CN112371800A

CN112371800A - Stacking part grabbing system and grabbing method

Info

Publication number: CN112371800A
Application number: CN202011375028.5A
Authority: CN
Inventors: 夏文杰; 高翔; 张可
Original assignee: China Express Jiangsu Technology Co Ltd
Current assignee: China Express Jiangsu Technology Co Ltd; Human Horizons Jiangsu Technology Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-02-19

Abstract

The invention discloses a stacked part grabbing system and a stacked part grabbing method, and belongs to the technical field of automation equipment. The method comprises the following steps: a plurality of parts are stacked on the end face of the drawer base in sequence, the drawer base can stretch into the material rack or be drawn out from the material rack, and the grabbing hand support can be close to or far away from the parts. Adsorption apparatus constructs to set up in snatching hand support, and adsorption apparatus constructs and is used for adsorbing spare part. The plurality of bending driving parts are arranged on the grabbing hand bracket. The bending mechanisms correspond to the bending driving parts one by one, the bending mechanisms are in driving connection with the corresponding bending driving parts, and the bending mechanisms are contacted with or separated from the parts after moving. The ranging sensor is arranged on one side of the grabbing hand support, which faces to the part, and the ranging sensor is opposite to the part. This utensil stacks part grasping system piles up before spare part is not buckled to comparatively level and smooth form piles up to increase the quantity of piling up, reduce the frequency of placing of operating personnel to spare part, buckle the operation in spare part transfer process.

Description

Stacking part grabbing system and grabbing method

Technical Field

The invention relates to the technical field of automation equipment, in particular to a stacked part grabbing system and a stacked part grabbing method.

Background

With the improvement of the automation rate of the production line, the part loading process of the required parts gradually develops towards intellectualization and automation. Drawer feeding technology is one of the feeding technologies, and is widely used for feeding straight small parts. Traditional drawer technique of loading, set up a plurality of layers of baffle in the drawer and be used for accurate fixed part, the part quantity that once places is less in nevertheless so every drawer, and partial spare part has the part of buckling, even superpose still need occupy great space, the space utilization of production site is lower, need operating personnel to frequently feed supplement for the drawer simultaneously, operating personnel intensity of labour is big, it is more to need personnel's quantity, in current drawer type feed mechanism in addition, be provided with the station that supplies the manipulator to snatch and the station that supplies the on-the-spot staff feed supplement respectively, and two stations generally set up separately, it is great to the occupation space of production line scene.

Disclosure of Invention

To the above-mentioned problem that exists among the prior art, aim at providing a part snatchs system and snatchs method stack, buckle the part at the in-process that snatchs the transfer to the part, and then can be convenient for the part piles up with comparatively smooth form, increase the quantity of piling up, reduce and place the frequency, material rest and drawer base can coincide or separation in addition, when the field work personnel carried out the feed supplement, drawer base and work or material rest separation, when grabbing device snatchs the part, drawer base and material rest coincidence.

The specific technical scheme is as follows:

a part grabbing system stacks mainly includes: a stacking device and a gripping device.

Wherein the windrow device includes: work or material rest and drawer base.

The material rack is provided with a first guide structure. A plurality of parts are sequentially stacked on the end face of the drawer base, the drawer base is provided with a second guide structure matched with the first guide structure, the second guide structure can slide in a reciprocating mode along the length direction of the first guide structure, and the drawer base can extend into the material rack or be drawn out of the material rack and is externally arranged on the material rack;

wherein grabbing device includes: the device comprises a grabbing hand support, a plurality of adsorption mechanisms, a plurality of bending driving parts, a plurality of bending mechanisms and a distance measuring sensor.

Snatch the hand support and can be close to or keep away from spare part, a plurality of adsorption apparatus construct and set up in snatching the hand support, adsorption apparatus constructs and is used for adsorbing the spare part, a plurality of driver part of buckling set up in snatching the hand support, the mechanism of buckling and the driver part one-to-one of buckling, a plurality of mechanisms of buckling are connected with the driver part drive of buckling that corresponds, after the mechanism of buckling removes with spare part contact or separation, ranging sensor sets up in snatching one side of hand support towards the spare part, and ranging sensor is just right mutually with the spare part.

The above stacked part grabbing system is also characterized by further comprising a plurality of guide upright columns, wherein the guide upright columns are arranged on the upper end face of the drawer base, and the profile formed by the guide upright columns is matched with the shape of a part; wherein, both sides of the length direction and the width direction of the part are at least provided with a guide upright post, and the guide upright posts are contacted with the edge of the part.

Foretell part grasping system stacks still has such characteristic, and the edge of work or material rest encloses and is equipped with the rail, and the drawer base deviates from the one end of work or material rest and is provided with the baffle, and one side that the baffle deviates from the work or material rest is provided with the mechanism of gripping.

The above-mentioned system for grabbing the overlapped parts is also characterized in that the first guide structure and the second guide structure are arranged along the width direction or the length direction of the part; the first guide structure is a guide clamping strip or a guide wheel, and the second guide structure is a guide rail; or the first guide structure is a guide rail, and the second guide structure is a guide clamping strip or a guide wheel.

The stacked part grabbing system further has the characteristics that the stacked part grabbing system further comprises a plurality of supporting columns and a sliding structure, the supporting columns are arranged on the lower end face of the material rest, the sliding structure is arranged at one end, away from the material rest, of the drawer base, the bottoms of the supporting columns and the bottoms of the sliding structures are in contact with the supporting face, the supporting faces of the supporting columns are fixedly arranged, and the sliding structure can roll relative to the supporting face.

The stacked part grabbing system is also characterized by further comprising a contact switch, wherein the contact switch is arranged at one end, close to the material rack, of the drawer base and is in communication connection with the grabbing device;

the drawer base completely extends into the material rack, the contact switch is triggered, and the gripping device normally operates;

the drawer base is drawn out of the material rack, the contact switch is disconnected, and the grabbing device stops operating.

