CN110395557A - A kind of workpiece turning charging method and its equipment - Google Patents
A kind of workpiece turning charging method and its equipment Download PDFInfo
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- CN110395557A CN110395557A CN201910579344.5A CN201910579344A CN110395557A CN 110395557 A CN110395557 A CN 110395557A CN 201910579344 A CN201910579344 A CN 201910579344A CN 110395557 A CN110395557 A CN 110395557A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 230000001939 inductive effect Effects 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 35
- 230000008569 process Effects 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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Classifications
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The present invention relates to charging equipment technical field more particularly to a kind of workpiece turning charging method and its equipment, for the overturning feeding to positive and negative stacked workpiece；Including angle detecting mould group, crawl mould group, turning mould group and transmission module.Goal of the invention of the invention is to provide a kind of workpiece turning charging equipment, and solving existing workpiece feeding using technical solution provided by the invention there is technical issues that.
Description
Technical field
The present invention relates to charging equipment technical field more particularly to a kind of workpiece turning charging method and its equipment.
Background technique
Some workpiece staggeredly misplace and stack, therefore the workpiece needs of this stacking mode are completed at the same time and put to workpiece
The identification judgement of direction and central axes is set, bigger difficulty undoubtedly is caused to the automation crawl of workpiece, workpiece can not be complete thus
At automation grasping manipulation.
Wherein, kind of pallet workpiece is a kind of manufactured pedestal for convenience of putting with shipment requirement for scattered articles, one
As be rectangular or rectangle.Pallet workpiece includes single side by shape point, and workpiece supplier is when to single side workpiece shipment
Raising conevying efficiency, workpiece stacked together by positive reverse-order, for this purpose, the central axes of the central axes of workpiece and whole pile workpiece
It is not overlapped.
And for the workpiece face-up placed, use is directly unloaded, for the workpiece that reverse side is placed upward, also
It needs to overturn and unloads use, undoubtedly increase labour, reduce processing efficiency.
Summary of the invention
Goal of the invention of the invention is to provide a kind of workpiece turning charging method and its equipment, use are provided by the invention
Technical solution solves existing workpiece feeding and there is technical issues that.
In order to solve the above-mentioned technical problem, one aspect of the present invention proposes a kind of workpiece turning charging method, including following step
It is rapid:
S100, by stacked Workpiece transfer to feeding station；
S200, the placement direction for determining top workpiece；
S300, if it is determined that top workpiece is just set, grab top workpiece, be placed on transmission station；
If it is determined that top workpiece inverts, top workpiece is grabbed, overturning is placed on transmission station；
S400, step S100-S300 is repeated until the workpiece feeding on feeding station finishes.
Preferably, in the step s 100, whether the workpiece on feeding station is incuded in place using inductor.
In the step s 100, by stacked Workpiece transfer to feeding station；It preferably, further include that step is neatly placed, comprising:
S101, stacked Workpiece transfer in place after, using the frame body being vertically arranged along the length or width direction of workpiece to work
Part is clamped；
S102, equally the frame body being vertically arranged is used to clamp along the width or length direction of workpiece to workpiece.
In step s 200, determine the placement direction of top workpiece；Preferably, the sense being located above workpiece for two groups
Component is answered, one group of inductive component is located at the central axes of whole pile workpiece, and another group of inductive component is located at other than the central axes；Packet
Include following steps:
S201, two groups of inductive components move down be resisted against on top workpiece simultaneously；
S202, two groups of inductive components sense workpiece, determine the face-up of top workpiece；
S203, wherein one group of inductive component are not sensed by workpiece, determine the reverse side of top workpiece upward.
In step S300, top workpiece is grabbed；Preferably, comprising the following steps:
S301, top workpiece and the whole width difference a piled up between workpiece are obtained；
S302, clamping jaw is moved along the width direction of workpiece, and obtain moving distance when detecting top side edge of workpiece
b；
S303, compare the offset direction that moving distance b and width difference a obtains top workpiece；
S304, position to the surface of top workpiece that clamping jaw is adjusted according to offset direction and width difference a, and complete to grab
Take movement.
Preferably, before the mobile clamping jaw of step S302, the safe distance c between clamping jaw and whole pile workpiece is preset, and pacify
Full distance c is not less than 0.
In step S303, compare the offset direction that moving distance b and width difference a obtains top workpiece；Preferably,
If moving distance b is greater than width difference a, determine that top workpiece is biased to the moving direction of clamping jaw；
If moving distance d is less than width difference a, determine that top workpiece is biased to the mobile opposite direction of clamping jaw.
