WO2021062616A1 - Procédé de levage de produit par attraction magnétique, et dispositif de levage - Google Patents

Procédé de levage de produit par attraction magnétique, et dispositif de levage Download PDF

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Publication number
WO2021062616A1
WO2021062616A1 PCT/CN2019/109418 CN2019109418W WO2021062616A1 WO 2021062616 A1 WO2021062616 A1 WO 2021062616A1 CN 2019109418 W CN2019109418 W CN 2019109418W WO 2021062616 A1 WO2021062616 A1 WO 2021062616A1
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WO
WIPO (PCT)
Prior art keywords
extraction device
product
weighing
magnetic control
magnetic
Prior art date
Application number
PCT/CN2019/109418
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English (en)
Chinese (zh)
Inventor
邬承基
方红星
厉豪
程铿
王勇
Original Assignee
上海成业智能科技股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 上海成业智能科技股份有限公司 filed Critical 上海成业智能科技股份有限公司
Priority to PCT/CN2019/109418 priority Critical patent/WO2021062616A1/fr
Priority to CN201980099391.8A priority patent/CN114222650A/zh
Publication of WO2021062616A1 publication Critical patent/WO2021062616A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G13/00—Weighing apparatus with automatic feed or discharge for weighing-out batches of material

Definitions

  • This article relates to the field of sorting technology, such as a method and device for extracting products by magnetic adsorption.
  • container lock pins also known as twist locks, locks, fixed locks, lockpins, etc.
  • the lock pins stacked disorderly in the ship's unloaded lock pin baskets need to be extracted and transferred.
  • the lock pins are picked and transferred manually, the work efficiency is low, and due to the large workload, it is also easy to make mistakes. Therefore, there is an urgent need to provide a magnetically controlled product extraction method and extraction device, especially under the conditions of automated terminal operations, to solve the above-mentioned problems.
  • This paper proposes a method and device for extracting products by magnetic adsorption, which realizes the stable extraction of the lock pin, improves the work efficiency, and avoids the phenomenon of idling in the magnetic adsorption device.
  • This article provides a method for extracting products by magnetic adsorption.
  • the product is extracted by an extraction device.
  • the extraction device includes a weighing device and a magnetron extraction device.
  • the magnetron extraction device is connected to the weighing device.
  • the magnetron extraction device is connected to the weighing device.
  • the device is configured to be capable of magnetically adsorbing the product and driving the product to rise and fall.
  • the magnetic control extraction device and the extracted product are measured by the weighing device. Weighing is performed to determine the adsorption state of the magnetron extraction device and the product.
  • This article also provides an extraction device, including a magnetic control extraction device and a weighing device, the magnetic control extraction device is configured to magnetically adsorb products and drive the product to lift; the magnetic control extraction device and the weighing device Connected, the weighing device is configured to weigh the magnetically controlled extraction device and the product magnetically adsorbed by the magnetically controlled extraction device, and determine whether the magnetically controlled extraction device and the product are magnetically absorbed according to the weighing result. Adsorption state.
  • FIG. 1 is a schematic structural diagram of an extraction device provided in Embodiment 1 of the present invention.
  • Fig. 2 is a flowchart of a method for extracting products by magnetic adsorption provided in the third embodiment of the present invention.
  • Magnetic control extraction device 11. Telescopic part; 12. Magnetic attraction part;
  • connection shall be interpreted broadly, for example, they may be fixedly connected, detachably connected, or integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be a connection between two components or an interaction relationship between two components.
  • connection may be fixedly connected, detachably connected, or integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be a connection between two components or an interaction relationship between two components.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or include whether the first and second features are in direct contact with each other. Direct contact but contact through another feature between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or only that the level of the first feature is higher than the second feature.
  • the "below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • This embodiment provides an extraction device. As shown in FIG. 1, it includes a magnetic control extraction device 1 and a weighing device 2.
  • the magnetic control extraction device 1 is configured to magnetically absorb a product 600 and drive the product 600 to rise and fall.
  • the weighing device 2 is connected to the magnetron extraction device 1.
  • the weighing device 2 is configured to weigh the products 600 magnetically adsorbed by the magnetron extraction device 1 and the magnetron extraction device 1, and determine the magnetron extraction according to the weighing result The adsorption state of the device 1 and the product 600.
  • the extraction device magnetically adsorbs the product 600 through the magnetron extraction device 1, which has high working efficiency and convenient extraction; through the weighing device 2, the product 600 magnetically adsorbed by the magnetron extraction device 1 and the magnetron extraction device 1 is weighed to The adsorption state between the magnetron extraction device 1 and the product 600 is judged, so as to realize the stable extraction of the product 600, ensure the safe operation of the extraction device, and avoid the phenomenon that the magnetron extraction device 1 is empty.
  • the magnetron extraction device 1 includes a telescopic part 11 and a magnetic attraction part 12. One end of the telescopic part 11 is connected to the weighing device 2 and the other end is connected to the magnetic attraction part 12, and the magnetic attraction part 12 is used to absorb products. 600.
