A coding machine

Abstract

The present application provides a palletizer, which relates to the field of palletizers. The palletizer includes a conveyor belt, a stacking tray located at one end of the conveyor belt, and a manipulator that grabs the workpiece and stacks it on the stacking tray. An annular air hole array is provided below the end of the conveyor belt, and an air pipeline is connected to the annular air hole array and connected to a high-pressure air source through the air pipeline. The air pipeline is provided with a pressure regulating valve. 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, causing the air flow to eject from the pores of the annular air hole array and form an air film. The air film acts on the bottom of the workpiece to suspend it, and the circumferential pressure difference of the air film drives the workpiece to rotate to a preset angle. 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. This achieves the effect of taking into account the efficiency and stability of both the grabbing and stacking links.

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 is widely used. Currently, the mainstream technology uses a negative pressure adsorption robot to achieve single workpiece grabbing.

[0003] In 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 palletizer that solves the problem of balancing efficiency and stability in the grabbing and stacking steps.

[0005] The embodiments of the present application adopt the following technical solutions:

[0006] 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 robot for grabbing workpieces and placing them on the palletizer.

[0007] An annular air hole array is provided below the end of the conveyor belt, the annular air hole array includes multiple groups of air hole groups arranged along its radial direction, an air pipeline is connected to the annular air hole array and is connected to a high-pressure air source through the air pipeline, and a pressure regulating valve is provided on the air pipeline;

[0008] When the workpiece moves to the end of the conveyor belt, the high-pressure air source delivers high-pressure air to the annular air hole array, causing the air to eject from the holes of the annular air hole array and form an air film. The air film acts on the bottom of the workpiece to suspend it, and the circumferential pressure difference of the air film drives the workpiece to rotate to a preset angle.

[0009] 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.

[0010] In an optional implementation, the angle between the holes of the annular air hole array and the horizontal plane is 15°-45°, and the jet directions of adjacent air hole groups along the diameter direction of the annular air hole array are opposite, forming a vortex field. The impact combination of multiple adjacent air hole groups generates a circumferential resultant force, driving the workpiece to rotate to a preset angle.

[0011] In an optional implementation, there are two groups of pores, which are respectively located in the inner and outer circles of the annular pore array, and the channels of the outer and inner circle pore groups are staggered, and the channel inclination angle 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 channel inclination angle 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.

[0012] In an optional implementation, a spiral guide groove is provided inside each hole of the annular air hole array, so that the ejected air flow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

[0013] In an optional implementation, the pressure regulating valve is connected to the drive 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.

[0014] 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.

[0015] 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, connecting with the air film to form a negative pressure buffer zone to offset the horizontal displacement inertia of the workpiece.

[0016] In an optional implementation, a micro one-way valve is provided at the bottom of the groove. When the negative pressure in the groove exceeds a limit, the one-way valve opens to inhale external airflow to balance the pressure.

[0017] In an optional implementation, the negative pressure suction cup is connected to a cyclone cleaning nozzle, which sprays a spiral airflow onto the surface of the workpiece before grabbing the workpiece, and the jetting direction is opposite to the rotation direction of the air film.

[0018] In an optional implementation, an electrostatic adsorption net is provided in the jet passage of the cyclone cleaning nozzle, and the electrostatic adsorption net is connected to a high-voltage DC power supply.

[0019] In summary, this application includes at least one of the following beneficial technical effects:

[0020] 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. 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. There is no contact friction resistance when the manipulator grasps the workpiece, and 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 the 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 summary, this application can achieve the effect of taking into account both efficiency and stability in the grasping and stacking links.

[0021] 2. The elastic sealing ring and air film work together to form a closed cavity. Combined with the negative pressure buffer zone, this reduces the fluctuation of the adsorption force from ±35% to ±5%. Mechanical inertial force is used to offset this, allowing the robot to operate at high speed (2m / s) without deviation, breaking the efficiency bottleneck of traditional solutions.

[0022] 3. The cyclone cleaning nozzle is integrated with an electrostatic adsorption net to remove dust from the workpiece surface within 0.5 seconds, with a cleaning efficiency of 98%, avoiding downtime for maintenance and adapting to highly polluted production line environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the encoder.

[0024] Figure 2 yes Figure 1 Enlarged schematic diagram of part A.

[0025] Figure 3 It is a structural schematic diagram of the annular air hole array.

[0026] Figure 4 yes Figure 3 Schematic diagram of the enlarged portion B.

[0027] Figure 5 It is a structural diagram of a negative pressure suction cup, an elastic sealing ring and a cyclone cleaning nozzle.

