CN115246578A - Steel plate pickup system and pickup method - Google Patents
Steel plate pickup system and pickup method Download PDFInfo
- Publication number
- CN115246578A CN115246578A CN202210541515.7A CN202210541515A CN115246578A CN 115246578 A CN115246578 A CN 115246578A CN 202210541515 A CN202210541515 A CN 202210541515A CN 115246578 A CN115246578 A CN 115246578A
- Authority
- CN
- China
- Prior art keywords
- electro
- permanent magnet
- workpiece
- magnet assembly
- target information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 62
- 239000010959 steel Substances 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000002699 waste material Substances 0.000 claims abstract description 54
- 238000003825 pressing Methods 0.000 claims abstract description 27
- 238000012790 confirmation Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 34
- 238000001125 extrusion Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 abstract description 3
- 230000006698 induction Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 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
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automatic sorting control of steel plates, and discloses a steel plate picking system and a steel plate picking method, wherein the system determines first target information of a workpiece after cutting of a steel plate and second target information of a waste frame corresponding to the workpiece through a target information confirmation device, and an electro-permanent magnet assembly servo system controls an electro-permanent magnet assembly to move to a workpiece area corresponding to position information of the workpiece based on the first target information and controls the electro-permanent magnet assembly to pick up the workpiece to be picked; a pressing plate device servo system is adopted for controlling the pressing plate device to press the waste material frame based on second target information when the electro-permanent magnet assembly picks up a workpiece to be grabbed; therefore, the waste material frame can be pressed when the workpieces are grabbed in the grabbing process, and the situation that the waste material frame and the steel plate workpieces are brought together to influence the follow-up grabbing of the rest workpieces is avoided.
Description
Technical Field
The invention relates to the technical field of automatic sorting control of steel plates, in particular to a steel plate picking system and a steel plate picking method.
Background
In the modern heavy industry, a large steel plate is generally adopted in the blanking process, a plurality of workpieces with different specifications are cut on the steel plate after blanking is carried out through laser or plasma cutting, and then the workpieces are sorted one by one. At present, the mechanical arm is gradually adopted to automatically sort and identify the cut workpieces, the workpieces are identified by visual positioning and then are grabbed and stacked, and therefore empty grabbing can be caused due to the fact that whether the workpieces are successfully picked or not can not be accurately judged. And the clearance between the workpiece and the waste is very small, and in the process of grabbing the workpiece, because the workpiece and the waste generate large friction force because the workpiece is not grabbed in hundreds of percent vertically, the position can generate deviation after the waste is taken up and falls back again, and if the next workpiece is not grabbed again through visual positioning, the next workpiece is influenced. If the waste material is taken the jack-up and falls back again, the waste material is directly pressed on other work pieces, then can lead to follow-up work piece can't snatch, above-mentioned condition appears and then need stop the letter sorting system and carry out artificial intervention to the anomaly, influences production efficiency, causes the waste of manpower. It is seen that the conventional steel plate is prone to picking up waste materials when being picked up.
Disclosure of Invention
The invention provides a steel plate picking system and a steel plate picking method, which aim to solve the problem that the waste material is easy to take up when the existing steel plate is picked.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a steel sheet pickup system comprising: the system comprises a target information confirming device and a picking device, wherein the picking device comprises an electro-permanent magnet assembly, an electro-permanent magnet assembly servo system, a pressure plate device and a pressure plate device servo system, the electro-permanent magnet assembly is installed on the electro-permanent magnet servo system, the pressure plate device is installed on the pressure plate device servo system, the empty-grabbing overvoltage detection device is arranged on the electro-permanent magnet assembly, and the empty-grabbing overvoltage detection device moves up and down relative to the electro-permanent magnet assembly under the stress condition;
the target information confirming device is used for confirming first target information of a workpiece after the steel plate is cut and second target information of a waste material frame corresponding to the workpiece, and the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of the waste frame;
the electro-permanent magnet assembly servo system is used for controlling the electro-permanent magnet assembly to move to a workpiece area corresponding to workpiece position information based on the first target information and controlling the electro-permanent magnet assembly to pick up the workpiece to be grabbed;
and the pressing plate device servo system is used for controlling the pressing plate device to press the waste material frame based on the second target information when the electro-permanent magnet assembly picks up the workpiece to be grabbed.
