Overturn-preventing suction table carrying device, system and method

Abstract

The invention discloses an anti-overturning suction table carrying device, system and method, and relates to the technical field of workbenches. According to the anti-overturning suction table carrying device, system and method, through cooperative detection of lifting lugs evenly distributed in the circumferential direction and a tension sensor, a gravity center dynamic calculation model based on the moment balance principle is established; single-time grabbing of a traditional carrying device is upgraded to an intelligent closed-loop process of'primary grabbing-mechanical modeling-gravity center calibration '. Compared with the prior art that the grabbing point position is manually adjusted, the grabbing device is more accurate and safer, and overturning of the target carried object caused by improper grabbing of the target carried object is effectively avoided; the initial grabbing step serves as a core control node, a reference coordinate system is established, an original mechanical model is constructed through tension data, and the system has the self-adaptive grabbing point position adjusting capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of workbenches, and in particular to an anti-overturning suction table handling device, system and handling method. Background Art

[0002] In industrial handling operations, the safety and stability of lifting equipment are long-term technical difficulties. Traditional handling devices usually adopt a symmetrically distributed lifting point structure, assuming that the center of gravity of the object being lifted is located at the geometric center. However, in actual applications, due to uneven internal mass distribution or irregular shape of the object being lifted, the actual center of gravity often deviates from the preset position, resulting in a risk of overturning during the lifting process. Industry statistics show that lifting accidents caused by center of gravity deviation account for a relatively high proportion in industrial accidents. Especially in automated handling scenarios, equipment lacking dynamic adjustment capabilities is more likely to cause safety accidents due to local overload. In the prior art, some improvement solutions detect the force difference at the lifting points through sensors on the handled object, but most can only trigger an alarm or rely on manual intervention for secondary positioning, which not only significantly prolongs the operation time but also introduces safety hazards due to differences in operator experience. These technical deficiencies make it difficult to balance the automation level, safety, and cost-effectiveness of existing handling devices. There is an urgent need for a suction table handling design that can automatically adjust the grasping position. Summary of the Invention

[0003] The purpose of the present invention is: aiming at the above problems, the present invention provides an anti-overturning suction table handling device, system and handling method. Through the collaborative detection of circumferentially evenly distributed lifting lugs and sensors on the handled object, a dynamic center of gravity calculation model based on the principle of moment balance is established, upgrading the single grasping of traditional handling devices to an intelligent closed-loop process of "initial grasping - mechanical modeling - center of gravity calibration". Compared with the prior art that relies on manual adjustment of the grasping point, it is more accurate and safe, effectively avoiding the overturning of the target handled object caused by improper grasping.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An anti-overturning suction table handling device includes an anti-overturning suction table. The top surface of the anti-overturning suction table is a lifting surface. n lifting lugs are evenly distributed along the circumferential direction of the top surface, where n is an integer greater than 2. Lifting ropes are respectively assembled on the n lifting lugs. One end of each lifting rope is connected to the corresponding lifting lug, and the other end cooperates with other lifting ropes to form a lifting part. The length of each lifting rope is the same. The lifting point of the anti-overturning suction table is located at the center of the lifting surface. The lifting part is connected to a suction table driving unit, and the suction table driving unit can drive the anti-overturning suction table to move along the X-axis, Y-axis, and Z-axis directions respectively. A tension sensor is provided at each lifting lug, and the suction table driving unit and the tension sensor are signal-connected to a control system. When the anti-overturning suction table grabs a target handling object, the pre-handling tension data value can be obtained through the tension sensor at the lifting lug. The pre-handling tension data value is the pre-handling tension data obtained by the tension sensor at the lifting lug when the anti-overturning suction table initially grabs the target handling object. The control system includes a centroid calculation unit, and the centroid calculation unit can calculate the centroid position of the target handling object based on the pre-handling tension data value at each lifting point. The control system can adjust the grasping position of the anti-overturning suction table when grabbing the target handling object based on the centroid position of the target handling object.

[0006] Due to the above technical solution, a symmetric lifting structure is formed by the circumferentially evenly distributed lifting lugs and equal-length lifting ropes, and precise positioning is achieved in combination with the suction table driving unit. The tension sensors collect the force data at each lifting point in real time, and cooperate with the mathematical model of the centroid calculation unit to convert the physical mechanics relationship into quantifiable spatial coordinate parameters, effectively solving the tilting risk caused by the centroid offset of the traditional handling device. The device realizes a closed-loop control process of "one-time grasping - real-time calibration - secondary correction" by dynamically adjusting the grasping position.

[0007] Further, taking the lifting point of the anti-overturning suction table as the origin O, the coordinates of each lifting lug are (x i , y i ), the pre-handling tension data value obtained by the tension sensor corresponding to this lifting lug is F i , and the weight of the target handling object is W. Then the centroid position (x g , y g ) of the target handling object is calculated by the following formulas (1), (2), and (3):

[0008]

[0009] In formula (1), x g represents the coordinate of the centroid of the target handling object on the X-axis in the coordinate system, F i represents the pre-handling tension data value obtained by the tension sensor corresponding to the i-th lifting lug, x i represents the coordinate of the i-th lifting lug on the X-axis in the coordinate system, and W represents the total handling weight;

[0010]

[0011] In formula (2), y g represents the coordinate of the center of gravity of the target handling object on the Y-axis in the coordinate system, and F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug, and y i represents the coordinate of the i-th lifting lug on the Y-axis in the coordinate system, and W represents the total handling weight;

[0012]

[0013] In formula (3), F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug.