  • the weighing device 2 is connected to the fixing part 3 through the connecting rod 4, and the fixing part 3 is used for supporting and fixing, and can be fixed to other structures. The weighing device 2 can also be directly connected to the fixing part 3.
  • different magnetic attraction parts 12 may be replaced to adsorb different types of products 600, so as to realize sorting of different types of products 600.
  • the weighing device 2 is a gravity sensor.
  • the telescopic part 11 is a telescopic rod structure, and it falls within the protection scope of the present application only if it can be telescoped.
  • the magnetic attraction part 12 and the product 600 are magnetically attracted to extract the product 600.
  • the magnetic attraction part 12 is a magnet
  • the product 600 is a steel product.
  • the product 600 is a lock pin made of cast steel material.
  • the magnetic attraction portion 12 may be an electromagnetic control device.
  • the magnetic attraction portion 12 When the magnetic attraction portion 12 is energized, the magnetic attraction portion 12 can be attracted to the product 600, and when the magnetic attraction portion 12 is powered off, the magnetic attraction portion 12 is separated from the product 600 , In order to realize the adsorption and separation of the product 600 by the magnetic attraction part 12. It is also possible to control the attraction or repulsion between the magnetic attraction portion 12 and the product 600 by applying currents in different directions on the magnetic attraction portion 12, so as to achieve the adsorption and separation of the product 600 by the magnetic attraction portion 12. It is also possible to use a de-energized electromagnet to realize the magnetic attraction part 12 to enhance the magnetic attraction force, which can apply different magnetic forces to flexible operations for products 600 of different weights.
  • the extraction device also includes a control device. Both the magnetic control extraction device 1 and the weighing device 2 are electrically connected to the control device, and the magnetic control extraction device 1 and the weighing device 2 are controlled by the control device to realize the automatic control of the extraction device.
  • the extraction device also includes a display device 5, which is connected to the control device.
  • the gravity sensor transmits the weighed weight to the control device, and the control device controls the display device 5 for display. Display intuitively for easy setting and observation.
  • the extraction device also includes an alarm device, which is electrically connected with the control device.
  • the setting of the alarm device can give an alarm to the change of the state of the extraction device for prompting.
  • This embodiment provides a method for extracting products by magnetic adsorption.
  • the product 600 is extracted by the extraction device in the first embodiment.
  • the extraction device includes a weighing device 2 and a magnetron extraction device 1, and the magnetron extraction device 1 is connected to the weighing device 2.
  • the magnetic control extraction device 1 is configured to magnetically adsorb the product 600 and drive the product 600 up and down.
  • the magnetic control extraction device 1 and the extracted product 600 are weighed by the weighing device 2 To determine the adsorption state of the magnetron extraction device 1 and the product 600.
  • the product 600 is extracted by the magnetic control extraction device 1 and the work efficiency is improved.
  • the magnetic control extraction device 1 and the extracted product 600 are weighed by the weighing device 2.
  • the magnetron adsorption device 1 acts according to the adsorption state, thereby ensuring the stable extraction of the product 600 and the safety of the extraction device operation, and avoiding the magnetron adsorption device 1 from being empty The phenomenon.
  • This embodiment provides a method for extracting products by magnetic adsorption, which is a modification made on the basis of the second embodiment, as shown in Fig. 2, including the following steps:
  • the weighing device 2 weighs the initial weight of the magnetron extraction device 1 as the first value, including the weight of the telescopic part 11 and the magnetic attraction part 12.
  • the magnetic absorption extraction product 600 of the magnetron extraction device 1 includes the descending stage and the rising stage of the magnetron extraction device 1.
  • the magnetic control extraction device 1 is lowered to the first position.
  • step S4 When the weighing value of the weighing device 2 is less than the first value, the magnetron extraction device 1 magnetically adsorbs the product 600, and step S5 is entered.
  • the magnetic control extraction device 1 magnetically adsorbs the product 600.
  • the control method is simple, convenient and accurate.
  • the alarm device triggers the first alarm signal, and the magnetron extraction device 1 An alarm signal magnetic absorption product 600.
  • the magnetic control extraction device 1 returns to S2.
  • the magnetic control extraction device 1 rises.
  • the magnetic control extraction device 1 lifts the product 600 and moves to the second position.
  • the weighing value of the weighing device 2 When the weighing value of the weighing device 2 is greater than the first value, it means that the magnetron extraction device 1 has adsorbed the product 600. At this time, the second alarm signal is triggered, and the magnetron extraction device 1 lifts the product 600 to move to The second position. The second position is set according to demand. If the weighing value of the weighing device 2 is not greater than the first value, return to step S2.
  • the magnetic control extraction device 1 drives the product 600 to move to the set position.
  • the set position is a certain position directly above the carrying platform for carrying the product 600.
  • the magnetic control extraction device 1 drives the product 600 to move to the third position.
  • the third position is the position where the magnetron extraction device 1 releases the product 600.
  • the magnetron extraction device 1 releases the product 600.
  • the magnetron extraction device 1 If the weighing value of the weighing device 2 is less than or equal to the first value, the magnetron extraction device 1 returns to the initial position.
  • the magnetron extraction device 1 moves the product 600 to the third position, and releases the product 600 again.