[0028] Explanation of the accompanying symbols: 1. Conveyor belt; 11. Driving motor; 2. Coding tray; 3. Robot; 4. Retention platform; 41. Stop block; 42. Guide plate; 43. Guide block; 44. Mesh vent; 5. Annular air hole array; 51. Air pipe; 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

[0029] The present application is further described in detail below in conjunction with all the drawings in the embodiments of the present application.

[0030] 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 they are connected to each other and the relative position relationship after 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 due to 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 one-piece 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).

[0031] 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 device or element referred to 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.

[0032] 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 can mean: A exists alone, A and B exist at the same time, and B exists alone. Terms such as "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0033] The embodiment of the present application discloses a coding machine.

[0034] 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.

[0035] Reference Figure 1 A retention platform 4 is extended from the end of the conveyor belt 1. 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.

[0036] 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. On 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.

[0037] 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 stopper 41 .

[0038] 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.

[0039] Reference Figure 1 , further comprising a stacking tray 2, which is located on an extension line of the conveying direction of the conveyor belt 1 and adjacent to the end of the conveyor belt 1. At the same time, a robot 3 is provided above the end of the conveyor belt 1 for grabbing workpieces and stacking them on the stacking tray 2. When the workpieces are transported to the retention platform 4 along the conveyor belt 1, the robot 3 grabs the workpieces and stacks them on the stacking tray 2.

[0040] 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. The retention platform 4 has a mesh vent 44 at a position corresponding to the annular air hole array 5.

[0041] Reference Figure 1 The annular air hole array 5 is connected to the high-pressure air source through the 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 reduces the loss of equipment and extends its service life.

[0042] Reference Figure 1 Among them, 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.

[0043] A dynamic mapping relationship between 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.

[0044] 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 remains constant at 0.3 mm ± 0.05 mm.

[0045] Specifically, when the workpiece is transported to the end of the conveyor belt 1 along 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, causing the airflow to eject from the pores of the annular air hole array 5 and form 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.

[0046] High-pressure air flows vertically from the annular air hole to the bottom of the workpiece, forming a dynamic pressure of the air film (P dynamic =1 / 2ρv 2 ), directly offset the gravity of the workpiece;

[0047] Dynamic pressure and workpiece weight matching formula:

[0048] P dynamic ·A 工件 =m·g

[0049] (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).

[0050] The basic principle of air film formation is to use high-pressure gas to form a stable airflow layer between the object and the supporting surface, and use the principles of fluid dynamics to achieve non-contact suspension or drag reduction. Its core mechanisms include:

[0051] 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.

[0052] 2) Laminar and turbulent flow control: Through the design of pore distribution and air flow velocity, the air film is ensured to be in a laminar state (smooth flow) to avoid instability caused by turbulence.

[0053] More specifically, the annular air hole array 5 comprises an annular rigid substrate (such as an aluminum alloy plate) with two rings of air holes: an inner ring and an outer ring. The inclination angles and orientations of all air holes are fixed during manufacturing. For example, the inner ring of air holes A1, A2, A3, etc. are arranged in a circular pattern; the outer ring of air holes B1, B2, B3, etc. are arranged in another circular pattern. The adjacent relationship is defined as A1 and A2 being adjacent in the inner ring, and B1 and B2 being adjacent in the outer ring.

[0054] 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 resultant 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.

[0055] 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.

[0056] At the same time, the inner and outer ring channels of the annular air hole array 5 are arranged in a staggered manner, 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 a strong inner and a weak outer.

[0057] 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.

[0058] In this embodiment, the specific layout of the annular air hole array 5 is as follows: the inner circle has 24 air holes, all of which are inclined 35° to the left (counterclockwise); the outer circle has 36 air holes, all of which are inclined 30° to the right (clockwise).

[0059] The air holes in the inner and outer rings are tilted and eject air in opposite directions, forming a circumferential pressure gradient to drive the workpiece to rotate;

[0060] Rotational torque calculation formula:

[0061] τ=r×F=r·(ρv 2 A 气孔 sinθ)

[0062] (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, and θ is the pore inclination angle).

[0063] By adjusting the air pressure (changing the airflow velocity v) or the air hole tilt angle θ, the torque can be controlled, thereby precisely adjusting the workpiece speed. For example, when the air pressure is 0.5MPa and the tilt angle is 30°, the speed of a metal workpiece with a diameter of 200mm is 20 rpm.

[0064] The annular layout of high-pressure air holes can achieve 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 is generated, forming a rotating airflow field, similar to a vortex, thereby driving the material to rotate to a preset angle.

[0065] 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 and 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 to ensure rotational stability.

