Vacuum separation control system, method and device

Abstract

The invention provides a vacuum separation control system, method and device. The system comprises a vacuumizing mechanism; the vacuumizing mechanism communicates with the vacuum suction cup and is used for enabling the interior of the vacuum suction cup to be in a vacuum state. A vacuum breaking mechanism; the vacuum breaking mechanism is communicated with the vacuum suction cup and used for breaking the vacuum state of the vacuum suction cup. The air cylinder pipeline control mechanism is used for controlling the stretching amount of the air cylinder and controlling the vacuum suction cup to ascend and descend through stretching of the air cylinder. The system further comprises a control module. The control module is electrically connected with the vacuumizing mechanism, the vacuum breaking mechanism and the air cylinder pipeline control mechanism. And the control module is used for coordinately controlling the vacuumizing mechanism, the vacuum breaking mechanism and the cylinder pipeline control mechanism according to a preset execution strategy. Compared with the prior art, the automatic separation device has the advantages that the stacked or stacked stacked parts can be quickly and accurately separated automatically, and the situation that the workpieces are damaged in the separation process is overcome.

Description

Technical Field

[0001] The present application relates to the field of mechanical manufacturing technology, and in particular to a vacuum separation control system, method and device. Background Art

[0002] In the process of realizing automated production and self-service, materials or workpieces need to be automatically put in. In order to save storage space, many materials or workpieces are stacked or stackable. In the process of realizing automated production and self-service, stacked workpieces need to be separated. Since the overall size of the stacked parts stored in the production workshop is relatively large, the thickness is relatively thin, and the edges of the products are relatively sharp, most of them are currently separated manually, which has prominent defects. First, tools are needed to pry the stacked parts from one end, but in the process of prying, the tools are easy to scratch the surface of the stacked parts, and in severe cases, they will deform, resulting in a longer maintenance time. In addition, the above method consumes a lot of workers' labor, has low work efficiency, and seriously restricts the production rhythm. Summary of the invention

[0003] The purpose of the present application is to provide a vacuum separation control system, method and device, which can automatically separate stacked or stacked parts, thereby overcoming the situation where the workpieces are damaged during the separation process; the specific scheme is as follows:

[0004] A vacuum separation control system, comprising:

[0005] A vacuum pumping mechanism; the vacuum pumping mechanism is connected to the vacuum suction cup and is used to form a vacuum state inside the vacuum suction cup;

[0006] A vacuum breaking mechanism; the vacuum breaking mechanism is connected to the vacuum suction cup and is used to break the vacuum state of the vacuum suction cup;

[0007] The cylinder pipeline control mechanism is used to control the extension and contraction of the cylinder, and control the lifting and lowering of the vacuum suction cup through the extension and contraction of the cylinder;

[0008] It also includes: a control module; the control module is electrically connected to the vacuum pumping mechanism, the vacuum breaking mechanism and the cylinder pipeline control mechanism respectively; the control module is used to coordinate and control the vacuum pumping mechanism, the vacuum breaking mechanism and the cylinder pipeline control mechanism according to a preset execution strategy.

[0009] Furthermore, a pressure detection device electrically connected to the control module is also provided in the vacuum suction cup; the pressure detection device is used to detect the vacuum pressure value in the vacuum suction cup and send the data to the control module.

[0010] Furthermore, it also includes: an air supply filter structure for providing air intake; the air supply filter structure is respectively connected with the vacuum pumping mechanism, the vacuum breaking mechanism and the cylinder pipeline control mechanism;

[0011] The air supply filtering structure specifically comprises:

[0012] Gas source; the gas source is connected to the residual pressure release throttling structure through a pipeline; wherein a filter is also provided on the pipeline between the gas source and the residual pressure release throttling structure;

[0013] The residual pressure release throttling structure includes: an electromagnetic throttling valve connected to the filter, and a first one-way valve connected in parallel with the electromagnetic throttling valve; wherein, the air outlet ends of the electromagnetic throttling valve and the first one-way valve are commonly connected to the same first air supply pipe; wherein, a residual pressure release stop valve is connected to one side of the first air supply pipe.

[0014] Furthermore, the vacuum pumping mechanism comprises:

[0015] An electromagnetic supply valve connected to the first air supply pipe; the electromagnetic supply valve is electrically connected to the control module; the electromagnetic supply valve is connected to the vacuum device through a pipeline; a first muffler is provided at the air outlet end of the vacuum device; one side of the vacuum device is respectively connected to the vacuum suction cup and the vacuum breaking mechanism through a second one-way valve.