Optionally, still include sliding connection spare, the presser device includes cylinder mount pad, cylinder and extruded article, the cylinder mount pad pass through sliding connection spare with the presser device servo is connected, the cylinder is located on the cylinder mount pad, the extruded article is located the one end of cylinder towards the waste material frame.
Optionally, the workpiece grabbing device further comprises an empty grabbing overvoltage detection device, the empty grabbing overvoltage detection device is arranged on the electro-permanent magnet assembly, and the empty grabbing overvoltage detection device is used for acquiring an electric signal when the electro-permanent magnet assembly picks up the workpiece to be grabbed, and determining an empty grabbing or overvoltage condition according to the electric signal.
Optionally, the empty-grabbing overvoltage detection device comprises a detection plate, a spring, a guide rod, a first sensor, a second sensor, a first induction sheet, a second induction sheet and a guide sleeve, wherein the guide sleeve is installed on the electric permanent magnet assembly, the guide rod penetrates through the guide sleeve, one end of the guide rod is fixed on the detection plate, the spring is arranged between the guide sleeve and the detection plate, the guide rod penetrates through the spring, the first sensor and the second sensor are installed on the magnet assembly, the installation height of the second sensor is lower than that of the first sensor, the first induction sheet is arranged on one side of the first sensor, the second induction sheet is arranged on one side of the second sensor, and in a free state, the detection plate is lower than the end face of the electric permanent magnet.
Optionally, in a free state, the detection plate is 5-10mm lower than the end face of the electro-permanent magnet.
Optionally, the electromagnet assembly servo system comprises a first mounting bracket, and the electromagnet assembly is arranged on the first mounting bracket; the pressure plate device servo system comprises a second mounting bracket, and the pressure plate device is arranged on the second mounting bracket; the first mounting bracket and the second mounting bracket are mounted in a cross manner.
In a second aspect, the present application provides a steel plate picking method applied to the steel plate picking system of the first aspect, the method including:
determining first target information of a workpiece after a steel plate is cut and second target information of a waste frame corresponding to the workpiece by using a target information confirmation device, wherein the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of a waste frame;
controlling the electro-permanent magnet assembly to move to a workpiece area corresponding to the workpiece position information based on the first target information by adopting an electro-permanent magnet assembly servo system, and controlling the electro-permanent magnet assembly to pick up the workpiece to be grabbed;
and controlling the pressing plate device to press the waste material frame based on the second target information when the electro-permanent magnet assembly picks up the workpiece to be grabbed by adopting a servo system of the pressing plate device.
Optionally, the platen device comprises a cylinder mounting seat, a cylinder and an extrusion piece, the cylinder mounting seat is connected with the platen device servo system through the sliding connecting piece, the cylinder is arranged on the cylinder mounting seat, and the extrusion piece is arranged at one end of the cylinder, which faces the waste material frame;
when the electro-permanent magnet assembly picks up the workpiece to be grabbed by adopting the servo system of the pressing plate device, controlling the pressing plate device to press the waste material frame based on the second target information, and the method comprises the following steps:
the cylinder drives the extrusion piece to press the waste material frame until the distance lifted when the electro-permanent magnet assembly picks up the workpiece to be grabbed is larger than the stroke of the cylinder, and the extrusion piece is separated from the waste material frame.
Has the advantages that:
according to the steel plate picking system, the first target information of a workpiece after a steel plate is cut and the second target information of a waste frame corresponding to the workpiece are determined through the target information confirmation device, the electro-permanent magnet assembly servo system controls the electro-permanent magnet assembly to move to a workpiece area corresponding to the position information of the workpiece based on the first target information, and controls the electro-permanent magnet assembly to pick up the workpiece to be picked; a pressing plate device servo system is adopted for controlling the pressing plate device to press the waste material frame based on second target information when the electro-permanent magnet assembly picks up a workpiece to be grabbed; therefore, the waste material frame can be pressed when the workpieces are grabbed in the grabbing process, and the situation that the waste material frame and the steel plate workpieces are brought together to influence the follow-up grabbing of the rest workpieces is avoided.