In step s 304, according to position to the surface of top workpiece of offset direction and width difference a adjustment clamping jaw；
Preferably,
If it is determined that top workpiece is biased to the moving direction of clamping jaw, clamping jaw opposite direction adjusts distance e=safe distance c+ wide
Spend difference a/2；
If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+
Width difference a/2.
Preferably, before step S304, the position for adjusting clamping jaw, the height f of top workpiece is obtained；In step S304
In, clamping jaw adjusts its height according to the height f.
Preferably, pass through inductor in place with transmission station at feeding station, overturning and workpiece is completed to incude.
Another aspect of the present invention also provides a kind of workpiece turning charging equipment, for the overturning to positive and negative stacked workpiece
Material；It is characterized by comprising angle detecting mould group, crawl mould group (100), turning mould group (200) and transmission modules (300)；
The angle detecting mould group is set to workpiece set-down location, carries out placement direction detection to top workpiece；
The crawl mould group (100), the mobile workpiece that is set to are placed, between turning mould group and transmission module, and crawl is most pushed up
Layer workpiece is placed on transmission module (300) or is sent to the turning mould group (200)；
The turning mould group (200), accepts the workpiece of crawl mould group (100) transmission, and completes to overturn；
The transmission module (300) is used for conveying work pieces.
Preferably, the angle detecting mould group includes the inductive component (500) for incuding top workpiece top surface planarization, is used
In the placement direction of detection top workpiece.
Preferably, crawl mould group (100) includes the three of two groups of clamping jaws (110) and driving clamping jaw (110) movement
Axis transfer assembly (600), for driving clamping jaw mobile.
Preferably, the turning mould group (200) includes the fixture (210) that can be grabbed the workpiece and overturn, for completing
The overturning of workpiece.
Preferably, the crawl mould group (100) further includes workpiece sensing component and moving distance detection components；
The workpiece sensing component and the clamping jaw (110) synchronizing moving, and top work is reached in the clamping jaw (110)
Trigger signal is generated when the side of part；
The moving distance detection components obtain workpiece sensing component and start to clamping jaw described in generation trigger signal process
(110) mobile distance；
Clamping jaw described in two groups (110) is moved to top workpiece according to the distance that the moving distance detection components obtain
Surface, and move down and complete crawl to workpiece.
The offset detection and grasping movement of above structure completion top workpiece.
Preferably, the workpiece sensing component be disposed therein on a clamping jaw (110) to penetrating inductor, and incude light
In on a vertical plane, the side for completing top workpiece is detected for the end of line and the clamping jaw (110).
Preferably, the inductive component (500) include extend downwardly and can retract upwards against block (510) and induction
The inductor (520) retracted against block (510), for being resisted against the top surface of top workpiece and generating inductive signal.
Preferably, the bottom surface against block (510) is in the clamping position for being vertically higher than the clamping jaw (110), and high
Degree difference is not less than the plate thickness of workpiece, it is ensured that clamping jaw is not influenced in the process of grasping by against block.
Preferably, the three axis transmission component (600) is believed in the driving part of vertical direction and the inductive component (500)
Number connection, form height detection component, for detecting the height of top workpiece.
Preferably, the driving part of clamping jaw described in two groups (110) includes the rotating nuts (140) of servo motor driving and sets
The Bidirectional-screw (150) being placed on the rotating nuts (140)；Clamping jaw described in two groups (110) is respectively arranged at the two-way silk
The both ends of bar (150), for completing the grasping movement of clamping jaw.
It preferably, further include that mould group (400) are neatly placed；The mould group (400) that is neatly placed includes second that two can move towards
Frame body (420), and the first frame body (410) and block (430) can be moved towards；Second frame body (420) and block (430)
Moving direction it is perpendicular, for stacked workpiece to be neatly placed.
Preferably, grating scale (440) are provided on the transmission parts of second frame body (420) and block (430),
Size for completing stacked workpiece obtains.
Preferably, equal in the workpiece set-down location, crawl mould group (100), turning mould group (200) and transmission module (300)
Workpiece inductor (220) in place are provided with, for incuding workpiece, improve the accuracy of workpiece turning feeding.
Preferably, including the frame for installing crawl mould group (100), turning mould group (200) and transmission module (300)
Body, so that workpiece turning charging equipment integrated setting, reduces occupied space.