[0016] Furthermore, the vacuum breaking mechanism comprises:

[0017] A vacuum-breaking solenoid valve connected to the first air supply pipe; the vacuum-breaking solenoid valve is connected to the second one-way valve through a speed control valve group;

[0018] The speed control valve group includes: a vacuum flow electromagnetic regulating valve and a third one-way valve connected in parallel; wherein, the common air inlet end of the vacuum flow electromagnetic regulating valve and the third one-way valve is connected to the vacuum breaking electromagnetic valve; the common air outlet end of the vacuum flow electromagnetic regulating valve and the third one-way valve is respectively connected to the second one-way valve and the vacuum suction cup; wherein, the vacuum breaking electromagnetic valve and the vacuum flow electromagnetic regulating valve are both electrically connected to the control module.

[0019] Furthermore, the cylinder pipeline control mechanism includes:

[0020] A cylinder reversing valve connected to the vacuum breaking solenoid valve, the solenoid supply valve and the air source respectively; wherein the cylinder reversing valve is electrically connected to the control module;

[0021] The cylinder reversing valve is connected to the cylinder and is used to control the extension and contraction of the cylinder; wherein a silencer exhaust device is provided on the connecting pipeline between the cylinder reversing valve and the cylinder;

[0022] The silencer exhaust device comprises: a quick exhaust valve communicated with a cylinder reversing valve, an exhaust throttle valve communicated with the quick exhaust valve, and a second muffler communicated with the exhaust throttle valve; wherein the quick exhaust valve and the exhaust throttle valve are both electrically connected to an electronic control module.

[0023] In a second aspect, the present application provides a vacuum separation control method, which is applied to the vacuum separation control system; the method comprises the following steps:

[0024] Step 1: When it is detected that there is a stacked component to be separated at the corresponding position below the vacuum suction cup, air supply is started and a delay control instruction is generated;

[0025] Step 2: Based on the delay control instruction, the cylinder pipeline control mechanism is started first, and when the start-up time of the cylinder pipeline control mechanism reaches a first preset time, the vacuum pumping mechanism is started;

[0026] Step 3: When the vacuum suction cup contacts the stacked parts to be separated and the vacuum pressure inside the vacuum suction cup meets the preset conditions, a cylinder return instruction is triggered;

[0027] Step 4: Based on the cylinder return instruction, the cylinder is controlled to drive the vacuum suction cup and the stack to move back, and when the stack reaches the preset position, a stack feedback signal is output;

[0028] Step 5: Based on the stack feedback signal, the stack transfer operation is completed.

[0029] Furthermore, the step 5 specifically includes:

[0030] In response to the stacking feedback signal, controlling the robot to move to a first preset position;

[0031] Generate a vacuum breaking command based on the feedback signal when the robot's gripper touches the stacked parts;

[0032] Based on the vacuum breaking instruction, the vacuum breaking mechanism is operated to separate the vacuum suction cup from the stack, and the stack transfer operation is completed by the robot.

[0033] In a third aspect, the present application provides a vacuum separation control device, which is applied to the vacuum separation control method; the device comprises:

[0034] A support and limit bracket; the support and limit bracket is provided with a mounting bracket; a driving structure is horizontally arranged on the top of the mounting bracket; the output end of the driving structure is connected to at least one vacuum suction cup through a stretching guide structure; wherein a suction cup stabilizing block is arranged between the top of the vacuum suction cup and the stretching guide structure; wherein the stretching guide structure is driven by the driving structure to drive the vacuum suction cup to move up and down in the vertical direction;

[0035] It also includes: a control cabinet; wherein the control cabinet is used to control the vacuum state of the vacuum suction cup and the telescopic state of the driving structure.

[0036] Furthermore, the stretching guide structure specifically includes:

[0037] A first guide portion; one end of the first stretching portion is connected to the output end of the driving structure, and the other end is connected to the first elastic portion through a guide wheel arranged at one end of the support limit bracket; wherein a suction cup stabilizing block is arranged at a vertical portion of the first guide portion passing through the guide wheel;

[0038] A first elastic part; one end of the first elastic part is connected to the vacuum suction cup;

[0039] Guide groove; the guide groove is arranged at the upper end of the support limit bracket, and is used to limit and accommodate the first guide part.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention provides a vacuum separation control system, method and device; through the coordination and cooperation between multiple mechanisms of a vacuum pumping mechanism, a vacuum breaking mechanism and a cylinder pipeline control mechanism, it is ensured that the vacuum suction cup and the cylinder can be coordinated and controlled according to a preset execution strategy, and the stacked or stacked parts can be quickly and accurately separated, avoiding damage to the stacked parts or workpieces during the separation process. At the same time, it also reduces the labor consumption of workers, realizes intelligent separation operation throughout the whole process, ensures production efficiency, and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is the overall structural diagram of the vacuum separation control system;

[0043] Figure 2 It is a schematic diagram of the overall structure of the vacuum separation control device;

[0044] Figure 3 It is a flow chart of the vacuum separation control method.

