the backing plate so as to reduce or increase the pressure between the sucking disc (2) and the contact surface of the backing plate, so that the sucking disc (2) is tightly adsorbed on the contact surface of the backing plate or separated from the contact surface of the backing plate under the action of atmospheric pressure;
The sucker air suction assembly (3) comprises a pumping driving piece (301) and a pressurizing driving piece (302) and a fixing sleeve (303) for fixing the pumping driving piece (301) and the pressurizing driving piece (302), wherein the fixing sleeve (303) vertically stands on the top of the sucker (2),
The suction driving piece (301) is positioned on the right side of the fixed sleeve (303), the pressurizing driving piece (302) is positioned on the left side of the fixed sleeve (303), the suction driving piece (301) is used for sucking air between the sucker (2) and the contact surface of the base plate so as to reduce the pressure between the sucker (2) and the contact surface of the base plate, the sucker (2) is tightly adsorbed on the contact surface of the base plate under the action of atmospheric pressure to form an integral transmission mode to complete the plate taking operation of the base plate, and the pressurizing driving piece (302) is used for filling air between the sucker (2) and the contact surface of the base plate so as to realize the increase of the pressure between the sucker (2) and the contact surface of the base plate, so that the sucker (2) is separated from the contact surface of the base plate under the action of the atmospheric pressure to form an independent transmission mode to complete the plate releasing operation of the base plate;
The sucking disc mechanism also comprises a gravity center balancing mechanism, the gravity center balancing mechanism comprises a gravity sensor matrix correspondingly paved on the outer surface of each branch sucking disc, a data processing platform connected with the gravity sensor matrix, and an adsorption force planning unit arranged at the end part of the sucking disc air sucking assembly, wherein the adsorption force planning unit is used for controlling the pumping driving piece and the pressurizing driving piece to adjust the adsorption force of the branch sucking disc to the base plate so as to keep the gravity center balance of the base plate,
The gravity sensor matrix is used for monitoring the downward pulling force of the backing plate generated by the branch sucker in real time and transmitting the downward pulling force to the data processing platform to calculate the real-time gravity center of the backing plate;
the suction force planning unit is used for planning the suction force of the branch sucker on the base plate in real time according to the position deviation degree of the real-time center of gravity and the standard center of gravity of the base plate, and obtaining the driving force of the pumping driving piece or the pressurizing driving piece required for ensuring the center of gravity of the base plate to be maintained at the standard center of gravity according to the suction force;
In the process of transferring the base plate to the target position, a gravity center balancing mechanism is used for monitoring the real-time gravity center of the base plate in real time, the adsorption force of the branch sucker to the base plate is planned in real time according to the position deviation degree of the real-time gravity center and the standard gravity center, then the driving force of the pumping driving piece or the pressurizing driving piece required for ensuring the maintenance of the gravity center of the base plate at the standard gravity center is obtained according to the adsorption force conversion, and the driving force is executed to drive the pumping driving piece or the pressurizing driving piece;
Executing the driving force to drive the pumping driving member or the pressurizing driving member includes:
When the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is increased to the limit, the driving force controls the pumping driving piece to pump air between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center along the pumping channel, so that the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is further reduced, and the height of the base plate which is positioned in the base plate contact surface and is far from the standard gravity center and is close to the real-time gravity center is further improved under the action of atmospheric pressure so as to realize that the real-time gravity center of the base plate moves to the standard gravity center;
When the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is reduced to the limit, the driving force controls the pumping driving piece to charge air into the space between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center along the pressurizing channel, so that the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is further increased, the effect of further counteracting the external atmospheric pressure is reduced, and the height of the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is reduced, so that the real-time gravity center of the base plate is moved to the standard gravity center.
2. The suction cup mechanism of an automatic dunnage robot of claim 1, wherein: the sucker (2) is composed of a plurality of branch suckers (201) distributed in an array, and the sum of the cross sectional areas of the open sides of all the branch suckers (201) is consistent with the cross sectional area of the open sides of the sucker (2) so as to realize the multipoint uniform adsorption of the contact surfaces of the branch suckers (201) to the backing plates.
