CN114044357B - Plate feeding equipment and method - Google Patents
Plate feeding equipment and method Download PDFInfo
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- CN114044357B CN114044357B CN202111454679.8A CN202111454679A CN114044357B CN 114044357 B CN114044357 B CN 114044357B CN 202111454679 A CN202111454679 A CN 202111454679A CN 114044357 B CN114044357 B CN 114044357B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 144
- 238000001514 detection method Methods 0.000 claims abstract description 78
- 238000001179 sorption measurement Methods 0.000 claims abstract description 53
- 239000000523 sample Substances 0.000 claims abstract description 41
- 230000006835 compression Effects 0.000 claims abstract description 15
- 238000007906 compression Methods 0.000 claims abstract description 15
- 238000012546 transfer Methods 0.000 claims description 21
- 238000013519 translation Methods 0.000 claims description 15
- 238000013459 approach Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000000926 separation method Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses a plate feeding device and a method, which are suitable for transferring a plurality of stacked plates, wherein the device comprises a material moving mechanism and a detection mechanism; the material moving mechanism is used for sequentially transferring the stacked plates to a position to be detected so that the plates are detected by the detection mechanism, and transferring the detected plates; detection mechanism includes adsorption component, detection component and controller, detection component is including detecting driver and detector, adsorption component is used for adsorbing and waits to detect panel, it is used for the drive detector to remove to detect the driver, the detector includes the telescopic probe, under the drive that detects the driver, the probe butt is in waiting to detect panel and by waiting to detect the panel compression, the controller judges whether the problem that the panel had the material pile according to the compression capacity of probe, and the absorption through control adsorption component helps moving material mechanism with the panel separation, and then make and move material mechanism and can shift panel one by one, the panel material pile has been avoided effectively.
Description
Technical Field
The invention relates to the technical field of plate feeding, in particular to plate feeding equipment and a plate feeding method.
Background
In the process of processing the plates, a plurality of stacked plates need to be transferred to processing equipment one by using feeding equipment, but the plates have the problem of stacking due to lubricating oil added during production, burrs generated during cutting, vacuum adsorption and static electricity generated by stacking and the like, so that the feeding equipment cannot feed a single plate, and the plate stacking can cause scrapping of products produced subsequently or damage the processing equipment.
Disclosure of Invention
The invention aims to provide plate feeding equipment and a plate feeding method, which can detect plates and transfer the plates one by one, and avoid plate stacking.
In order to achieve the purpose, the invention discloses a plate feeding device which is suitable for transferring a plurality of stacked plates and comprises a material transferring mechanism and a detecting mechanism; the material moving mechanism is used for sequentially transferring the stacked plates to a position to be detected so that the plates are detected by the detection mechanism, and transferring the detected plates;
the detection mechanism comprises a detection device, the detection device comprises an adsorption component, a detection component and a controller, the detection component comprises a detection driver and a detector, the adsorption component and the detector are respectively positioned on two opposite sides of a plate to be detected, the adsorption component is used for adsorbing one surface of the plate to be detected, which faces away from the material moving mechanism, the detection driver is used for driving the detector to move towards the direction close to the plate to be detected, the detector comprises a telescopic probe, under the driving of the detection driver, the probe is abutted against one surface of the plate to be detected, which faces towards the material moving mechanism, and is compressed by the plate to be detected, and the controller determines whether to control the adsorption component to stop adsorption according to the compression amount of the probe.
The detection mechanism is arranged for detecting the plates and comprises an adsorption component and a detection component, the detection component comprises a detection driver and a detector, the adsorption component adsorbs one surface, back to the material moving mechanism, of the plate to be detected, the detection driver drives the detector to move towards the direction close to the plate to be detected, a telescopic probe of the detector is abutted against one surface, facing the material moving mechanism, of the plate to be detected under the driving of the detection driver and is compressed by the plate to be detected, the number of the detected plates can be judged according to the compression amount of the probe, and further the phenomenon that the plate stacking affects subsequently produced products or damages production equipment can be effectively avoided.
Optionally, the plate feeding equipment further comprises a position adjusting mechanism and a vision device, wherein the position adjusting mechanism is used for adjusting the transverse position and the longitudinal position of the plate to be detected; the vision device is used for acquiring the adjusted position information of the plate to be detected, and the material moving mechanism transfers the plate from the position to be detected according to the position information.