From the foregoing, it will be observed that available following the utility model has the advantages that passing through angle detecting mould using technical solution provided by the invention
Group, crawl mould group, turning mould group and transmission module successively complete overturning feeding to stacked workpiece, wherein angle detecting mould group pair
Top workpiece completes angle detecting, and when detecting face-up, crawl mould group will be directly placed at transmission after the workpiece grabbing
In mould group, when detecting reverse side upward, mould group is grabbed by the workpiece grabbing and is sent to turning mould group, complete to overturn by turning mould group
Afterwards, then it is placed on transmission module, and then realizes the automatic turning feeding of workpiece, realize the automation control of workpiece feeding.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is workpiece turning of embodiment of the present invention charging method flow diagram；
Fig. 2 is workpiece turning of embodiment of the present invention charging equipment structural schematic diagram；
Fig. 3 is that modular structure schematic diagram is neatly placed in workpiece turning of embodiment of the present invention charging equipment；
Fig. 4 is that modular structure schematic diagram is grabbed in workpiece turning of embodiment of the present invention charging equipment；
Fig. 5 is that mould group partial structure diagram is grabbed in workpiece turning of embodiment of the present invention charging equipment；
Fig. 6 is turning mould group structural schematic diagram in workpiece turning of embodiment of the present invention charging equipment.
In figure: 100 be crawl mould group, and 200 be turning mould group, and 300 be transmission module, and 400 is are neatly placed mould group, and 500 be sense
Component is answered, 600 be three axis transmission components, and 110 be clamping jaw, and 120 be workpiece sensing component, and 130 be servo motor, and 140 be rotation
Nut, 150 be Bidirectional-screw, and 210 be fixture, and 220 be workpiece inductor in place, and 410 be the first frame body, and 420 be the second frame body,
430 be block, and 440 be grating scale, and 510 is, against block, 520 are inductor, and 610 be rotating nuts, and 620 be screw rod, and 630 be peace
Loading board.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only section Example of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art's every other reality obtained under that premise of not paying creative labor
Example is applied, shall fall within the protection scope of the present invention.
Workpiece includes single side by shape point, if workpiece is stacked by positive reverse-order, needs the workpiece placed upward to reverse side,
It carries out overturning to unload and could use, undoubtedly increases labour, reduce processing efficiency.
As shown in Figure 1, to solve the above-mentioned problems, on the one hand the present embodiment proposes a kind of workpiece turning charging method, wrap
Include following steps:
S100, by stacked Workpiece transfer to feeding station.
In this step, whether the workpiece on feeding station can be incuded in place using inductor.
For workpiece in place, also needs it to be completed movement is neatly placed, to ensure to complete other steps, detect Workpiece transfer
After on to feeding station, step, which is neatly placed, includes:
S101, stacked Workpiece transfer in place after, using the frame body being vertically arranged along the length or width direction of workpiece to work
Part is clamped；
S102, equally the frame body being vertically arranged is used to clamp along the width or length direction of workpiece to workpiece.
S200, the placement direction for determining top workpiece.
In this step, positive and negative detection can be completed by the way of detecting top workpiece top surface flatness, specifically,
The inductive component that can be located above workpiece using two groups, one group of inductive component are located at the central axes of whole pile workpiece, and another group
Inductive component is located at other than central axes.Detection process is as described below:
S201, two groups of inductive components move down be resisted against on top workpiece simultaneously；
S202, two groups of inductive components sense workpiece, determine the face-up of top workpiece；
S203, wherein one group of inductive component are not sensed by workpiece, determine the reverse side of top workpiece upward.
S300, if it is determined that top workpiece is just set, grab top workpiece, be placed on transmission station；
If it is determined that top workpiece inverts, top workpiece is grabbed, overturning is placed on transmission station.
Axis line position due to top workpiece not at whole pile workpiece also wraps thus during workpiece grabbing
Include following steps:
S301, top workpiece and the whole width difference a piled up between workpiece are obtained；
S302, clamping jaw is moved along the width direction of workpiece, and obtain moving distance when detecting top side edge of workpiece
b；
S303, compare the offset direction that moving distance b and width difference a obtains top workpiece；
S304, position to the surface of top workpiece that clamping jaw is adjusted according to offset direction and width difference a, and complete to grab
Take movement.
Wherein, before the mobile clamping jaw of step S302, the safe distance c between clamping jaw and whole pile workpiece, and safety are preset
Distance c is not less than 0.
In step S303, compare the offset direction that moving distance b and width difference a obtains top workpiece；
If moving distance b is greater than width difference a, determine that top workpiece is biased to the moving direction of clamping jaw；
If moving distance d is less than width difference a, determine that top workpiece is biased to the mobile opposite direction of clamping jaw.