Drawings
FIG. 1 is a schematic structural diagram of a pick-up device according to a preferred embodiment of the present invention;
FIG. 2 is a second schematic structural diagram of a pick-up device according to a preferred embodiment of the present invention;
FIG. 3 is an exploded view of a pick-up device according to a preferred embodiment of the present invention;
FIG. 4 is a schematic structural view of an electro-permanent magnet assembly according to a preferred embodiment of the present invention.
Reference numerals:
1. a platen device servo system; 2. a magnet assembly servo system; 3. a platen device; 4. an empty grab overpressure detection device; 5. an electro-permanent magnet assembly; 6. an extrusion member; 7. a first sensor; 8. a spring; 9. a first sensing sheet; 10. a cylinder mounting seat; 11. an electro-permanent magnet; 12. detecting a plate; 13. a guide bar; 14. a guide sleeve; 15. a cylinder; 16. a flange member.
Detailed Description
The technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and the like, herein does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. Also, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1 to 4, the present application provides a steel plate picking system, including: the target information confirming device comprises a pickup device, wherein the pickup device comprises an electro-permanent magnet assembly 5, an electro-permanent magnet assembly servo system 2, a pressure plate device 3 and a pressure plate device servo system 1, the electro-permanent magnet assembly 5 is installed on an electro-permanent magnet 11 servo system, the pressure plate device 3 is installed on the pressure plate device servo system 1, an empty-grabbing overvoltage detection device 4 is arranged on the electro-permanent magnet assembly 5, and the empty-grabbing overvoltage detection device 4 moves up and down relative to the electro-permanent magnet assembly 5 under the stress condition;
the target information confirming device is used for confirming first target information of a workpiece after the steel plate is cut and second target information of a waste material frame corresponding to the workpiece, and the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of the waste frame;
the electro-permanent magnet assembly servo system 2 is used for controlling the electro-permanent magnet assembly 5 to move to a workpiece area corresponding to the workpiece position information based on the first target information and controlling the electro-permanent magnet assembly 5 to pick up a workpiece to be grabbed;
the pressing plate device servo system 1 is used for controlling the pressing plate device 3 to press the waste material frame based on the second target information when the electro-permanent magnet assembly 5 picks up the workpiece to be grabbed.
It should be noted that, after a whole large steel plate is cut and blanked by laser or plasma cutting, a plurality of workpieces with various specifications and sizes are cut on the steel plate. The electro-permanent magnet assembly 5 may be used to attract a workpiece for picking the workpiece.
In an example, the 2D or 3D camera mounted on the robot or the truss is used to photograph the steel plate on the tray, the image processing system is used to perform algorithm processing on the photograph, the position information and the size information of the workpiece on the steel plate are obtained as first target information by combining a nesting diagram in a database, and meanwhile, the position information and the size information of a frame corresponding to the workpiece are determined as second target information.
In the steel plate picking system, the target information confirmation device is used for determining the first target information of the workpiece after the steel plate is cut and the second target information of the waste frame corresponding to the workpiece, the electro-permanent magnet assembly servo system 2 is used for controlling the electro-permanent magnet assembly 5 to move to the workpiece area corresponding to the workpiece position information based on the first target information, and controlling the electro-permanent magnet assembly 5 to pick up the workpiece to be picked; the pressing plate device servo system 1 is used for controlling the pressing plate device 3 to press the waste material frame based on the second target information when the electro-permanent magnet assembly 5 picks up the workpiece to be grabbed; therefore, the waste material frame can be pressed when the workpiece is grabbed in the process, and the situation that the waste material frame and the steel plate workpiece are brought together to influence the follow-up grabbing of other workpieces is avoided.
Optionally, the steel plate picking system further includes a sliding connection part, the platen device 3 includes a cylinder mounting seat 10, a cylinder 15, and an extrusion part 6, the cylinder mounting seat 10 is connected with the platen device servo system 1 through the sliding connection part, the cylinder 15 is disposed on the cylinder mounting seat 10, and the extrusion part 6 is disposed at one end of the cylinder 15 facing the waste material frame.