  • This article provides a method for extracting products by magnetic adsorption.
  • the product is extracted by an extraction device.
  • the extraction device includes a weighing device and a magnetron extraction device.
  • the magnetron extraction device is connected to the weighing device.
  • the magnetron extraction device is connected to the weighing device.
  • the device is configured to be capable of magnetically adsorbing the product and driving the product to rise and fall.
  • the magnetic control extraction device and the extracted product are measured by the weighing device. Weighing is performed to determine the adsorption state of the magnetron extraction device and the product.
  • the method for extracting products by magnetic adsorption uses a magnetic control extraction device to extract the products, which improves work efficiency. In particular, it solves the problem that lock pins of different types and shapes are not clamped by a common clamp.
  • the magnetic control extraction device and the extracted product are weighed by the weighing device to determine the adsorption state of the magnetic control extraction device and the product, thereby ensuring the stable extraction of the product and the safety of the extraction device operation, and avoiding the magnetic control extraction
  • the device is running at no load.
  • the magnetic adsorption and extraction of the product by the magnetron extraction device includes a descending stage and a rising stage of the magnetron extraction device.
  • the initial weight of the magnetron extraction device obtained by the weighing device is a first value, and when the magnetron extraction device drops to the first position When it is determined that the weighing value of the weighing device is less than the first value, the magnetic control extraction device stops descending and magnetically adsorbs the product.
  • the magnetic control extraction device When the magnetic control extraction device is lowered to the first position and the weighing value of the weighing device is less than the first value, stop and continue to fall, and the magnetic control extraction device magnetically absorbs the product.
  • the control method is simple , Convenient and accurate.
  • the magnetic control extraction device drops to the first position and it is determined that the weighing value of the weighing device is less than the first value, a first alarm is triggered Signal, the magnetic control extraction device stops falling according to the first alarm signal, and magnetically attracts the product.
  • the magnetic control extraction device In the recovery phase of the magnetic control extraction device, when the weighing value of the weighing device is greater than the first value, the magnetic control extraction device Lift the product to move to the second position.
  • a second alarm signal is triggered, and the magnetic control extracts The device lifts the product to move to the second position according to the second alarm signal.
  • the magnetic control extraction device drives the product to move from the second position to the third position, and the magnetic control extraction device releases the product.
  • the magnetron extraction device determines whether the weighing value of the weighing device is less than the first value, and if so, the magnetron extraction device returns to the initial position; if not, Then the magnetron extraction device moves the product to the third position again, and releases the product again.
  • This article also provides an extraction device, including a magnetic control extraction device and a weighing device, the magnetic control extraction device is configured to magnetically adsorb products and drive the product to lift; the magnetic control extraction device and the weighing device Connected, the weighing device is configured to weigh the magnetically controlled extraction device and the product magnetically adsorbed by the magnetically controlled extraction device, and determine whether the magnetically controlled extraction device and the product are magnetically absorbed according to the weighing result. Adsorption state.
  • the extraction device magnetically adsorbs the product through the magnetic control extraction device, which is suitable for different types of lock pins and is convenient to extract; the magnetic control extraction device and the magnetically adsorbed products of the magnetic control extraction device are weighed by the weighing device to determine the magnetism Control the adsorption state between the extraction device and the product, so as to realize the stable extraction of the product and ensure the safe operation of the extraction device.
  • the above extraction device further includes a control device and an alarm device, and the alarm device, the magnetic control extraction device and the weighing device are electrically connected to the control device.
  • the setting of the alarm device can give an alarm to the change of the state of the extraction device for prompting.
  • the method for extracting products by magnetic adsorption proposed in this paper extracts products through a magnetically controlled extraction device, which solves the bottleneck of different types and shapes of lock pins without universal clamps, improves work efficiency, and improves work efficiency during the extraction process.
  • the magnetic control extraction device and the extracted product are weighed by the weighing device to determine the adsorption state of the magnetic control extraction device and the product, thereby ensuring the stable extraction of the product and the safety of the extraction device operation, and avoiding the magnetic control extraction
  • the device is empty.
  • the extraction device proposed in this paper magnetically adsorbs the product through the magnetic control extraction device, which has high working efficiency and convenient extraction; the magnetic control extraction device and the magnetically absorbed products of the magnetic control extraction device are weighed by the weighing device to determine the magnetic control
  • the adsorption state between the extraction device and the product so as to realize the stable extraction of the product, ensure the safe operation of the extraction device, and avoid the phenomenon of no load in the magnetic control extraction device.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Sorting Of Articles (AREA)