In step s 304, according to position to the surface of top workpiece of offset direction and width difference a adjustment clamping jaw；
If it is determined that top workpiece is biased to the moving direction of clamping jaw, clamping jaw opposite direction adjusts distance e=safe distance c+ wide
Spend difference a/2；
If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+
Width difference a/2.
Before step S304, the position for adjusting clamping jaw, the height f of top workpiece is obtained；In step s 304, clamping jaw
Its height is adjusted according to height f.
S400, step S100-S300 is repeated until the workpiece feeding on feeding station finishes.
In above-mentioned steps, passes through inductor in place with transmission station also at feeding station, overturning and workpiece is completed
Induction.
Based on above-mentioned workpiece turning charging method, on the other hand the present embodiment also proposes a kind of workpiece turning charging equipment,
It not only include crawl mould group needed for crawl overturning for this purpose, referring to Fig. 2 for the overturning feeding to positive and negative stacked workpiece
100, turning mould group 200 and transmission module 300 further include the angle detecting mould group for detecting workpiece both forward and reverse directions.
Wherein, angle detecting mould group carries out front and back sides detection to top workpiece；
Mould group 100 is grabbed, is placed on transmission for grabbing top workpiece, and according to the testing result of angle detecting mould group
Mould group 300 is sent to turning mould group 200；
Turning mould group 200 accepts the workpiece that crawl mould group 100 transmits, and completes to overturn；
Transmission module 300, for transmitting face-up workpiece.
Workpiece mostly uses the plate with two support legs to be made, and is length with the side where support leg in the present embodiment
Direction is spent, width direction is then corresponding to it, thus above-mentioned workpiece central axes and the nonoverlapping situation in whole pile workpiece central axes, with width
It spends subject to direction, there are two kinds of situations to the left or to the right for workpiece central axes, and for the workpiece of specification of the same race, offset distance is
The width of supporting element.
Based on the arrangement mode of above-mentioned workpiece, workpiece turning charging equipment provided in this embodiment is not only needed to most pushing up
The positive and negative placement direction of layer workpiece completes judgement, it is also necessary to complete to determine to its central point.Direction determining is in order to control promptly mould
It is placed at transmission module 300 or turning mould group 200 after group grabbing workpiece；Central point determines the then position in order to control clamping jaw
It sets, accurate crawl is completed to top workpiece.
Before completing above-mentioned direction determining and central point judgement, preliminary treatment need to be completed to whole pile workpiece, need first to obtain
The technical parameter for taking workpiece and clamping jaw carries out calculating judgement further according to the technical parameter of acquisition, judges to obtain top workpiece
Offset direction and offset distance, the final clamping jaw that controls complete crawl.
Fig. 3 is referred to, in above structure feature, is also provided in the placement position of whole pile workpiece and mould group 400 is neatly placed, be neatly placed
Mould group 400 includes that the first frame body 410 being vertically arranged and two can move horizontally the second frame body being set on the first frame body 410 in opposite directions
420, the first frame body 410 and the second frame body 420 surround the chamfered shape for forming plate to be neatly placed, on two the second frame bodies 420
It is additionally provided with block 430 that can be mobile towards the first frame body 410.
In this configuration, start the second frame body 420, the left and right sides of workpiece is completed to be neatly placed, restarts the second frame body 420
Block 430, block 430 and the cooperation of first frame body 410 complete workpiece and movement are neatly placed in the front-back direction.
In order to realize the acquisition of workpiece parameter, light also is provided on the transmission parts of the second frame body 420 and block 430
Grid ruler 440.
For it is whole pile workpiece width measurement, when the second frame body 420 slide in opposition and to 410 center of the first frame body slide,
Grating scale 440 on second frame body 420, grating reading head are moved to 410 center of the first frame body together with the second frame body 420
Dynamic, after the completion of plate X direction is neatly placed, the second frame body 420 stops sliding, the displacement number that grating reading head is shown at this time
Value X1, the mobile distance of as the second frame body 420, due to initial distance X between two the second frame bodies 4202It is in device design
Given value, the width that can calculate plate is X=X2- 2X1。
Linear measure longimetry for whole pile workpiece, starts to the first frame body 410 in block 430 and slides, the light on block 430
Grid ruler 440, grating reading head is mobile to the first frame body 410 together with block 430, when the front-rear direction to workpiece has been neatly placed
Cheng Hou, block 430 stop sliding, the shift value Y that grating reading head is shown at this time1, as block 430 is to the first frame body 410
The initial distance of mobile distance, block 430 and the first frame body 410 is Y2Given value, the width that can calculate plate is Y=
Y2- Y1。
It, can be according to the width of workpiece and support leg since the length and width of whole pile workpiece is related to the specification of workpiece
Width, which is added, to be obtained, and thus in addition to the technical parameter that above structure completes whole pile workpiece obtains, can also pass through the specification of workpiece
It calculates and obtains.