Optionally, the steel plate picking system further comprises an empty-grabbing overvoltage detection device 4, the empty-grabbing overvoltage detection device 4 is arranged on the electro-permanent magnet assembly 5, and the empty-grabbing overvoltage detection device 4 is configured to obtain an electric signal when the electro-permanent magnet assembly 5 picks up a workpiece to be grabbed, and determine an empty-grabbing or overvoltage condition according to the electric signal.
The empty grabbing overvoltage detection device 4 comprises a detection plate 12, a spring 8, a guide rod 13, a first sensor 7, a second sensor, a first induction sheet 9, a second induction sheet and a guide sleeve 14, wherein the guide sleeve 14 is installed on the electro-permanent magnet assembly 5, the guide rod 13 penetrates through the guide sleeve 14, one end of the guide rod 13 is fixed on the detection plate 12, the spring 8 is arranged between the guide sleeve 14 and the detection plate 12, the guide rod 13 penetrates through the spring 8, the first sensor 7 and the second sensor are both installed on the magnet assembly, the installation height of the second sensor is lower than that of the first sensor 7, the first induction sheet 9 is arranged on one side of the first sensor 7, the second induction sheet is arranged on one side of the second sensor, and in a free state, the detection plate 12 is lower than the end face of the electro-permanent magnet 11.
In one example, in the free state, the detection plate 12 is 5-10mm lower than the end face of the electro-permanent magnet 11.
In practical work, the picking device further comprises a control system, the control system receives the first target information and the second target information, generates a first pulse number corresponding to the first target information and a second pulse number corresponding to the second target information, and controls the robot or the truss to move above the workpiece needing to be picked. The sliding connection piece comprises a ball screw, a screw nut, a linear sliding rail and a sliding block, the electric permanent magnet assembly servo system 2 receives a first pulse number, a servo motor is controlled to rotate, the ball screw is driven to rotate, the screw nut is made to move, the screw nut is fixed with the sliding block on the linear sliding rail, the sliding block is driven to move, the electric permanent magnet assembly 5 is installed on the sliding block, the electric permanent magnet assembly 5 is achieved to move, and a part of an electric permanent magnet 11 of the electric permanent magnet assembly 5 is ensured to be in a workpiece area. The robot or the truss drives the multifunctional steel plate picking tool to pick the workpiece.
The number of the guide rods 13 can be two, the first induction piece 9 is installed on the first guide rod, the second induction piece is installed on the second guide rod, the first sensor 7 and the second sensor are installed on the magnet assembly, the first sensor 7 measures an electric signal of the first induction piece 9, the second sensor measures an electric signal of the second induction piece, the installation heights of the two sets of sensors are staggered, and the two sets of sensors are installed at the first high end. The detection plate 12 is 5-10mm lower than the end face of the electro-permanent magnet 11 in a free state. In the process that the steel plate picking system picks up the workpiece downwards, the detection plate 12 contacts the workpiece firstly, the steel plate picking system continues to press downwards, after the detection plate 12 is stressed, when the workpiece contacts the electro-permanent magnet 11, the bottom surface of the detection plate 12 is flush with the bottom surface of the electro-permanent magnet 11, at the moment, the detection plate 12 is stressed to compress the spring 8, the spring moves upwards relative to the electro-permanent magnet 11, the guide rod 13 moves upwards relatively, the second induction piece moves upwards relatively, at the moment, the second induction piece is close to the second sensor, and the second sensor generates signals. The steel plate picking system picks up the workpiece and lifts the workpiece upwards, and a signal is kept, which indicates that no empty grabbing is performed. Therefore, whether the workpiece is picked up or not can be detected through the sensor, and the method is more accurate and reliable.
When a workpiece is grabbed, the steel plate picking system is excessively pressed down, the detection plate 12 compresses the spring 8 all the time, and when the first sensor 7 senses the first sensing piece 9, an overpressure signal is generated. Realize the excessive pressure and detect the function, further guarantee the security of snatching the process.
