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CN-121717069-B - Partition board picking method

CN121717069BCN 121717069 BCN121717069 BCN 121717069BCN-121717069-B

Abstract

The invention relates to the technical field of plate sorting, in particular to a partition plate sorting method, which aims to solve the problem that the existing plate sorting method cannot accurately sort plates. The technical scheme is characterized in that size information and position coordinates of a plate to be picked, which is conveyed along the X direction, are obtained, a plate picking action surface is driven to move based on the size information and the position coordinates, action partitions close to four corners of the plate to be picked are selected from action partitions overlapped with the surface of the plate to be picked, the action partitions are used as target partitions, plate picking action force supply control of plate picking units corresponding to the target partitions is started, plate picking action force supply of plate picking units which are not contacted with the plate to be picked in the target partitions is removed, the plate picking units fed by the plate picking action force is started to fix and transfer the plate to be picked, the plate picking action force supply is released after the plate picking action surface reaches the target position, flexibility and working efficiency of plate picking operation are improved, and compatibility, picking accuracy and picking stability of plate picking equipment are improved.

Inventors

  • YANG HAO
  • Zhu Yeqiang
  • CHEN KUN

Assignees

  • 太仓同晟工业自动化有限公司

Dates

Publication Date
20260512
Application Date
20260211

Claims (9)

  1. 1. A method of zoning a pick-up board comprising: A conveyor line conveying the sheet material (3) to be picked in the X direction; The plate picking assembly (1), the plate picking assembly (1) comprises at least two support arms (11), the support arms (11) are provided with plate picking action surfaces (101), the plate picking action surfaces (101) are provided with at least two independently controlled action partitions (111), the plate picking action surfaces (101) can reciprocate along the Y direction, the plate to be picked (3) is picked, and the partition plate picking method comprises the following steps: acquiring size information and position coordinates of a plate (3) to be picked, which is conveyed along the X direction; Driving the pick-up plate acting surface (101) to move based on the size information and the position coordinates, so that the projection length of the pick-up plate acting surface (101) on any plate (3) to be picked along the Y direction is greater than 1/2 of the length of the plate (3) to be picked along the Y direction; Selecting an action partition (111) close to the four corners of the plate (3) to be picked from action partitions (111) with the overlapped surfaces of the plate acting surface (101) and the plate (3) to be picked as a target partition (2), if the number of the action partitions (111) close to any one corner of the four corners of the plate (3) to be picked is greater than 1, selecting the action partition (111) with the largest overlapped area as the target partition (2), and starting plate picking acting force supply control of the target partition (2), wherein a plurality of plate picking units (2) are arranged in the target partition (2); The board picking units in the target partition (2) which are contacted with the boards (3) to be picked are first board picking units (21), the board picking units in the target partition (2) which are not contacted with the boards (3) to be picked are second board picking units (22), and board picking acting force is supplied by the second board picking units (22) in a removing mode; fixing and transferring the plate (3) to be picked by starting the plate picking unit for plate picking force supply, and releasing the plate picking force supply after reaching the target position; Judging the relative heights of a plurality of plates (3) to be picked in the Z direction when the number of the plates (3) to be picked covered by the plate picking acting surface (101) is larger than 1; The plate (3) to be picked, which is close to the fixed end of the plate picking assembly (1), is a first plate (32), the plate (3) to be picked, which is close to the extending end of the plate picking assembly (1), is a second plate (33), and if the height of the first plate (32) in the Z direction is lower than that of the second plate (33), the plate picking assembly (1) extends to the length which does not cover the second plate (33) in the Y direction, and then descends in the Z direction to pick the first plate (32); after the plate picking assembly (1) ascends to the height that the first plate (32) can pass through the second plate (33) in the Z direction, and extends to the length that the second plate (33) does not overlap and projects on the first plate (32) in the Y direction, the plate picking assembly (1) descends in the Z direction and picks up the second plate (33) through the residual action partition (111).
  2. 2. A zoned picking method according to claim 1, characterized in that the area of the sheet material (3) to be picked in contact with the picking plate active surface (101) comprises four corner positions and an intermediate area, said active zone (111) of the intermediate area not being activated when the picking plate force supply control of the target zone (2) is activated.
  3. 3. The method of zoning a pick-up plate of claim 1, further comprising the steps of: when the number of the plates (3) to be picked covered by the plate picking acting surface (101) is larger than 1 and the heights of the plates (3) to be picked in the Z direction are the same, judging the relative positions of the plates (3) to be picked in the same plane; The plate (3) to be picked, which is close to the fixed end of the plate picking assembly (1), is a first plate (32), the plate (3) to be picked, which is close to the extending end of the plate picking assembly (1), is a second plate (33), and if the length of the first plate (32) is larger than that of the second plate (33), the plate picking assembly (1) extends to the length which does not cover the second plate (33) in the Y direction and then descends in the Z direction to pick the first plate (32); after the plate picking assembly (1) ascends to the height that the first plate (32) can pass through the second plate (33) in the Z direction, and extends to the length that the second plate (33) does not overlap and projects on the first plate (32) in the Y direction, the plate picking assembly (1) descends in the Z direction and picks up the second plate (33) through the residual action partition (111).
  4. 4. A zoned pick-up plate method according to claim 1, wherein adjusting the height of the pick-up plate assembly (1) comprises the steps of: after the pick-up plate assembly (1) completes position adjustment in the X direction, driving the pick-up plate assembly (1) to move close to the upper end face of the plate (3) to be picked in the Z direction; after the board picking assembly (1) completes the position adjustment in the Y direction, the board picking assembly (1) is driven to move in the Z direction, so that the board picking units of the target partition (2) are completely attached to the contact surface of the board to be picked (3).
  5. 5. A zoned pick-up plate method according to claim 1, wherein adjusting the position of the pick-up plate assembly (1) comprises the steps of: driving the picking plate assembly (1) to move in the X direction, so that the picking plate acting surface (101) is aligned with one side line of the plate (3) to be picked in the X direction; The picking plate assembly (1) is driven to move in the Y direction, the plate (3) to be picked furthest from the picking plate assembly (1) is the furthest plate (31), and the projection length a of the picking plate acting surface (101) on the furthest plate (31) in the Y direction is greater than 1/2 of the length b of the furthest plate (31) in the Y direction.
  6. 6. A zoned sheet picking method as defined in claim 2, wherein when the ratio of the projected length of the sheet picking action surface (101) in the Y direction on the furthest sheet material (31) to the length of the furthest sheet material (31) in the Y direction is 1/2-3/4 or the length of the sheet material in the X direction exceeds 1/2 of the length of the action area of the sheet picking assembly (1), and the length of the furthest sheet material (31) in the X direction is greater than the length of at least three action zones (111), the sheet picking force supply control of at least one of the intermediate areas of the sheet picking action surface (101) to the sheet picking unit to which the furthest sheet material (31) is attached is enabled.
  7. 7. A zoned pick-up method as claimed in claim 1, wherein the number of target zones (2) in which the pick-up assembly (1) initiates pick-up force on any sheet (3) to be picked is 4 or less.
  8. 8. The method for sorting boards according to claim 1, wherein the board sorting acting force comprises a vacuum adsorption force, the acting partition (111) can independently control the on-off of negative pressure, and the independent control of the vacuum adsorption force is realized by a partition pipeline connected with a negative pressure device and a partition vacuum valve arranged at the input end of the partition pipeline.
  9. 9. A zoned picking method according to claim 1, characterized in that the picking units are adsorption ports, in which check valves are provided, and the picking force supply of the second picking unit (22) is removed by the check valves when the picking units are not in contact with the boards (3) to be picked.