And the height of whole pile workpiece is related to the specification of workpiece and stacked quantity, can not only obtain thus from specification, needs
The elevation carrection that whole pile workpiece is completed by extraneous measurement component, will obtain height elaborate below.
After the technical parameter acquisition for completing whole pile workpiece, its height need to be completed to detect, so that the crawl for controlling clamping jaw is high
Degree, in addition also needs the offset distance of top workpiece to be obtained.In offset distance acquisition process, it is assumed that whole pile workpiece arrangement
Neatly, the workpiece of adjacent two layers is staggered, and offset distance is then one of the width difference between whole pile workpiece and Zhang Gong's part
Half, it can be calculated, can also be obtained using extraneous measurement component in conjunction with the data that the specification of workpiece and measurement obtain.
Fig. 4-5 is referred to, in height acquisition process, the present embodiment is completed using height detection component, height detection group
Part includes that the inductor 520 against block 510 and induction against 510 top of block extended downwardly by elastomeric element forms, and works as height
Degree detection components move down order when being resisted against top workpiece top surface against block 510, and height detection component continues to move down, so that
It is jacked up upwards against block 510, when jack-up to its top triggers inductor 520, inductor 520 generates signal or occurs in signal
It is disconnected, then determine that height detection component has arrived at top workpiece, calculates the height for obtaining the decline of height detection component at this time,
In conjunction with the elemental height of height detection component, the height of whole pile workpiece is finally obtained.
For this purpose, need to drop at workpiece in height detection component and complete height acquisition.
The acquisition for completing the technical parameter of whole pile workpiece at this time, the height including whole pile workpiece, width and top
The offset distance of workpiece.Wherein it is whole pile workpiece height in order to realize clamping jaw 110 grab during control；The width of whole pile workpiece
Degree and offset distance are then in order to which the offset direction for realizing top workpiece and central point judge.
It should be noted that the work due to workpiece turning charging equipment provided in this embodiment for obverse and reverse upward
Part, the movement after crawl is different, and for face-up workpiece, clamping jaw 110 is directly placed in transmission module 300 after grabbing
Transmission is completed, for the workpiece of reverse side upward, clamping jaw 110 is transferred at turning mould group 200 after grabbing, complete by turning mould group 200
After the overturning of workpiece, then it is delivered to transmission module 300.
For this purpose, also needing the angle detecting of completion top workpiece.In Workpiece structure, front is burnishing surface, in reverse side, is
Ensure its bearing capacity, in the axis line position of reverse side is respectively and fixedly provided with reinforcement fin.For the structure, front and back sides detecting step can
To achieve the effect that detect front and back sides by the top surface flatness for detecting top workpiece.
In the present embodiment, in the detection process of front and back sides, the hardware of use need to include two groups of senses being located above workpiece
Component 500 is answered, one group of inductive component 500 is located at the central axes of whole pile workpiece, and another group of inductive component 500 is located at whole pile workpiece
Central axes other than.When workpiece is face-up, since top surface is burnishing surface, two groups of inductive components 500 are in folding process
Obtain inductive signal；Workpiece reverse side upward when, due to the architectural characteristic of workpiece, the anti-workpiece top surface put exist reinforce it is convex
Rib, the inductive component 500 at central axes can obtain inductive signal, and be located at the inductive component 500 other than central axes then
Inductive signal can not be obtained, is this two groups of inductive components 500 in folding process, only one group of 500 the sense of access of inductive component should be believed
Number.
After the angle detecting for completing workpiece, the central point of workpiece can be completed to detect.In the present embodiment, using pressing from both sides
The workpiece sensing component 120 being arranged on pawl 110 completes detection.
Because there is folding process in height detection component, angle detecting component, clamping jaw 110 and workpiece sensing component 120,
For this purpose, in order to reduce the occupied space of whole device, it in the present embodiment can be by above-mentioned height detection component, angle detecting group
Part, clamping jaw 110 and workpiece sensing component 120 are arranged on three axis transmission components 600, and specific structure is as described below:
Three axis transmission components 600 include the rotating nuts 610 driven by servo motor, are connect with rotating nuts 610
Screw rod 620 is fixed with mounting plate 630 in the bottom end of screw rod 620.Wherein rotating nuts 610 and servo motor are each attached to workpiece
On the bracket of top.
