Code disc machine

Abstract

The invention provides a code disc machine, and relates to the field of code disc machines. The disc stacking machine comprises a conveying belt, a material stacking disc located at one end of the tail end of the conveying belt and a mechanical arm used for grabbing workpieces and stacking the workpieces to the material stacking disc, an annular air hole array is arranged below the tail end of the conveying belt, an air channel pipeline is connected to the annular air hole array, the annular air hole array is connected with a high-pressure air source through the air channel pipeline, and a pressure adjusting valve is arranged on the air channel pipeline. When the workpiece moves to the tail end of the conveying belt along with the conveying belt, the high-pressure air source conveys high-pressure air flow to the annular air hole array, the air flow is sprayed out from hole channels of the annular air hole array to form an air film, the air film acts on the bottom of the workpiece to suspend the workpiece, and the workpiece is driven to rotate to a preset angle through the circumferential pressure difference of the air film; a negative pressure suction cup is arranged at the grabbing end of the mechanical arm, and after the workpieces suspend and angle adjustment is completed, the mechanical arm grabs the workpieces and transfers the workpieces to the material stacking disc to be stacked. And the effect that the efficiency and stability of the grabbing and stacking links are both considered is achieved.

Description

Technical Field

[0001] The present application relates to the field of coding machines, and in particular to a coding machine. Background Art

[0002] In automated production lines, the grabbing and stacking of workpieces at the end of conveyor belts has been widely used. The current mainstream technology uses negative pressure adsorption manipulators to achieve single workpiece grabbing.

[0003] In the related technologies, robots have the problem of over-reliance on sensors and control algorithm optimization to achieve automatic grasping and stacking. Therefore, they have to reduce production efficiency to improve the stability and adaptability of grasping. Especially in high-beat production lines, continuous and reliable grasping of workpieces requires the design of conveyor belt transportation and robot grasping and stacking logic based on the specific shape characteristics of the workpieces. Otherwise, the efficiency and stability of the grasping and stacking links will be reduced, which will directly affect the overall equipment performance. Summary of the invention

[0004] The embodiment of the present application provides a palletizing machine, which solves the problem of difficulty in balancing the efficiency and stability of the grabbing and stacking links.

[0005] The embodiment of the present application adopts the following technical solution: The embodiment of the present application provides a palletizer, which includes a conveyor belt, a palletizer located at one end of the conveyor belt, and a manipulator for grabbing workpieces and stacking them on the palletizer. An annular air hole array is provided below the end of the conveyor belt, the annular air hole array includes a plurality of air hole groups arranged along its radial direction, an air pipeline is connected to the annular air hole array and connected to a high-pressure air source through the air pipeline, and a pressure regulating valve is provided on the air pipeline; When the workpiece moves to the end of the conveyor belt with the conveyor belt, the high-pressure air source delivers high-pressure air to the annular air hole array, so that the air is ejected from the holes of the annular air hole array and forms an air film, which acts on the bottom of the workpiece to suspend it, and drives the workpiece to rotate to a preset angle through the circumferential pressure difference of the air film; The gripping end of the manipulator is provided with a negative pressure suction cup. After the workpiece is suspended and the angle adjustment is completed, the manipulator grabs the workpiece and transfers it to the stacking tray for stacking.

[0006] In an optional implementation, the angle between the holes of the annular pore array and the horizontal plane is 15°-45°, and the jet directions of adjacent pore groups along the diameter direction of the annular pore array are opposite, forming a vortex field. The impact combination of multiple adjacent pore groups generates a circumferential force, driving the workpiece to rotate to a preset angle.

[0007] In an optional implementation, there are two pore groups, which are respectively located in the inner circle and the outer circle of the annular pore array, and the channels of the outer circle pore group and the inner circle pore group are arranged alternately, and the inclination angle of the channel of the inner circle is 5°-10° larger than that of the outer circle, forming a rotational torque gradient that is strong inside and weak outside, and the inclination angle of the channel of the inner circle is 5°-10° larger than that of the outer circle, forming a rotational torque gradient that is strong inside and weak outside.

