Sucker height automatic control method for sucker type clamps of manipulator

A technology of manipulators and suction cups, applied in the direction of manipulators, program-controlled manipulators, chucks, etc., can solve the problem of non-adjustable suction cup height, achieve significant economic benefits, reduce manufacturing costs, and increase flexibility

Inactive Publication Date: 2017-01-25
CHENGDU FANXINJIA TECH
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  • Abstract
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Problems solved by technology

[0006] The purpose of the present invention is to provide an automatic control method for the height of the suction cup of the manipulator suction cup fixture, which is used to solve the problem that t

Method used

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  • Sucker height automatic control method for sucker type clamps of manipulator

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Embodiment Construction

[0018] The present invention will be described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.

[0019] Such as figure 1 As shown, a suction cup height automatic control method for a manipulator suction cup fixture includes the following control steps: 1) Initialize the system program, and self-check the system; 2) Return the manipulator to the reference point, depressurize the vacuum system, and return the cylinder piston rod to zero position , to place a new batch of workpieces; 3) The cylinder piston rod moves to drive the suction cup to move to the workpiece adsorption surface, the digital vacuum pressure gauge detects that the vacuum degree of the suction cup reaches the reference value range, the cylinder piston rod stops moving, and transmits the position data to the control system, The vacuum system enters the pressure-holding state, and transmits the pressure-holding vacuum value to the control system...

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Abstract

The invention discloses a sucker height automatic control method for sucker type clamps of a manipulator and belongs to the technical field of sucker type clamps of the manipulators. The key point of the sucker height automatic control method is to control sucker height of the sucker type clamps of the manipulator by controlling movement of air cylinders connected to the upper portions of the suckers. A closed space is formed after the suckers make contact with the surface of a workpiece and is of vacuum degree, the signal of the vacuum degree is fed back to a control system by a digital vacuum manometer so as to adjust movement of the air cylinders. By the sucker height automatic control method, sucker height can be controlled online, and new suction surface is formed by controlling the sucker height without changing of the clamps so as to meet suction requirements for novel products on a production line. Besides, by the sucker height automatic control method, flexibility of the sucker type clamps of the manipulator is improved greatly so that the requirement for flexible production of the modern production line is met well, while manufacturing cost for design of the clamps is lowered greatly; therefore remarkable economic benefit is achieved.

Description

technical field [0001] The technical field of the manipulator suction cup fixture of the present invention, in particular, relates to an automatic control method for the suction cup height of the manipulator suction cup fixture. Background technique [0002] Manipulator suction cup fixtures are widely used in glass handling, sheet metal stamping, food, drug and pharmaceutical packaging, electronic device assembly and other industries. [0003] The existing manipulator suction cup fixture determines the height and distribution position of the suction cup at the beginning of the fixture design according to the distribution of the clamping points of the workpiece to be clamped and the number of points. The suction cup and the workpiece basically have a one-to-one correspondence. A pair of fixtures can generally only be used for one type of workpiece. In production practice, for new workpieces whose clamping point height does not change too much, general technicians will manual...

Claims

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Application Information

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IPC IPC(8): B25J15/06B25J9/16
CPCB25J15/0616B25J9/1612
Inventor 高静
Owner CHENGDU FANXINJIA TECH
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