Optionally, the position adjusting mechanism includes at least two adjusting assemblies, each adjusting assembly includes an adjusting bracket, an adjusting driver disposed on the adjusting bracket, and a pushing member mounted at an output end of the adjusting driver, and the pushing member pushes the to-be-detected plate to move transversely and/or longitudinally under the driving of the adjusting driver.
Optionally, the detection assembly further includes a clamp, the clamp is used for clamping a plate to be detected, and when the probe abuts against the plate to be detected, the clamp supports the plate to be detected so as to compress the probe.
Optionally, the clamp includes a first clamp, a second clamp, and a clamp driver, the first clamp and the second clamp are disposed on opposite sides of the to-be-detected plate, the first clamp and/or the second clamp are connected to an output end of the clamp driver, the clamp driver is configured to enable the first clamp and the second clamp to approach each other, so that the first clamp and the second clamp are respectively crimped to surfaces on two sides of the to-be-detected plate, the first clamp is provided with a through hole, and the probe abuts against the to-be-detected plate from the through hole and is compressed by the second clamp and the to-be-detected plate.
Optionally, the detection device further includes a translation driver, the detection assembly is connected to an output end of the translation driver, and the translation driver is configured to drive the detection assembly to horizontally move to approach or move away from the plate to be detected.
Optionally, the detection mechanism further includes a support frame disposed on one side of the plate to be detected and a driving device disposed on the support frame, the detection device is connected to the driving device, and the driving device is configured to drive the detection device to vertically move so as to approach or leave the plate to be detected transferred by the material transfer mechanism.
Optionally, the detection device is provided with a sensor, the sensor is used for sensing a plate to be detected, and the driving device drives the detection device to move or stop according to sensing information of the sensor.
Optionally, the material moving mechanism comprises a mechanical arm and a material sucking assembly, the material sucking assembly comprises a material sucking support and a plurality of material sucking devices arranged on the material sucking support, the material sucking devices are used for sucking the plates to be detected, the material sucking support is connected to the free end of the mechanical arm, and the mechanical arm is used for driving the material sucking support to move so as to transfer the sucked plates.
In order to achieve the purpose, the invention also discloses a plate feeding method by using the plate feeding equipment, which comprises the following steps:
the material moving mechanism transfers the plates stacked on the outermost side to a position to be detected;
the adsorption component adsorbs one surface, back to the material moving mechanism, of the plate to be detected;
the detection driver drives the detector to move towards the direction close to the plate to be detected, so that a probe of the detector is abutted against one surface, facing the material moving mechanism, of the plate and is compressed by the plate to be detected;
the controller obtains the number of the plates according to the compression amount of the probe;
if the number of the plates is two, the adsorption assembly keeps adsorbing so that the adsorption assembly adsorbs the lower plate, and the material moving mechanism separates the upper plate; after the upper plate is separated, the adsorption component stops adsorbing, and the material moving mechanism transfers the lower plate;
if the number of the plates is one, the controller controls the adsorption component to stop adsorption, and the material moving mechanism moves the plates.
The invention is provided with a material moving mechanism, an adsorption component and a controller to realize sheet material one-by-one feeding, the adsorption component adsorbs one surface of a sheet material to be detected, which is back to the material moving mechanism, a probe of a detector is pressed against one surface of the sheet material to be detected, which faces to the material moving mechanism, under the driving of a detection driver and is compressed by the sheet material to be detected, the controller judges the number of the detected sheet material according to the compression amount of the probe and decides whether to control the adsorption component to stop adsorbing to assist the material moving mechanism to separate double sheet materials and transfer single sheet materials, thereby effectively avoiding the influence of sheet material stacking on products produced subsequently or the damage of production equipment.
Drawings
Fig. 1 is a perspective structural view of a plate feeding device according to an embodiment of the present invention.
Fig. 2 is a perspective view of a detection mechanism in an embodiment of the present invention.
Fig. 3 is a perspective view of fig. 2 from another angle.
FIG. 4 is a perspective view of a detection assembly and translation actuator in an embodiment of the present invention.
Fig. 5 is a perspective view of fig. 4 from another angle.
Fig. 6 is a perspective structural view of the material moving mechanism in the embodiment of the invention.
Fig. 7 is a perspective view of an adjustment assembly in an embodiment of the present invention.