[0008] In an optional implementation, a spiral guide groove is provided inside each hole of the annular air hole array, so that the ejected airflow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

[0009] In an optional implementation, the pressure regulating valve is connected to the driving motor signal of the conveyor belt, and the air flow pressure is adjusted according to the real-time conveying speed of the conveyor belt to keep the suspension height of the workpiece constant within a preset range.

[0010] In an optional implementation, an elastic sealing ring is provided on the surface of the negative pressure suction cup. When the negative pressure suction cup adsorbs the workpiece, the elastic sealing ring is compressed and contacts the surface of the workpiece to form a closed cavity.

[0011] In an optional implementation, an annular groove is provided at the inner bottom of the elastic sealing ring. When the elastic sealing ring is compressed, the outer wall of the elastic sealing ring is concave at the groove position and connected with the air film to form a negative pressure buffer zone to offset the horizontal displacement inertia of the workpiece.

[0012] In an optional implementation, a micro one-way valve is provided at the bottom of the groove, and when the negative pressure in the groove exceeds a limit, the one-way valve opens to inhale external airflow to balance the pressure.

[0013] In an optional implementation, the negative pressure suction cup is connected to a cyclone cleaning nozzle, and the cyclone cleaning nozzle sprays a spiral airflow toward the surface of the workpiece before grabbing the workpiece, and the jetting direction is opposite to the rotation direction of the air film.

[0014] In an optional implementation, an electrostatic adsorption net is provided in the jet channel of the cyclone cleaning nozzle, and the electrostatic adsorption net is connected to a high-voltage direct current power supply.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. A high-pressure airflow is sprayed to the bottom of the workpiece through an annular air hole array to form an evenly distributed air film, and the dynamic pressure and static pressure balance of the air film is used to achieve non-contact suspension of the workpiece. The air film suspension puts the workpiece in a free state, and there is no contact friction resistance when the manipulator grasps the workpiece. The adsorption force is evenly distributed, achieving a more stable grasping effect. At the same time, the air film absorbs the inertial energy of the workpiece through the fluid damping effect, reduces the offset, and further improves the grasping stability; at the same time, the air film thickness is dynamically controlled by a pressure regulating valve to ensure that the suspension height of the workpiece is constant, and the air film pressure is automatically adjusted with the weight of the workpiece (such as 0.3MPa for plastic parts, 0.6MPa for metal parts), which is suitable for direct grasping of workpieces of various specifications, thereby providing reliability for high-speed grasping operations. In general, the present application can achieve the effect of taking into account both efficiency and stability in the grasping and stacking links.

[0016] 2. The elastic sealing ring and the air film work together to form a closed cavity, which, combined with the negative pressure buffer, reduces the adsorption force fluctuation from ±35% to ±5%, and offsets it through mechanical inertial force, allowing the manipulator to run at high speed (2m / s) without deviation, breaking through the efficiency bottleneck of traditional solutions; 3. The cyclone cleaning nozzle is integrated with an electrostatic adsorption net to remove dust on the workpiece surface within 0.5 seconds, with a cleaning efficiency of 98%, avoiding downtime for maintenance and adapting to the environment of highly polluted production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the encoder.

[0018] Figure 2 yes Figure 1 Enlarged schematic diagram of part A.

[0019] Figure 3 It is a schematic diagram of the structure of the annular pore array.

[0020] Figure 4 yes Figure 3 Schematic diagram of the enlarged portion B.

[0021] Figure 5 It is a schematic diagram of the structure of a negative pressure suction cup, an elastic sealing ring and a cyclone cleaning nozzle.

[0022] Explanation of the reference numerals in the accompanying drawings: 1. conveyor belt; 11. driving motor; 2. coding tray; 3. manipulator; 4. retention platform; 41. block; 42. guide plate; 43. guide block; 44. mesh vent; 5. annular air hole array; 51. air pipeline; 52. pressure regulating valve; 53. spiral guide groove; 6. negative pressure suction cup; 7. elastic sealing ring; 71. annular groove; 72. micro one-way valve; 8. cyclone cleaning nozzle; 81. electrostatic adsorption net. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with all the drawings in the embodiments of the present application.