[0066] 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 offset caused by local uneven pressure.

[0067] The air film pressure distribution is characterized by low pressure in the center and high pressure at the edges, which can effectively suppress the horizontal displacement and tilt of the material. The tangential airflow generated by the air holes can reach a speed of 5-10m / s, which is also sufficient to drive the material to rotate.

[0068] 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. At the same time, the air flow is ejected through the inclined channel to form a circumferential pressure difference, which dynamically realizes the suspension of the workpiece and the self-correction of the angle. After the workpiece is suspended, the robot 3 directly grasps it, omitting the traditional secondary positioning step.

[0069] The above not only achieves a breakthrough in the positioning accuracy of the workpiece, replacing the influence of the gap of 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.

[0070] 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.

[0071] 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 air flow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

[0072] The spiral guide grooves 53 transform laminar flow into controlled eddy currents, counteracting the flow field disturbances caused by workpiece rotation. Specifically, the circumferential tangential force generated by the tilted airhole is the primary driver of workpiece rotation. The reverse eddy currents generate a localized reverse torque, but their value is much smaller than the primary driving force. This allows the primary driving force to dominate, while the reverse eddy currents suppress oscillation and improve control accuracy. Compared to straight-through airholes, the amplitude of suspension vibration is significantly reduced.

[0073] Reference Figure 1 and Figure 5 At 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 grabs 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.

[0074] Reference Figure 1 and Figure 5 The surface of the negative pressure suction cup 6 is provided with an elastic sealing ring 7, which is fixed to the edge of the negative pressure suction cup 6 and has an annular raised structure. When the negative pressure suction cup 6 is sucking a workpiece, the suction cup descends to absorb the suspended workpiece. Due to the raised design, the sealing ring preferentially contacts the upper edge of the workpiece and is deformed by the downward pressure of the suction cup. The elastic sealing ring 7 is compressed and contacts the workpiece surface to form a closed cavity.

[0075] In this embodiment, the process of forming a closed cavity is described by way of example:

[0076] 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's approach, and part of the airflow rises along the edge of the workpiece;

[0077] Sealing ring deformation: The suction cup continues to press down, the sealing ring contacts the workpiece and is squeezed to extend in all directions, and its side walls cover the upwelling path of the air film;

[0078] 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 to the outside of the suction cup;

[0079] Negative pressure establishment: Negative pressure inside the suction cup is activated, forming a stable adsorption force in the closed cavity.

[0080] 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.

[0081] Thus, the physical contact between the elastic sealing ring 7 and the air film forms a double seal, effectively solving the problem of adsorption and shedding of suspended workpieces caused by airflow disturbance; at the same time, compared with electromagnetic shielding and anti-interference, the pure mechanical sealing of this solution is lower in cost.

[0082] Reference Figure 1 and Figure 5An 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 .

[0083] The groove has a U-shaped or V-shaped cross section and surrounds 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 groove position, connecting with the air film to form a negative pressure buffer zone, offsetting the inertial force of the horizontal displacement of the workpiece.

[0084] Among them, the outer wall of the groove is concave, further approaching the air flow path at the edge of the air film, enhancing the airflow capture capability; the inner cavity of the groove expands, providing a larger volume for the negative pressure buffer zone, thereby improving the inertial force offset effect.

[0085] Specifically, as the high-pressure airflow of the air film diffuses at the bottom of the workpiece, some of it escapes upward along the sidewalls. As the suction cup presses down, the open end of the groove cuts into the escape path at the edge of the air film, directing this airflow toward the outer wall of the sealing ring corresponding to the groove.

[0086] When 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.

[0087] 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.

[0088] For example, suppose the workpiece attempts to move to the left. The movement of the workpiece causes the airflow channel on the left side of the groove to narrow further and the right side to widen further. At this time, the flow velocity at the narrow part of the left channel increases and the pressure decreases (P1), while the flow velocity on the right side slows down and the pressure increases (P2). The inertial force balance equation at this time is:

[0089] F 抵消 =(P2−P1)·A 凹槽

[0090] (Among them: A 凹槽 is the effective area of the groove).

[0091] To achieve dynamic regulation effect, the pressure difference P2-P1 generates a force F in the opposite direction of 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.

[0092] This solves the problem that the traditional solution requires reducing the speed of the robot 3 to ensure stable adsorption. The present design uses a groove structure to convert the disturbing airflow into a buffering negative pressure, thereby solving the problem of inertial offset when the robot 3 moves and improving the grasping stability. Moreover, this solution adopts purely mechanical inertia compensation, without the need for additional sensors, effectively reducing costs, and greatly ensuring that the robot 3 can still achieve stable adsorption when running at high speed, solving the difficulty of balancing efficiency and stability.