The grabbing hand support comprises at least two support cross beams, the support cross beams are fixedly connected, one support cross beam is connected with the adsorption mechanism and the bending driving part, and the other support cross beam is connected with an external manipulator; wherein the support crossbeam is the tubulose setting, and a plurality of pilot holes have been seted up to the circumference side of each support crossbeam.

Foretell part grasping system stacks still has such characteristic, and adsorption device constructs for vacuum adsorption, and vacuum adsorption constructs including vacuum chuck and the vacuum source who is linked together with vacuum chuck, or adsorption device constructs for electromagnetic adsorption, and electromagnetic adsorption constructs including pneumatic magnet sucking disc and the external power source who links to each other with pneumatic magnet sucking disc.

The stacked part grabbing system is characterized by further comprising a plurality of positioning devices, the positioning devices are detachably connected with the grabbing hand support, the positioning devices are matched with positioning structures on parts, and the positioning structures are one or a combination of holes, grooves and protrusions.

Foretell part grasping system stacks still has such characteristic, still includes external control ware, and external control ware and external manipulator communication are connected, and range finding sensor is connected with external control ware communication, and range finding sensor is one of ultrasonic sensor, millimeter wave sensor, laser radar sensor.

The above-mentioned part grasping system that stacks still has such characteristic, still includes the counter, and the counter is connected with range finding sensor communication, and after range finding sensor was close to and is kept away from a spare part again, the counter count increased one.

The above stacked part grabbing system further has the characteristic that the system further comprises a clamping mechanism and a clamping driving part in driving connection with the clamping mechanism, wherein the clamping mechanisms and the clamping driving part are arranged on the grabbing hand support, each clamping mechanism comprises a first chuck and a second chuck, the first chucks are fixedly arranged, the second chucks are driven by the clamping driving part to be clamped or separated from the first chucks, or the second chucks are fixedly arranged, and the first chucks are driven by the clamping driving part to be clamped or separated from the second chucks.

The above-mentioned part grabbing system that stacks still has such characteristic, and bending mechanism sets up in one side of spare part, and one end of bending mechanism continues to push or pull along the default direction after contacting with the partial region of spare part, makes the partial region of spare part produce the place after the displacement plane and the initial place plane between form the predetermined angle, and the predetermined angle is for being greater than zero and being less than or equal to one hundred eighty arbitrary angle between the degree.

The above-mentioned part grabbing system that stacks still has such characteristic, and the drive part that presss from both sides tightly and buckles the drive part and be linear displacement executor or rotary displacement executor, and linear displacement executor is one kind in sharp cylinder, the straight line electric jar, and rotary displacement executor is one kind in rotary cylinder, the rotary electric jar.

A method for grabbing overlapped parts comprises the following steps:

s1, drawing out the drawer base from the inside of the material rack;

s2, stacking a plurality of parts on the drawer base in sequence, and directly contacting two adjacent parts;

s3, completely loading the drawer base with a plurality of parts into the material rack;

s4, the grabbing device is close to the parts on the top and grabs the parts;

and S5, bending the preset position of the part by the grabbing device and transferring the part to a production line.

The method for grabbing the stacked parts is also characterized in that,

s31, starting adsorption operation by an adsorption mechanism of the grabbing device, wherein the adsorption mechanism is gradually close to the parts on the top;

s32, the adsorption mechanism is in contact with the part at the top and moves in the direction away from the rest parts;

and S33, after the grabbing device moves to the preset position, the clamping mechanism clamps the parts adsorbed on the adsorption mechanism.

The method for grabbing the stacked parts is also characterized in that,

s41, bending the part for the first time by a bending mechanism;

s42, transferring the parts to a preset position on a production line by the grabbing device;

s43, bending the part for the second time by the bending mechanism, and bending partial area of the part to a preset angle;

and S44, loosening the parts by the clamping mechanism, closing the adsorption operation by the adsorption mechanism, and returning the gripping device to the initial position.

The method for grabbing the stacked parts is further characterized in that before grabbing of the parts is started, the grabbing device moves to a preset position above the stacked parts, and the distance measuring sensor measures the initial distance between the adsorption mechanism and the part located at the top.

The method for grabbing the overlapped parts is further characterized in that after grabbing for the preset times is completed, a result obtained by dividing the difference value between the initial distances measured by the distance measuring sensor by the grabbing times is compared with a preset numerical range;

if the obtained result is within the preset numerical range, the grabbing device continues to grab the work;

and if the obtained structure is not in the preset numerical range, the grabbing device suspends the grabbing operation, and gives an alarm to remind field workers of abnormal stacking conditions of the parts.

When the distance measuring sensor is located at the preset position above the drawer base and the distance measured by the distance measuring sensor is the distance between the distance measuring sensor and the drawer base, the components on the drawer base are completely grabbed, the grabbing device stops working and gives an alarm to remind field workers to replenish materials in time.

The positive effects of the technical scheme are as follows:

the invention provides a system for grabbing stacked parts,

1. the bending mechanism is added on the traditional grabbing mechanism, so that the relatively flat parts can be bent, the relatively flat parts are convenient to stack and place, the relatively flat parts can be placed beside a production line in a large number, the material supplementing frequency of an operator to the parts is reduced, and the labor intensity of the operator is further reduced;

2. under the condition of the same quantity of parts, the flat state can reduce the space occupation beside the production line, so that the space arrangement of the production line is more reasonable;

3. in addition, after a certain number of grabbing steps are performed at intervals, the grabbing mechanism can compare the result of dividing the distance measurement difference value of the sensor at the initial position by the number of grabbing pieces with empirical data so as to ensure that the whole parts are normally stacked and improve the stability of the whole grabbing process;

4. the grabbing hand support is provided with a plurality of assembling holes, and the positions of the bending mechanism, the adsorption mechanism, the clamping mechanism and the like can be adaptively arranged so as to meet the clamping operation of different parts;

5. a plurality of spare parts pile up on the drawer base in proper order, when the manipulator snatchs and shifts the spare part, the drawer base coincides with the work or material rest, can reduce the place demand to the production site, and occupation space-saving gets when spare part on the drawer base gets to the greatest extent and need replenish spare part again, and the drawer base separates with the work or material rest, and the drawer base is taken out, can be convenient for on-the-spot staff carries out the feed supplement to the drawer base.