[0024] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the two are connected to each other and the relative position relationship after the connection remains unchanged. It should be understood that when component A is fixedly connected to component C through component B, changes in the relative position relationship caused by the deformation of component A, component B and component C itself are allowed. Among them, the two components are integrated into an integrated structure through an integrated molding process, which means that in the process of forming one of the two components, the component is connected to the other component, and there is no need to connect the two components together through reprocessing (such as bonding, welding, snap connection, screw connection).

[0025] The directional terms mentioned in the embodiments of the present application, such as "upper", "lower", "side", etc., are only references to the directions of the drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0026] The term "plurality" means at least two. The term "above" includes the number itself. The term "and / or" is a description of an association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0027] The embodiment of the present application discloses a coding machine.

[0028] Reference Figure 1 A coding machine includes a conveyor belt 1, which can dock the completed workpiece at the starting end of the conveyor belt 1 and transport the workpiece to the end of the conveyor belt 1.

[0029] Reference Figure 1 A retention platform 4 is extended from the end of the conveyor belt 1, and the surface of the retention platform 4 is flush with the upper surface of the conveyor belt 1. After the workpiece is transported to the end with the conveyor belt 1, it can be transferred to the retention platform 4 and stay there by the inertia of the workpiece itself.

[0030] Reference Figure 1 and Figure 2 A stopper 41 is installed at the end position of the conveyor belt 1. The stopper 41 is specifically installed on the side of the retention platform 4 away from the conveyor belt 1. In the horizontal plane, the stopper 41 is perpendicular to the conveyor belt 1, so that when the workpiece on the conveyor belt 1 is transported to the end and transferred to the retention platform 4, the workpiece can contact the stopper 41 and then stay on the retention platform 4.

[0031] Reference Figure 1 and Figure 2 Guide plates 42 are provided at both ends of the stopper 41 , and the guide plates 42 extend toward the starting end of the conveyor belt 1 . When the workpiece is transported, the guide plates 42 can guide the workpiece to move accurately toward the direction of the stopper 41 .

[0032] Reference Figure 2 Each guide plate 42 is provided with a guide block 43 at one end close to the stop block 41. The contact surface between the guide block 43 and the workpiece is inclined and inclined toward the middle part of the stop block 41. Even if the workpiece is not in the middle part of the stop block 41 when being transported to the vicinity of the stop block 41, the workpiece can be adjusted to the middle part of the stop block 41 under the guidance of the guide block 43.

[0033] Reference Figure 1 , and also includes a stacking tray 2, which is located on the extension line of the conveying direction of the conveyor belt 1 and is close to the end of the conveyor belt 1. At the same time, a manipulator 3 for grabbing workpieces and stacking them on the stacking tray 2 is arranged above the end of the conveyor belt 1. When the workpiece is transported to the retention platform 4 with the conveyor belt 1, the manipulator 3 grabs the workpiece and stacks it on the stacking tray 2.

[0034] Reference Figure 1 and Figure 3 Furthermore, an annular air hole array 5 is provided at the end of the conveyor belt 1 , and the annular air hole array 5 is located below the retention platform 4 , and a mesh vent 44 is opened at the position of the retention platform 4 corresponding to the annular air hole array 5 .

[0035] Reference Figure 1 The annular air hole array 5 is connected to a high-pressure air source through an air pipeline 51. The high-pressure air source is a high-pressure air pump. The annular air hole array 5 sprays high-pressure airflow upward. The high-pressure airflow contacts the bottom of the workpiece through the air vent to form a supporting air film, realizing non-contact suspension support, which not only increases the adaptability of the grasping position and angle of workpieces of different specifications, but also can reduce the loss of equipment and extend its service life.

[0036] Reference Figure 1 A pressure regulating valve 52 is provided on the air pipeline 51, and the pressure regulating valve 52 is connected to the signal of the driving motor 11 of the conveyor belt 1. The air flow pressure is adjusted according to the real-time conveying speed of the conveyor belt 1 to make the suspension height of the workpiece constant within a preset range.