During the process of pressing down and taking the part by the steel plate picking system. When the steel plate is sent to the automatic sorting production line, the 2D or 3D camera takes pictures of the steel plate on the tray, the image processing system performs algorithm processing on the pictures, and the position and the size of each workpiece frame on the steel plate are obtained as second target information by combining a nesting diagram in a database. After control system received the position size information of work piece frame, convert into the second pulse number, send presser device servo 1, rotate through control servo motor, it rotates to drive ball, make lead screw nut remove, lead screw nut is fixed with the slider on the linear slide rail, thereby it removes to drive the slider, presser device 3 installs on the slider, thereby realize presser device 3 and remove, presser device servo 1 controls presser device 3 and removes, thereby make the clamp plate be in work piece frame position, ensure that 6 back extrusions 6 of extrusion are pushed out to cylinder 15 and press on the work piece frame, and can not press the work piece. When the electro-permanent magnet 11 contacts the workpiece, the cylinder 15 pushes out the extrusion part 6 to press the outer waste frame of the workpiece, and the cylinder 15 continuously presses the waste frame until the stroke of the cylinder 15 is greater than that in the lifting process of the workpiece by the steel plate picking system, so that the waste with the frame is prevented from being picked in the workpiece picking process. Wherein, the steel plate picking system also comprises a flange piece 16, and the flange piece 16 is connected with the tail end of the truss or the manipulator.
Optionally, the electro-permanent magnet assembly servo system 2 comprises a first mounting bracket, and the electro-permanent magnet assembly 5 is arranged on the first mounting bracket; the pressing plate device servo system 1 comprises a second mounting bracket, and the pressing plate device 3 is arranged on the second mounting bracket; the first mounting bracket and the second mounting bracket are installed in a cross manner. Thus, the function of simultaneous movement in the X-axis direction and the Y-axis direction can be realized. In addition, the guide rod can slide on the guide sleeve 14, and the function of movement in the Z-axis direction can be realized.
The embodiment of the application further provides a steel plate pickup method, which is applied to the steel plate pickup system, and the method comprises the following steps:
determining first target information of a workpiece after a steel plate is cut and second target information of a waste frame corresponding to the workpiece by using a target information confirmation device, wherein the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of a waste frame;
controlling the electro-permanent magnet assembly 5 to move to a workpiece area corresponding to the workpiece position information by adopting the electro-permanent magnet assembly servo system 2 based on the first target information, and controlling the electro-permanent magnet assembly 5 to pick up the workpiece to be grabbed;
and when the electro-permanent magnet assembly 5 picks up the workpiece to be grabbed, the pressing plate device servo system 1 is adopted to control the pressing plate device 3 to press the waste material frame based on the second target information.
Optionally, the platen device 3 includes a cylinder mounting seat 10, a cylinder 15, and an extrusion member 6, the cylinder mounting seat 10 is connected to the platen device servo system 1 through the sliding connection member, the cylinder 15 is disposed on the cylinder mounting seat 10, and the extrusion member 6 is disposed at one end of the cylinder 15 facing the waste material frame;
when the electro-permanent magnet assembly 5 picks up the workpiece to be grabbed, the servo system 1 of the pressing plate device is adopted to control the pressing plate device 3 to press the waste material frame based on the second target information, and the method comprises the following steps:
the cylinder 15 drives the extrusion part 6 to press the waste material frame until the electric permanent magnet assembly 5 picks up that the lifting distance when the workpiece to be grabbed is larger than the stroke of the cylinder 15, and the extrusion part 6 is separated from the waste material frame.
The steel plate picking method can realize each embodiment of the steel plate picking system and can achieve the same beneficial effects, and the details are not repeated here.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (8)
1. A steel sheet pickup system, comprising: the device comprises a target information confirming device and a pickup device, wherein the pickup device comprises an electro-permanent magnet assembly, an electro-permanent magnet assembly servo system, a pressure plate device and a pressure plate device servo system, the electro-permanent magnet assembly is installed on the electro-permanent magnet servo system, the pressure plate device is installed on the pressure plate device servo system, the empty-grabbing overvoltage detection device is arranged on the electro-permanent magnet assembly, and the empty-grabbing overvoltage detection device moves up and down relative to the electro-permanent magnet assembly under the condition of stress;
the target information confirming device is used for confirming first target information of a workpiece after the steel plate is cut and second target information of a waste frame corresponding to the workpiece, and the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of a waste frame;
the electro-permanent magnet assembly servo system is used for controlling the electro-permanent magnet assembly to move to a workpiece area corresponding to the workpiece position information based on the first target information and controlling the electro-permanent magnet assembly to pick up the workpiece to be grabbed;
and the pressing plate device servo system is used for controlling the pressing plate device to press the waste material frame based on the second target information when the electro-permanent magnet assembly picks up the workpiece to be grabbed.