3. The chuck mechanism of an automatic dunnage robot of claim 2, wherein: the sucker mechanism (1) further comprises an air passage pipeline (4) arranged inside the fixed pipe sleeve (303), one end of the air passage pipeline (4) positioned at the upper end of the fixed pipe sleeve (303) is in a double-branch form, two branches in the double-branch form are respectively communicated with the pumping driving piece (301) and the driving end of the pressurizing driving piece (302), one end of the air passage pipeline (4) positioned at the lower end of the fixed pipe sleeve (303) is in a multi-branch form, a plurality of branches in the multi-branch form are communicated with the branch sucker (201) one by one, the driving end of the pumping driving piece (301), the air passage pipeline (4) and the branch sucker (201) are sequentially communicated to form a pumping channel for pumping air between the contact surfaces of the branch sucker (201) and the pad, and the driving end of the pressurizing driving piece (302), the air passage pipeline (4) and the branch sucker (201) are sequentially communicated to form a pumping channel for pumping air between the contact surfaces of the branch sucker (201) and the pad.
4. A chuck mechanism for an automatic dunnage robot as set forth in claim 3, wherein: the number of multiple branches at one end of the multiple branch form of the air passage pipeline (4) is consistent with the number of the branch suckers (201), and the driving end of the pumping and pressing driving piece is used for independently controlling each branch sucker.
5. The suction cup mechanism of an automatic dunnage robot of claim 4, wherein: the calculating of the position offset degree comprises the following steps:
Quantifying a gravity center line where the real-time gravity center is located into a real-time gravity center function, and quantifying a gravity center line where the standard gravity center is located into a standard gravity center function;
And calculating the distance between the gravity center line where the real-time gravity center is located and the gravity center line where the standard gravity center is located based on the real-time gravity center function and the standard gravity center function, and taking the distance as the position offset degree.
6. A suction and discharge plate method of a suction cup mechanism of an automatic upper mat robot according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:
S1, enabling a sucker to be in contact with the contact surface of the base plate, and using a pumping driving piece to pump air between the branch sucker and the contact surface of the base plate along a pumping channel so that the pressure between the branch sucker and the contact surface of the base plate is reduced to be lower than the external atmospheric pressure, and enabling the branch sucker to be tightly adsorbed on the contact surface of the base plate under the action of the external atmospheric pressure;
S2, in the process of transferring the base plate to a target position, monitoring the real-time gravity center of the base plate in real time by using a gravity center balancing mechanism, planning the adsorption force of the branch sucker to the base plate in real time according to the position deviation degree of the real-time gravity center and the standard gravity center, and then performing driving force on the pumping driving piece or the pressurizing driving piece according to the driving force required by the pumping driving piece or the pressurizing driving piece for ensuring that the gravity center of the base plate is maintained at the standard gravity center;
And S3, after the base plate is transferred to the target position, filling air between the branch sucking disc and the contact surface of the base plate along the pressurizing channel by using the pressurizing driving piece so that the pressure between the branch sucking disc and the contact surface of the base plate is increased to be higher than or equal to the external atmospheric pressure, and the action of the external atmospheric pressure is counteracted so that the branch sucking disc is separated from the contact surface of the base plate, so that the base plate is placed to the target position.
7. A suction and discharge plate method as claimed in claim 6, wherein: and selecting the maximum tension data from the gravity sensor matrix in real time, and positioning a gravity center position point corresponding to the maximum tension data on the detection platform to serve as a real-time gravity center.
8. A suction and discharge plate method as claimed in claim 7, wherein: the executing the driving force to drive the pumping driving member or the pressurizing driving member includes:
When the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is increased to the limit, the driving force controls the pumping driving piece to pump air between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center along the pumping channel, so that the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is further reduced, and the height of the base plate which is positioned in the base plate contact surface and is far from the standard gravity center and is close to the real-time gravity center is further improved under the action of atmospheric pressure so as to realize that the real-time gravity center of the base plate moves to the standard gravity center;
When the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is reduced to the limit, the driving force controls the pumping driving piece to charge air into the space between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center along the pressurizing channel, so that the pressure between the branch sucker and the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is further increased, the effect of further counteracting the external atmospheric pressure is reduced, and the height of the base plate which is positioned in the base plate contact surface and far from the standard gravity center and is close to the real-time gravity center is reduced, so that the real-time gravity center of the base plate is moved to the standard gravity center.
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| CN114313986A (en) | 2022-04-12 |
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