[0014] Due to the adoption of the above technical solution, the coordinate system mathematical analysis model established based on the moment balance principle converts the complex mechanical distribution into a programmable and computable standardized algorithm. The rapid solution of the center of gravity coordinates is realized through weighted average calculation, and the error control accuracy can reach the millimeter level. This formula system supports the extended application of any number of lifting lugs and provides a general solution for handling objects of different specifications.

[0015] Furthermore, the control system further includes an anti-overturning judgment unit, and the anti-overturning judgment unit can judge whether the anti-overturning suction table needs to adjust the grasping point position based on the pre-handling tensile force data value at each lifting point.

[0016] Due to the adoption of the above technical solution, the anti-overturning judgment unit realizes the intelligent early warning of the handling state by setting a dynamic safety threshold. When it is detected that the tensile force of a single lifting point exceeds the preset range, the control system automatically triggers the grasping position adjustment program to avoid safety problems caused by local overload. The real-time monitoring function of the anti-overturning judgment unit transforms the traditional passive protection into active safety control, greatly improving the reliability of the system.

[0017] An anti-overturning suction table handling system includes the anti-overturning suction table handling device as described above, and further includes a material transportation system. The material transportation system can transport the target handling object to the lifting area. The lifting area includes a first alignment part for alignment in the X-axis direction and a second alignment part for alignment in the Y-axis direction. A material adjustment part for making the target handling object abut against the first alignment part and the second alignment part is provided at the lifting area; the geometric center of the upper surface of the target handling object is set as the initial grasping point, and the anti-overturning suction table handling device can move to the initial grasping point to perform the initial grasping of the target handling object.

[0018] Due to the adoption of the above technical solution, through the coordinated cooperation of the material transportation system and the positioning mechanism, the automatic precise positioning of the transported object is realized. The presetting of the initial grasping point of the geometric center combined with the subsequent center of gravity calibration forms a dual positioning guarantee mechanism, enabling the anti-tipping suction table to achieve unmanned automatic handling, effectively reducing the labor cost. The physical limit design of the material adjustment part effectively eliminates the position deviation during the material transportation process, ensures that the initial grasping point can obtain an efficiency of more than 90%, and effectively shortens the handling time of the anti-tipping suction table.

[0019] Further, the material transportation system includes a material transportation area, a material distribution area, and a lifting area. The paired lifting areas are symmetrically arranged on both sides of the material distribution area along the X-axis direction. The inlet of the material distribution area is connected to the transportation area, and the two outlets are respectively connected to the lifting areas. The material transportation area, the material distribution area, and the lifting area cooperate with each other to form a T-shaped structure. A material distribution baffle is provided at the material distribution area, and the material distribution baffle can reciprocate between the two symmetric lifting areas along the X-axis direction.

[0020] Due to the adoption of the above technical solution, the symmetrically arranged lifting areas cooperate with the two-way material distribution baffle to achieve efficient diversion and parallel operation of the handling operation. The reciprocating movement of the material distribution baffle forms a continuous operation rhythm. This design is particularly suitable for batch handling scenarios, and the double-station structure with physical isolation avoids cross-operation interference.

[0021] Further, the lifting area includes a lifting plane, and the material adjustment part is vertically movable on the lifting plane. The material adjustment part includes a plurality of rollers arranged along the X-axis direction, or the material adjustment part includes a plurality of rollers arranged along the X-axis and Y-axis directions. The rollers can be driven to rotate by the control system. When the rollers are in the raised position, the tops of the rollers protrude from the lifting plane. When the rollers are in the lowered position, the tops of the rollers are not higher than the lifting plane.

[0022] Due to the adoption of the above technical solution, the vertically movable roller group realizes the functional integration of material positioning and adjustment. The rotation of the rollers in the raised position provides a fine-tuning driving force, and the lowered position ensures the stable loading of the material. The two-way roller arrangement of the X-axis and Y-axis supports multi-dimensional position correction to ensure the accuracy of alignment.

[0023] Further, both the first alignment part and the second alignment part are long strip-shaped structures, and a plurality of transported object sensors are arranged at intervals along the length. The first alignment part is arranged on one side of the lifting plane in the X-axis direction relative to the material distribution area, and the second alignment part is arranged on at least one side of the lifting plane in the Y-axis direction. The first alignment part and the second alignment part protrude from the lifting plane.

[0024] Due to the adoption of the above technical solution, the first pair of positive parts and the second pair of positive parts with the handling object sensor achieve digital monitoring of the material contact state. The long strip plate-like structure provides a continuous positioning reference surface, and the multi-point handling object sensor can accurately judge the fitting degree of the material. The design that the first pair of positive parts and the second pair of positive parts protrude from the lifting plane forms a physical limit barrier, which, combined with touch sensing, greatly improves the material alignment efficiency and helps the subsequent suction table grasping operation.