[0037] A dynamic mapping relationship between the conveyor belt 1 speed and air pressure is established to effectively solve the problem of air film thickness fluctuation during high-speed transportation; at the same time, the suspension height range is limited to avoid suspension instability caused by speed changes in the traditional fixed air pressure mode.

[0038] For example, when the speed of the conveyor belt 1 increases from 0.5 m / s to 2 m / s, the air pressure increases linearly from 0.3 MPa to 0.6 MPa, and the suspension height is constant at 0.3 mm ± 0.05 mm.

[0039] Specifically, when the workpiece is transported to the end of the conveyor belt 1 and transitions to the retention platform 4, the high-pressure air source delivers high-pressure airflow to the annular air hole array 5, so that the airflow is ejected from the pores of the annular air hole array 5 and forms an air film. The air film acts on the bottom of the workpiece to suspend it, and drives the workpiece to rotate to a preset angle through the circumferential pressure difference of the air film.

[0040] High-pressure air flows vertically from the annular air hole to the bottom of the workpiece, forming an air film dynamic pressure (P dynamic =1 / 2ρv 2 ), directly offset the gravity of the workpiece; Dynamic pressure and workpiece weight matching formula: P dynamic ·A 工件 =m·g (A 工件 is the bottom area of ​​the workpiece, m is the mass of the workpiece, and g is the acceleration due to gravity).

[0041] The basic principle of air film formation is to form a stable airflow layer between the object and the supporting surface through high-pressure gas, and use the principles of fluid dynamics to achieve non-contact suspension or drag reduction. Its core mechanisms include: 1) Aerodynamic pressure balance: After the high-pressure airflow is ejected from the air hole, the gas diffuses in the confined space, forming a balance between dynamic pressure and static pressure, supporting the object to float.

[0042] 2) Laminar and turbulent flow control: Through the design of pore distribution and air flow velocity, ensure that the air film is in a laminar state (smooth flow) to avoid instability caused by turbulence.

[0043] More specifically, the annular pore array 5 includes an annular rigid substrate (such as an aluminum alloy plate), on which two circles of pores are opened, namely an inner circle and an outer circle, and the inclination angles and directions of all pores are fixed during manufacturing. For example, the inner circle pores A1, A2, A3...are arranged in a ring; the outer circle pores B1, B2, B3...are arranged in another ring; the adjacent relationship is defined as A1 and A2 are adjacent to the inner circle, and B1 and B2 are adjacent to the outer circle.

[0044] Among them, the angle between the holes of the annular air hole array 5 and the horizontal plane is 15°-45°, and the jet directions of the holes in the inner and outer circles are opposite, forming a vortex field; the impact combination of multiple adjacent holes produces a circumferential force, and the tangential forces of the airflow at different positions on the edge of the workpiece are in opposite directions, generating a net torque, driving the workpiece to rotate to a preset angle.

[0045] The inclination angle and symmetrical distribution of the holes of the annular air hole array 5 are limited, and a controllable vortex is formed by reverse air jet; at the same time, the rotation speed of the workpiece can be quantified to ensure the angle correction accuracy (±1°), effectively solving the positioning error caused by inertial offset of the workpiece.

[0046] At the same time, the inner and outer ring channels of the annular pore array 5 are arranged alternately, and the inclination angle of the inner ring channel is 5°-10° larger than that of the outer ring channel, forming a rotation torque gradient with strong inner and weak outer.

[0047] Through the differentiated design of the inclination angles of the inner and outer rings, the rotation control force in the center area is enhanced, the problem of rotation lag at the edge of large-sized workpieces is solved, and the adaptability is greatly improved; at the same time, it effectively solves the problem of airflows ejected from multiple air holes interfering with each other and forming local vortices.

[0048] In this embodiment, the specific layout of the annular air hole array 5 is that 24 air holes are arranged in the inner circle, and all of the holes are inclined 35° to the left (counterclockwise); 36 air holes are arranged in the outer circle, and all of the holes are inclined 30° to the right (clockwise).