Abstract

La présente invention concerne un procédé de levage d'un produit (600) par attraction magnétique, et un dispositif de levage. Le dispositif de levage comprend un dispositif de pesage (2) et un dispositif de levage à commande magnétique (1), le dispositif de levage à commande magnétique (1) est raccordé au dispositif de pesage (2), le dispositif de levage à commande magnétique (1) est conçu pour pouvoir attirer magnétiquement un produit (600) et entraîner le levage du produit (600), et au cours du processus de levage du produit (600) et de saisie de celui-ci par le dispositif de levage à commande magnétique (1), le dispositif de levage à commande magnétique (1) et le produit levé et saisi (600) sont pesés par le dispositif de pesage (2) de façon à déterminer l'état d'attraction du dispositif de levage à commande magnétique (1) vers le produit (600).
PCT/CN2019/109418 2019-09-30 2019-09-30 Procédé de levage de produit par attraction magnétique, et dispositif de levage WO2021062616A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/109418 WO2021062616A1 (fr) 2019-09-30 2019-09-30 Procédé de levage de produit par attraction magnétique, et dispositif de levage
CN201980099391.8A CN114222650A (zh) 2019-09-30 2019-09-30 一种磁吸附提取产品的方法及提取装置

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Application Number Priority Date Filing Date Title
PCT/CN2019/109418 WO2021062616A1 (fr) 2019-09-30 2019-09-30 Procédé de levage de produit par attraction magnétique, et dispositif de levage

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CN204747318U (zh) * 2015-05-28 2015-11-11 杭州飞越汽车零部件有限公司 冲床上下料智能机械手
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