[0025] An anti-overturning suction table handling method, which is applied to the anti-overturning suction table handling system as described above, includes the following steps:

[0026] Transportation step: The material transportation system transports the target handling object to the lifting area;

[0027] Alignment step: The material adjustment unit is activated, so that the target handling object abuts against the first pair of positive parts along the X-axis direction and abuts against the second pair of positive parts along the Y-axis direction;

[0028] Initial grasping step: The control system obtains the geometric center of the upper surface of the target handling object as the initial grasping point. The suction table driving unit drives the anti-overturning suction table to move above the target handling object until the lifting point of the anti-overturning suction table and the geometric center of the upper surface of the target handling object are collinear in the Z-axis direction. The suction table driving unit drives the anti-overturning suction table to descend, adsorb and grasp the target handling object, and then the suction table driving unit drives the anti-overturning suction table to lift along the Z-axis to the detection height;

[0029] Grasping judgment step: The tension sensors at each lifting lug of the anti-overturning suction table obtain the pre-handling tension data and transmit the collected pre-handling tension data to the control system. The anti-overturning judgment unit of the control system judges whether the pre-handling tension data at each lifting lug exceeds the set safety threshold. If not, it is judged that the current grasping operation is an effective grasping, and the handling step is executed; if so, it is judged that the current grasping operation is an ineffective grasping. The anti-overturning suction table returns the target handling object to the lifting area, releases the adsorption of the target handling object, and the center of gravity calculation unit of the control system calculates the center of gravity position of the target handling object based on the pre-handling tension data value at each lifting point. The suction table driving unit drives the anti-overturning suction table to move until the lifting point of the anti-overturning suction table and the center of gravity position of the target handling object are collinear in the Z-axis direction. The suction table driving unit drives the anti-overturning suction table to descend, adsorb and grasp the target handling object, and then the suction table driving unit drives the anti-overturning suction table to lift to the detection height, and this step is repeated;

[0030] Handling step: The suction table driving unit drives the anti-overturning suction table to continue to lift along the Z-axis to the handling height. The suction table driving unit drives the anti-overturning suction table to move on the horizontal plane where the handling height is located to the target handling point. The suction table driving unit drives the anti-overturning suction table to descend along the Z-axis until the target handling object is placed at the target handling point. The anti-overturning suction table releases the adsorption of the target handling object, and the handling of the target handling object is completed.

[0031] Due to the adoption of the above technical solution,

[0032] The reference coordinate system is established by presetting the geometric center. The initial grasping step serves as the core control node of the entire handling process and has dual functions: first, the reference coordinate system is established by presetting the geometric center to provide an initial reference system for subsequent center of gravity calibration; second, as a trigger condition for mechanical testing, the effectiveness of the grasping is judged through the pre-handling tension data obtained by the initial grasping. When the grasping is judged to be invalid, a mechanical model can be constructed based on the pre-handling tension data to perform subsequent center of gravity calibration, thereby achieving adaptive adjustment of the lifting point of the anti-tipping suction platform and ensuring the safety of the anti-tipping suction platform during lifting.

[0033] Furthermore, the material transport system includes a material transport area, a material distribution area and a lifting area, and the paired lifting areas are symmetrically arranged on both sides of the material distribution area along the X-axis direction, the material inlet of the material distribution area is connected to the transport area, and the two material outlets are respectively connected to the lifting areas, and the material transport area, the material distribution area and the lifting area cooperate with each other to form a T-shaped structure, and a distribution plate is provided at the material distribution area, and the distribution plate can reciprocate between the two symmetrical lifting areas along the X-axis direction;

[0034] In the transport step, the two sides of the X-axis direction are set to be the first side and the second side respectively, and the transport dividing plate is located on the first side of the X-axis direction of the material dividing area. When the material transport area transports the target transported object to the material dividing area, the transport dividing plate moves toward the second side along the X-axis direction, driving the target transported object to move to the lifting area located on the second side. At this time, the transport dividing plate is located on the second side of the X-axis direction. After the material transport area transports the next target transported object to the material dividing area, the transport dividing plate moves toward the first side along the X-axis direction, driving the new target transported object to move to the lifting area located on the first side; repeat the above steps to realize alternating material distribution on both sides of the X-axis direction.

[0035] Thanks to the adoption of the above technical solution, the alternating material distribution mechanism fully utilizes the symmetrical structural advantages of the material transport system to achieve seamless connection of double-station operations. The pendulum-like movement of the distribution plate forms a continuous operation rhythm, which greatly improves the handling efficiency compared to traditional single-line operation.

[0036] Further, the lifting area includes a lifting plane, the material adjustment part can be raised and lowered on the lifting plane, and the material adjustment part includes a plurality of rollers arranged along the X-axis direction;

[0037] In the alignment step, the transport distribution plate moves the target transported object along the X-axis direction to abut against the first alignment part, the control system drives the roller to rise to the lifting position, lifts the target transported object off the lifting plane, the control system drives the roller to roll, so that the target transported object abuts against the second alignment part along the Y-axis direction, and the control system drives the roller to descend to the lowering position, so that the target transported object falls back to the lifting plane.

[0038] Due to the adoption of the above technical solution, the material pushing surface of the sub-conveyor plate and the first alignment part form a parallel guiding surface, realizing the active alignment of the target transported object in the X-axis direction during the X-axis movement. With the real-time feedback of the transported object sensors arranged at intervals, the alignment accuracy of the target transported object is ensured.

[0039] To sum up, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows:

[0040] 1. Through the collaborative detection of the circumferentially evenly distributed lifting lugs and the tension sensors, the present invention establishes a dynamic center-of-gravity calculation model based on the principle of moment balance, upgrading the single-time grasping of the traditional handling device to an intelligent closed-loop process of "initial grasping - mechanical modeling - center-of-gravity calibration". Compared with the prior art that relies on manual adjustment of the grasping points, it is more accurate and safe, effectively avoiding the overturning of the target transported object caused by improper grasping.