[0049] The air holes in the inner and outer circles are inclined to eject air in opposite directions, forming a circumferential pressure gradient to drive the workpiece to rotate; Rotational torque calculation formula: τ=r×F=r·(ρv 2 A 气孔 sinθ) (r is the radius of the workpiece, ρ is the air density, v is the air velocity, A 气孔 = is the cross-sectional area of ​​a single pore, θ is the pore inclination angle).

[0050] By adjusting the air pressure (changing the air flow velocity v) or the air hole inclination angle θ, the torque can be controlled to accurately adjust the workpiece speed. For example, when the air pressure is 0.5MPa and the inclination angle is 30°, the speed of a metal workpiece with a diameter of 200mm is 20 rpm.

[0051] The high-pressure air holes in a ring layout can achieve the design of directional control of the air film through a specific structure, forming a circumferential pressure gradient in the area where the workpiece is located. The air holes are arranged in a ring and tilted at a certain angle. When the air flow is ejected, a tangential component force is generated to form a rotating airflow field, similar to a vortex, thereby driving the material to rotate to a preset angle.

[0052] Rotational drive is achieved through the geometric design of fixed air holes and airflow control, effectively avoiding mechanical wear. During the process, only the air pressure needs to be adjusted to adapt to workpieces of different sizes / weights (such as 10 rpm for thin plastic parts and 30 rpm for metal parts). The symmetrical airflow design automatically compensates for deflections caused by external vibrations, ensuring rotational stability.

[0053] At the same time, the air film evenly suspends and supports the workpiece, and the annularly distributed air holes can cover the edge area of ​​the material to avoid tilting or deviation caused by local uneven pressure.

[0054] The air film pressure distribution is characterized by low center and high edge, which can effectively suppress the horizontal displacement and tilt of the material. The tangential air flow velocity generated by the air hole can reach 5-10m / s, which is also enough to drive the material to rotate.

[0055] In summary, through the organic combination of the annular air hole array 5, the high-pressure air source, and the pressure regulating valve 52, the hardware implementation of the pneumatic suspension is clarified, and at the same time, the air flow is ejected through the inclined channel to form a circumferential pressure difference, and the workpiece suspension and angle self-correction are dynamically realized. After the workpiece is suspended, the robot 3 directly grasps it, omitting the traditional secondary positioning step.

[0056] The above not only achieves a breakthrough in the positioning accuracy of the workpiece, replacing the influence of the gap caused by mechanical positioning with a more refined air film uniform compensation; at the same time, the adaptability of workpiece positioning is also greatly improved. It is no longer only suitable for materials of fixed sizes, but can adapt to workpieces of different diameters by adjusting the air pressure; in addition, the dynamic control response speed of the air pressure is also improved compared to the time-consuming mechanical structure adjustment.

[0057] At this point, the complex positioning errors caused by inertial offset of workpieces of different specifications can be uniformly solved, and the positioning and grasping of workpieces of different specifications can be effectively adapted, greatly improving the grasping efficiency.

[0058] Reference Figure 4 Furthermore, a spiral guide groove 53 is provided inside each hole of the annular air hole array 5, so that the ejected airflow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

[0059] Among them, the spiral guide groove 53 converts laminar flow into controlled eddy current to offset the flow field disturbance caused by the rotation of the workpiece. Specifically, the circumferential tangential force generated by the inclination of the air hole is the main reason for driving the workpiece to rotate. The reverse eddy current generates a local reverse torque, but its value is much smaller than the main driving force, so that the main driving force is dominant, the reverse eddy current suppresses the swing, and improves the control accuracy. Compared with the straight-through air hole, the suspension jitter amplitude is greatly reduced.

[0060] Reference Figure 1 and Figure 5At the same time, the gripping end of the manipulator 3 is provided with a negative pressure suction cup 6. After the workpiece is suspended and the angle adjustment is completed, the manipulator 3 directly grasps the workpiece and uses the negative pressure suction cup 6 to absorb the workpiece, and transfers the workpiece to the stacking tray 2 for stacking.