[0045] In the figure:

[0046] 1. Vacuum pumping mechanism; 11. Solenoid supply valve; 12. Vacuum device; 13. First silencer; 14. Second one-way valve;

[0047] 2. Vacuum suction cup;

[0048] 3. Vacuum breaking mechanism; 31. Vacuum breaking solenoid valve;

[0049] 32. Speed ​​control valve group; 321. Vacuum flow electromagnetic regulating valve; 322. The third one-way valve;

[0050] 4. Cylinder pipeline control mechanism; 41. Cylinder reversing valve;

[0051] 43. Silence exhaust device; 431. Quick exhaust valve; 432. Exhaust throttle valve; 433. Second silencer;

[0052] 5. Air supply and filtration structure; 51. Air source;

[0053] 52. Residual pressure release throttling structure; 520. Solenoid throttling valve; 521. First one-way valve; 522. Residual pressure release stop valve; 523. First air supply pipe;

[0054] 53. Filter;

[0055] 6. Pressure detection device;

[0056] 100, support and limit bracket; 101, guide wheel; 102, V-shaped reinforcement groove;

[0057] 200, mounting bracket;

[0058] 300, stretching guide structure; 301, first guide portion; 302, first elastic portion;

[0059] 400, suction cup stabilizing block; 500, control cabinet; 600, driving structure; 601, cylinder; 700, receiving plate; 800, robot. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application clearer, the following will be combined with the attached Figure 1-3 The present application is further described in detail. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0061] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0062] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0063] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0064] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0065] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0066] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0067] The present application provides a vacuum separation control system, comprising: a vacuum pumping mechanism 1; the vacuum pumping mechanism 1 is connected to the vacuum suction cup 2, and is used to make the vacuum suction cup 2 form a vacuum state; the vacuum breaking mechanism 3 is connected to the vacuum suction cup 2, and is used to break the vacuum state of the vacuum suction cup 2; a cylinder pipeline control mechanism 4; the cylinder pipeline control mechanism 4 is used to control the extension and contraction amount of the cylinder 601, and control the lifting and lowering of the vacuum suction cup 2 through the extension and contraction of the cylinder 601; and also includes: a control module; the control module is electrically connected to the vacuum pumping mechanism 1, the vacuum breaking mechanism 3 and the cylinder pipeline control mechanism 4 respectively; the control module is used to coordinate and control the vacuum pumping mechanism 1, the vacuum breaking mechanism 3 and the cylinder pipeline control mechanism 4 according to a preset execution strategy.

[0068] Specifically, the present application adjusts the vacuum state inside the vacuum suction cup 2 through the vacuum pumping mechanism 1 and the vacuum breaking mechanism 3, thereby coupling it with the topmost stacked parts, and completing the parts separation operation under the action of the cylinder pipeline control mechanism 4.

[0069] It can be understood that this method realizes intelligent or automated stack separation operations, and the various mechanisms have a high degree of coordination and cooperation, and the separation efficiency is accurate and high. At the same time, it reduces the labor intensity of workers, reduces production costs, and has high practicality.

[0070] Furthermore, a pressure detection device 6 electrically connected to the control module is also provided in the vacuum suction cup 2; the pressure detection device 6 is used to detect the vacuum pressure value in the vacuum suction cup 2 and send the data to the control module.

[0071] It can be understood that the internal pressure of the vacuum suction cup 2 can be accurately measured by the pressure detection device 6 (eg, a gas pressure sensor), thereby further ensuring that the pressure value for sucking the stack is constant.

[0072] Furthermore, the present application also includes: an air supply filter structure 5 for providing air intake; the air supply filter structure 5 is respectively connected to the vacuum pumping mechanism 1, the vacuum breaking mechanism 3 and the cylinder pipeline control mechanism 4;

[0073] The air supply filtering structure 5 specifically comprises:

[0074] An air source 51; the air source 51 is connected to a residual pressure release throttling structure 52 through a pipeline; wherein a filter 53 is also provided on the pipeline between the air source 51 and the residual pressure release throttling structure 52;

[0075] The residual pressure release throttling structure 52 includes: an electromagnetic throttle valve 520 connected to the filter 53, and a first one-way valve 521 connected in parallel with the electromagnetic throttle valve 520; wherein the air outlet ends of the electromagnetic throttle valve 520 and the first one-way valve 521 are connected to the same first air supply pipe 523; wherein a residual pressure release stop valve 522 is connected to one side of the first air supply pipe 523. wherein the electromagnetic throttle valve 520 and the residual pressure release stop valve 522 are both electrically connected to the control module.