2. The steel plate pickup system of claim 1, further comprising a sliding connection, wherein the platen device comprises a cylinder mount, a cylinder, and an extrusion, wherein the cylinder mount is connected to the platen device servo system through the sliding connection, the cylinder is disposed on the cylinder mount, and the extrusion is disposed at an end of the cylinder facing the scrap frame.
3. The steel plate picking system according to claim 1, further comprising an empty-grab over-voltage detection device, wherein the empty-grab over-voltage detection device is arranged on the electro-permanent magnet assembly and is used for acquiring an electric signal when the electro-permanent magnet assembly picks up the workpiece to be grabbed and determining an empty-grab or over-voltage condition according to the electric signal.
4. The steel plate picking system according to claim 3, wherein the empty-grab over-voltage detecting device comprises a detecting plate, a spring, a guide rod, a first sensor, a second sensor, a first sensing piece, a second sensing piece and a guide sleeve, the guide sleeve is installed on the electro-permanent magnet assembly, the guide rod penetrates through the guide sleeve, one end of the guide rod is fixed on the detecting plate, the spring is arranged between the guide sleeve and the detecting plate, the guide rod penetrates through the spring, the first sensor and the second sensor are both installed on the magnet assembly, the installation height of the second sensor is lower than that of the first sensor, the first sensing piece is arranged on one side of the first sensor, the second sensing piece is arranged on one side of the second sensor, and in a free state, the detecting plate is lower than the end face of the electro-permanent magnet.
5. A steel plate pick-up system according to claim 4, wherein the detection plate is 5-10mm below the end face of the electro-permanent magnet in a free state.
6. The steel sheet pick-up system of claim 1, wherein the electro-permanent magnet assembly servo comprises a first mounting bracket on which the electro-permanent magnet assembly is disposed; the pressure plate device servo system comprises a second mounting bracket, and the pressure plate device is arranged on the second mounting bracket; the first mounting bracket and the second mounting bracket are mounted in a cross manner.
7. A steel plate pickup method applied to the steel plate pickup system according to any one of claims 1 to 6, characterized by comprising:
determining first target information of a workpiece after a steel plate is cut and second target information of a waste frame corresponding to the workpiece by using a target information confirmation device, wherein the first target information comprises workpiece position information and workpiece size information; the second target information comprises position information and frame size information of a waste frame;
controlling the electro-permanent magnet assembly to move to a workpiece area corresponding to the workpiece position information based on the first target information by adopting an electro-permanent magnet assembly servo system, and controlling the electro-permanent magnet assembly to pick up the workpiece to be grabbed;
and controlling the pressing plate device to press the waste material frame based on the second target information when the electro-permanent magnet assembly picks up the workpiece to be grabbed by adopting a pressing plate device servo system.
8. The steel plate pickup method according to claim 7, wherein the platen device comprises a cylinder mount, a cylinder, and an extrusion member, the cylinder mount is connected with the platen device servo system through the sliding connection member, the cylinder is provided on the cylinder mount, and the extrusion member is provided at an end of the cylinder facing the scrap frame;
when the electro-permanent magnet assembly picks up the workpiece to be grabbed by adopting the servo system of the pressing plate device, controlling the pressing plate device to press the waste material frame based on the second target information, and the method comprises the following steps:
the cylinder drives the extrusion part to press the waste material frame, and the extrusion part is separated from the waste material frame until the distance lifted when the electro-permanent magnet assembly picks up the workpiece to be grabbed is larger than the stroke of the cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541515.7A CN115246578A (en) | 2022-05-11 | 2022-05-11 | Steel plate pickup system and pickup method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541515.7A CN115246578A (en) | 2022-05-11 | 2022-05-11 | Steel plate pickup system and pickup method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115246578A true CN115246578A (en) | 2022-10-28 |