[0061] Reference Figure 1 and Figure 5 , an elastic sealing ring 7 is provided on the surface of the negative pressure suction cup 6, which is fixed on the edge of the negative pressure suction cup 6 and has a ring-shaped convex structure. When the negative pressure suction cup 6 is sucking the workpiece, the suction cup descends to suck the suspended workpiece. Due to the convex design, the sealing ring preferentially contacts the edge of the upper surface of the workpiece and is deformed by the downward pressure of the suction cup. The elastic sealing ring 7 is compressed and contacts the surface of the workpiece to form a closed cavity.

[0062] In this embodiment, the formation process of the closed cavity is described by way of example: Initial contact: When the suction cup is lowered to 0.5 mm from the workpiece, the air film airflow is affected by the suction cup approaching, and part of the airflow surges along the edge of the workpiece; Deformation of the sealing ring: The suction cup continues to press down, the sealing ring contacts the workpiece and is squeezed to extend in all directions, and its side wall covers the path of the air film upwelling; Air film isolation: The extended part of the sealing ring forms a sealing structure with the side wall of the workpiece, limiting the residual air flow of the air film outside the suction cup; Negative pressure establishment: Negative pressure inside the suction cup is activated, forming a stable adsorption force in the closed cavity.

[0063] At this point, in the vertical direction, the sealing ring fits tightly against the upper surface of the workpiece, blocking external air from entering from above; in the horizontal direction, after the sealing ring is deformed, the side wall covers the edge area of ​​the air film, blocking the airflow of the air film from invading the cavity between the suction cup and the workpiece.

[0064] Thus, the physical contact between the elastic sealing ring 7 and the air film forms a double seal, which effectively solves the problem of adsorption and detachment of suspended workpieces caused by airflow disturbance; at the same time, compared with electromagnetic shielding and anti-interference, the pure mechanical sealing cost of this solution is lower.

[0065] Reference Figure 1 and Figure 5 An annular groove 71 is provided on the inner side of the elastic sealing ring 7 , and the annular groove 71 is processed on the inner bottom of the elastic sealing ring 7 , that is, on the side close to the center of the negative pressure suction cup 6 .

[0066] The groove has a U-shaped or V-shaped cross section, surrounding the entire circumference of the sealing ring. When the elastic sealing ring 7 is compressed, the outer wall of the elastic sealing ring 7 is concave at the position of the groove, connected with the air film to form a negative pressure buffer zone, offsetting the inertial force of the horizontal displacement of the workpiece.

[0067] Among them, the outer wall of the groove is concave, further close to the air flow path at the edge of the air film, enhancing the air flow capture capability; the inner cavity of the groove expands to provide a larger volume for the negative pressure buffer zone, thereby improving the inertial force offset effect.

[0068] Specifically, when the high-pressure airflow of the air film diffuses at the bottom of the workpiece, part of the airflow escapes upward along the side wall of the workpiece. The opening end of the groove cuts into the escape path of the edge of the air film during the downward pressure of the suction cup, and guides this part of the airflow into the outer wall position of the sealing ring corresponding to the groove.

[0069] When the high-speed airflow enters the narrow area caused by the groove, the flow velocity increases, and the increase in flow velocity causes the local pressure to drop, forming a negative pressure area. The end of the groove is connected to the negative pressure cavity of the suction cup, further enhancing the negative pressure effect.

[0070] When the manipulator 3 carries the workpiece and moves at high speed, the workpiece tends to move horizontally due to inertia. At this time, the negative pressure buffer zone of the groove can achieve dynamic balance.

[0071] For example, if the workpiece tries to move to the left, the workpiece moves, causing the airflow channel on the left side of the groove to become narrower and the right side to become wider. At this time, the flow velocity at the narrow part of the left channel increases and the pressure decreases (P 1 ), the flow rate on the right slows down and the pressure increases (P 2 ), the inertial force balance equation at this time is: F 抵消 =(P 2 −P 1 )·A 凹槽 (Among which: A 凹槽 is the effective area of ​​the groove). To achieve dynamic adjustment effect, pressure difference P 2 −P 1 Generates a force F in the opposite direction to the inertial force 抵消 , suppressing the inertial displacement of the workpiece; the greater the displacement, the more significant the pressure difference, forming a negative feedback mechanism.

[0072] In order to solve the problem that the traditional solution needs to reduce the speed of the manipulator 3 to ensure stable adsorption, this design uses the groove structure to convert the disturbing airflow into a buffer negative pressure, solves the inertial offset problem when the manipulator 3 moves, and improves the grasping stability; and this solution adopts pure mechanical inertial compensation, without the need for additional sensors, effectively reducing costs, greatly ensuring that the manipulator 3 can still achieve stable adsorption when running at high speed, and solving the difficulty of balancing efficiency and stability.

[0073] Reference Figure 5 A micro one-way valve 72 is provided at the bottom of the groove. The micro one-way valve 72 is a spring-diaphragm passive valve. The valve body of the one-way valve is embedded in the U-shaped bottom of the groove. The inlet of the valve body leads to the external environment, and the outlet is connected to the inside of the groove.

[0074] The diaphragm of the micro one-way valve 72 is made of silicone or fluororubber. Under normal conditions, it is pressed against the valve seat by the preloaded spring to close the airflow channel. When the negative pressure in the groove exceeds the limit, the one-way valve opens to inhale the external airflow to balance the pressure. After the negative pressure in the groove drops to a safe range, the spring returns to its original position and closes the valve port.

[0075] Reference Figure 1 and Figure 5 The negative pressure suction cup 6 is connected to a cyclone cleaning nozzle 8. Before grabbing the workpiece, the cyclone cleaning nozzle 8 sprays a spiral airflow toward the surface of the workpiece, and the jetting direction is opposite to the rotation direction of the air film.

[0076] In the pre-grabbing stage, the cyclone cleaning nozzle 8 performs reverse cyclone cleaning to solve the adsorption failure problem caused by surface contamination of the workpiece; the jet direction is opposite to the rotation of the air film, which effectively enhances the dust stripping efficiency.

[0077] Reference Figure 5 An electrostatic adsorption net 81 is provided in the jet channel of the cyclone cleaning nozzle 8, and the electrostatic adsorption net 81 is connected to a high-voltage DC power supply. Integrated electrostatic adsorption prevents dust from flying again, greatly improves cleaning efficiency, and solves the problem of adsorption failure caused by incomplete cleaning.

[0078] Moreover, pneumatic cleaning is integrated with electrostatic dust removal machinery to form an integrated "blow-suction-capture" solution, avoiding the technical bias of pure pneumatic or electrostatic solutions.

[0079] The implementation principle of one embodiment of the present application is as follows: the workpiece is transported to the retention platform 4 along the conveyor belt 1, and the high-pressure airflow of the annular air hole array 5 is vertically sprayed upward to the bottom of the workpiece through the mesh opening, forming a uniformly distributed air film dynamic pressure, which directly offsets the gravity of the workpiece and realizes non-contact suspension. The air film absorbs the inertial energy of the workpiece through the fluid damping effect, solving the positioning drift problem when the workpiece leaves the conveyor belt 1.

[0080] Adjacent air holes tilt and spray in opposite directions to form counter-flow airflows, and the inclination angle of the inner circle air holes is 5° larger than that of the outer circle, forming a torque gradient with strong inside and weak outside to adapt to workpieces of different sizes.

[0081] At the same time, the air pressure increases linearly with the increase of the speed of the conveyor belt 1 to maintain a constant suspension height of the workpiece.

[0082] At this time, the manipulator 3 performs grasping, and the elastic sealing ring 7 on the edge of the negative pressure suction cup 6 is compressed and deformed during adsorption to form a double seal; the inner groove of the sealing ring connects the airflow at the edge of the air film during compression to generate negative pressure, which offsets the inertial force of the manipulator 3 when moving at high speed, taking into account efficiency and stability, and realizing grasping and stacking.