[0041] 2. Through the mechanical hard limit of the sub-conveyor plate and the X-axis linear trajectory planning of the T-shaped material transportation system in the present invention, the active alignment of the target transported object is realized during the transportation stage. The material pushing surface of the sub-conveyor plate and the first alignment part form a parallel guiding structure. With the real-time feedback of the transported object sensors, the alignment time is greatly saved, and the handling efficiency is effectively improved.

[0042] 3. Through the synergistic effect of the preset geometric center and the center-of-gravity calibration, taking the initial grasping step as the core control node, the present invention not only establishes a reference coordinate system but also constructs an original mechanical model through the tension data, enabling the system to have the ability to adaptively adjust the grasping points.

[0043] 4. Through the pendulum-like movement of the sub-conveyor plate and the design of the symmetric lifting area in the present invention, seamless connection operation of the double workstations in the X-axis direction is realized. Through the alternating material distribution mechanism of physical isolation, the handling beat time is greatly shortened compared with the traditional single-line operation, and the comprehensive efficiency of the system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is the flow chart of the anti-overturning suction table handling method of the present invention;

[0045] Figure 2 is the structural schematic diagram of the anti-overturning suction table of the present invention with a square hanging surface and four lifting lugs;

[0046] Figure 3 is the structural schematic diagram of the anti-overturning suction table of the present invention with a circular hanging surface and three lifting lugs;

[0047] Figure 4 is the structural schematic diagram of the anti-overturning suction table handling system of the present invention;

[0048] Figure 5 is the structural schematic diagram of the sub-conveyor plate driving the target transported object to move towards the second side of the present invention;

[0049] Figure 6 It is a schematic structural diagram of the sub-conveying plate of the present invention for making the target transported object abut against the first alignment part;

[0050] Figure 7 It is a schematic structural diagram of the roller of the present invention for making the target transported object abut against the second alignment part;

[0051] Figure 8 It is a schematic structural diagram of the sub-conveying plate of the present invention for driving the target transported object to move towards the first side;

[0052] Figure 9 It is a schematic structural diagram of the roller of the present invention in the raised position;

[0053] Figure 10 It is a schematic structural diagram of the roller of the present invention in the lowered position.

[0054] Markings in the figure: 1 - anti-tipping suction table, 101 - lifting lug, 102 - lifting part, 2 - lifting area, 201 - first alignment part, 202 - second alignment part, 203 - transported object sensor, 204 - roller, 3 - material separation area, 301 - sub-conveying plate, 4 - material conveying area, 5 - target transported object, 6 - lifting plane. Detailed implementation manners

[0055] The present invention will be described in detail below with reference to the accompanying drawings.

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0057] Embodiment 1

[0058] An anti-tipping suction table 1 handling device, such as Figure 2As shown in the figure, it includes an anti-tipping suction table 1. The top surface of the anti-tipping suction table 1 is a lifting surface, which is square. Four lifting lugs 101 are evenly distributed along the circumference of the top surface. Lifting ropes are respectively assembled on the four lifting lugs 101. One end of each lifting rope is connected to the corresponding lifting lug 101, and the other end cooperates with other lifting ropes to form a lifting part 102. The length of each lifting rope is the same. The lifting point of the anti-tipping suction table 1 is located at the center of the lifting surface. The lifting part 102 is connected to a suction table driving unit, and the suction table driving unit can drive the anti-tipping suction table 1 to move along the X-axis, Y-axis and Z-axis directions respectively. The suction table driving unit is a conventional design and is not shown in the figure. A tension sensor is provided at each lifting lug 101, and the suction table driving unit and the tension sensor are signal-connected to a control system. When the anti-tipping suction table 1 grabs the target handling object 5, the pre-handling tension data value can be obtained through the tension sensor at the lifting lug 101. The pre-handling tension data value is the pre-handling tension data obtained by the tension sensor at the lifting lug 101 when the anti-tipping suction table 1 initially grabs the target handling object 5. The control system includes a centroid calculation unit, and the centroid calculation unit can calculate the centroid position of the target handling object 5 based on the pre-handling tension data value at each lifting point. The control system can adjust the grasping position of the anti-tipping suction table 1 when grabbing the target handling object 5 based on the centroid position of the target handling object 5.

[0059] Specifically, a symmetric lifting structure is formed by the circumferentially evenly distributed lifting lugs 101 and equal-length lifting ropes, and precise positioning is achieved by combining with the suction table driving unit. The tension sensors collect the force data at each lifting point in real time, and cooperate with the mathematical model of the centroid calculation unit to convert the physical mechanics relationship into quantifiable space coordinate parameters, effectively solving the tilting risk caused by the centroid offset of the traditional handling device. The device realizes a closed-loop control process of "one-time grasping - real-time calibration - secondary correction" by dynamically adjusting the grasping position.

[0060] Taking the lifting point of the anti-tipping suction table as the origin O, the coordinates of each lifting lug are (x i , y i ), the pre-handling tension data value obtained by the tension sensor corresponding to this lifting lug is F i , and the weight of the target handling object is W. Then the centroid position (x g , y g ) of the target handling object is calculated by the following formulas (4), (5) and (6):

[0061]

[0062] In formula (4), x g represents the coordinate of the centroid of the target handling object on the X-axis in the coordinate system, F i represents the pre-handling tension data value obtained by the tension sensor corresponding to the i-th lifting lug, and x irepresents the coordinate of the i-th lifting lug on the X-axis in the coordinate system, and W represents the total handling weight;

[0063]

[0064] In Equation (5), y g represents the coordinate of the center of gravity of the target handling object on the Y-axis in the coordinate system, and F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug, and y i represents the coordinate of the i-th lifting lug on the Y-axis in the coordinate system, and W represents the total handling weight;

[0065]

[0066] In Equation (6), F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug.