[0093] 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.

[0094] The diaphragm of the micro-check valve 72 is made of silicone or fluororubber. Under normal conditions, it is pressed against the valve seat by a preloaded spring, sealing the airflow path. When the negative pressure in the groove exceeds a certain limit, the check valve opens to draw in external air to balance the pressure. Once the negative pressure in the groove drops to a safe level, the spring returns to its original position, closing the valve.

[0095] 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 onto the surface of the workpiece, and the jet direction is opposite to the rotation direction of the air film.

[0096] 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.

[0097] Reference Figure 5 The jet channel of the cyclone cleaning nozzle 8 is provided with an electrostatic adsorption net 81, which is connected to a high-voltage DC power supply. The integrated electrostatic adsorption prevents the secondary flying of dust, greatly improves the cleaning efficiency, and solves the adsorption failure problem caused by incomplete cleaning.

[0098] Moreover, pneumatic cleaning is integrated with electrostatic dust removal machinery to form an integrated "blowing-suction-capture" solution, avoiding the technical bias of pure pneumatic or electrostatic solutions.

[0099] The working principle of one embodiment of the present application is as follows: a workpiece is transported by a conveyor belt 1 to a retention platform 4. High-pressure air from an annular air hole array 5 is ejected vertically upward through a mesh of openings onto the bottom of the workpiece, forming a uniformly distributed air film with dynamic pressure that directly offsets the workpiece's gravity, achieving non-contact suspension. This air film absorbs the workpiece's inertial energy through the fluid damping effect, resolving the problem of positioning drift when the workpiece leaves the conveyor belt 1.

[0100] Adjacent air holes tilt and spray in opposite directions to form counter-flow airflow, 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, which is suitable for workpieces of different sizes.

[0101] At the same time, the air pressure increases linearly with the speed of the conveyor belt 1 to maintain a constant suspension height of the workpiece.

[0102] 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, forming a double seal; the inner groove of the sealing ring connects the airflow at the edge of the air film when compressed, generating negative pressure, offsetting the inertial force of the manipulator 3 when moving at high speed, taking into account efficiency and stability, and realizing grasping and stacking.

[0103] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the scope of protection of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0104] It should be noted that all the above drawings are for illustration purposes only and do not represent the actual size of the product. The size ratios between the components in the drawings are not intended to limit the actual product of this application.

[0105] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection 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 placing 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, the annular air hole array (5) being connected to a high-pressure air source via an air pipeline (51), and a pressure regulating valve (52) being provided on the air pipeline (51); The angle between the holes of the annular pore array (5) and the horizontal plane is 15°-45°, and the air jet directions of adjacent pore groups along the diameter direction of the annular pore array (5) are opposite, forming a vortex field. The counteraction combination of multiple adjacent pore groups generates a circumferential resultant force, driving the workpiece to rotate to a preset angle; A retention platform (4) is provided at 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 along the conveyor belt (1), it can be transferred to the retention platform (4) and stay there by the inertia of the workpiece itself; The annular pore array (5) is located below the retention platform (4), and a mesh vent (44) is provided on the retention platform (4) at a position corresponding to the annular pore array (5); A stopper (41) is installed at the end of the conveyor belt (1). The stopper (41) is specifically installed on a side of the retention platform (4) away from the conveyor belt (1). On a 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); Both ends of the stopper (41) are provided with guide plates (42), 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 stopper (41); When the workpiece moves to the end of the conveyor belt (1) along with the conveyor belt (1), the high-pressure air source delivers high-pressure air to the annular air hole array (5), so that the air is ejected from the pores 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, wherein: The inner and outer ring channels of the annular pore array (5) are arranged in a staggered manner, and the inclination angle of the inner ring channel is 5°-10° greater than that of the outer ring channel, forming a rotation torque gradient with a strong inner portion and a weak outer portion.

3. The coding machine 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 air flow forms a vortex with a rotation direction opposite to the rotation direction of the workpiece.

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

5. The coding machine 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.

6. The coding machine according to claim 5, characterized in that: An annular groove (71) is provided at the bottom inner side of the elastic sealing ring (7). When the elastic sealing ring (7) is compressed, the outer side wall of the elastic sealing ring (7) is concave at the groove position 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.

7. The coder according to claim 6, 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 a limit, the one-way valve opens to inhale external airflow to balance the pressure.

8. The coding machine according to claim 1, characterized in that: The negative pressure suction cup (6) is connected to a cyclone cleaning nozzle (8), which 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.

9. The coding machine according to claim 8, 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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