Drawings

FIG. 1 is a perspective view of a gripping device in an embodiment of a stacked parts gripping system of the present invention;

FIG. 2 is a side view of a gripping device in an embodiment of a stacked parts gripping system of the present invention;

FIG. 3 is a bottom view of a gripping device in an embodiment of a stacked parts gripping system of the present invention;

FIG. 4 is a front view of a gripping device in an embodiment of a stacked parts gripping system of the present invention;

FIG. 5 is a side view of a stacker device in a stowed position in an embodiment of a stacked parts grasping system of the invention;

FIG. 6 is a side view of the stacker device in an extended state in an embodiment of a stacked parts gripper system of the present invention;

FIG. 7 is a top view of a stacker device in a stowed position in an embodiment of a stacked parts capture system of the present invention;

FIG. 8 is a top view of the stacker device in an extended state in an embodiment of a stacked parts gripper system of the present invention;

fig. 9 is a perspective view of a stacker in an embodiment of a stacked parts gripper system of the present invention.

1. Grabbing a hand support; 101. a bracket beam; 102. an assembly hole; 2. an adsorption mechanism; 3. a bending drive part; 4. a bending mechanism; 5. a clamping drive member; 6. a clamping mechanism; 601. a first chuck; 602. a second chuck; 7. a ranging sensor; 8. a component part; 9. a positioning device; 11. a material rack; 111. a first guide structure; 12. a drawer base; 121. a second guide structure; 122. a guide upright post; 13. a baffle plate; 131. a holding mechanism; 14. a support pillar; 15. and a sliding structure.

Detailed Description

In order to make the technical means, the creation features, the achievement objects and the functions of the present invention easy to understand, the following embodiments are specifically described with reference to fig. 1 to 9 for a stacked part grabbing system provided by the present invention.

The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the stacking apparatus, the stack 11 is generally fixedly disposed, and the stack 11 is provided with a first guide structure 111 for assisting the relative movement between the stack 11 and the drawer base 12.

The end face of the drawer base 12 is sequentially stacked with a plurality of parts 8, the adjacent parts 8 are stacked in a direct contact mode, a large number of parts can be stacked at one time, the feeding frequency of the parts 8 of field workers is reduced, the labor intensity of the field workers is reduced, the drawer base 12 is provided with a guide structure II 121 matched with a guide structure I111, namely the guide structure I111 and the guide structure II 121 are mutually sleeved, when the guide structure I111 and the guide structure II 121 are completely overlapped, the drawer base 12 completely extends into the material rest 11, and when the guide structure I111 and the guide structure II 121 are separated, the drawer base 12 is drawn out of the material rest 11. And guide structure two 121 can follow the length direction reciprocating sliding of guide structure one 111, and drawer base 12 can stretch into inside work or material rest 11, and the spare part 8 that has piled up is packed into work or material rest 11 inside again promptly, and the spare part 8 that is located the top is snatched step by step to the grabbing device of being convenient for follow-up utilization, or drawer base 12 takes out from work or material rest 11 inside, and the work or material rest 11 is arranged in outward, and the field work person of being convenient for piles up spare part 8 to drawer base 12 again.

In this grasping apparatus, the grasping hand holder 1 can be brought close to or away from the component 8, specifically, the component 8 is stacked on the rack, the grasping hand holder 1 is gradually brought close to the component 8 from the initial position by the movement of the robot (not shown in the figure) and grasps the component 8, then the grasping hand holder 1 moves the component 8 to a preset position on the production line, and the grasping hand holder 1 releases the component 8 and then returns to the initial position.

A plurality of adsorption apparatus construct 2 and set up in snatching hand support 1, and adsorption apparatus constructs 2 and is used for adsorbing spare part 8, and adsorption apparatus constructs 2 towards spare part 8, produces the adsorption affinity when adsorption apparatus constructs 2 and is close to spare part 8 to inhale spare part 8, after spare part 8 was removed to predetermineeing the position, adsorption apparatus constructs 2 and stops producing the adsorption affinity, thereby puts down spare part 8. The plurality of bending driving parts 3 are arranged on the grabbing hand support 1, the bending driving parts 3 are used for moving or rotating the bending mechanism 4, and bending operation before production line is carried out on partial areas of the parts 8 through the bending mechanism 4.

The bending mechanisms 4 correspond to the bending driving parts 3 one by one, namely each bending mechanism 4 is driven by an independent bending driving part 3, the bending mechanisms 4 are in driving connection with the corresponding bending driving parts 3, the bending mechanisms 4 are in contact with or separated from the parts 8 after moving (rotating or translating), namely when the parts 8 are moved to a preset position, the bending mechanisms 4 are in contact with the parts 8 to bend the parts 8, the bending mechanisms 4 are separated from the parts 8 after the bending step is completed, and then the parts 8 are placed at the preset position on the production line.

The distance measuring sensor 7 is arranged on one side, facing the part 8, of the grabbing hand support 1, the distance measuring sensor 7 is opposite to the part 8, the distance measuring sensor 7 is used for monitoring the distance between the grabbing hand support 1 and the part 8 in real time, so that the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is obtained, the moving speed of the grabbing hand support 1 is adjusted through the distance between the adsorption mechanism 2 and the part 8 to be adsorbed, namely when the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is larger than a preset value, the moving speed of the grabbing hand support 1 is high, when the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is smaller than or equal to the preset value, the moving speed of the grabbing hand support 1 is gradually reduced, when the adsorption mechanism 2 is in contact with the part 8 to be adsorbed, the moving speed of the grabbing hand support 1 is reduced to zero, so that the stability of the adsorption process is ensured, avoid causing the impact to piling up spare part 8, can also improve absorbent work efficiency in addition.

In a preferred embodiment, as shown in fig. 5 to 9, a plurality of guide columns 122 are further included, a general guide column 122 is disposed in a cylindrical shape, and the height of each guide column 122 may be different, and the height of the specific position of the component 8 to be limited by the guide column 122 is adjusted, so that after the component 8 is completely stacked, each position used as a limit is lower than the height of the corresponding guide column 122, the plurality of guide columns 122 are disposed on the upper end surface of the drawer base 12, the upper end surface of the general drawer base 12 is a horizontal plane, the guide columns 122 are perpendicular to the upper end surface of the drawer base 12, the upper end surface of the drawer base 12 is used as a support for the stacked component 8, and the profile formed by the plurality of guide columns 122 matches the shape of the component 8, that is, the component 8 is limited from moving on the drawer base 12 by the plurality of guide columns 122, the guide posts 122 mainly restrict the component 8 from moving in the length and width directions, and the upper end surface of the drawer base 12 restricts the component 8 from moving in the height direction.

Furthermore, both sides of the length direction and the width direction of the component 8 are at least provided with a guide pillar 122, and the guide pillar 122 contacts with the edge of the component 8, and the general guide pillar 22 is disposed around the end of the component 8, that is, a semi-surrounding limit arrangement is formed at the end of the component 8, so as to facilitate the stacking prevention of the component 8, and further, the component 8 can be effectively limited.

In a preferred embodiment, as shown in fig. 5 to 9, a fence (not shown in the figure) is enclosed at the edge of the rack 11, i.e. the moving area of the manipulator above the rack 11 is separated from the external environment by the fence, so as to protect the field workers and improve the safety factor of the field work, and a baffle 13 is disposed at one end of the drawer base 12 away from the rack 11, when the drawer base 12 completely extends into the rack 2, the fence and the baffle 13 can form a complete shelter, so as to separate the parts 8 of the drawer base 12 from the area where the workers are located, a holding mechanism 131 is disposed at one side of the baffle 13 away from the rack 11, so as to facilitate the field workers to hold the holding mechanism 131 and pull the drawer base, so as to draw the drawer base 12 out of the rack 11, and besides manual drawing, the drawer base 12 can be automatically drawn out by external pneumatic or electric equipment, so as to adapt to the condition of larger total mass of the parts 8 and meet the use requirements of various production fields.

In a preferred embodiment, as shown in fig. 5 to 9, the first guide structure 111 and the second guide structure 121 are arranged along the width direction or the length direction of the component 8, preferably, the first guide structure 111 and the second guide structure 121 are arranged along the width direction of the component 8, namely the length direction of the first guide structure 111 and the second guide structure 121 is consistent with the width direction of the part 8, that is, the short edge of the component 8 is selected as the push-pull direction of the drawer base 12, the distance when the drawer base 12 is pulled out is short, the space occupation in the pull-out direction of the drawer base 12 can be saved as much as possible, in order to reduce the need for floor space as much as possible, and furthermore, when the component 8 is gripped, the loading station and the gripping station coincide, when 8 feed supplements of spare part, the material loading station with snatch the station and separate, this telescopic structure can save the space of production line and occupy in 8 snatch processes of spare part.

Specifically, the first guide structure 111 is a guide clamping strip or a guide wheel, and the second guide structure 121 is a guide rail; or the first guide structure 111 is a guide rail, the second guide structure 121 is a guide clamping strip or a guide wheel, and generally, a high-precision guide rail is adopted in the push-pull process, so that the position accuracy of the drawer base 12 on the manipulator grabbing station is improved, and the position deviation can not occur under the condition that the drawer base 12 is in service for a long time.

Further, the guide rails may be disposed on the lower end surface of the drawer base 12 or on both side surfaces of the drawer base 12 in the sliding direction, or the combination of the lower end surface and both side surfaces, and the number and positions of the sliding rails may be set according to actual requirements. Further, the direction card strip is rectangular strip or cylindrical rectangular strip of approximate rectangle, and the sliding tray has been seted up to rectangular one side of rectangle, or the rectangular middle part of rectangle has seted up the slip slot hole, or the sliding tray has been seted up to cylindrical rectangular one side, or the slip slot hole has been seted up at cylindrical rectangular middle part. Furthermore, the longitudinal section of the sliding groove is arranged in a T shape, the shape of the guide clamping strip is matched with that of the longitudinal section of the sliding groove, the sliding precision of the sliding rail is not influenced, the guide rail and the guide clamping strip are prevented from being separated in the radial direction, the longitudinal section of the sliding long hole is arranged in an irregular shape, and the cylindrical long-strip-shaped sliding rail and the guide clamping strip are prevented from rotating relatively. Further, in order to guarantee the smooth and easy of the relative slip between guide rail and the direction card strip, generally adopt rolling friction's form between guide rail and the direction card strip, the direction card strip is provided with a plurality of high accuracy guide pulleys along its length direction, the mounting hole that runs through from top to bottom is seted up at the middle part of direction card strip promptly, in this mounting hole of high accuracy guide pulley installation fish, and the upper and lower end of this high accuracy guide pulley stretches out outside the mounting hole respectively, this high accuracy guide pulley respectively with the slide rail in relative both sides contact, and then reduce the coefficient of friction between guide rail and the direction card strip.

In addition, a form that the guide rail is directly matched with the guide wheels can be adopted, namely, a plurality of guide wheels which are linearly arranged are directly arranged on the two opposite sides of the material rack 11 or the lower end face of the material rack 11, and the guide wheels are directly matched with the sliding grooves of the guide rail, so that the relative sliding between the guide wheels and the guide rail is realized.

In a preferred embodiment, as shown in fig. 5 to 9, the automatic material loading and unloading device further includes a plurality of supporting columns 14, the supporting columns 14 are disposed on the lower end surface of the material rack 11, the supporting columns 14 are used for supporting the material rack 11 and lifting the material rack 11 by a certain height, so that the manipulator can grab the parts 8 of the material rack 11, the sliding structure 15 is disposed at one end of the drawer base 12 departing from the material rack 11, so that the field operator can move the drawer base 12, the moving friction is reduced, and meanwhile, one end of the drawer base 12 departing from the material rack 11 can be supported. And the bottom of the supporting column 14 and the bottom of the sliding structure 15 are both in contact with the supporting surface, and the sliding structure 15 is used for supporting the drawer base 12 when the drawer base 12 is drawn out.

Further, support column 14 relative holding surface is fixed setting, and sliding structure 15 can roll relative holding surface, and work or material rest 11 is fixed setting promptly, and drawer base 12 is the activity setting, makes work or material rest 11 and drawer base 12 be located same level through support column 14 and sliding structure 15, guarantees that work or material rest 11 and drawer base 12 can slide relatively smoothly.

In a preferred embodiment, as shown in fig. 5 to 9, a contact switch (not shown) is further included, the contact switch is disposed at one end of the drawer base 12 close to the rack 11, and is in communication with the gripping device, when the contact switch is in contact with one end of the rack 11, the contact switch transmits a switch-on signal to a controller of the gripping device, and when the contact switch is separated from one end of the rack, the contact switch transmits a switch-off signal to the controller of the gripping device; the drawer base 12 completely extends into the material rack 11, the contact switch is triggered, the grabbing device normally operates, namely the grabbing device starts to grab the parts 8, and the grabbed parts 8 are transferred to a production line; drawer base 12 is taken out from the work or material rest is inside, and contact switch disconnection, grabbing device stop operation, stop action, avoids grabbing device to cause the influence to the field work personnel when carrying out the feed supplement to drawer base 12.

In a preferred embodiment, as shown in fig. 1 to 4, the grasping hand support 1 includes at least two support beams 101, specifically, a plurality of support beams 101 are parallel to each other and used as a mounting base for other components, and a plurality of support beams 101 are fixedly connected, wherein one support beam 101 is connected with the adsorption mechanism 2 and the bending driving component 3, generally, the adsorption mechanism 2 and the bending driving component 3 are detachably connected with the support beams 101, and the types and the arrangement positions of the adsorption mechanism 2 and the bending driving component 3 can be adaptively adjusted according to the actual situation of the component 8, so that the support beams 101 can meet various use requirements, the other support beam 101 is connected with the manipulator, the adsorption mechanism 2 and the bending driving component 3 are moved by moving the support beams 101, so that the overall structure of the whole grasping mechanism is arranged more compactly, the manipulator is connected again when the suction mechanism 2 and the bending drive member 3 are mounted.

Further, the support beam 101 is arranged in a tubular shape, specifically, the support beam 101 is formed by splicing a plurality of pipe units, each pipe unit is arranged in a hollow shape, so that the weight of the support beam 101 can be reduced, the load of the robot arm can be reduced while the structural strength of the bracket beam 101 is ensured, and a plurality of assembling holes 102 are formed on the circumferential side surface of each bracket beam 101, and a plurality of assembling holes 102 are uniformly distributed on the circumferential side surface of the bracket beam 101 in a ring shape, and further, the assembling holes 102 can be used for mutual splicing of the pipe units, and the assembling holes 102 can also be used for connecting and mounting the adsorption mechanism 2, the bending driving part 3 and the manipulator on the bracket beam 101, so that the adsorption mechanism 2, the bending driving part 3 and the manipulator can be arranged at a plurality of positions on the bracket beam 101 according to actual conditions, while the provision of the plurality of fitting holes 102 can further reduce the weight of the bracket beam 101.

In a preferred embodiment, as shown in fig. 1 to 4, specifically, the adsorption mechanism 2 may be a vacuum adsorption mechanism, the part 8 is adsorbed in a form of generating negative pressure through air suction, the vacuum adsorption mechanism includes a vacuum chuck and a vacuum source communicated with the vacuum chuck, the specific vacuum chuck is disposed on the bracket beam 101, the vacuum source is disposed outside the grabbing mechanism, the vacuum chuck is communicated with the vacuum source through a pipeline, and the pipeline may be disposed in a hollow middle area of each pipe unit of the bracket beam 101, so as to facilitate the collection of pipeline pipelines, make the outside of the grabbing mechanism cleaner and tidier, and avoid the pipeline from being affected by external environment in the moving process of the grabbing mechanism, and avoid interfering with the relative movement between each part in the grabbing mechanism.

Specifically, the adsorption mechanism 2 may be an electromagnetic adsorption mechanism, that is, a magnetic field is generated to form a magnetic attraction force to adsorb parts of specific metals (iron, cobalt, nickel), the electromagnetic adsorption mechanism includes a pneumatic magnet chuck and an external power supply connected to the pneumatic magnet chuck, the magnetic element in the electromagnetic adsorption mechanism is an electromagnet, the electromagnet generates magnetism after being powered on, and the magnetism disappears after being powered off, the on-off of the circuit between the electromagnet and the external power supply is controlled by a pneumatic element, and further the pneumatic element can be an air cylinder and the like, the cylinder is used as a pneumatic switch between the electromagnet and an external power supply, the pneumatic magnet sucker generates magnetic attraction after being electrified so as to grab the part 8, after the part 8 is placed at a preset position on a production line, the pneumatic magnet chuck loses magnetic attraction after being powered off, and the part 8 is left at the preset position.

In a preferred embodiment, as shown in fig. 1 to 4, the device further comprises a plurality of positioning devices 9, the positioning devices 9 are used for roughly positioning the component to be adsorbed 8, because position deviation may be generated in the stacking process of the parts 8, the adsorption mechanism 2 can adsorb the uniform position of the parts 8 in the subsequent grabbing process through rough positioning so as to improve the stability of the adsorption process, and the precision of the parts 8 in the subsequent bending process is improved, a plurality of positioning devices 9 are detachably connected with the grabbing hand bracket 1, particularly, because the specific shapes and the shapes of the parts are different, the type and position of the positioning device can be adjusted adaptively according to the characteristics of different parts, namely, the positioning structure on the positioning device 9 and the component 8 can be matched, and the positioning structure is one or a combination of a hole, a groove and a protrusion.

Further, when the positioning structure on the component 8 is an opening or a slot, the corresponding positioning device 9 is convex, and when the positioning structure on the component 8 is convex, the corresponding positioning device 9 is concave.

Furthermore, a part of the structure of the middle portion of the component 8 is generally selected as a positioning structure, so that the subsequent clamping mechanism 6 can clamp the edge of the component 8.

In a preferred embodiment, as shown in fig. 1 to 4, the robot further includes an external controller (not shown in the figure), the external controller is in communication connection with the manipulator, the distance measuring sensor 7 is in communication connection with the external controller, the distance between the grasping hand support 1 and the component 8 is measured in real time through the distance measuring sensor 7, then the obtained measurement value is fed back to the external controller in real time, and then the moving speed of the manipulator is adjusted through the external controller, so as to form a closed-loop control, wherein the distance measuring sensor 7 may be one of an ultrasonic sensor, a millimeter wave sensor and a laser radar sensor, and can be selected according to the production environment and the requirement of production precision;

the ultrasonic sensor transmits ultrasonic waves with a certain frequency, transmits the ultrasonic waves by virtue of an air medium, reaches a measurement target or an obstacle, reflects the ultrasonic waves, receives pulses by the ultrasonic receiver after the pulses are reflected, and further calculates the distance between the sensor and parts, the ultrasonic sensor has strong electromagnetic interference resistance, good stability, good directivity and good penetrability on liquid and solid, but acoustic noise easily influences the signal output of the ultrasonic waves, the measurement range is limited, and the precision is relatively low;

an internal oscillator of the millimeter wave sensor can generate a signal with the frequency gradually increasing along with time, the signal can bounce back after encountering an obstacle, and then the distance between the sensor and a part is calculated, the detection distance of the millimeter wave sensor is long, the capacity of penetrating fog, smoke and dust is strong, the environmental adaptability is good, but the detection precision is relatively low and the electromagnetic interference is easily caused;

the laser radar sensor converts the distance between the laser radar sensor and a measured target object by emitting modulated near infrared light and reflecting the modulated near infrared light after encountering the object and calculating the phase difference generated after the modulated infrared light is emitted and reflected, so that the distance between the laser radar sensor and parts is calculated, the measurement precision of the laser radar sensor is higher, the size is small, the use cost is lower, but the measurement distance is limited, and the measurement distance can be influenced under the condition of severe environment;

a general laser radar sensor is preferable as the distance measuring sensor 7, and has high measurement accuracy in a case where a use environment is good.

In a preferred embodiment, as shown in fig. 1 to 4, a counter (not shown in the figure) is further included, the counter is in communication connection with the distance measuring sensor 7, after the distance measuring sensor 7 approaches and then moves away from a part 8, the counter 7 counts by one, generally, after the counter accumulates five to ten times, an external controller compares a result of dividing a distance measuring difference value measured when the distance measuring sensor is at an initial position by the number of grasping elements with empirical data to ensure that the stacking state of the whole part 8 is normal, so that grasping operation can be continued, and when the difference value with the empirical data exceeds a preset value, the external controller alarms to remind field workers that the part 8 is stacked abnormally, so as to improve the stability of the whole grasping mechanism in the grasping process.

In a preferred embodiment, as shown in fig. 1 to 4, the grasping device further includes a grasping mechanism 6 and a grasping driving component 5 drivingly connected to the grasping mechanism 6, the plurality of grasping mechanisms 6 and the plurality of grasping driving components 5 are disposed on the grasping hand support 1, specifically, after the component 8 is attracted and picked up by the attraction mechanism 2, the grasping mechanism 6 grasps the edge position of the component 8 to ensure the stability of the position and facilitate the subsequent bending operation of the component 8, thereby avoiding the positional shift of the component during the bending operation, wherein each grasping mechanism 6 includes a first grasping head 601 and a second grasping head 602, the first grasping head 601 is fixedly disposed, the second grasping head 602 is fixedly disposed and clamped or separated from the first grasping head 601 under the driving of the grasping driving component 5, or the second grasping head 602 is fixedly disposed, the first grasping head 601 is driven by the grasping driving component 5 to be clamped or separated from the second grasping head 602, specifically, when the clamping mechanism 6 is far from the component 8, the first chuck 601 and the second chuck 602 are separated from each other, and when the clamping mechanism 6 is close to the component and the adsorption mechanism 2 has completed adsorbing the component 8, the first chuck 601 and the second chuck 602 respectively compress two opposite side surfaces of the component 8, thereby completing the position locking of the component 8.

In a preferred embodiment, as shown in fig. 1 to 4, the bending mechanism 4 is disposed at one side of the component 8, one end of the bending mechanism 4 is in contact with a partial region of the component 8 and then continuously pushed or pulled along a preset direction, so that a preset angle is formed between a plane where the partial region of the component 8 is displaced and an initial plane where the partial region is located, in this application, the approximately sheet-shaped component 8 which is not folded is directly stacked, and after the component 8 is grabbed, the bending operation is performed and then the component is directly sent to a production line, so that the stacking number of the component 8 can be increased, the adding frequency of the components at the edge of the production line is reduced, the working strength of the personnel in the production line is reduced, and meanwhile, under the condition of the same number of components, the space occupation of the component 8 which is not bent can be reduced.

Further, the preset angle is any angle between more than zero and less than or equal to one hundred and eighty degrees, and the edge of the part is bent by one hundred and eighty degrees in the application.

In a preferred embodiment, as shown in fig. 1 to 4, the clamping driving part 5 and the bending driving part 3 are linear displacement actuators or rotary displacement actuators, and the type of the displacement actuator can be selected according to the specific structural arrangement of the clamping mechanism 6 and the bending mechanism 4, specifically, a linear displacement sensor is selected when the bending mechanism 4 bends by linear pushing, and a rotary displacement actuator is selected when the bending mechanism 4 bends by rotary folding; when clamping mechanism 6 is close to each other through on the linear distance then chooses for use linear displacement sensor, then chooses for use when clamping mechanism 6 adopts on the pitch arc distance each other close to and presss from both sides tight drive component 5, and the general selection is the rotary displacement executor, can make clamping mechanism 6 and 4 setting of bending mechanism more compact, and occupation space is less.

Furthermore, the linear displacement actuator is one of a linear air cylinder and a linear electric cylinder, the rotary displacement actuator is one of a rotary air cylinder and a rotary electric cylinder, the linear air cylinder, the rotary air cylinder and the like can be preferably adopted, the displacement of the actuator is controlled through an air source, the structure is simple, and the equipment cost is low.

A method for grabbing overlapped parts comprises the following steps:

s1, the drawer base is drawn out of the material rack, and the holding mechanism can be pulled manually or by external power equipment to completely separate the drawer base from the interior of the material rack;

s2, stacking a plurality of parts on the drawer base in sequence, stacking the parts on the upper end face of the drawer base in sequence through field workers or external equipment, wherein two adjacent parts are in direct contact with each other, and the drawer base limits the stacked parts in the length and width directions to prevent the parts from moving;

s3, completely loading the drawer base with a plurality of parts into the material rack, and completely loading the drawer base into the material rack by pulling the holding mechanism manually or by external power equipment;

s4, the grabbing device is close to and grabs the part on the top, the part on the top is adsorbed through the adsorption mechanism, and the part is clamped and fixed through the clamping mechanism;

s5, bending the preset position of the part by the gripping device and transferring the part to the production line, wherein the bending process can be completed in several steps, and after the part is transferred to the production line, the clamping mechanism loosens the part and the adsorption mechanism stops adsorbing.

The above method for gripping stacked parts is further characterized in that step S3 specifically includes:

s31, starting adsorption operation by an adsorption mechanism of the grabbing device, enabling the adsorption mechanism to be gradually close to the part located at the top, specifically, arranging a distance measuring sensor on the grabbing device, enabling the grabbing device to move faster when the grabbing device is far away from the part located at the top, and enabling the grabbing device to move slower when the grabbing device is close to the part located at the top, so that the whole transfer efficiency of the part is improved;

s32, enabling the adsorption mechanisms to be in contact with the parts at the top and move in the direction far away from the rest parts, wherein at least two adsorption mechanisms are generally arranged and are respectively arranged on two sides of the parts;

and S33, after the gripping device moves to the preset position, the clamping mechanism clamps the parts adsorbed on the adsorption mechanism, and the clamping mechanism is provided with a plurality of groups of clamping mechanisms which are generally arranged at the edge positions of the left side and the right side of the parts.

The above method for gripping stacked parts is further characterized in that step S4 specifically includes:

s41, bending the part for the first time by a bending mechanism, wherein the part can be bent for a half of the original preset angle generally;

s43, bending the part for the second time by the bending mechanism, bending the other half of the original preset angle again, and bending partial area of the part to the preset angle, namely finishing the on-line setting of the part;

s44, loosening the parts by the clamping mechanism, separating the first chuck and the second chuck, disconnecting the air source or the power supply by the adsorption mechanism, temporarily closing the adsorption operation by the adsorption mechanism, and returning the gripping device to the initial position so as to start the next adsorption and transfer operation.

The above method for gripping stacked parts further has a feature that before the start of gripping the parts, the gripping device is moved to a predetermined position above the stacked parts, and then the gripping device is gradually brought close to the parts located at the top position from the predetermined position, and when the gripping device is located at the predetermined position above the stacked parts, the distance measuring sensor is capable of measuring an initial distance between the suction mechanism and the parts located at the top.

The above method for gripping stacked parts is further characterized in that after the gripping device finishes gripping for a predetermined number of times, the predetermined number of times is generally defined as 5 to 10 times, and the result obtained by dividing the difference between the initial distances measured by the distance measuring sensor (the value obtained by subtracting the initial distance of the last time from the initial distance of the first time) by the gripping number is compared with a predetermined value range;

Generally, when the preset times are smaller, the requirement on the stacking precision of parts is higher, and the adaptive adjustment can be carried out according to the actual requirement of a production field.

The method for grabbing the stacked parts is characterized in that the distance between the distance measuring sensor and the upper end face of the drawer base when the distance measuring sensor is located at the preset position is prestored in a control system of a general grabbing device, when the distance measuring sensor is located at the preset position above the drawer base, and when the distance measured by the distance measuring sensor is the distance between the distance measuring sensor and the drawer base, the control system knows that the parts on the drawer base are grabbed completely, the grabbing device stops working and gives an alarm to remind field workers of supplementing materials in time.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. A stacked part grasping system, comprising: a stacking device and a gripping device;

wherein the windrow device comprises:

the material rack is provided with a first guide structure;

the end face of the drawer base is sequentially stacked with a plurality of parts, the drawer base is provided with a second guide structure matched with the first guide structure, the second guide structure can slide in a reciprocating mode along the length direction of the first guide structure, and the drawer base can extend into the material rack or be drawn out of the material rack and is externally arranged on the material rack;

wherein grabbing device includes:

the grabbing hand bracket can be close to or far away from the part;

the plurality of adsorption mechanisms are arranged on the grabbing hand bracket and are used for adsorbing the parts;

the bending driving parts are arranged on the grabbing hand bracket;

the bending mechanisms correspond to the bending driving parts one by one, the bending mechanisms are in driving connection with the corresponding bending driving parts, and the bending mechanisms are contacted with or separated from the parts after moving;

the distance measuring sensor is arranged on one side of the grabbing hand support facing to the part, and the distance measuring sensor is opposite to the part.

2. A stacked part picking system as claimed in claim 1, further comprising a plurality of guide posts, wherein a plurality of said guide posts are disposed on the upper end surface of said drawer base, and wherein a profile of said plurality of said guide posts matches a shape of said part; wherein, both sides of the length direction and the width direction of the part are provided with at least one guide upright post, and the guide upright posts are contacted with the edge of the part.