[0067] Specifically, the coordinate system mathematical analysis model established based on the principle of moment balance converts the complex mechanical distribution into a programmable and computable standardized algorithm. By weighted average calculation, the rapid solution of the center of gravity coordinates is realized, and the error control accuracy can reach the millimeter level.

[0068] The control system further includes an anti-overturning judgment unit, and the anti-overturning judgment unit can judge whether the anti-overturning suction table 1 needs to adjust the grasping point position based on the pre-handling tensile force data value at each lifting point.

[0069] Specifically, the anti-overturning judgment unit realizes the intelligent early warning of the handling state by setting a dynamic safety threshold. When it is detected that the tensile force of a single lifting point exceeds the preset range, the control system automatically triggers the grasping position adjustment program to avoid safety problems caused by local overload. The real-time monitoring function of the anti-overturning judgment unit transforms the traditional passive protection into active safety control, greatly improving the reliability of the system.

[0070] Embodiment 2

[0071] Embodiment 3 replaces the structure of the anti-overturning suction table 1 in Embodiment 2 and is an alternative solution to Embodiment 1; further explanation, the same components will not be described here again, such as Figure 3 As shown, the lifting surface is circular, and three lifting lugs 101 are evenly distributed along the circumference of the top surface. Then the center of gravity position (x g , y g ) of the target handling object is calculated by the following Equations (7), (8) and (9):

[0072]

[0073] In Equation (7), x g represents the coordinate of the center of gravity of the target handling object on the X-axis in the coordinate system, and Fi represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug, x i represents the coordinate of the i-th lifting lug on the X-axis in the coordinate system, and W represents the total handling weight;

[0074]

[0075] In Equation (8), y g represents the coordinate of the center of gravity of the target handling object on the Y-axis in the coordinate system, F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug, y i represents the coordinate of the i-th lifting lug on the Y-axis in the coordinate system, and W represents the total handling weight;

[0076]

[0077] In Equation (9), F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug.

[0078] Embodiment 3

[0079] An anti-overturning suction table handling system, as Figures 4 - 10 shown, includes the anti-overturning suction table 1 handling device provided by the embodiment, and further includes a material transportation system. The material transportation system can transport the target handling object 5 to the lifting area 2. The lifting area 2 includes a first alignment part 201 for alignment in the X-axis direction and a second alignment part 202 for alignment in the Y-axis direction. A material adjustment part is provided at the lifting area 2 to make the target handling object 5 abut against the first alignment part 201 and the second alignment part 202. Set the geometric center of the upper surface of the target handling object 5 as the initial grasping point, and the anti-overturning suction table 1 handling device can move to the initial grasping point to perform an initial grasp on the target handling object 5. If the target handling object 5 is a conventional rectangular body, its geometric center can be obtained by inputting the length, width, and height parameters of the rectangular body. For a rectangular body with determined length, width, and height parameters, its geometric center after alignment remains at the same position; if the target handling object 5 is an irregular shape, an image of the target handling object 5 in the XOY plane can be obtained by taking a top-down photo from above, and then the contour of the target handling object 5 can be extracted through image processing, and its geometric center can be obtained based on the contour of the target handling object 5. Determining the geometric center of the target handling object 5 through image processing belongs to the prior art and will not be elaborated here.

[0080] Specifically, through the coordinated cooperation of the material transportation system and the positioning mechanism, the automatic precise positioning of the transported object is achieved. The preset of the initial grasping point of the geometric center combined with the subsequent center of gravity calibration forms a dual positioning guarantee mechanism, enabling the anti-tipping suction table 1 to achieve unmanned automatic handling, effectively reducing the labor cost. The physical limit design of the material adjustment part effectively eliminates the position deviation during the material transportation process, ensuring that the effective rate of the initial grasping point can reach more than 90%, and effectively shortening the handling time of the anti-tipping suction table 1.

[0081] The material transportation system includes a material transportation area 4, a material distribution area 3, and a lifting area 2. The paired lifting areas 2 are symmetrically arranged on both sides of the material distribution area 3 along the X-axis direction. The inlet of the material distribution area 3 is connected to the transportation area, and the two outlets are respectively connected to the lifting areas 2. The material transportation area 4, the material distribution area 3, and the lifting area 2 cooperate with each other to form a T-shaped structure. A material distribution baffle 301 is provided at the material distribution area 3, and the material distribution baffle 301 can reciprocate between the two symmetric lifting areas 2 along the X-axis direction.

[0082] Specifically, the symmetrically arranged lifting areas 2 cooperate with the bidirectional material distribution baffle 301 to achieve efficient diversion and parallel operation of the handling operation. The reciprocating motion of the material distribution baffle 301 forms a continuous operation rhythm. This design is particularly suitable for batch handling scenarios, and the cross-operation interference is avoided through the physically isolated double-station structure.

[0083] The lifting area 2 includes a lifting plane 6. The material adjustment part is arranged on the lifting plane 6 in a liftable manner. The material adjustment part includes seven rollers 204 arranged at intervals along the X-axis direction. The number of rollers 204 can be set to any value according to needs and is not limited here. The rollers 204 can be driven to rotate by the control system. When the rollers 204 are in the raised position, the tops of the rollers 204 protrude from the lifting plane 6. When the rollers 204 are in the lowered position, the tops of the rollers 204 are not higher than the lifting plane 6.