Detailed Description
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 7, the present invention discloses a plate feeding apparatus, which is suitable for transferring a plurality of stacked plates 10, and comprises a material transferring mechanism 1000 and a detecting mechanism 2000; the material moving mechanism 1000 is used for sequentially transferring the stacked plates 10 to a position to be detected so that the plates 10 are detected by the detection mechanism 2000, and transferring the detected plates 10; the detection mechanism 2000 comprises a detection device 201, the detection device 201 comprises an adsorption component 21, a detection component 22 and a controller 23, the detection component 22 comprises a detection driver 221 and a detector 222, the adsorption component 21 and the detector 222 are respectively located on two opposite sides of the plate material 10 to be detected, the adsorption component 21 is used for adsorbing one surface, back to the material moving mechanism 1000, of the plate material 10 to be detected, the detection driver 221 is used for driving the detector 222 to move towards the direction close to the plate material 10 to be detected, the detector 222 comprises a telescopic probe 2221, under the driving of the detection driver 221, the probe 2221 abuts against one surface, facing the material moving mechanism 1000, of the plate material 10 to be detected and is compressed by the plate material 10 to be detected, and the controller 23 determines whether to control the adsorption component 21 to stop adsorbing according to the compression amount of the probe 2221.
The detection mechanism 2000 is arranged for detecting the plate 10, the detection mechanism 2000 comprises an adsorption component 21 and a detection component 22, the detection component 22 comprises a detection driver 221 and a detector 222, the adsorption component 21 adsorbs one surface, back to the material moving mechanism 1000, of the plate 10 to be detected, the detection driver 221 drives the detector 222 to move towards the direction close to the plate 10 to be detected, a telescopic probe 2221 of the detector 222 is abutted to one surface, facing the material moving mechanism 1000, of the plate 10 to be detected under the driving of the detection driver and is compressed by the plate 10 to be detected, the number of the detected plate 10 can be judged according to the compression amount of the probe 2221, and further, the influence of the stacking of the plate 10 on subsequently produced products or the damage of production equipment can be effectively avoided.
Specifically, the material of the plate 10 includes, but is not limited to, magnetic metal, non-magnetic metal, and non-metal.
Referring to fig. 1, 6 and 7, the plate feeding apparatus further includes a position adjusting mechanism 3000 and a vision device 4000, wherein the position adjusting mechanism 3000 is used for adjusting the transverse position and the longitudinal position of the plate 10 to be detected; the vision device 4000 is configured to obtain position information of the adjusted board 10 to be detected, and the material moving mechanism 1000 moves the board 10 from the position to be detected according to the position information. The position adjusting mechanism 3000 can adjust the position of the plate 10 to the visual photographing range of the visual device 4000, so that the visual device 4000 can position the plate 10, and then the material moving mechanism 1000 can accurately pick up the plate 10 and accurately move the plate 10 to the corresponding position of the next process.
Specifically, the position adjusting mechanism 3000 includes at least two adjusting assemblies 300, each adjusting assembly 300 includes an adjusting bracket 301, an adjusting driver 302 disposed on the adjusting bracket 301, and a pushing member 303 installed at an output end of the adjusting driver 302, and the pushing member 303 pushes the sheet 10 to be detected to move transversely and/or longitudinally under the driving of the adjusting driver 302, so that the sheet 10 is within the photographing range of the vision device 4000, which is beneficial for the vision device 4000 to smoothly photograph and position the sheet 10.
In this embodiment, a plurality of plates 10 are stacked on the material loading platform 5000, the adjusting assemblies 300 are disposed on two adjacent sides of the material loading platform 5000, two adjusting assemblies 300 are disposed on one longer side of the material loading platform 5000 to push the plates 10 to be detected to move longitudinally, and an adjusting assembly 300 is disposed on the other side of the material loading platform 5000 to push the plates 10 to be detected to move transversely. The material moving mechanism 1000 sequentially transfers the stacked plates 10, so that two adjacent edges of the plates 10 are within the pushing range of the pushing member 303, and the adjusting driver 302 drives the pushing member 303 to move towards the direction close to the plates 10 and abut against the edges of the plates 10, so as to push the plates 10 to move.