[0076] It can be understood that the air provided by the air source 51 can be filtered through the filter 53 to ensure the quality of the intake air; the first one-way valve 521 can prevent the air inside the first air supply pipe 523 from backflowing; the electromagnetic throttle valve 520 is used to adjust the ventilation volume; the residual pressure release stop valve 522 can quickly discharge the gas inside the first air supply pipe.

[0077] Optionally, the vacuum pumping mechanism 1 comprises:

[0078] An electromagnetic supply valve 11 connected to the first air supply pipe 523; the electromagnetic supply valve 11 is electrically connected to the control module; the electromagnetic supply valve 11 is connected to the vacuum device 12 through a pipeline; a first muffler 13 is provided at the air outlet end of the vacuum device 12; one side of the vacuum device 12 is respectively connected to the vacuum suction cup 2 and the vacuum breaking mechanism 3 through a second one-way valve 14.

[0079] In this embodiment, the electromagnetic supply valve 11 is a two-position three-way electromagnetic valve.

[0080] In this embodiment, the vacuum device 12 is a Laval nozzle structure; when in use, the pressurized air provided by the air source 51 passes through the electromagnetic supply valve 11 and then is discharged from the first muffler 13 through the vacuum device 12; when the pressurized air continues to pass through the vacuum device 12, negative pressure is generated inside the Laval structure design of the vacuum device 12, and the air inside the pipe between the vacuum device 12 and the vacuum suction cup 2 is extracted, so that the internal state of the vacuum suction cup 2 is changed from the atmospheric pressure state to the vacuum state, and when the lower end opening of the vacuum suction cup 2 is buckled on the upper surface of the stack, suction is generated to achieve coupling between the vacuum suction cup 2 and the stack.

[0081] It can be understood that when the vacuum pumping mechanism 1 is working, the air path between the electromagnetic supply valve 11, the vacuum device 12, the second one-way valve 14 and the vacuum suction cup 2 is in a connected state. At the same time, the air path inside the vacuum breaking mechanism 3 is in a disconnected state, and the vacuum state inside the vacuum suction cup 2 cannot be destroyed or released.

[0082] Furthermore, the vacuum breaking mechanism 3 comprises:

[0083] A vacuum-breaking solenoid valve 31 connected to the first air supply pipe 523; the vacuum-breaking solenoid valve 31 is respectively connected to the second one-way valve 14 and the vacuum suction cup 2 through a speed control valve group 32;

[0084] The speed control valve group 32 includes: a vacuum flow electromagnetic regulating valve 321 and a third one-way valve 322 connected in parallel; wherein, the common air inlet end of the vacuum flow electromagnetic regulating valve 321 and the third one-way valve 322 is connected to the vacuum breaking electromagnetic valve 31; the common air outlet end of the vacuum flow electromagnetic regulating valve 321 and the third one-way valve 322 is respectively connected to the second one-way valve 14 and the vacuum suction cup 2; wherein, the vacuum breaking electromagnetic valve 31 and the vacuum flow electromagnetic regulating valve 321 are both electrically connected to the control module.

[0085] In this embodiment, the vacuum breaking solenoid valve 31 is a two-position two-way solenoid valve.

[0086] Specifically, when the vacuum breaking mechanism 3 is operating, the vacuum breaking solenoid valve 31 connects the first air supply pipe 523 with the vacuum flow solenoid regulating valve 321 and the vacuum suction cup 2. At this time, the vacuum pumping mechanism 1 stops operating, that is, the airway path between the electromagnetic supply valve 11, the vacuum device 12, the second one-way valve 14 and the vacuum suction cup 2 is in a disconnected state.

[0087] It can be understood that the pressurized air from the air source 51 is continuously delivered to the interior of the vacuum suction cup 2 through the vacuum flow electromagnetic regulating valve 321 via the vacuum breaking solenoid valve 31, so that the state inside the vacuum suction cup 2 is changed from a vacuum state to an atmospheric pressure state, thereby realizing the decoupling of the vacuum suction cup 2 and the stack, and completing the separation operation of the vacuum suction cup 2 and the stack.

[0088] Furthermore, the cylinder pipeline control mechanism 4 comprises:

[0089] A cylinder reversing valve 41 is respectively connected to the vacuum breaking solenoid valve 31, the solenoid supply valve 11 and the air source 51; wherein the cylinder reversing valve 41 is electrically connected to the control module; in this embodiment, the cylinder reversing valve 41 is a two-position five-way valve.

[0090] The cylinder reversing valve 41 is connected to the cylinder 601 and is used to control the telescopic movement of the cylinder 601; wherein, a silencer exhaust device 43 is provided on the connecting pipeline between the cylinder reversing valve 41 and the cylinder 601;

[0091] The silencer exhaust device 43 includes: a quick exhaust valve 431 connected to the cylinder reversing valve 41, an exhaust throttle valve 432 connected to the quick exhaust valve 431, and a second muffler 433 connected to the exhaust throttle valve 432; wherein the quick exhaust valve 431 and the exhaust throttle valve 432 are both electrically connected to the electronic control module.

[0092] Specifically, the cylinder reversing valve 41 is a two-position five-way valve, which is connected to the front end of the cylinder through the first air channel, and is connected to the rear end of the cylinder through the second air channel; wherein, the cylinder reversing valve 41, the first air channel, the front end, the rear end and the second air channel of the cylinder form an air channel loop, and by adjusting the flow direction of the air channel loop, the telescopic state of the cylinder is changed, thereby driving the vacuum suction cup 2 to move up and down.

[0093] Furthermore, the pressurized air inside the first airway or the second airway is exhausted through the quick exhaust valve 431 in the muffler exhaust device 43, and the noise generated during the exhaust process is reduced through the second muffler 433.

[0094] During operation, when the direction of the compressed air flow is along the cylinder reversing valve 41 and the front end of the cylinder, the cylinder is in a retracted state, otherwise, the cylinder is in an extended state.

[0095] Specifically, the present application controls the opening and closing of each valve body inside the vacuum pumping mechanism 1, the vacuum breaking mechanism 3 and the cylinder pipeline control mechanism 4 through the control module according to the preset execution strategy, thereby realizing the mutual coordination between the vacuum suction cup 2 and the cylinder 601, and finally realizing the separation operation between the vacuum suction cup 2 and the stacked parts. The advantage of this design is that it can quickly and accurately separate the stacked or stacked parts, avoiding damage to the stacked parts or workpieces during the separation process. At the same time, it also reduces the labor consumption of workers and realizes intelligent separation operation throughout the process.

[0096] Example 2

[0097] The present application provides a vacuum separation control method, comprising the following steps:

[0098] Step 1: When it is detected that there is a stacked component to be separated at the corresponding position below the vacuum suction cup 2, air supply is started and a delay control instruction is generated;

[0099] Step 2: Based on the delay control instruction, the cylinder pipeline control mechanism 4 is started first to control the cylinder to drive the vacuum suction cup 2 to move toward the stack, and when the start time of the cylinder pipeline control mechanism 4 reaches a first preset time, the vacuum pumping mechanism 1 is started;

[0100] Step 3: When the vacuum suction cup 2 contacts the stacked parts to be separated and the vacuum pressure inside the vacuum suction cup 2 meets the preset conditions, a cylinder return instruction is triggered;

[0101] Step 4: Based on the cylinder return instruction, the cylinder is controlled to drive the vacuum suction cup 2 and the stack to move back, and when the stack reaches the preset position, a stack feedback signal is output;

[0102] Step 5: Based on the stack feedback signal, the stack transfer operation is completed.

[0103] This application implements intelligent control based on a preset execution strategy. Specifically, when it is detected that the vacuum suction cup 2 has stacked parts, the air supply filter structure 5 is operated to start air supply and generate a delay control instruction; based on the delay control instruction, the cylinder pipeline control mechanism 4 is started first, so as to control the cylinder to drive the vacuum suction cup 2 to move toward the stacked parts; and when the start-up time of the cylinder pipeline control mechanism 4 reaches the first preset time (e.g., 3s), the vacuum pumping mechanism 1 is started; when the vacuum suction cup 2 contacts the stacked parts to be separated, and the vacuum pressure inside the vacuum suction cup 2 meets the preset conditions, the cylinder return instruction is triggered.

[0104] Furthermore, the step 5 specifically includes:

[0105] In response to the stacking feedback signal, controlling the robot 800 to move to a first preset position;

[0106] Based on the feedback signal when the gripping hand of the robot 800 contacts the stacked parts, a vacuum breaking instruction is generated;

[0107] Based on the vacuum breaking instruction, the vacuum breaking mechanism 3 is operated to separate the vacuum suction cup 2 from the stack, and the stack transfer operation is completed by the robot 800.

[0108] Among them, the preset condition is that the vacuum pressure in the vacuum suction cup 2 is greater than the preset pressure value, and the cylinder pipeline control mechanism 4 starts when the time reaches the second preset time (such as 8s), and then the cylinder return instruction is triggered. The advantage of this design is that by adopting the above-mentioned delay control strategy, the extension action time of the cylinder can be fully utilized, and the opening time of the electromagnetic supply valve 11 of the vacuum pumping mechanism 1 and the operation time of the vacuum device 12 can be reasonably allocated, so that the operation of the vacuum pumping mechanism 1 is in the most appropriate state, avoiding the vacuum pumping mechanism 1 from running ahead of time or lagging behind, causing unnecessary waste of resources, and also avoiding the internal vacuum pressure of the vacuum suction cup 2 is insufficient, and the stacked parts cannot be adsorbed on the vacuum suction cup 2, affecting the production rhythm.

[0109] On the basis of the above, further, according to the cylinder return instruction, the cylinder return operation is controlled. When the stack reaches the preset position, the vacuum breaking mechanism 3 is operated to decouple or separate the vacuum suction cup 2 from the stack, and the stack receiving and transfer operations are completed by the robot 800.

[0110] Example 3

[0111] The present application provides a vacuum separation control device, which is applied to the vacuum separation control system and the vacuum separation control method; the device comprises:

[0112] A support and limit bracket 100; a mounting bracket 200 is arranged on the top of the support and limit bracket 100, and a driving structure 600 is horizontally arranged on the top of the mounting bracket 200; the output end of the driving structure 600 is connected to at least one vacuum suction cup 2 through a stretching guide structure 300; wherein a suction cup stabilizing block 400 is arranged between the top of the vacuum suction cup 2 and the stretching guide structure 300; wherein the stretching guide structure 300 is driven by the driving structure 600 to drive the vacuum suction cup 2 to move up and down in the vertical direction;

[0113] It also includes: a control cabinet 500 arranged at the bottom of the mounting bracket 200; wherein the control cabinet 500 is used to control the vacuum state of the vacuum suction cup 2 and the telescopic state of the driving structure 600.

[0114] The stretching guide structure 300 specifically includes:

[0115] A first guide portion 301; one end of the first stretching portion is connected to the output end of the driving structure 600, and the other end is connected to the first elastic portion 302 through a guide wheel 101 arranged at one end of the support limit bracket 100; wherein the first guide portion 301 passes through the vertical portion of the guide wheel 101 and is provided with a suction cup stabilizing block 400;

[0116] A first elastic portion 302; one end of the first elastic portion 302 is connected to the vacuum suction cup 2;

[0117] Guide groove; the guide groove is arranged at the upper end of the support and limiting bracket 100, and is used to limit and accommodate the first guide portion 301.

[0118] In this embodiment, the first guide part 301 is a steel wire rope, and the first elastic part 302 is a buffer spring. The buffer spring and the suction cup stabilizing block 400 can play a certain buffering and stabilizing role in the process of transporting or moving the stacked parts, further improving the moving stability of the stacked parts.

[0119] Furthermore, the control cabinet may be a PLC control cabinet or a control module.

[0120] Specifically, a V-shaped reinforcement groove 102 is arranged at the top center of the support and limit bracket 100; wherein, the bottom of the V-shaped reinforcement groove 102 is provided with an open strip hole for the first elastic part 302 to move up and down; the strength and stability of the support and limit bracket 100 are improved as a whole through the V-shaped reinforcement groove 102; wherein, the bottom of one side arm of the mounting bracket 200 is fixed to the bottom of the V-shaped reinforcement groove 102 on the support and limit bracket 100, and the other side arm is fixed to the ground; wherein, the outer side of the other side arm of the mounting bracket 200 is fixed with a control cabinet 500 installed on the ground; wherein, there is a certain angle between the mounting bracket 200 and the support and limit bracket 100; and the formed angle is an acute angle. This method ensures the connection strength and stability of the mounting bracket 200 and the support and limit bracket 100, while avoiding the phenomenon of breakage or cracking between the two under the action of the gravity of the stacked parts.

[0121] Furthermore, a robot 800 is arranged in the obtuse angle space formed on the other side between the mounting bracket 200 and the supporting and limiting bracket 100 ; the robot 800 is used to transfer the stacked parts adsorbed on the bottom of the vacuum suction cup 2 .

[0122] It can be understood that the vacuum suction cup 2 can move up and down in the open strip hole at the bottom of the V-shaped reinforcement groove 102 under the action of the driving structure 600 and driven by the first guide part 301 and the first elastic part 302, thereby driving the stack to rise and fall.

[0123] Among them, a receiving plate 700 is provided at the bottom of the supporting and limiting bracket 100 in this embodiment, corresponding to the position of the vacuum suction cup 2; and stacked or neatly stacked components are placed on the receiving plate 700.

[0124] It should be further explained that the spacing between the two side arms of the support and limit bracket 100 is greater than the overall width of the stack; the advantage is that the support and limit bracket 100 can play a preliminary limiting role for the stack when it is lifted or lowered, that is, preventing the stack from rotating freely during the lifting and moving process, thereby ensuring the stability of the product lifting.

[0125] Furthermore, the present application also retains the design of foot pedal control and manual switch control; wherein, the foot pedal control switch can be arranged on the outside of the support limit bracket 100, which is convenient for the operator to step on. By controlling the foot pedal, the operation of the vacuum separation control device can be started and stopped, and the shutdown operation can also be directly implemented in an emergency; the manual switch control has the same function as the foot pedal, the difference is that the hand switch is arranged on the control cabinet 500, and the start and stop operation of the vacuum separation control device can be implemented according to the operator's manual control.

[0126] It can be understood that the vacuum separation control device provided in the present application can quickly and accurately separate stacked or stacked parts without manual operation, with high separation efficiency, and the process will not cause damage to the product, thereby improving the production rhythm.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vacuum separation control system, characterized in that: include: A vacuum pumping mechanism (1); the vacuum pumping mechanism (1) is connected to the vacuum suction cup (2) and is used to form a vacuum state inside the vacuum suction cup (2); A vacuum breaking mechanism (3); the vacuum breaking mechanism (3) is connected to the vacuum suction cup (2) and is used to break the vacuum state of the vacuum suction cup (2); A cylinder pipeline control mechanism (4); the cylinder pipeline control mechanism (4) is used to control the extension and contraction amount of the cylinder (601), and to control the lifting and lowering of the vacuum suction cup (2) through the extension and contraction of the cylinder (601); The invention also comprises: a control module; the control module is electrically connected to the vacuum pumping mechanism (1), the vacuum breaking mechanism (3) and the cylinder pipeline control mechanism (4) respectively; the control module is used for coordinating and controlling the vacuum pumping mechanism (1), the vacuum breaking mechanism (3) and the cylinder pipeline control mechanism (4) according to a preset execution strategy.

2. The vacuum separation control system according to claim 1, characterized in that: The vacuum suction cup (2) is also provided with a pressure detection device (6) electrically connected to the control module; the pressure detection device (6) is used to detect the vacuum pressure value in the vacuum suction cup (2) and send the data to the control module.

3. The vacuum separation control system according to claim 2, characterized in that: Also includes: An air supply filter structure (5) for providing air intake; the air supply filter structure (5) is respectively connected to the vacuum pumping mechanism (1), the vacuum breaking mechanism (3) and the cylinder pipeline control mechanism (4); The air supply filtering structure (5) specifically comprises: An air source (51); the air source (51) is connected to a residual pressure release throttling structure (52) through a pipeline; wherein a filter (53) is also provided on the pipeline between the air source (51) and the residual pressure release throttling structure (52); The residual pressure release throttling structure (52) comprises: an electromagnetic throttling valve (520) connected to a filter (53), and a first one-way valve (521) connected in parallel with the electromagnetic throttling valve (520); wherein the air outlet ends of the electromagnetic throttling valve (520) and the first one-way valve (521) are commonly connected to a first air supply pipe (523); wherein a residual pressure release stop valve (522) is connected to one side of the first air supply pipe (523).

4. The vacuum separation control system according to claim 3, characterized in that: The vacuum pumping mechanism (1) comprises: An electromagnetic supply valve (11) is connected to the first air supply pipe (523); the electromagnetic supply valve (11) is electrically connected to the control module; the electromagnetic supply valve (11) is connected to the vacuum device (12) through a pipeline; a first muffler (13) is provided at the air outlet end of the vacuum device (12); one side of the vacuum device (12) is respectively connected to the vacuum suction cup (2) and the vacuum breaking mechanism (3) through a second one-way valve (14).