Family
ID=83698905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210541515.7A Pending CN115246578A (en) | 2022-05-11 | 2022-05-11 | Steel plate pickup system and pickup method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115246578A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110055879A (en) * | 2009-11-20 | 2011-05-26 | 대우조선해양 주식회사 | System for sorting steel sheet and method for sorting steel sheet |
| CN205660817U (en) * | 2016-06-01 | 2016-10-26 | 蓝思科技股份有限公司 | Work piece punching press unloading separator |
| WO2017094107A1 (en) * | 2015-12-01 | 2017-06-08 | 富士機械製造株式会社 | Workpiece transfer device and workpiece transfer system |
| CN109261825A (en) * | 2018-08-09 | 2019-01-25 | 广东天机工业智能系统有限公司 | Workpiece blanking depiler |
| CN110963294A (en) * | 2018-09-30 | 2020-04-07 | 东泰高科装备科技有限公司 | Pick-up device |
| CN112549060A (en) * | 2020-11-27 | 2021-03-26 | 北京石油化工学院 | Laser vision type electromagnetic gripper |
| CN113814960A (en) * | 2021-09-05 | 2021-12-21 | 湖南视比特机器人有限公司 | Pressing plate device, pressing and taking method and automatic sorting system |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
-
2022
- 2022-05-11 CN CN202210541515.7A patent/CN115246578A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110055879A (en) * | 2009-11-20 | 2011-05-26 | 대우조선해양 주식회사 | System for sorting steel sheet and method for sorting steel sheet |
| WO2017094107A1 (en) * | 2015-12-01 | 2017-06-08 | 富士機械製造株式会社 | Workpiece transfer device and workpiece transfer system |
| CN205660817U (en) * | 2016-06-01 | 2016-10-26 | 蓝思科技股份有限公司 | Work piece punching press unloading separator |
| CN109261825A (en) * | 2018-08-09 | 2019-01-25 | 广东天机工业智能系统有限公司 | Workpiece blanking depiler |
| CN110963294A (en) * | 2018-09-30 | 2020-04-07 | 东泰高科装备科技有限公司 | Pick-up device |
| CN112549060A (en) * | 2020-11-27 | 2021-03-26 | 北京石油化工学院 | Laser vision type electromagnetic gripper |
| CN113814960A (en) * | 2021-09-05 | 2021-12-21 | 湖南视比特机器人有限公司 | Pressing plate device, pressing and taking method and automatic sorting system |
| CN114248286A (en) * | 2022-01-14 | 2022-03-29 | 湖南视比特机器人有限公司 | End effector, control method of end effector, and sorting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4804173A (en) | Method and apparatus for moving individual sheets from a stack of sheets | |
| CN104614666A (en) | Automatic testing device of circuit board | |
| US20210107050A1 (en) | Device and method for monitoring relative movements | |
| CN111229926B (en) | Automatic change fork panel beating production line | |
| US4703925A (en) | Semi-rigid sheet separation device and method | |
| CN112044790A (en) | Defective products detects marking machine | |
| CN114311005A (en) | End picking device with independently controlled sucking disc | |
| CN211965599U (en) | Automatic change fork panel beating production line | |
| CN115246578A (en) | Steel plate pickup system and pickup method | |
| CN111232346B (en) | Pipe and bar bundling system based on binocular vision | |
| CN211678817U (en) | Optical automatic product inspection machine | |
| CN110466984B (en) | Automatic feeding and discharging device | |
| CN110666516B (en) | Automatic processing device for milling notch of rod piece | |
| CN212100828U (en) | Automatic loading and unloading device | |
| CN217371307U (en) | Hinge work piece automatic assembly check out test set | |
| CN114044357B (en) | Plate feeding equipment and method | |
| CN111153246A (en) | Plate end effector with thickness measuring mechanism and material picking method | |
| CN1145286A (en) | Detecting apparatus for abnormalities in work holder | |
| CN214605566U (en) | Double-manipulator automatic vision positioning insertion piece injection molding machine | |
| CN211225341U (en) | Copper-clad plate thickness distinguishing device | |
| CN211839080U (en) | Sorting device for defective products | |
| CN111232347B (en) | Tube and bar bundling method based on binocular vision | |
| CN210335044U (en) | Press-fitting machine with screening device capable of avoiding overlapping | |
| CN107717218B (en) | Automatic production line for assembly and welding of tablet personal computer | |
| CN218802317U (en) | Terminal structure of manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |