Automatic sorting tooling for laser cutting system and using method

Abstract

The invention discloses an automatic sorting tooling for a laser cutting system and a using method, the automatic sorting tooling comprises a mounting seat, a centering mechanism and a clamping mechanism, and the mounting seat is arranged on the centering mechanism; the centering mechanism comprises a sliding driving assembly, a horizontal sliding rail and a sliding plate. The clamping mechanism comprises a left clamping jaw and a right clamping jaw which are symmetrically arranged on the centering mechanism; the left clamping jaw and the right clamping jaw are arranged on the two sliding plates correspondingly, and each of the left clamping jaw and the right clamping jaw comprises a mounting plate, a vacuum adsorption assembly, a vacuum degree detection assembly, a pressing assembly and a pressing limiting assembly; the device can be suitable for a robot or a truss manipulator to automatically sort, carry and stack steel plates after laser cutting, the structural design is novel and ingenious, the automation degree is high, the working efficiency of equipment is greatly improved, the labor cost is saved, and a guarantee is provided for standard safety of production.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting equipment, and particularly to an automatic sorting end effector for a laser cutting system and a usage method thereof. Background Art

[0002] Currently, with the continuous development of equipment technology, various automated production technologies are widely applied to the processes of sheet metal sorting, handling, and palletizing in the automatic cutting of laser cutters. Since the profiled steel plates cut by lasers are heavy and have various shapes, the existing end effectors have problems such as unstable center of gravity, insecure grasping, and easy dropping during the process of grasping profiled steel plates, seriously affecting the normal operation of the production line. At the same time, it also increases the number of temporary repairs, which is time-consuming and laborious for emergency repairs, and there are great potential safety hazards. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic sorting end effector for a laser cutting system and a usage method thereof in view of the above-mentioned deficiencies of the prior art. The clamping jaws of the end effector can firmly grasp profiled steel plates and move stably by setting components such as a vacuum adsorption component and a pressing component, greatly improving the operation efficiency and safety performance.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is:

[0005] An automatic sorting end effector for a laser cutting system includes a mounting base, a centering mechanism, and a clamping mechanism.

[0006] The centering mechanism is arranged at the bottom of the mounting base, and the centering mechanism includes a horizontal slide rail, a sliding plate, and a sliding drive assembly.

[0007] The horizontal slide rail is arranged at the bottom of the mounting base.

[0008] There are two sliding plates, both of which are slidably arranged at the bottom of the horizontal slide rail; the two sliding plates can move towards or away from each other along the horizontal slide rail under the drive of the sliding drive assembly.

[0009] The clamping mechanism includes a left clamping jaw and a right clamping jaw, and the left clamping jaw and the right clamping jaw are respectively arranged on the two sliding plates.

[0010] Both the left clamping jaw and the right clamping jaw include a mounting plate, a vacuum adsorption component, a vacuum degree detection component, a pressing component, and a pressing limit component.

[0011] The mounting plate is connected to the bottom of the sliding plate.

[0012] The vacuum adsorption component includes a plurality of vacuum suction cups arranged on the mounting plate, and each vacuum suction cup can be independently lifted and lowered.

[0013] The vacuum degree detection component can detect the vacuum degree of each vacuum suction cup.

[0014] The pressing component includes a pressing frame, which is elastically connected to the mounting plate directly or indirectly. The pressing frame is sleeved on the outer periphery of the vacuum adsorption component, and the bottom surface height of the pressing frame is lower than the bottom surface height of the vacuum suction cup in the natural state.

[0015] Pressing limit components are arranged on both the left and right sides of each pressing frame, and the pressing limit components are used to detect the position and horizontal state of the pressing frame.

[0016] A load cell is connected between the mounting seat and the centering mechanism.

[0017] A distance sensor is arranged on the centering mechanism for detecting the height of the clamping mechanism.

[0018] The pressing component includes a pressing frame connecting plate, and a spring and a spring maximum stroke limiting rod are connected between the pressing frame connecting plate and the pressing frame.

[0019] A spring telescopic rod is sleeved inside the spring; the spring maximum stroke limiting rod is used to adjust the telescopic amount of the spring.

[0020] The pressing frame connecting plate is connected to the mounting plate.

[0021] The vacuum adsorption component includes a suction cup lifting component, and the suction cup lifting component includes a cylinder, a cylinder connecting rod and a suction cup connecting sleeve.

[0022] The cylinder is fixed on the mounting plate, the cylinder is connected to the cylinder connecting rod, the cylinder connecting rod is connected to the suction cup connecting sleeve, and the suction cup connecting sleeve is connected to the vacuum suction cup.

[0023] The vacuum adsorption component includes a suction cup lifting limit component, the suction cup lifting limit component is a magnetic sensor, and the number is 2. The magnetic sensors are arranged on the cylinder.

[0024] The pressing limit component includes a photoelectric sensor and a height limit plate.

[0025] The height limit plates are symmetrically arranged on both the left and right sides of the pressing frame, and photoelectric sensors are correspondingly arranged on the same side of the height limit plates.

[0026] The vacuum degree detection component is a vacuum pressure switch with the same number as the vacuum suction cups, and each vacuum pressure switch is respectively connected to a vacuum suction cup.

[0027] The power supply adopted by the end effector includes a UPS power supply and a factory power supply.

[0028] This application also includes a usage method for an automatic sorting end effector of a laser cutting system, including the following steps:

[0029] Step 1, calculate the center of gravity of the steel plate: perform image acquisition and calculation on the steel plate to be grabbed to obtain the center of gravity of the steel plate;

[0030] Step 2: Calculate the optimal adsorption points: According to the position of the center of gravity of the steel plate, confirm the left and right grasping ends of the steel plate, and calculate the optimal adsorption points on the left and right grasping ends that match the vacuum suction cups. A left optimal adsorption point group is formed on the left grasping end, and a right optimal adsorption point group is formed on the right grasping end;

[0031] Step 3: Press the steel plate: The left and right jaws of the end effector descend simultaneously. The pressing frames of the left and right jaws are respectively sleeved on the outer peripheries of the left and right optimal adsorption point groups to press the steel plate;

[0032] The distance sensor detects the descending height of the pressing frame and controls the descending speed;

[0033] Step 4: Detect the state of the pressing frame: The pressing limit component detects the position and horizontal state of each pressing frame. When each pressing frame is compressed to the set position and the left and right sides of each pressing frame remain horizontal, proceed to Step 5;

[0034] Step 5: Adsorb the steel plate: The suction cup lifting component drives the vacuum suction cups corresponding to the left and right optimal adsorption point groups to descend simultaneously. The suction cup lifting limit component controls the descending heights of the vacuum suction cups to be consistent. After the vacuum suction cups reach the position, turn on the vacuum pump to adsorb the steel plate;

[0035] Step 6: Detect the vacuum degree: The vacuum degree detection component detects the vacuum degree of each vacuum suction cup. When the vacuum degrees of the vacuum suction cups all reach the set value and remain consistent, proceed to Step 7;

[0036] Step 7: Detect the weight of the steel plate: The load cell detects the weight of the adsorbed steel plate. When the measured weight is the weight of one steel plate, proceed to Step 8;

[0037] Step 8: Transfer the steel plate: Control the end effector to move upward and transport and stack the steel plate to be grasped to the designated position.

[0038] The steel plate is a special-shaped steel plate, and the special-shaped steel plate is an arc-shaped steel plate, a triangular steel plate, or an elliptical steel plate.

[0039] The present invention has the following beneficial effects:

[0040] 1. The present invention is provided with multiple independently controlled vacuum suction cups. Each vacuum suction cup can freely lift and independently detect the vacuum degree. The present invention can select suitable vacuum suction cup pairs for adsorption according to the shape of the special-shaped steel plate. At the same time, the suction cup lifting limit component controls the moving distances of each suction cup to be consistent, and the vacuum degree detection component controls the vacuum degrees of each suction cup to reach the set value and remain consistent, so that the adsorption forces of each vacuum suction cup are consistent, the adsorption forces on the special-shaped steel plate are evenly distributed, and the grasping of the heavy special-shaped steel plate is more firm and reliable.

[0041] 2. The present invention is provided with a pressing assembly that cooperates with a vacuum suction cup. The pressing assembly is elastically connected to its connecting component, and can apply pressure to the steel plate to make it flat without damaging itself and the steel plate. At the same time, during the movement of the end effector, it forms a limiting effect with the vacuum adsorption assembly to prevent the steel plate from falling due to the shaking of the vacuum adsorption assembly during movement. The pressing assembly is also provided with a pressing limit assembly, which can detect the position and horizontal state of the pressing frame, and ensure that the special-shaped steel plate is pressed flat without protrusions, warping edges, etc. before the vacuum adsorption assembly adsorbs, so as to make the adsorption more firm and reliable.

[0042] 3. The present invention is controlled by a controller. The controller stores a dot matrix control algorithm, which can analyze the overall shape and centroid position of the input special-shaped steel plate nesting drawing, calculate the optimal adsorption points matching the vacuum suction cups according to the force conditions, and form a left optimal adsorption point group and a right optimal adsorption point group.

[0043] 4. The present invention can be installed on a robot or a truss, can rotate 360°, the gripper can slide left and right on the centering mechanism, which is convenient for finding the optimal adsorption points of the special-shaped steel plate. Multiple groups of end effectors can be set according to needs, which are free and flexible and can adapt to special-shaped steel plates of different sizes and shapes.

[0044] 5. The present invention is provided with a load cell, which can detect the weight of the special-shaped steel plate to prevent adhesion between adjacent steel plates; it is also provided with a distance sensor, which can detect the height of the end effector, so as to control the descending speed of the end effector and avoid it hitting the steel plate out of control.

[0045] 6. The vacuum pump of the present invention uses two power supplies, namely a UPS power supply and a factory power supply. When the factory suddenly loses power, the power supply of the vacuum pump is automatically switched to the UPS power supply to ensure that the vacuum pump can be used normally for at least half an hour, preventing the steel plate from falling due to sudden power failure. Description of the Drawings

[0046] Figure 1 is a schematic structural view of the grasping arc-shaped steel plate of an automatic sorting end effector for a laser cutting system according to the present invention.

[0047] Figure 2 is a schematic view of the present end effector grasping an elliptical steel plate.

[0048] Figure 3 is a schematic view of the present end effector grasping a triangular steel plate.

[0049] Figure 4 is a schematic view of the bottom perspective of the present end effector.

[0050] Figure 5 is an enlarged schematic view of the pressing assembly of the present end effector.

[0051] Among them are:

[0052] 100, special-shaped steel plate;

[0053] 101, arc-shaped steel plate; 102, oval steel plate; 103, triangular steel plate; 104, left grasping end; 105, right grasping end;

[0054] 200, mounting seat; 201, load cell;

[0055] 300, centering mechanism;

[0056] 301, horizontal slide rail; 302, jaw sliding drive assembly; 303, distance sensor; 304, sliding plate

[0057] 400, gripping mechanism;

[0058] 401, pressing component; 402, pressing frame connecting plate; 403, vacuum adsorption component; 404, mounting plate; 405, vacuum degree detection component; 406, pressing limit component;

[0059] 601, pressing frame; 602, inner connecting plate; 603, through hole; 604, spring, 605, spring maximum stroke limiting rod; 606, height limiting plate; 607, photoelectric sensor;

[0060] 701, vacuum chuck; 702, chuck lifting assembly. Specific embodiments

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0062] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "left side", "right side", "upper part", "lower part", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and 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. "First", "second", etc. do not represent the importance of the components, so they cannot be understood as limitations to the present invention. The specific dimensions adopted in this embodiment are only for illustrating the technical solution by way of example, and do not limit the protection scope of the present invention.