[0084] Specifically, the liftable roller 204 group realizes the functional integration of material positioning and adjustment. The rotation of the rollers 204 in the raised position provides a fine-tuning driving force, and the lowered position ensures the stable loading of the material.

[0085] Both the first alignment part 201 and the second alignment part 202 are strip-shaped structures, and a number of transported object sensors 203 are arranged at intervals along the length. The first alignment part 201 is arranged on one side of the lifting plane 6 in the X-axis direction opposite to the material distribution area 3, and the second alignment part 202 is arranged on at least one side of the lifting plane 6 in the Y-axis direction. The first alignment part 201 and the second alignment part 202 protrude from the lifting plane 6.

[0086] Specifically, the first alignment part 201 and the second alignment part 202 with the transported object sensor 203 realize digital monitoring of the material contact status. The long plate-like structure provides a continuous positioning reference surface, and the multi-point transported object sensor 203 can accurately determine the degree of material fit. The control system can also determine the geometric center of the target transported object 5 according to the triggering conditions of the transported object sensors 203 of the first alignment part 201 and the second alignment part 202. The design of the first alignment part 201 and the second alignment part 202 protruding from the lifting plane 6 forms a physical limit barrier, which cooperates with the touch sensor to greatly improve the material alignment efficiency, which is helpful for the subsequent suction table grabbing operation. Preferably, the transported object sensor 203 is a touch sensor, or it can be a photoelectric sensor.

[0087] Example 4

[0088] A method for transporting an anti-overturning suction table is applied to the anti-overturning suction table transport system as described in Example 3, wherein the two sides of the X-axis direction are set to be the first side and the second side respectively, and the distribution plate 301 is located on the first side of the X-axis direction of the distribution area 3, such as Figure 1 As shown, the following steps are included:

[0089] Transport steps: the material transport system transports the target object 5 from the transport area 4 along the Y-axis direction to the distribution area 3, and the distribution plate 301 moves toward the second side along the X-axis direction, driving the target object 5 to move to the lifting area 2 located on the second side. At this time, the distribution plate 301 is located on the second side of the X-axis direction. After the transport area 4 transports the next target object 5 to the distribution area 3, the distribution plate 301 moves toward the first side along the X-axis direction, driving the new target object 5 to move to the lifting area 2 located on the first side; repeat the above steps to realize alternating distribution on both sides of the X-axis direction.

[0090] Alignment step: when the transport distribution plate 301 moves the target transported object 5 along the X-axis direction to abut against the first alignment portion 201, the control system drives the roller 204 to rise to the ascending position to lift the target transported object 5 away from the lifting plane 6, the control system drives the roller 204 to roll, so that the target transported object 5 abuts against the second alignment portion 202 along the Y-axis direction, and the control system drives the roller 204 to descend to the descending position to make the target transported object 5 fall back to the lifting plane 6, so that the target transported object 5 abuts against the first alignment portion 201 along the X-axis direction and against the second alignment portion 202 along the Y-axis direction;

[0091] Initial grasping step: The control system obtains the geometric center of the upper surface of the target handling object 5 as the initial grasping point. The sucker driving unit drives the anti-tipping sucker 1 to move above the target handling object 5 until the lifting point of the anti-tipping sucker 1 is collinear with the geometric center of the upper surface of the target handling object 5 in the Z-axis direction. The sucker driving unit drives the anti-tipping sucker 1 to descend. The descending height of the anti-tipping sucker 1 can be obtained by the distance sensor installed on the sucker driving unit or determined according to the height parameter of the target handling object 5 input to the control system. Then, the anti-tipping sucker 1 adsorbs and grasps the target handling object 5. After that, the sucker driving unit drives the anti-tipping sucker 1 to lift along the Z-axis to the detection height, and the detection height is such that the target handling object 5 leaves the lifting plane 6. The specific value can be set according to needs;

[0092] Grasping judgment step: The tension sensors at each lifting lug 101 of the anti-tipping sucker 1 obtain the pre-handling tension data and transmit the collected pre-handling tension data to the control system. The anti-tipping judgment unit of the control system judges whether the pre-handling tension data at each lifting lug 101 exceeds the set safety threshold. If not, it is judged that the current grasping operation is an effective grasp, and the handling step is executed; if so, it is judged that the current grasping operation is an invalid grasp. The anti-tipping sucker 1 returns the target handling object 5 to the lifting area 2, releases the adsorption of the target handling object 5. The center-of-gravity calculation unit of the control system calculates the center-of-gravity position of the target handling object 5 based on the pre-handling tension data values at each lifting point. The sucker driving unit drives the anti-tipping sucker 1 to move until the lifting point of the anti-tipping sucker 1 is collinear with the center-of-gravity position of the target handling object 5 in the Z-axis direction. The sucker driving unit drives the anti-tipping sucker 1 to descend, adsorbs and grasps the target handling object 5. After that, the sucker driving unit drives the anti-tipping sucker 1 to lift to the detection height, and this step is repeated;

[0093] Handling step: The sucker driving unit drives the anti-tipping sucker 1 to continue to lift along the Z-axis to the handling height. The sucker driving unit drives the anti-tipping sucker 1 to move on the horizontal plane where the handling height is located to the target handling point. The sucker driving unit drives the anti-tipping sucker 1 to descend along the Z-axis until the target handling object 5 is placed at the target handling point. The anti-tipping sucker 1 releases the adsorption of the target handling object 5, and the handling of the target handling object 5 is completed.

[0094] Specifically, a reference coordinate system is established through the preset of the geometric center. The initial grasping step, as the core control node of the entire handling process, undertakes dual functions: First, a reference coordinate system is established through the preset of the geometric center to provide an initial reference system for subsequent center-of-gravity calibration; Second, as a trigger condition for mechanical detection, the validity of the grasp is judged based on the pre-handling tensile force data obtained from the initial grasp. When the grasp is judged to be invalid, a mechanical model can be constructed based on the pre-handling tensile force data for subsequent center-of-gravity calibration to achieve adaptive adjustment of the lifting point position of the anti-overturning suction table 1 and ensure the safety of the anti-overturning suction table 1 during lifting. The alternating material distribution mechanism makes full use of the symmetrical structure advantage of the material transportation system to achieve seamless connection operation of the two workstations. The pendulum motion of the distribution paddle 301 forms a continuous operation rhythm, and compared with the traditional single-line operation, the handling efficiency is greatly improved. The pushing surface of the distribution paddle 301 and the first alignment part 201 form a parallel guiding surface to actively align the target handling object 5 in the X-axis direction during the X-axis movement, and cooperate with the real-time feedback of the handling object sensor 203 arranged at intervals to ensure the alignment accuracy of the target handling object 5.

[0095] Specific embodiments are used in this article to elaborate on the principles and implementation methods of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0096] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, 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 to the present invention.

[0097] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Claims

1. An anti-overturning suction table handling device, including an anti-overturning suction table, characterized in that, The top surface of the anti-overturning suction table is a lifting surface. n lifting lugs are evenly distributed along the circumferential direction of the top surface, where n is an integer greater than 2. Hoisting ropes are respectively assembled on the n lifting lugs. One end of each hoisting rope is connected to the corresponding lifting lug, and the other end cooperates with other hoisting ropes to form a lifting part. The length of each hoisting rope is the same. The lifting point of the anti-overturning suction table is located at the center of the lifting surface. The lifting part is connected to the suction table driving unit, and the suction table driving unit can drive the anti-overturning suction table to move along the X-axis, Y-axis, and Z-axis directions respectively. A tension sensor is provided at each lifting lug, and the suction table driving unit and the tension sensor are signal-connected to the control system. When the anti-overturning suction table grabs the target handling object, the pre-handling tension data value can be obtained through the tension sensor at the lifting lug. The pre-handling tension data value is the pre-handling tension data obtained by the tension sensor at the lifting lug when the anti-overturning suction table initially grabs the target handling object. The control system includes a centroid calculation unit, and the centroid calculation unit can calculate the centroid position of the target handling object based on the pre-handling tension data value at each lifting point. The control system can adjust the grasping position of the anti-overturning suction table when grabbing the target handling object based on the centroid position of the target handling object.

2. The anti-overturning suction table handling device according to claim 1, wherein, Taking the lifting point of the anti-overturning suction table as the origin O, an XOY coordinate system is established on the lifting surface, and the coordinates of each lifting lug are (x i , y i ). The pre-handling tensile force data value F i obtained by the tensile force sensor corresponding to the lifting lug, and the weight of the target handling object is W. Then the center-of-gravity position (x g , y g ) of the target handling object is calculated by the following equations (1), (2) and (3): In formula (1), x g represents the coordinate of the center of gravity of the target object to be carried on the X-axis in the coordinate system, F i represents the pre-carriage tension data value obtained by the tension sensor corresponding to the i-th lifting lug, x i represents the coordinate of the i-th lifting lug on the X-axis in the coordinate system, and W represents the total carrying weight; In formula (2), y g represents the coordinate of the center of gravity of the target object to be carried on the Y-axis in the coordinate system, and F i represents the pre-carriage tension data value obtained by the tension sensor corresponding to the i-th lifting lug, and y i represents the coordinate of the i-th lifting lug on the Y-axis in the coordinate system, and W represents the total carrying weight; In formula (3), F i represents the pre-handling tensile force data value obtained by the tensile force sensor corresponding to the i-th lifting lug.

3. The anti-overturning suction table handling device according to claim 1, characterized in that, The control system further includes an anti-overturning judgment unit, and the anti-overturning judgment unit can judge whether the anti-overturning suction table needs to adjust the grasping point position based on the pre-handling tension data value at each lifting point.

4. An anti-overturning suction table handling system, comprising the anti-overturning suction table handling device as described in claim 1 or 2, characterized in that, It further includes a material transportation system, and the material transportation system can transport the target handling object to the lifting area. The lifting area includes a first alignment part for alignment in the X-axis direction and a second alignment part for alignment in the Y-axis direction. A material adjustment part is provided at the lifting area to make the target handling object abut against the first alignment part and the second alignment part. The geometric center of the upper surface of the target handling object is set as the initial grasping point, and the anti-overturning suction table handling device can move to the initial grasping point to initially grasp the target handling object.

5. The anti-overturning suction table handling system according to claim 4, wherein, The material transportation system includes a material transportation area, a material distribution area, and a lifting area. Paired lifting areas are symmetrically arranged on both sides of the material distribution area along the X-axis direction. The inlet of the material distribution area is connected to the transportation area, and the two outlets are respectively connected to the lifting areas. The material transportation area, the material distribution area, and the lifting area cooperate with each other to form a T-shaped structure. A material distribution baffle is provided at the material distribution area, and the material distribution baffle can reciprocate between the two symmetric lifting areas along the X-axis direction.

6. The anti-overturning suction table handling system according to claim 5, wherein The lifting area includes a lifting plane, and the material adjustment part is arranged to be liftable on the lifting plane. The material adjustment part includes a number of rollers arranged along the X-axis direction, or the material adjustment part includes a number of rollers arranged along the X-axis and Y-axis directions. The rollers can be driven to rotate by the control system. When the rollers are in the raised position, the tops of the rollers protrude from the lifting plane. When the rollers are in the lowered position, the tops of the rollers are not higher than the lifting plane.

7. The anti-overturning suction table handling system according to claim 6, wherein, Both the first alignment part and the second alignment part are in the shape of long strips and are provided with a number of handling object sensors arranged at intervals along the length. The first alignment part is arranged on one side of the lifting plane in the X-axis direction relative to the material distribution area, and the second alignment part is arranged on at least one side of the lifting plane in the Y-axis direction. The first alignment part and the second alignment part protrude from the lifting plane.

8. An anti-overturning suction table handling method, applied to the anti-overturning suction table handling system according to any one of claims 4-7, characterized in that, The steps are as follows: Transportation step: The material transportation system transports the target object to be carried to the lifting area; Alignment step: The material adjustment unit is activated so that the target object to be carried abuts against the first alignment part along the X-axis direction and abuts against the second alignment part along the Y-axis direction; Initial grasping step: The control system obtains the geometric center of the upper surface of the target object to be carried as the initial grasping point. The sucker driving unit drives the anti-overturning sucker to move above the target object to be carried until the lifting point of the anti-overturning sucker and the geometric center of the upper surface of the target object to be carried are collinear in the Z-axis direction. The sucker driving unit drives the anti-overturning sucker to descend, adsorb and grasp the target object to be carried, and then the sucker driving unit drives the anti-overturning sucker to lift along the Z-axis to the detection height; Grasping judgment step: The tension sensors at each lifting lug of the anti-overturning sucker obtain the pre-lifting tension data and transmit the collected pre-lifting tension data to the control system. The anti-overturning judgment unit of the control system judges whether the pre-lifting tension data at each lifting lug exceeds the set safety threshold. If not, it is judged that the current grasping operation is an effective grasping, and the transportation step is executed; if so, it is judged that the current grasping operation is an invalid grasping. The anti-overturning sucker returns the target object to be carried to the lifting area, releases the adsorption of the target object to be carried. The center-of-gravity calculation unit of the control system calculates the center-of-gravity position of the target object to be carried based on the pre-lifting tension data values at each lifting point. The sucker driving unit drives the anti-overturning sucker to move until the lifting point of the anti-overturning sucker and the center-of-gravity position of the target object to be carried are collinear in the Z-axis direction. The sucker driving unit drives the anti-overturning sucker to descend, adsorb and grasp the target object to be carried, and then the sucker driving unit drives the anti-overturning sucker to lift to the detection height, and this step is repeated; Transportation step: The sucker driving unit drives the anti-overturning sucker to continue to lift along the Z-axis to the transportation height. The sucker driving unit drives the anti-overturning sucker to move on the horizontal plane at the transportation height to the target transportation point. The sucker driving unit drives the anti-overturning sucker to descend along the Z-axis until the target object to be carried is placed at the target transportation point. The anti-overturning sucker releases the adsorption of the target object to be carried, and the transportation of the target object to be carried is completed.

9. The anti-overturning suction table handling method according to claim 8, characterized in that, The material transportation system includes a material transportation area, a material distribution area and a lifting area. The paired lifting areas are symmetrically arranged on both sides of the material distribution area along the X-axis direction. The inlet of the material distribution area is connected to the transportation area, and the two outlets are respectively connected to the lifting areas. The material transportation area, the material distribution area and the lifting area cooperate with each other to form a T-shaped structure. A material distribution baffle is provided at the material distribution area, and the material distribution baffle can reciprocate between the two symmetric lifting areas along the X-axis direction; In the transportation step, it is set that the two sides in the X-axis direction are the first side and the second side respectively. The material distribution baffle is located on the first side in the X-axis direction of the material distribution area. When the material transportation area transports the target object to be carried to the material distribution area, the material distribution baffle moves along the X-axis direction to the second side, driving the target object to be carried to the lifting area located on the second side. At this time, the material distribution baffle is located on the second side in the X-axis direction. After the material transportation area transports the next target object to be carried to the material distribution area, the material distribution baffle moves along the X-axis direction to the first side, driving the new target object to be carried to the lifting area located on the first side; the above steps are repeated to realize the alternate material distribution on both sides in the X-axis direction.

10. The anti-overturning suction table handling method according to claim 9, characterized in that, The lifting area includes a lifting plane, the material adjustment part can be raised and lowered on the lifting plane, and the material adjustment part includes a plurality of rollers arranged along the X-axis direction; In the alignment step, the transport distribution plate moves the target transported object along the X-axis direction to abut against the first alignment part, the control system drives the roller to rise to the lifting position, lifts the target transported object off the lifting plane, the control system drives the roller to roll, so that the target transported object abuts against the second alignment part along the Y-axis direction, and the control system drives the roller to descend to the lowering position, so that the target transported object falls back to the lifting plane.

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