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Workpiece dislocation grabbing method

A workpiece, reverse direction technology, applied to conveyor objects, object unstacking, object stacking and other directions, can solve the problem that the workpiece cannot complete the automatic grasping operation, etc., to achieve the effect of automatic control

Active Publication Date: 2019-09-20
GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide a method for grabbing workpieces in misalignment, and the technical solution provided by the invention solves the technical problem that the automatic grabbing operation cannot be completed for misaligned and stacked workpieces

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Workpieces are divided into single-sided types according to their shapes. When the workpieces are stacked together in positive and negative order, the central axis of the workpiece does not overlap with the central axis of the entire stack of workpieces. With the workpieces in the above stacking manner, the automatic grabbing operation of the workpieces cannot be completed.

[0035] Such as figure 1 As shown, in order to solve the above problems, this embodiment proposes a workpiece misalignment grasping method, which is used for the case where the central axis of the workpiece does not overlap with the central axis of the entire stack of workpieces. The hardware includes at least two sets of initial positions and the entire stack of workpieces The central axis is the jaws whose axis is arranged symmetrically along the width direction.

[0036] Most of the workpieces are made of plates with two supporting feet. In this embodiment, the side where the supporting feet are...

Embodiment 2

[0070] Based on the workpiece misalignment grasping method described in Embodiment 1, this embodiment provides a workpiece grasping device, which is used to grasp left and right cross-stacked workpieces.

[0071] Such as Figure 2-3 As shown, its hardware structure includes, in addition to the two sets of linked jaws 100 required in the workpiece misalignment grasping method, a workpiece detection component 200 located at one of the jaws 100 and a moving distance detection component.

[0072] The workpiece detection component 200 moves synchronously with the gripper 100, and generates a trigger signal when the gripper 100 reaches the side of the topmost workpiece;

[0073] The moving distance detection component acquires the moving distance of the gripper 100 during the process from starting the workpiece detection component 200 to generating the trigger signal;

[0074] The two sets of jaws 100 are located above the entire stack of workpieces, and the initial position is sym...

Embodiment 3

[0089] This embodiment provides a workpiece grabbing device, which is used to grab left and right cross-stacked workpieces.

[0090] It also includes two sets of linked jaws 100 , a workpiece detection component 200 located at one of the jaws 100 , and a moving distance detection component.

[0091] The workpiece detection component 200 moves synchronously with the gripper jaw 100, and generates a trigger signal when the gripper jaw 100 reaches the side of the topmost workpiece; the moving distance detection component acquires the distance between the workpiece detection component 200 and the trigger signal generation process. Moving distance: two sets of jaws 100 are located above the entire stack of workpieces, and the initial position is set symmetrically along the width direction of the workpiece with the central axis of the entire stack of workpieces as the axis, and moved to the topmost workpiece according to the moving distance obtained by the moving distance detection c...

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Abstract

The invention relates to the technical field of feeding equipment, particularly relates to a workpiece dislocation grabbing method, and provides a device of the workpiece dislocation grabbing method. The workpiece dislocation grabbing method is used for grabbing left and right staggered workpieces and is based on two groups of clamping jaws which take the central axis of the whole stack of workpieces as the axis and are symmetrically arranged in the width direction of the whole stack of workpieces. The method comprises the following steps of acquiring the width difference a between a topmost-layer workpiece and the whole stack of workpieces; moving the clamping jaws in the width direction of the workpieces, and acquiring the moving distance b when the side edge of the topmost-layer workpiece is detected; comparing the moving distance b and the width difference a to obtain the deviation direction of the topmost-layer workpiece; and adjusting the clamping jaws to reach positions over the topmost-layer workpiece according to the deviation direction and the width difference a, and completing grabbing actions. By means of the technical scheme of the workpiece dislocation grabbing method, the technical problem that a workpiece cannot be automatically grabbed is solved.

Description

technical field [0001] The invention relates to the technical field of feeding equipment, in particular to a method for grabbing workpieces in dislocation. Background technique [0002] Some workpieces are staggered and stacked, so the workpieces in this stacking method need to complete the identification and judgment of the placement direction and the central axis of the workpiece at the same time, which will undoubtedly cause great difficulties for the automatic grasping of the workpiece, so the workpiece cannot be completed. Automate grabbing operations. [0003] Among them, there is a kind of pallet workpiece, which is a base made to facilitate the placement and shipment of scattered items, generally square or rectangular. Pallet workpieces include single-sided workpieces according to their appearance. When the workpiece supplier ships single-sided workpieces, in order to improve transportation efficiency, the workpieces are stacked together in the order of front and ba...

Claims

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Application Information

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IPC IPC(8): B65G47/90B65G61/00B65G59/02
CPCB65G47/907B65G59/02B65G61/00
Inventor 陈德朱晓轩黄付延黄金淼王俊文汪海周俊杰钟小兰
Owner GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION CO LTD
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