3. A stacked part grabbing system as claimed in claim 1, wherein the edge of the rack is surrounded by a fence, and a baffle is arranged at an end of the drawer base facing away from the rack, and a holding mechanism is arranged at a side of the baffle facing away from the rack.

4. A stacked part picking system as claimed in claim 1, wherein said first guide structure and said second guide structure are arranged along the width direction or the length direction of said parts; the first guide structure is a guide clamping strip or a guide wheel, and the second guide structure is a guide rail; or the first guide structure is a guide rail, and the second guide structure is a guide clamping strip or a guide wheel.

5. A stacked part picking system as claimed in claim 1, further comprising a plurality of support posts and a sliding structure, wherein the support posts are disposed on the lower end face of the rack, the sliding structure is disposed on an end of the drawer base facing away from the rack, and the bottom of the support posts and the bottom of the sliding structure are both in contact with a support surface, wherein the support posts are fixedly disposed relative to the support surface, and the sliding structure can roll relative to the support surface.

6. A stacked part picking system as claimed in claim 1, further comprising a contact switch disposed at an end of the drawer base adjacent to the stack, the contact switch being in communication with the picking device;

the drawer base completely extends into the material rack, the contact switch is triggered, and the gripping device works normally;

the drawer base is drawn out of the material rack, the contact switch is disconnected, and the grabbing device stops working.

7. A stacked part picking system as claimed in claim 1, wherein said picking hand support comprises at least two support beams, a plurality of said support beams are fixedly connected with each other, one of said support beams is connected with said adsorption mechanism and said bending driving part, and the other of said support beams is connected with an external manipulator; the support cross beam is arranged in a tubular shape, and a plurality of assembling holes are formed in the circumferential side face of each support cross beam.

8. A stacked part picking system as claimed in claim 1, wherein the suction mechanism is a vacuum suction mechanism comprising a vacuum chuck and a vacuum source in communication with the vacuum chuck, or the suction mechanism is an electromagnetic suction mechanism comprising a pneumatic magnet chuck and an external power source connected to the pneumatic magnet chuck.

9. A stacked part picking system as claimed in claim 1, further comprising a plurality of positioning devices, wherein the plurality of positioning devices are detachably connected to the picking hand support, the positioning devices are matched with positioning structures on the parts, and the positioning structures are one or a combination of holes, slots and protrusions.

10. A stacked part picking system as claimed in claim 1, further comprising an external controller, said external controller being in communication with said external robot, said ranging sensor being in communication with said external controller, said ranging sensor being one of an ultrasonic sensor, a millimeter wave sensor, and a lidar sensor.

11. A stacked part picking system as recited in claim 1, further comprising a counter in communication with said ranging sensor, said counter counting one more when said ranging sensor is moved closer to and further away from a said part.

12. A stacked part picking system as claimed in claim 1, further comprising a plurality of picking mechanisms and a plurality of picking driving members drivingly connected to the picking mechanisms, wherein a plurality of the picking mechanisms and a plurality of the picking driving members are provided on the picking hand support, wherein each of the picking mechanisms comprises a first chuck and a second chuck, the first chuck being fixedly disposed, the second chuck being driven by the picking driving members to be gripped or separated from the first chuck, or the second chuck being fixedly disposed, the first chuck being driven by the picking driving members to be gripped or separated from the second chuck.

13. A stacked part grabbing system according to claim 1, wherein the bending mechanism is disposed at one side of the part, and one end of the bending mechanism is in contact with a partial region of the part and then is pushed or pulled in a predetermined direction, so that a predetermined angle is formed between a plane where the partial region of the part is displaced and an initial plane where the partial region of the part is located, and the predetermined angle is any angle between zero and one hundred eighty degrees.

14. A stacked part picking system as claimed in claim 12, wherein said clamping drive member and said bending drive member are linear displacement actuators or rotary displacement actuators, and said linear displacement actuators are one of linear air cylinders and linear electric cylinders, and said rotary displacement actuators are one of rotary air cylinders and rotary electric cylinders.

15. A method for picking a stacked part, comprising the system for picking a stacked part as claimed in any one of claims 1 to 14, comprising the steps of:

s1, drawing the drawer base out of the material rack;

s3, completely loading the drawer base with the parts into the material rack;

s4, the grabbing device is close to the parts at the top and grabs the parts;

16. A stacked part picking method as claimed in claim 15, wherein the step S3 includes:

s31, starting adsorption operation by the adsorption mechanism of the grabbing device, and enabling the adsorption mechanism to gradually approach the parts on the top;

s32, the adsorption mechanism is in contact with the part at the top and moves in a direction away from the rest parts;

s33, after the grabbing device moves to a preset position, the clamping mechanism clamps the parts adsorbed on the adsorption mechanism.

17. A stacked part picking method as claimed in claim 15, wherein the step S4 includes:

s41, bending the part for the first time by the bending mechanism;

18. A method for picking up a stacked part as claimed in claim 15, wherein said picking means is moved to a predetermined position above a plurality of said parts stacked before the start of picking up said parts, and said distance measuring sensor measures an initial distance between said suction means and said part on the top.

19. A method for picking up a stacked part as claimed in claim 18, wherein the picking-up means compares a result obtained by dividing a difference between initial distances measured by the distance measuring sensor by the number of picking-up times with a predetermined numerical range after the picking-up is performed a predetermined number of times;

and if the obtained structure is not in the preset numerical range, the grabbing device suspends the grabbing operation, gives an alarm and reminds field workers that the stacking condition of the parts is abnormal.

20. A method for picking stacked parts as claimed in claim 19, wherein when the distance measuring sensor is located at a predetermined position above the drawer base and the distance measured by the distance measuring sensor is the distance between the distance measuring sensor and the drawer base, the part on the drawer base is picked up, the picking device stops working and gives an alarm to remind a worker on site to feed the material in time.