[0063] The present invention can grasp irregular special-shaped steel plates 100, such as arc-shaped steel plates 101, oval steel plates 102, and triangular steel plates 103. Figures 1 - 3 The structural schematic diagram of the present end effector and the schematic diagrams of grasping the arc-shaped steel plate 101, oval steel plate 102, and triangular steel plate 103 are shown. For the sake of clarity in the drawings, it is a schematic diagram of the flipping of the end effector jaw facing upwards.

[0064] An automatic sorting end effector for a laser cutting system, comprising a mounting base 200, a centering mechanism 300 and a clamping mechanism 400.

[0065] The mounting base 200 is fixed to the top center of the centering mechanism 300, and is used to connect with the robot flange or the slewing bearing fixed to the Z-axis of the truss equipment, so as to realize the 360° rotation of the end effector; a load cell 201 is arranged on the mounting base 200, and the load cell 201 is connected to the mounting base through a connecting flange. The load cell 201 can detect the self-weight of the end effector and the total weight of the end effector and the clamped special-shaped steel plate 100, and the weight of the clamped special-shaped steel plate 100 can be measured by the peeling method. By determining whether the weight of the clamped special-shaped steel plate 100 is within the weight range of a steel plate, it is possible to control whether to grab, which can prevent the adhesion between adjacent special-shaped steel plates 100 from causing the steel plate to fall, and at the same time prevent equipment such as the cooperating robot or truss manipulator from being overloaded and damaged.

[0066] The centering mechanism 300 includes a horizontal slide rail 301, a jaw sliding drive assembly 302 and a sliding plate 304.

[0067] The jaw sliding drive assembly 302 includes a main body frame, a driving device and a transmission device. The main body frame includes a panel, and a left side plate and a right side plate are respectively connected to the left and right sides of the panel. Left and right panel covers are also respectively connected to the left and right sides of the main body frame; a distance sensor 303 is arranged below the main body frame, and is used to detect the height where the clamping mechanism of the end effector is located.

[0068] The driving device is preferably set as a servo motor, and is fixed to the lower right of the panel through a servo motor base, and a speed reducer is installed on the servo motor to increase the torque.

[0069] The transmission device includes a trapezoidal positive and reverse thread lead screw, a trapezoidal transmission nut, a synchronous pulley A, a synchronous pulley B and a synchronous toothed belt. Support end bearings and a fixed end bearing group are respectively connected to the left and right ends of the trapezoidal positive and reverse thread lead screw. The support end bearing is connected to the left side plate, and the fixed end bearing group is connected to the right side plate; a trapezoidal transmission nut is arranged on the trapezoidal positive and reverse thread lead screw, and two trapezoidal transmission nuts are symmetrically arranged on the left and right; the synchronous pulley A is connected to the fixed end bearing group, the synchronous pulley B is connected to the servo motor, and the synchronous pulley A and the synchronous pulley B are connected through a synchronous toothed belt.

[0070] The horizontal slide rail 301 is fixed to the panel, and the number is preferably two, which are symmetrically arranged on both sides of the trapezoidal positive and reverse thread lead screw and are parallel to the trapezoidal positive and reverse thread lead screw; a slide block is slidably connected to the horizontal slide rail 301, and two slide blocks are symmetrically arranged on the left and right of each horizontal slide rail 301, and a total of four slide blocks are arranged. The two slide blocks at the left end of the two horizontal slide rails 301 and the top surface of the trapezoidal transmission nut at the left end form a horizontal plane, which is convenient for stable connection with the clamping mechanism 400. The slide blocks and trapezoidal transmission nuts at the right end of the two horizontal slide rails 301 are also arranged in the same way.

[0071] There are two sliding plates 304, and the sliding plates 304 are fixed on the top surfaces of the sliding seat and the trapezoidal transmission lead screw nut.

[0072] The servo motor drives the synchronous pulley A and the synchronous pulley B to rotate, driving the sliding plates 304 on the trapezoidal transmission lead screw nut and the sliding seat to move towards or away from each other along the horizontal slide rail 301.

[0073] The clamping mechanism 400 includes a left clamping jaw and a right clamping jaw symmetrically arranged on the centering mechanism. The left clamping jaw and the right clamping jaw have the same structure. The left clamping jaw and the right clamping jaw both include a mounting plate 404, a vacuum adsorption assembly 403, a vacuum degree detection assembly 405, a pressing assembly 401, and a pressing limit assembly 406.

[0074] There are n connecting rods passing through the mounting plate 404, where n≥2. The upper ends of the connecting rods are fixed to the sliding plate 304, and the lower ends of the connecting rods are fixed to the pressing frame connecting plate 402, forming a cavity in the middle for installing the vacuum adsorption assembly 403. Between the mounting plate 404 and the pressing frame connecting plate 402, they are connected by n connecting rods, where n≥2.

[0075] The vacuum adsorption assembly 403 includes a number of vacuum suction cups 701 arranged on the mounting plate. Each vacuum suction cup 701 is connected to a suction cup lifting assembly 702. The vacuum adsorption assembly 403 includes a suction cup lifting limit assembly, and the suction cup lifting limit assembly is arranged on the suction cup lifting assembly 702. The vacuum adsorption assembly 403 can control the selection of different vacuum suction cups 701 through the controller.

[0076] The suction cup lifting assembly 702 includes a cylinder, a cylinder connecting rod, and a suction cup connecting sleeve. The cylinder is fixed on the mounting plate 404. A cylinder connecting rod is connected to the cylinder. A guide sleeve is arranged on the pressing frame connecting plate 402. The cylinder connecting rod passes through the guide sleeve and is connected to the suction cup connecting sleeve, and the suction cup connecting sleeve is connected to the vacuum suction cup 701.

[0077] Each cylinder is connected to a five-port two-position solenoid valve through a PU air pipe and a pipe joint. All five-port two-position solenoid valves are connected to a gas triple unit through a PU air pipe and a pipe joint, and the gas triple unit is connected to an air compressor to realize the independent control of each cylinder; all five-port two-position solenoid valves are integrated into a group of modules and arranged on the centering mechanism 300.

[0078] Each vacuum suction cup is connected to a three-port two-position negative pressure solenoid valve through a PU air pipe and a pipe joint; all three-port two-position negative pressure solenoid valves are connected to a vacuum pump through a PU air pipe and a pipe joint to realize the independent control of each vacuum suction cup 701; all three-port two-position negative pressure solenoid valves are integrated into a group of modules and arranged on the centering mechanism 300.

[0079] The power supply for the end effector includes a UPS power supply and a factory power supply. When the factory suddenly loses power, the power supply for the vacuum pump automatically switches to the UPS power supply to ensure that the vacuum pump can be used normally for at least half an hour, preventing the special-shaped steel plate 100 from falling due to sudden power failure.

[0080] The sucker lifting limit component is used to control the moving distance of the sucker lifting component, preferably set as a magnetic sensor. Two magnetic sensors are arranged outside each cylinder, and magnetic materials are arranged on the cylinder piston. The moving distance of the cylinder piston is controlled by the magnetic sensor, so that the moving distances of each vacuum sucker 701 used are consistent.

[0081] The vacuum degree detection component 405 is preferably set as a vacuum pressure switch. A vacuum pressure switch is arranged on the air intake pipe of each vacuum sucker 701 to detect the vacuum degree of the corresponding vacuum sucker 701. All vacuum switches are integrated into a module and arranged on the centering mechanism, with a compact layout. When the vacuum degrees of each vacuum sucker 701 used all reach the set value and are consistent, the end effector starts to lift to ensure the stability and safety of adsorption.

[0082] The pressing component 401 includes a pressing frame 601 and a pressing frame connecting plate 402. The pressing frame 601 is directly or indirectly elastically connected to the mounting plate, and the pressing frame 601 is sleeved on the outer periphery of the vacuum adsorption component 403. The pressing frame 601 is a frame structure composed of four side plates and an inner connecting plate 602. The pressing frame 601 is made of a flexible material to avoid damaging the special-shaped steel plate 100 during the pressing process. Weight-reducing holes are arranged on the side wall of the pressing frame 601. The inner connecting plate 602 is connected below the pressing frame connecting plate 402 through a spring 604 and a spring maximum stroke limiting rod 605. The spring 604 is rectangular, and a spring telescopic rod is sleeved inside. The spring maximum stroke limiting rod 605 is used to adjust the telescopic amount of the spring 604, thereby adjusting the telescopic amount of the pressing frame 601.

[0083] A plurality of through holes 603 are arranged on the inner connecting plate 602, and the vacuum suckers 701 pass through the through holes 603. In the natural state of the pressing frame 601, the bottom surface height of the pressing frame 601 is lower than the bottom surface height of the vacuum suckers 701. This distance is preferably set to 5 cm to ensure that during the pressing process of the special-shaped steel plate 100, the pressing frame 601 contacts the special-shaped steel plate 100 first, and at the same time leaves a margin for the telescopic distance of the pressing frame 601.

[0084] Each compression frame 601 is provided with compression limit assemblies on both sides, with a total of four sets. These are used to detect the position and horizontal state of the compression frame 601. Each set of compression limit assemblies 406 includes a photoelectric sensor 607 and a height limit plate 606. The height limit plates 606 are symmetrically arranged on the left and right sides of each compression frame 601. Each height limit plate 606 is provided with a photoelectric sensor 607 on the same side. The transmitter and receiver of each photoelectric sensor 607 are fixed to the bottom of the compression frame connecting plate 402 via a connecting plate. The height of the transmitter and receiver are kept consistent, so that the signal emitted by the transmitter can be transmitted horizontally to the receiver.

[0085] Under normal conditions, the height limit plate 606 is lower than the signal level of the photoelectric sensor 607, allowing the transmitter's signal to be received by the receiver. When the compression frame 601 is compressed, the height limit plate 606 moves upward with the compression frame 601, blocking the transmitter's signal. The compression limit assembly 406 detects the position and horizontality of the compression frame 601, thereby indicating whether the steel plate has been flattened.

[0086] The end picker is also provided with a visual acquisition device such as a camera mechanism to scan the shape of the special-shaped steel plate 100 and transmit the shape to the controller for calculation and analysis.

[0087] The two-position five-way solenoid valve, two-position three-way negative pressure solenoid valve, distance sensor 303, suction cup lifting limit assembly, vacuum detection assembly 405, and pressing limit assembly 406 of this end picker are all electrically connected to the controller. The controller is preferably a programmable logic controller PLC for control. The controller has a dot matrix control algorithm stored in the memory and can automatically select different combinations of vacuum adsorption components 403 to adsorb the cut sheet according to the laser cutting machine nesting diagram. The design is sophisticated, flexible, and adaptable.

[0088] The method of using this end picker includes the following steps:

[0089] Step 1: Input the nesting diagram of the irregular shaped steel plate 100 after laser cutting into the controller. The controller stores a dot matrix control algorithm, which can analyze the overall shape and center of gravity position of the input nesting diagram of the irregular shaped steel plate 100 and calculate the center of gravity of the irregular shaped steel plate 100.

[0090] Step 2. The controller determines the left and right gripping ends of the steel plate based on the center of gravity position and force analysis calculation, and calculates the optimal adsorption points on the left and right gripping ends that match the vacuum suction cups. A left optimal adsorption point group is formed on the left gripping end 104, and a right optimal adsorption point group is formed on the right gripping end 105.

[0091] Step 3: The robot or truss controls the end effector at the local side to rotate to an appropriate angle, and the left and right grippers of the end effector descend simultaneously. During the descending process, the distance sensor 303 continuously detects the height of the gripper mechanism 400 of the end effector. When approaching the special-shaped steel plate 100, the descending speed slows down to prevent the end effector from hitting the special-shaped steel plate 100 out of control.

[0092] The pressing frames of the left and right grippers are respectively sleeved on the outer peripheries of the left and right optimal adsorption point groups to press the steel plate tightly and make it flat.

[0093] Step 4: As the end effector descends, the springs 604 in the pressing frames 601 are compressed. When the two pressing frames 601 are compressed to the set position, the height limit plates 606 on the left and right sides of each pressing frame 601 will rise to block the signals of the photoelectric sensors 607. If the signals of all 4 photoelectric sensors 607 are blocked simultaneously, it can be determined that the special-shaped steel plate 100 has been pressed flat without protrusions or warping problems.

[0094] Step 5: Turn on the air compressor and the five-way two-position solenoid valve, start the cylinder, and the cylinder pushes the vacuum suction cups 701 corresponding to the left and right optimal adsorption point groups to descend simultaneously. The magnetic sensor can control the descending height of each vacuum suction cup 701 to be consistent. After the vacuum suction cups reach the position, turn on the vacuum pump and the three-way two-position negative pressure solenoid valve to adsorb the special-shaped steel plate 100.

[0095] Step 6: The vacuum pressure switch detects the vacuum degree of each vacuum suction cup 701. When the vacuum degrees of all vacuum suction cups 701 reach the set value and are consistent, it is determined that the special-shaped steel plate 100 is adsorbed firmly, avoiding the special-shaped steel plate 100 from falling due to unstable adsorption during subsequent movement.

[0096] Step 7: After the vacuum suction cups 701 are adsorbed firmly, the load cell 201 detects the weight of the adsorbed special-shaped steel plate 100. When the detected weight fluctuates within the weight range of a special-shaped steel plate 100, control the end effector to rise to determine whether the steel plate is adsorbed and to prevent adhesion between adjacent special-shaped steel plates 100.

[0097] Step 8: Control the end effector to rise and transport and stack the grabbed special-shaped steel plate 100 to the designated position.

[0098] During the rising process, the spring 604 in the pressing frame 601 is stretched by gravity to press the special-shaped steel plate 100, playing a limiting role to prevent the vacuum suction cup 701 from shaking during movement and causing the special-shaped steel plate 100 to fall.

[0099] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. An automatic sorting end effector for a laser cutting system, characterized in that: It includes a mounting base, a centering mechanism, and a gripping mechanism; The centering mechanism is arranged at the bottom of the mounting base. The centering mechanism includes a horizontal sliding rail, a sliding plate, and a sliding driving assembly; The horizontal sliding rail is arranged at the bottom of the mounting base; There are two sliding plates, both of which are slidably arranged at the bottom of the horizontal sliding rail; the two sliding plates can move towards or away from each other along the horizontal sliding rail under the drive of the sliding driving assembly; The gripping mechanism includes a left gripper and a right gripper, and the left gripper and the right gripper are respectively arranged on the two sliding plates; Both the left gripper and the right gripper include a mounting plate, a vacuum adsorption assembly, a vacuum degree detection assembly, a pressing assembly, and a pressing limit assembly; The mounting plate is connected to the bottom of the sliding plate; The vacuum adsorption assembly includes a number of vacuum suction cups arranged on the mounting plate, and each vacuum suction cup can be independently lifted and lowered; The vacuum degree detection assembly can detect the vacuum degree of each vacuum suction cup; The pressing assembly includes a pressing frame, the pressing frame is elastically connected to the mounting plate directly or indirectly, the pressing frame is sleeved on the outer periphery of the vacuum adsorption assembly, and the bottom surface height of the pressing frame is lower than the bottom surface height of the vacuum suction cup in the natural state; A pressing limit assembly is arranged on the left and right sides of each pressing frame, and the pressing limit assembly is used to detect the position and horizontal state of the pressing frame.

2. The end effector according to claim 1, wherein: A load cell is connected between the mounting base and the centering mechanism; A distance sensor is arranged on the centering mechanism for detecting the height of the gripping mechanism.

3. The end effector according to claim 1, characterized in that: The pressing assembly includes a pressing frame connecting plate, and a spring and a spring maximum stroke limiting rod are connected between the pressing frame connecting plate and the pressing frame; A spring telescopic rod is sleeved inside the spring; the spring maximum stroke limiting rod is used to adjust the telescopic amount of the spring; The pressing frame connecting plate is connected to the mounting plate.

4. The end effector according to claim 1, wherein: The vacuum adsorption assembly includes a suction cup lifting assembly, and the suction cup lifting assembly includes a cylinder, a cylinder connecting rod, and a suction cup connecting sleeve; The cylinder is fixed on the mounting plate, the cylinder is connected to the cylinder connecting rod, the cylinder connecting rod is connected to the suction cup connecting sleeve, and the suction cup connecting sleeve is connected to the vacuum suction cup.

5. The end effector according to claim 4, characterized in that: The vacuum adsorption assembly includes a suction cup lifting limit assembly, the suction cup lifting limit assembly is a magnetic sensor, and the number is 2. The magnetic sensors are arranged on the cylinder.

6. The end effector according to claim 1, wherein: The pressing limit assembly includes a photoelectric sensor and a height limit plate; The height limit plates are symmetrically arranged on the left and right sides of the pressing frame, and photoelectric sensors are correspondingly arranged on the same side of the height limit plates.

7. The end effector according to claim 1, wherein: The vacuum degree detection assembly is a vacuum pressure switch with the same number as the vacuum suction cups, and each vacuum pressure switch is respectively connected to a vacuum suction cup.

8. The end effector according to claim 1, wherein: The power supply adopted by the end effector includes a UPS power supply and a factory power supply.

9. A method for using an automatic sorting end effector of a laser cutting system, characterized in that, It includes the following steps: Step 1, calculate the center of gravity of the steel plate: perform image acquisition and calculation on the steel plate to be grabbed to obtain the center of gravity of the steel plate; Step 2, calculate the optimal adsorption points: according to the position of the center of gravity of the steel plate, confirm the left and right gripping ends of the steel plate, and calculate the optimal adsorption points on the left and right gripping ends that match the vacuum suction cups. A left optimal adsorption point group is formed on the left gripping end, and a right optimal adsorption point group is formed on the right gripping end; Step 3, press the steel plate: the left and right grippers of the end effector descend simultaneously, and the pressing frames of the left and right grippers respectively cover the outer peripheries of the left optimal adsorption point group and the right optimal adsorption point group to press the steel plate; Step 4. Detect the state of the pressing frame: The pressing and limiting assembly detects the position and horizontal state of each pressing frame. When each pressing frame is compressed to the set position and the left and right sides of each pressing frame remain horizontal, proceed to Step 5; Step 5. Adsorb the steel plate: The sucker lifting assembly drives the vacuum suckers corresponding to the left optimal adsorption point group and the right optimal adsorption point group to descend simultaneously. The sucker lifting limit assembly controls the vacuum suckers to descend to the same height. After the vacuum suckers reach the position, turn on the vacuum pump to adsorb the steel plate; Step 6. Vacuum degree detection: The vacuum degree detection assembly detects the vacuum degree of each vacuum sucker. When the vacuum degrees of the vacuum suckers all reach the set value and remain consistent, proceed to Step 7; Step 7. Steel plate weight detection: The load cell detects the weight of the adsorbed steel plate. When the measured weight is the weight of one steel plate, proceed to Step 8; Step 8. Steel plate transfer: Control the end effector to move upward, and transport and stack the steel plate to be grabbed to the designated position.

10. The method for using the end effector according to claim 9, wherein The steel plate is a special-shaped steel plate, and the special-shaped steel plate is an arc-shaped steel plate or a triangular steel plate or an oval steel plate.

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