Height detection component and angle detecting component are made of inductive component 500.Difference is, height detection component by
One group of inductive component 500 is constituted, and after the inductive component 500 obtains inductive signal, i.e., judgement height detection component is mobile in place,
The height for calculating acquisition three axis transmission components 600 decline can be obtained the height of whole pile workpiece；Angle detecting component is then by two groups
Inductive component 500 is constituted, and detection process is not explained separately herein referring to described above.
Workpiece sensing component 120 and clamping jaw 110 are each attached on mounting plate 630, and are further fixed on mounting plate 630
The rotating nuts 140 that servo motor 130 drives, rotating nuts 140 are connected with Bidirectional-screw 150, and two groups of clamping jaws 110 are fixed respectively
At the both ends of Bidirectional-screw 150；Workpiece sensing component 120 can be opposite type sensor, be fixed at one of clamping jaw 110
On.
After the angle detecting that angle detecting component completes workpiece, three axis transmission components 600 drive clamping jaw 110 and workpiece inspection
It is mobile to survey component 120, in the process, the initial position of clamping jaw 110 is located at wide along workpiece as axle center using whole pile workpiece central axes
It spends direction to be symmetrical arranged, when workpiece sensing component 120 is located on the clamping jaw 110 in left side, moving process then moves right, workpiece inspection
When survey component 120 is located on the clamping jaw 110 on right side, moving process is then moved to the left.
It should be noted that three axis transmission components 600 drive clamping jaw 110 and 120 moving process of workpiece sensing component
In, in order to avoid inductive component 500 and clamping jaw 110 collide with workpiece, the distance between two groups of clamping jaws 110 need to be according to acquisition
Whole pile workpiece width adjustment to more than its width, and three axis transmission components 600 need to be moved up first, until inductive component 500
Against block 510 be detached from top workpiece.
When workpiece sensing component 120 senses the side of workpiece, the moving distance for obtaining clamping jaw 110 is calculated.It is final logical
Cross offset direction and the offset distance for calculating and judging top workpiece.Setting workpiece detection components 120 are located at the clamping jaw 110 in left side
On, specific deterministic process is as described below:
If e ≈ b+d/2, determine that the central point of top workpiece is biased to the clamping jaw 110 on right side, and offset distance is b/2；
If e ≈ d/2, determine that the central point of top workpiece is biased to the clamping jaw 110 in left side, and offset distance is b/2.
When wherein e is that workpiece sensing component 120 obtains signal, the mobile distance of clamping jaw 110；B is whole pile workpiece and one
Width between workpiece is poor；D is that clamping jaw 110 is avoided to collide with workpiece, and the distance between two groups of clamping jaws 110 need to be according to acquisition
Whole pile workpiece width adjustment after width, it is whole pile workpiece width between difference.
By above structure feature and detecting step, the offset of the height, top workpiece of whole pile workpiece is finally obtained
Direction and offset distance.Three axis transmission components 600 control clamping jaw 110 returns to initial position, further according to above-mentioned parameter by clamping jaw 110
It is accurately moved to the surface of top workpiece, completes grasping movement.
When angle detecting component detection to top workpiece is face-up, three axis transmission components 600 drive clamping jaw 110
The workpiece of crawl is sent in transmission module 300；Stacked workpiece, overturning are suspended in by three axis transmission components, 600 activity
300 top of mould group 200 and transmission module；
Refer to Fig. 6, when angle detecting component detection to top workpiece be reverse side upward when, three axis transmission components 600
Drive clamping jaw 110 that the workpiece of crawl is sent to turning mould group 200, wherein turning mould group 200 can be along the width of the workpiece including two groups
The mobile overturning component in direction, overturning component include can grabbing workpiece side and the fixture 210 that overturns, and in fixture
Workpiece inductor 220 in place are provided on 210.
Workpiece in turning mould group 200 is when inductor 220 senses the workpiece that clamping jaw 110 transmits in place, start completion pair
The holding action of workpiece, then 180 ° of overturnings are carried out to the workpiece of clamping, in switching process, in order to ensure two groups of fixtures 210 turn over
The synchronism turned, in turning mould group 200 provided in this embodiment, wherein one group of fixture 210 is rotated using motor driven, it is another
Group fixture 210 then is completed to reset using rotary cylinder.
When turning mould group 200 completes rotary movement, three axis transmission components 600 need to drive clamping jaw 110 to leave to workpiece and turn over
Turn the position other than path, the workpiece of overturning is avoided to hit clamping jaw 110.
