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A kind of workpiece dislocation grasping method

A workpiece, reverse direction technology, applied in the direction of unstacking of objects, conveyor objects, transportation and packaging, etc., can solve the problem that the workpiece cannot complete the automatic grabbing operation, and achieve the effect of automatic control

Active Publication Date: 2021-01-15
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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  • A kind of workpiece dislocation grasping method
  • A kind of workpiece dislocation grasping method
  • A kind of workpiece dislocation grasping method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034]According to the shape of the workpiece, there are single-sided types. When the workpieces are stacked in front and back order, the center axis of the workpiece does not overlap with the center axis of the entire stack of workpieces. The workpiece in the above-mentioned stacking method cannot be automatically grasped.

[0035]Such asfigure 1 As shown, in order to solve the above problem, this embodiment proposes a workpiece dislocation 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, and the hardware includes at least two sets of initial positions for the entire stack of workpieces. The central axis is the clamping jaws symmetrically arranged along the axis of the axis.

[0036]The workpieces are mostly made of plates with two supporting legs. In this embodiment, the side where the supporting legs are located is the length direction, and the width direction is perpendicular t...

Embodiment 2

[0070]Based on the workpiece dislocation grabbing method described in Embodiment 1, this embodiment provides a workpiece grabbing device, which is used to grab a workpiece that is overlapped left and right.

[0071]Such asFigure 2-3As shown, in addition to the two sets of linked clamping jaws 100 required in the workpiece dislocation grasping method, the hardware structure also includes a workpiece detection assembly 200 located at one of the clamping jaws 100 and a movement distance detection assembly.

[0072]The workpiece detection assembly 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 movement distance detection component acquires the movement distance of the gripper 100 during the process from the start of the workpiece detection component 200 to the generation of the trigger signal;

[0074]Two sets of clamping jaws 100 are located above the entire stack of workpieces, and their init...

Embodiment 3

[0089]This embodiment provides a workpiece grasping device, which is used to grasp a workpiece that is overlapped left and right.

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

[0091]The workpiece detection assembly 200 moves synchronously with the gripper 100, and generates a trigger signal when the gripper 100 reaches the side of the topmost workpiece; moves the distance detection module, and acquires that the workpiece detection module 200 starts to generate the trigger signal. Movement distance; two sets of grippers 100 are located above the entire stack of workpieces, and the initial position is symmetrically set along the width direction of the workpiece with the center axis of the entire stack of workpieces, and moves to the topmost workpiece according to the movement distance obtained by the moving distance detection assembly Right above, and mo...

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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 grasping a workpiece in a dislocation.Background technique[0002]Some workpieces are stacked in a staggered and misplaced manner. Therefore, 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 undoubtedly causes greater difficulties in the automatic grasping of the workpiece, and the workpiece cannot be completed. Automated crawling operations.[0003]Among them, a kind of pallet workpiece is a base made to facilitate the placement and shipping requirements of scattered items, generally square or rectangular. Pallet workpieces are divided into single-sided types according to their appearance. When the workpiece supplier ships single-sided workpieces, in order to improve transportation efficiency, the workpieces are stacked in front and back order....

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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