5. The vacuum separation control system according to claim 4, characterized in that: The vacuum breaking mechanism (3) comprises: a vacuum-breaking electromagnetic valve (31) connected to the first air supply pipe (523); the vacuum-breaking electromagnetic valve (31) is respectively connected to the second one-way valve (14) and the vacuum suction cup (2) through a speed control valve group (32); The speed control valve group (32) comprises: a vacuum flow electromagnetic regulating valve (321) and a third one-way valve (322) connected in parallel; wherein the common air inlet end of the vacuum flow electromagnetic regulating valve (321) and the third one-way valve (322) is connected to the vacuum breaking electromagnetic valve (31); and the common air outlet end of the vacuum flow electromagnetic regulating valve (321) and the third one-way valve (322) is connected to the second one-way valve (14) and the vacuum suction cup (2) respectively; wherein the vacuum breaking electromagnetic valve (31) and the vacuum flow electromagnetic regulating valve (321) are both electrically connected to the control module.

6. The vacuum separation control system according to claim 5, characterized in that: The cylinder pipeline control mechanism (4) comprises: a cylinder reversing valve (41) respectively connected to the vacuum breaking solenoid valve (31), the solenoid supply valve (11) and the gas source (51); wherein the cylinder reversing valve (41) is electrically connected to the control module; The cylinder reversing valve (41) is connected to the cylinder (601) and is used to control the extension and retraction of the cylinder (601); wherein a silencer exhaust device (43) is provided on the connecting pipeline between the cylinder reversing valve (41) and the cylinder (601); The silencer exhaust device (43) comprises: a quick exhaust valve (431) connected to the cylinder reversing valve (41), an exhaust throttle valve (432) connected to the quick exhaust valve (431), and a second silencer (433) connected to the exhaust throttle valve (432); wherein the quick exhaust valve (431) and the exhaust throttle valve (432) are both electrically connected to an electronic control module.

7. A vacuum separation control method, characterized in that: Applicable to the vacuum separation control system according to any one of claims 1 to 6; the method comprises the following steps: Step 1: When it is detected that there is a stacked component to be separated at the corresponding position below the vacuum suction cup, air supply is started and a delay control instruction is generated; Step 2: Based on the delay control instruction, the cylinder pipeline control mechanism is started first, and when the start-up time of the cylinder pipeline control mechanism reaches a first preset time, the vacuum pumping mechanism is started; Step 3: When the vacuum suction cup contacts the stacked parts to be separated and the vacuum pressure inside the vacuum suction cup meets the preset conditions, a cylinder return instruction is triggered; Step 4: Based on the cylinder return instruction, the cylinder is controlled to drive the vacuum suction cup and the stack to move back, and when the stack reaches the preset position, a stack feedback signal is output; Step 5: Based on the stack feedback signal, the stack transfer operation is completed.

8. The vacuum separation control method according to claim 7, characterized in that: The step 5 specifically includes: In response to the stacking feedback signal, controlling the robot to move to a first preset position; Generate a vacuum breaking command based on the feedback signal when the robot's gripper touches the stacked parts; Based on the vacuum breaking instruction, the vacuum breaking mechanism (3) is operated to separate the vacuum suction cup from the stacked parts, and the stacked parts transfer operation is completed by the robot.

9. A vacuum separation control device, characterized in that: The method as claimed in claim 7 or 8; the device comprising: A support and limit bracket (100); a mounting bracket (200) is arranged on the top of the support and limit bracket (100); a driving structure (600) is arranged horizontally on the top of the mounting bracket (200); an output end of the driving structure (600) is connected to at least one vacuum suction cup via a stretching guide structure (300); a suction cup stabilizing block (400) is arranged between the top of the vacuum suction cup (2) and the stretching guide structure (300); the stretching guide structure (300) is driven by the driving structure (600) to drive the vacuum suction cup (2) to move up and down in the vertical direction; It also includes: a control cabinet (500); wherein the control cabinet (500) is used to control the vacuum state of the vacuum suction cup (2) and the telescopic state of the driving structure (600).

10. The vacuum separation control device according to claim 9, characterized in that: The stretching guide structure (300) specifically comprises: A first guide portion (301); one end of the first stretching portion is connected to the output end of the driving structure (600), and the other end is connected to the first elastic portion (302) via a guide wheel (101) arranged at the upper end of the support limit bracket (100); wherein a suction cup stabilizing block (400) is arranged at a vertical portion of the first guide portion (301) passing through the guide wheel (101); A first elastic part (302); one end of the first elastic part (302) is connected to the vacuum suction cup; The guide groove is arranged at the upper end of the support and limiting bracket (100) and is used for limiting and accommodating the first guide portion (301).

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