After turning mould group 200 completes the overturning of workpiece, three axis transmission components 600 drive clamping jaw 110 to be moved to overturning again
At mould group 200, the workpiece in turning mould group 200 is grabbed, workpiece is face-up at this time, which is placed on transmission module
On 300.
To sum up, the present embodiment is by angle detecting mould group, crawl mould group, turning mould group and transmission module successively to stacked
Workpiece completes overturning feeding, and wherein angle detecting mould group completes angle detecting to top workpiece, when detecting face-up, grabs
Modulus group will be directly placed in transmission module after the workpiece grabbing, and when detecting reverse side upward, crawl mould group grabs the workpiece
It takes and is sent to turning mould group, after completing overturning by turning mould group, then be placed on transmission module, and then realize the automatic turning of workpiece
Feeding realizes the automation control of workpiece feeding.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (23)
1. a kind of workpiece turning charging method, it is characterised in that: the following steps are included:
S100, by stacked Workpiece transfer to feeding station；
S200, the placement direction for determining top workpiece；
S300, if it is determined that top workpiece is just set, grab top workpiece, be placed on transmission station；
If it is determined that top workpiece inverts, top workpiece is grabbed, overturning is placed on transmission station；
S400, step S100-S300 is repeated until the workpiece feeding on feeding station finishes.
2. workpiece turning charging method according to claim 1, it is characterised in that: in the step s 100, using inductor
Whether the workpiece on feeding station is incuded in place.
3. workpiece turning charging method according to claim 1 or 2, in the step s 100, extremely by stacked Workpiece transfer
Feeding station；It is characterized by also including step is neatly placed, comprising:
S101, stacked Workpiece transfer in place after, using the frame body being vertically arranged along the length or width direction of workpiece to workpiece into
Row clamping；
S102, equally the frame body being vertically arranged is used to clamp along the width or length direction of workpiece to workpiece.
4. workpiece turning charging method according to claim 1 determines the placement side of top workpiece in step s 200
To；It is characterized by: the inductive component being located above workpiece for two groups, one group of inductive component is located at the central axes of whole pile workpiece
Place, another group of inductive component are located at other than the central axes；The following steps are included:
S201, two groups of inductive components move down be resisted against on top workpiece simultaneously；
S202, two groups of inductive components sense workpiece, determine the face-up of top workpiece；
S203, wherein one group of inductive component are not sensed by workpiece, determine the reverse side of top workpiece upward.
5. workpiece turning charging method according to claim 1 grabs top workpiece in step S300；Its feature
It is: the following steps are included:
S301, top workpiece and the whole width difference a piled up between workpiece are obtained；
S302, clamping jaw is moved along the width direction of workpiece, and obtain moving distance b when detecting top side edge of workpiece；
S303, compare the offset direction that moving distance b and width difference a obtains top workpiece；
S304, position to the surface of top workpiece of clamping jaw is adjusted according to offset direction and width difference a, and it is dynamic to complete crawl
Make.
6. workpiece grabbing method according to claim 5, it is characterised in that: before the mobile clamping jaw of step S302, preset
Safe distance c between clamping jaw and whole pile workpiece, and safe distance c is not less than 0.
7. workpiece grabbing method according to claim 5 or 6 compares moving distance b and width difference a in step S303
Obtain the offset direction of top workpiece；It is characterized by:
If moving distance b is greater than width difference a, determine that top workpiece is biased to the moving direction of clamping jaw；
If moving distance d is less than width difference a, determine that top workpiece is biased to the mobile opposite direction of clamping jaw.
8. workpiece grabbing method according to claim 7 is adjusted according to offset direction and width difference a in step s 304
The position of clamping jaw to the surface of top workpiece；It is characterized by:
If it is determined that top workpiece is biased to the moving direction of clamping jaw, it is poor that clamping jaw opposite direction adjusts distance e=safe distance c+ width
a/2；
If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+ width
Poor a/2.
9. workpiece grabbing method according to claim 5, it is characterised in that: in step S304, adjust clamping jaw position it
Before, obtain the height f of top workpiece；In step s 304, clamping jaw adjusts its height according to the height f.
10. a kind of workpiece turning charging equipment, for the overturning feeding to positive and negative stacked workpiece；It is characterized by comprising sides
To detection mould group, crawl mould group (100), turning mould group (200) and transmission module (300)；
The angle detecting mould group is set to workpiece set-down location, carries out placement direction detection to top workpiece；
The crawl mould group (100), the mobile workpiece that is set to are placed, between turning mould group and transmission module, and top work is grabbed
Part is placed on transmission module (300) or is sent to the turning mould group (200)；
The turning mould group (200), accepts the workpiece of crawl mould group (100) transmission, and completes to overturn；
The transmission module (300) is used for conveying work pieces.