Description

Partition board picking method Technical Field The invention relates to the field of plate sorting, in particular to a partition plate sorting method. Background In the processes of plate processing, storage, logistics and the like, plate picking equipment bears the tasks of automatic plate transferring, storage, delivery and delivery, the overall efficiency of the plate picking method for determining direct relation material circulation is improved, and the conventional plate picking device usually finishes the plate picking and transplanting operation on a conveying line by means of an executing mechanism. However, the existing board picking mode adopts a single control valve to control all adsorption or grabbing areas, only supports the whole layer of transportation or single Zhang Jianxuan, is difficult to flexibly adapt to board operation with different specifications and sizes, is easy to grasp and unstable due to insufficient adsorption or grabbing area when processing narrow-sized and small-sized boards, and often falls off in the transportation process due to uneven negative pressure distribution when processing wide-sized and large-sized boards, and in addition, in a complex conveying system with multiple layers and multiple picking points, the board picking mode is limited by site adjustment and mechanical structure. In actual warehouse-out operation, the plates are usually stacked and stacked, and the warehouse-out orders are often required to be selected according to the designated number, and the positions of the residual plates and the complementary plates on the conveying line are irregular and cannot be accurately selected, so that the response speed and the selecting precision of the whole plate selecting process are restricted. Disclosure of Invention The invention aims to provide a partition board picking method which solves the problem that the existing board picking method in the prior art cannot accurately pick boards. The technical scheme of the invention is that the partition board picking method comprises the following steps: the conveying line is used for conveying the plates to be sorted along the X direction; the board picking assembly comprises at least two support arms, wherein the support arms are provided with board picking action surfaces, the board picking action surfaces are provided with at least two action partitions which are independently controlled, the board picking action surfaces can reciprocate along the Y direction, the board to be picked is picked, and the partition board picking method comprises the following steps: acquiring size information and position coordinates of the plates to be sorted, which are conveyed along the X direction; Driving the action surface of the picking plate to move based on the size information and the position coordinates, so that the projection length of the action surface of the picking plate on any plate to be picked along the Y direction is greater than 1/2 of the length of the plate to be picked along the Y direction; Selecting an action partition close to the four corners of the plate to be selected from action partitions where the action surface of the plate to be selected is coincident with the surface of the plate to be selected as a target partition, selecting the action partition with the largest coincident area as the target partition if the number of the action partitions close to any one corner of the four corners of the plate to be selected is greater than 1, and starting the plate selecting action force supply control of the target partition, wherein a plurality of plate selecting units are arranged in the target partition; The board picking units in the target partition, which are in contact with the boards to be picked, are first board picking units, the board picking units in the target partition, which are not in contact with the boards to be picked, are second board picking units, and the board picking acting force of the second board picking units is removed for supplying; The board picking unit for supplying the board picking force is started to fix and transfer the board to be picked, and the board picking force supply is released after the board picking force reaches the target position. Preferably, the area where the plate to be sorted contacts with the plate sorting acting surface comprises four corner positions and a middle area, and when the plate sorting acting force supply control of the target subarea is started, the acting subarea of the middle area is not started. Preferably, the method further comprises the following steps: judging the relative heights of a plurality of plates to be picked in the Z direction when the number of the plates to be picked covered by the acting surface of the picking plate is larger than 1; The plate to be picked close to the fixed end of the plate picking assembly is a first plate, the plate to be picked close to the extending end of the plate picking assembly is a secon