Referring to fig. 1 to 5, the detecting assembly 22 further includes a clamp 223, the clamp 223 is used for clamping the sheet material 10 to be detected, and when the probe 2221 abuts against the sheet material 10 to be detected, the clamp 223 supports the sheet material 10 to be detected to compress the probe 2221. The fixture 223 can keep the surface of the plate 10 flat and provide support for the plate 10, which is beneficial to obtaining accurate compression amount of the probe 2221, so as to accurately judge the number of the plate 10.
Specifically, the jig 223 includes a first clamp 2231, a second clamp 2232, and a clamp driver 2233, wherein the first clamp 2231 and the second clamp 2232 are disposed opposite to each other on opposite sides of the sheet material 10 to be inspected, the first clamp 2231 and/or the second clamp 2232 is connected to an output end of the clamp driver 2233, the clamp driver 2233 is configured to move the first clamp 2231 and the second clamp 2232 closer to each other so that the first clamp 2231 and the second clamp 2232 are respectively pressed against surfaces of both sides of the sheet material 10 to be inspected, the first clamp 2231 is provided with a through hole 2230, and the probe 2221 abuts against the sheet material 10 to be inspected from the through hole 2230 and is compressed by the second clamp 2232 and the sheet material 10 to be inspected. The first clamping piece 2231 can keep the area of the plate material 10 compressing the probe 2221 flat, and the second clamping piece 2232 can provide support for the area of the plate material 10 compressing the probe 2221, so that the compression amount of the probe 2221 can be accurately obtained, and the accuracy of subsequently judging the number of the plate materials 10 can be improved.
In this embodiment, the first clip 2231 is connected to an output end of the clip driver 2233, and the clip driver 2233 is configured to drive the first clip 2231 to approach the second clip 2232, so that the first clip 2231 and the second clip 2232 abut against surfaces of two sides of the sheet material 10, respectively; but not limited thereto, it is also possible that the second clip 2232 is connected to an output end of the clip driver 2233, and the clip driver 2233 is configured to drive the second clip 2232 toward the first clip 2231; in some embodiments, two clamp drivers 2233 may be further provided, wherein the first clamp 2231 and the second clamp 2232 are respectively connected to output ends of the two clamp drivers 2233, and the two clamp drivers 2233 respectively drive the first clamp 2231 and the second clamp 2232 to approach each other to respectively abut against surfaces of two sides of the sheet material 10; in other embodiments, the first clip 2231 and the second clip 2232 are connected to an output end of the same clip driver 2233, and the clip driver 2233 can drive the first clip 2231 and the second clip 2232 to approach each other to abut against surfaces of two sides of the slab 10.
Specifically, the inspection assembly 22 further includes a vertical mounting block 2241 and a vertical mounting block 2242 vertically connected to the vertical mounting block 2241, the inspection driver 221 is disposed on one surface of the vertical mounting block 2242, the clip driver 2233 is disposed on the other surface of the vertical mounting block 2242, the second clip 2232 is disposed on the vertical mounting block 2241, the first clip 2231 and the second clip 2232 are disposed opposite to each other, and the clip driver 2233 drives the first clip 2231 to move toward the second clip 2232, so that the first clip 2231 and the second clip 2232 are pressed against the surfaces of both sides of the plate 10.
Referring to fig. 1 to 5, the detecting device 201 further includes a translation driver 24, the detecting assembly 22 is connected to an output end of the translation driver 24, and the translation driver 24 is configured to drive the detecting assembly 22 to move horizontally to approach or move away from the sheet material 10 to be detected. After the material moving mechanism 1000 transfers the stacked plates 10 and before transferring the detected plates 10, the translation driver 24 drives the detection assembly 22 to move to be close to the plates 10 and to be far from the plates 10 to be detected, so as to facilitate the cooperation of the detection assembly 22 and the material moving mechanism 1000.
Specifically, in the present embodiment, the detecting device 201 further includes a supporting plate 25, and the translation driver 24 is a slide cylinder, but is not limited thereto. The translational actuator 24 comprises two fixed members 241 disposed on opposite sides of the surface of the supporting plate 25, a sliding rod 242 connected between the two fixed members 241, and a pneumatic slider 243 slidably connected to the sliding rod 242, wherein the detecting assembly 22 is fixedly connected to the pneumatic slider 243, and the pneumatic slider 243 drives the detecting assembly 22 to slide along the sliding rod 242 to approach or move away from the sheet material 10 to be detected.
Referring to fig. 1 to 3, the detecting mechanism 2000 further includes a supporting frame 202 disposed on one side of the plate 10 to be detected and a driving device 203 disposed on the supporting frame 202, the detecting device 201 is connected to the driving device 203, the driving device 203 is configured to drive the detecting device 201 to vertically move to approach or move away from the plate 10 to be detected transferred by the material transferring mechanism 1000, and the driving device 203 is configured to facilitate the detecting mechanism 2000 to automatically detect the plate 10.
In this embodiment, the driving device 203 drives the detecting device 201 to move vertically, and the translation driver 24 is matched to drive the detecting assembly 22 to move horizontally, so as to drive the adsorbing assembly 21 and the detector 222 to move to two opposite sides of the board 10 to be detected, respectively.
Specifically, the supporting frame 202 includes a bottom plate 26 and a vertical plate 27, the vertical plate 27 is vertically and fixedly connected to the surface of the bottom plate 26, the driving device 203 includes a vertical slide rail 28 disposed on the vertical plate 27 and a vertical driver 29 mounted on the vertical slide rail 28, the bottom of the detecting device 201 is provided with a moving member 251, the moving member 251 is slidably connected to the vertical slide rail 28 and connected to an output end of the vertical driver 29, and the vertical driver 29 is configured to drive the moving member 251 to slide along the vertical slide rail 28 so as to drive the detecting device 201 to vertically move.
Referring to fig. 1 to 3, the detecting device 201 is provided with a sensor 252, the sensor 252 is used for sensing the sheet material 10, and the driving device 203 drives the detecting device 201 to move or stop according to sensing information of the sensor 252. The sensor 252 is provided to enable the detecting device 201 to move to a corresponding position accurately.
Specifically, in this embodiment, the sensor 252 is disposed on one side of the suction assembly 21, the suction assembly 21 includes a plurality of vacuum chucks 211, the sensing ends of the vacuum chucks 211 and the sensor 252 are disposed at the same height, and after the sensor 252 senses the sheet material 10 to be detected, the driving device 203 stops driving the detecting device 201 to move, so that the vacuum chucks 211 can suck one surface of the sheet material 10 to be detected, which is opposite to the material moving mechanism 1000.
Referring to fig. 1 and 6, the material moving mechanism 1000 includes a mechanical arm 11 and a material suction assembly 12, the material suction assembly 12 includes a material suction support 121 and a plurality of material suction devices 122 disposed on the material suction support 121, the material suction devices 122 are used for sucking the board 10 to be detected, the material suction support 121 is connected to a free end of the mechanical arm 11, and the mechanical arm 11 is used for driving the material suction support 121 to move so as to transfer the sucked board 10. The material moving mechanism 1000 is arranged to facilitate efficient and automatic transfer of the sheet material 10.
Specifically, the material suction bracket 121 includes two first connection frames 1211 and two second connection frames 1212 connected to two ends of the first connection frames 1211, a fixing plate 1213 is connected between the two first connection frames 1211, the vision device 4000 and the free end of the robot arm 11 are fixedly connected to the fixing plate 1213, and a plurality of material suction devices 122 are respectively and fixedly connected to the two second connection frames 1212 to suck a plurality of positions of the sheet material 10.
Referring to fig. 1 to 7, the invention also discloses a plate feeding method using the plate feeding device, which comprises the following steps:
(1) The material moving mechanism 1000 moves the plates 10 stacked on the outermost side to the position to be detected;
(2) The adsorption component 21 adsorbs one surface of the plate 10 to be detected, which is back to the material moving mechanism 1000;
(3) The detection driver 221 drives the detector 222 to move towards the direction close to the plate material 10 to be detected, so that the probe 2221 of the detector 222 abuts against one surface of the plate material 10 facing the material moving mechanism 1000 and is compressed by the plate material 10 to be detected;
(4) The controller 23 obtains the number of the plates 10 according to the compression amount of the probe 2221;
(5) If the number of the plates 10 is two, the adsorption component 21 keeps adsorbing, so that the adsorption component 21 adsorbs the lower layer plate 10, and the material moving mechanism 1000 separates the upper layer plate 10; after the upper plate 10 is separated, the adsorption component 21 stops adsorbing, and the material moving mechanism 1000 transfers the lower plate 10;
(6) If the number of the plate materials 10 is one, the controller 23 controls the adsorption component 21 to stop adsorption, and the material moving mechanism 1000 transfers the plate materials 10.
The invention is provided with a material moving mechanism 1000, an adsorption component 21 and a controller 23 to realize the one-by-one material loading of the plates 10, the adsorption component 21 adsorbs one surface of the plate 10 to be detected, which is opposite to the material moving mechanism 1000, the probe 2221 of the detector 222 is pressed against one surface of the plate 10 to be detected, which is opposite to the material moving mechanism 1000, under the driving of the detection driver 221 and is compressed by the plate 10 to be detected, the controller 23 judges the number of the detected plates 10 according to the compression amount of the probe 2221 and determines whether to control the adsorption component 21 to stop adsorption to assist the material moving mechanism 1000 in separating the double plates 10 and transferring the single plates 10, thereby effectively avoiding the influence of the stacking of the plates 10 on subsequently produced products or the damage of production equipment.
Specifically, in the present embodiment, the method of loading the plate material 10 is as follows:
the material moving mechanism 1000 transfers the plate 10 stacked on the outermost side of the material loading platform 5000 to a position to be detected, so that two adjacent edges of the plate 10 to be detected are located in a pushing range of the pushing member 303 and at least part of one surface of the plate 10, which is opposite to the material moving mechanism 1000, is exposed, the adjusting driver 302 drives the pushing member 303 to move so as to push the plate 10 to be detected to move transversely and/or longitudinally, so that the plate 10 to be detected is located in a photographing range of the vision device 4000, and the vision device 4000 photographs and positions the plate 10 to obtain position information of the plate 10;
the driving device 203 drives the detection device 201 to move vertically, after the sensor 252 senses the plate 10, the driving device 201 stops driving to move, and the adsorption component 21 is located below the plate 10 to be detected and adsorbs one surface, back to the material moving mechanism 1000, of the plate 10 to be detected;
the translation driver 24 drives the detection assembly 22 to move, so that the detector 222 and the first clamp 2231 move to above the plate material 10 to be detected, the clamp driver 2233 drives the first clamp 2231 to move towards a direction close to the second clamp 2232, so that the first clamp 2231 and the second clamp 2232 are respectively pressed on the surfaces of two sides of the plate material 10, the detection driver 221 drives the detector 222 to move towards a direction close to the plate material 10 to be detected, so that the probe 2221 of the detector 222 abuts against one surface, facing the material moving mechanism 1000, of the plate material 10 to be detected and is compressed by the plate material 10 to be detected and the second clamp 2232, after detection is completed, the clamp driver 2233 and the detection driver 221 drive the first clamp 2231 and the detector 222 to contract, and the translation driver 24 drives the detection assembly 22 to move towards a direction away from the plate material 10;
the controller 23 calculates the thickness of the plate 10 to be detected according to the compression amount of the probe 2221, so as to obtain the number of the plate 10 to be detected;
if the number of the detected plates 10 is two, the adsorption component 21 keeps adsorbing so that the adsorption component 21 adsorbs the lower plate 10, the material moving mechanism 1000 adsorbs the upper plate 10 according to the position information of the plate 10 to separate and transfer the upper plate to the next production equipment, then the controller 23 controls the adsorption component 21 to stop adsorbing, and the material moving mechanism 1000 adsorbs the lower plate 10 according to the position information of the plate 10 and transfers the lower plate to the next production equipment;
if the number of the detected sheet materials 10 is one, the controller 23 controls the adsorption component 21 to stop adsorption, and the material moving mechanism 1000 adsorbs the sheet materials 10 according to the position information of the sheet materials 10 and transfers the sheet materials to the next production equipment.
The above disclosure is only for the preferred embodiment of the present invention, and it should be understood that the present invention is not limited thereto, and the invention is not limited to the above disclosure.
Claims (10)
1. A plate feeding device is suitable for transferring a plurality of stacked plates and is characterized by comprising a material transferring mechanism and a detecting mechanism;
the material moving mechanism is used for sequentially transferring the stacked plates to a position to be detected so that the plates are detected by the detection mechanism, and transferring the detected plates;
the detection mechanism comprises a detection device, the detection device comprises an adsorption component, a detection component and a controller, the detection component comprises a detection driver and a detector, the adsorption component and the detector are respectively located on two opposite sides of a plate to be detected, the adsorption component is used for adsorbing one surface of the plate to be detected, which faces away from the material moving mechanism, the detection driver is used for driving the detector to move towards the direction close to the plate to be detected, the detector comprises a telescopic probe, the probe is abutted to one surface of the plate to be detected, which faces towards the material moving mechanism, and is compressed by the plate to be detected under the driving of the detection driver, and the controller determines whether to control the adsorption component to stop adsorption according to the compression amount of the probe.