[0083] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of the present application. In other words, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0084] It should be noted that all the above drawings are illustrative illustrations of this application and do not represent the actual size of the product. The size ratio relationship between the components in the drawings is not intended to limit the actual product of this application. The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A palletizer, comprising a conveyor belt (1), a palletizer (2) located at one end of the conveyor belt (1), and a manipulator (3) for grabbing workpieces and palletizing them on the palletizer (2), characterized in that: An annular air hole array (5) is provided below the end of the conveyor belt (1), the annular air hole array (5) comprising a plurality of air hole groups arranged along its radial direction, an air pipeline (51) is connected to the annular air hole array (5) and is connected to a high-pressure air source via the air pipeline (51), and a pressure regulating valve (52) is provided on the air pipeline (51); When the workpiece moves with the conveyor belt (1) to the end of the conveyor belt (1), the high-pressure air source delivers high-pressure airflow to the annular air hole array (5), so that the airflow is ejected from the holes of the annular air hole array (5) and forms an air film, which acts on the bottom of the workpiece to suspend it, and drives the workpiece to rotate to a preset angle through the circumferential pressure difference of the air film; The gripping end of the manipulator (3) is provided with a negative pressure suction cup (6). After the workpiece is suspended and the angle adjustment is completed, the manipulator (3) grips the workpiece and transfers it to the stacking tray (2) for stacking.

2. The coder according to claim 1, characterized in that: The angle between the hole channel of the annular pore array (5) and the horizontal plane is 15°-45°, and the jet directions of adjacent pore groups along the diameter direction of the annular pore array (5) are opposite, forming a vortex field. The impact combination of multiple adjacent pore groups generates a circumferential force, driving the workpiece to rotate to a preset angle.

3. The coder according to claim 2, characterized in that: There are two groups of pores, which are respectively located in the inner circle and the outer circle of the annular pore array (5), and the channels of the outer circle pore group and the inner circle pore group are arranged in a staggered manner, and the inclination angle of the channel of the inner circle is 5°-10° larger than that of the outer circle, forming a rotation torque gradient with a strong inner part and a weak outer part.

4. The encoder according to claim 1, characterized in that: Each hole of the annular air hole array (5) is provided with a spiral guide groove (53) inside, so that the ejected airflow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

5. The encoder according to claim 1, characterized in that: The pressure regulating valve (52) is connected to the signal of the driving motor (11) of the conveyor belt (1) and adjusts the air flow pressure according to the real-time conveying speed of the conveyor belt (1) so that the suspension height of the workpiece is constant within a preset range.

6. The encoder according to claim 1, characterized in that: An elastic sealing ring (7) is provided on the surface of the negative pressure suction cup (6). When the negative pressure suction cup (6) adsorbs a workpiece, the elastic sealing ring (7) is compressed and contacts the surface of the workpiece to form a closed cavity.

7. The encoder according to claim 6, characterized in that: An annular groove (71) is provided at the inner bottom of the elastic sealing ring (7). When the elastic sealing ring (7) is compressed, the outer wall of the elastic sealing ring (7) is concave at the position of the groove and communicates with the air film to form a negative pressure buffer zone, thereby offsetting the inertial force of the horizontal displacement of the workpiece.

8. The encoder according to claim 7, characterized in that: A micro one-way valve (72) is provided at the bottom of the groove. When the negative pressure in the groove exceeds the limit, the one-way valve opens to inhale external airflow to balance the pressure.

9. The encoder according to claim 1, characterized in that: The negative pressure suction cup (6) is connected to a cyclone cleaning nozzle (8), and the cyclone cleaning nozzle (8) sprays a spiral airflow toward the surface of the workpiece before grabbing the workpiece, and the jetting direction is opposite to the rotation direction of the air film.

10. The encoder according to claim 9, characterized in that: An electrostatic adsorption net (81) is provided in the jet passage of the cyclone cleaning nozzle (8), and the electrostatic adsorption net (81) is connected to a high-voltage direct current power supply.

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