Self-adaptive electric control vacuum chuck manipulator for label-removed waste plastic bottles and control method

Abstract

The invention relates to a self-adaptive electric control vacuum chuck manipulator for label-removed waste plastic bottles and a control method. A pneumatic loop and an electric control element of the manipulator are integrated in a manipulator shell; the control method comprises the steps that negative pressure of the long corrugated pipe vacuum suction cup is transmitted back to the single-chip microcomputer, whether the voltage value of the negative pressure is larger than F or not is judged, and adsorption succeeds if the voltage value is smaller than F; if so, entering a switching mechanism for operation; the switching mechanism calculates the voltage value returned by the negative pressure sensor when the nonlinear functional is gt; during linear functional, a linear adaptive controller control method is adopted to obtain u1 (k); when the nonlinear functional is gt; the linear functional adopts a nonlinear adaptive controller control method; u2 (k) is obtained; and the u1 (k) or u2 (k) is transferred into a pressure reducing valve until the adsorption is successful. The problems that in the existing sorting process, the air tightness of a suction cup cannot be guaranteed, the sorting success rate is reduced, the sorting efficiency of an industrial robot is affected, and the service life of a mechanical arm is shortened are solved.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to an adaptive electronically controlled vacuum sucker manipulator and a control method for waste plastic bottles that have been removed from labels. Background technique [0002] Industrial robots are often used to sort waste on the waste sorting line, thereby realizing automatic sorting of waste recycling. For domestic waste products such as plastic bottles, vacuum suction cups are basically used as the end effector of the robot to realize waste sorting. [0003] Most pneumatic sorting robots need to install a pneumatic system platform next to them, which occupies a large space and is complicated and time-consuming to install. And in the sorting process of the assembly line, some waste products such as off-label waste plastic bottles have uneven surfaces, which cannot guarantee the airtightness of the suction cups, which reduces the success rate of sorting and affects the so...

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: The present invention proposes an electronically controlled vacuum suction cup manipulator and control method for off-label waste plastic bottles. Air tightness reduces the success rate of sorting, affects the sorting efficiency of industrial robots, and reduces the service life of manipulators, etc.

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