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A lift-up carton unpacking device with controllable impact force and its control method

An impact force and lift-up technology, applied in the field of industrial production, can solve the problem of large impact force when unpacking

Inactive Publication Date: 2016-08-24
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problems existing in the existing system, the present invention provides a lift-up carton unpacking device with controllable impact force and its control method, by adopting a force sensor and a pneumatic pressure proportional valve, and cooperating with a corresponding control method To solve the above-mentioned problem of high impact force of unboxing

Method used

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  • A lift-up carton unpacking device with controllable impact force and its control method
  • A lift-up carton unpacking device with controllable impact force and its control method
  • A lift-up carton unpacking device with controllable impact force and its control method

Examples

Experimental program
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Effect test

Embodiment 1

[0020] Example 1: Reference figure 1 The unboxing principle of the lift-up carton unboxing device with controllable impact force is shown. The lift-up carton unboxing device with controllable impact force includes a force sensor (2), a mechanical clamping device (3), a pneumatic control The device, and the controller (13), the force sensor (2) is installed between the end flange (1-1) on the industrial robot (1) and the connecting flange (3-1) of the mechanical clamping device, the material (5) Packed in a carton (4), and the carton (4) is clamped by a mechanical clamping device (3). The mechanical clamping device (3) is driven by the clamping cylinder (3-3) to drive the clamping arm (3-4) to move; the clamping arm (3-4) is mounted on the linear guide rail (3-2), so that the The clamping arm (3-4) can perform linear reciprocating motion on the linear guide rail (3-2); the clamping arm (3-4) is equipped with a steel needle (3-5), in order to ensure that during the unboxing pro...

Embodiment 2

[0021] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows: refer to figure 2, which shows the pneumatic principle diagram for the above-mentioned mechanical clamping device, the external air source is connected to the air inlet (10-1) of the double electronically controlled 5 / 2-way reversing valve (10), and the double electronically controlled An air outlet (10-2) of the two-position five-way reversing valve (10) is connected to the pneumatic pressure proportional valve (8), the speed control valve (6), and the rod cavity of the clamping cylinder (3-3) in sequence, The pneumatic pressure proportional valve (8) is connected in parallel with a one-way valve (9); the other air outlet (10-3) of the double electronically controlled two-position five-way reversing valve (10) is connected to the speed control valve ( 7) The rodless cavities of the clamping cylinder (3-3) are connected in sequence; the exhaust port (10-4) and ...

Embodiment 3

[0022] Example 3: Reference image 3 , which shows the specific steps of a control method of a lift-up carton unboxing device with controllable impact force of the present invention: Step 1): The mechanical clamping device (3) removes the carton (4) together with the materials ( 5) Clamp and lift to a certain height. Step 2): The force sensor (2) detects in real time the downward pulling force received by the robot (1), including the gravity of the mechanical clamping device (3) itself, the gravity of the carton (4), and the material (5) relative to the carton ( 4) The resulting downward pull force. The controller (13) deducts the force detected by the force sensor (2) from the gravity of the mechanical clamping device (3) itself and the gravity of the carton (4) to obtain the direction of the material (5) relative to the carton (4). Pull down force. Step 3): The controller (13) determines whether the material (5) is relative to the carton (4) according to whether the downw...

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Abstract

The invention relates to a lift-up carton unpacking device with controllable impact force and a control method thereof. The lift-up carton unpacking device with controllable impact force is composed of a pneumatically driven mechanical clamping device, a force sensor installed between the robot and the mechanical clamping device, and an output pressure driven by a pneumatic proportional valve that can be continuously adjusted. Pneumatic control device, and controller (such as PLC, industrial computer). The control method uses a force sensor to detect the downward pulling force on the robot in real time, calculates the friction between the carton and the material, and continuously adjusts the output air pressure of the pneumatic proportional valve according to a given PID control algorithm to control the carton and material. The friction force between them is within the specified range, so as to realize the soft sliding of materials and reduce the impact force when sliding.

Description

technical field [0001] The invention relates to the unpacking of raw materials for carton packaging in the field of industrial production, in particular to a lift-up type carton unpacking device with controllable impact force and a control method thereof. Background technique [0002] In industrial production, a considerable part of the production materials are packaged in cartons, and many of these materials are in the form of blocks. In the automated production process, there is a step in which the carton is removed from the production material by a robot or other automated equipment, that is, the material is unpacked. Tighten and lift to a certain height; then the air pressure of the clamping cylinder of the mechanical clamping device is switched to a low pressure; since the upper and lower sides of the carton have openable flaps, the materials in the carton are under the action of gravity to open the bottom of the carton Flip the cover, and slide it down to the stage (s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65B69/00B65G47/74
Inventor 钱东海赵伟崔泽顾文斌
Owner SHANGHAI UNIV
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