2. The sheet feeding apparatus according to claim 1, further comprising a position adjusting mechanism and a vision device, wherein the position adjusting mechanism is used for adjusting the transverse position and the longitudinal position of the sheet to be detected; the vision device is used for acquiring the adjusted position information of the plate to be detected, and the material moving mechanism is used for moving the plate from the position to be detected according to the position information.
3. A sheet feeding apparatus according to claim 2, wherein the position adjusting mechanism includes at least two adjusting assemblies, and the adjusting assemblies include an adjusting bracket, an adjusting driver disposed on the adjusting bracket, and a pushing member mounted at an output end of the adjusting driver, and the pushing member is driven by the adjusting driver to push the sheet to be detected to move transversely and/or longitudinally.
4. The sheet feeding apparatus according to claim 1, wherein the detection assembly further comprises a clamp, the clamp is used for clamping the sheet to be detected, and when the probe abuts against the sheet to be detected, the clamp supports the sheet to be detected so as to compress the probe.
5. The plate feeding device according to claim 4, wherein the clamp comprises a first clamp, a second clamp and a clamp driver, the first clamp and the second clamp are oppositely arranged on two opposite sides of the plate to be detected, the first clamp and/or the second clamp are connected to an output end of the clamp driver, the clamp driver is used for enabling the first clamp and the second clamp to approach each other so that the first clamp and the second clamp are respectively pressed on the surfaces of two sides of the plate to be detected, the first clamp is provided with a through hole, and the probe abuts against the plate to be detected through the through hole and is compressed by the second clamp and the plate to be detected.
6. The sheet feeding apparatus according to claim 1, wherein the detection device further comprises a translation driver, the detection assembly is connected to an output end of the translation driver, and the translation driver is configured to drive the detection assembly to move horizontally to approach or move away from the sheet to be detected.
7. The plate feeding device according to claim 6, wherein the detection mechanism further comprises a support frame arranged on one side of the plate to be detected and a driving device arranged on the support frame, the detection device is connected with the driving device, and the driving device is used for driving the detection device to vertically move to be close to or far away from the plate to be detected transferred by the material transferring mechanism.
8. A board feeding device according to claim 7, wherein the detection device is provided with a sensor for sensing a board to be detected, and the driving device drives the detection device to move or stop according to sensing information of the sensor.
9. The board loading device according to claim 1, wherein the moving mechanism comprises a mechanical arm and a suction assembly, the suction assembly comprises a suction support and a plurality of suction devices arranged on the suction support, the suction devices are used for sucking the board to be detected, the suction support is connected to the free end of the mechanical arm, and the mechanical arm is used for driving the suction support to move so as to transfer the sucked board.
10. A method of feeding a sheet material using the apparatus of any one of claims 1 to 9, the method comprising:
the material moving mechanism transfers the plates stacked on the outermost side to a position to be detected;
the adsorption component adsorbs one surface, back to the material moving mechanism, of the plate to be detected;
the detection driver drives the detector to move towards the direction close to the plate to be detected, so that a probe of the detector is abutted against one surface, facing the material moving mechanism, of the plate and is compressed by the plate to be detected;
the controller obtains the number of the plates according to the compression amount of the probe;
if the number of the plates is two, the adsorption assembly keeps adsorbing so that the adsorption assembly adsorbs the lower plate, and the material moving mechanism separates the upper plate; after the upper plate is separated, the adsorption component stops adsorbing, and the material moving mechanism transfers the lower plate;
if the number of the plates is one, the controller controls the adsorption component to stop adsorption, and the material moving mechanism transfers the plates.
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Effective date of registration: 20240527 Address after: 518000, Building C, No. 28, Sifangpu New Area, Sifangpu Community, Pingdi Street, Longgang District, Shenzhen City, Guangdong Province, China 102 Patentee after: Shenzhen Xiaoma Lingdong Intelligent Technology Co.,Ltd. Country or region after: China Address before: 518000 3rd floor, No.43 Shunfeng Road, Pingdi street, Longgang District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Eurasia robot Co.,Ltd. Country or region before: China |