11. workpiece turning charging equipment according to claim 10, it is characterised in that: the angle detecting mould group includes sense
Answer the inductive component (500) of top workpiece top surface planarization.
12. workpiece turning charging equipment according to claim 11, it is characterised in that: the crawl mould group (100) includes
Three axis transfer assemblies (600) of two groups of clamping jaws (110) and driving clamping jaw (110) movement.
13. workpiece turning charging equipment according to claim 10, it is characterised in that: the turning mould group (200) includes
The fixture (210) that the workpiece can be grabbed and overturn.
14. workpiece turning charging equipment according to claim 12, it is characterised in that: the crawl mould group (100) is also wrapped
Include workpiece sensing component and moving distance detection components；
The workpiece sensing component and the clamping jaw (110) synchronizing moving, and top workpiece is reached in the clamping jaw (110)
Trigger signal is generated when side；
The moving distance detection components obtain workpiece sensing component and start to clamping jaw (110) described in generation trigger signal process
Mobile distance；
Clamping jaw described in two groups (110) is being moved to top workpiece just according to the distance that the moving distance detection components obtain
Top, and move down the crawl completed to workpiece.
15. workpiece turning charging equipment according to claim 14, it is characterised in that: the workpiece sensing component is setting
In to penetrating inductor, and incuding the end of light and the clamping jaw (110) on a vertical plane on a wherein clamping jaw (110).
16. workpiece gripper device according to claim 11, it is characterised in that: the inductive component (500) includes downward
Extend and can retract upwards against block (510) and the induction inductor (520) retracted against block (510).
17. workpiece gripper device according to claim 16, it is characterised in that: the bottom surface against block (510) is in perpendicular
Histogram is to the clamping position for being higher than the clamping jaw (110), and difference in height is not less than the plate thickness of workpiece.
18. workpiece gripper device according to claim 12, it is characterised in that: the three axis transmission component (600) is in perpendicular
Histogram to driving part connect with the inductive component (500) signal, form height detection component.
19. workpiece gripper device according to claim 10, it is characterised in that: the driving portion of clamping jaw described in two groups (110)
Part includes the rotating nuts (140) that servo motor drives and the Bidirectional-screw (150) being set on the rotating nuts (140)；
Clamping jaw described in two groups (110) is respectively arranged at the both ends of the Bidirectional-screw (150).
20. workpiece turning charging equipment according to claim 10, it is characterised in that: further include being carried out to stacked workpiece
What is be neatly placed is neatly placed mould group (400)；The mould group (400) that is neatly placed includes two the second frame bodies (420) that can be moved towards, Yi Jike
Move towards the first frame body (410) and block (430)；Second frame body (420) is mutually hung down with the moving direction of block (430)
Directly.
21. workpiece turning charging equipment according to claim 20, it is characterised in that: in second frame body (420) and
Grating scale (440) are provided on the transmission parts of block (430).
22. workpiece turning charging equipment according to claim 10, it is characterised in that: in the workpiece set-down location, crawl
Mould group (100), turning mould group (200) and transmission module (300) are provided with workpiece inductor (220) in place.
23. workpiece turning charging equipment described in any one of 0-22 according to claim 1, it is characterised in that: including for filling
If grabbing the frame body of mould group (100), turning mould group (200) and transmission module (300).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910579344.5A CN110395557A (en) | 2019-06-28 | 2019-06-28 | A kind of workpiece turning charging method and its equipment |
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| CN201910579344.5A CN110395557A (en) | 2019-06-28 | 2019-06-28 | A kind of workpiece turning charging method and its equipment |
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| CN201910579344.5A Pending CN110395557A (en) | 2019-06-28 | 2019-06-28 | A kind of workpiece turning charging method and its equipment |
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| CN111747111A (en) * | 2020-07-29 | 2020-10-09 | 迅得机械（东莞）有限公司 | Automatic plate position distinguishing and feeding and discharging device |
| CN111874593A (en) * | 2020-07-29 | 2020-11-03 | 迅得机械（东莞）有限公司 | High-speed feeding and discharging process for automatically distinguishing orientations of plates |
| CN113264314A (en) * | 2021-04-23 | 2021-08-17 | 大富科技(安徽)股份有限公司 | Automatic arrangement equipment and arrangement method |
| CN117161717A (en) * | 2023-10-31 | 2023-12-05 | 万向钱潮股份公司 | Gear ring feeding device for assembling driving shaft assembly |
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