An automatic sorting end effector for a laser cutting system and method of use

Abstract

The application discloses a kind of for laser cutting system automatic sorting end effector and use method, including mounting seat, centering mechanism and clamping mechanism, mounting seat is set on centering mechanism;Centering mechanism includes sliding drive assembly, horizontal slide rail and sliding plate;Clamping mechanism includes left jaw and right jaw being symmetrically arranged on centering mechanism;Left jaw and right jaw are respectively arranged on two sliding plates, and left jaw and right jaw all include mounting plate, vacuum suction assembly, vacuum degree detection component, pressing assembly and pressing limit component;The application can be applicable to robot or truss manipulator for the automatic sorting, handling and stacking of steel plate after laser cutting, its structure design is novel, ingenious, and the degree of automation is high, greatly improve the work efficiency of equipment, save the labor cost, and provide guarantee for the standard safety of production.

Description

Technical Field

[0001] This invention relates to the field of laser cutting equipment technology, and in particular to an automatic sorting end-effector for laser cutting systems and its usage method. Background Technology

[0002] Currently, with the continuous development of equipment technology, various automated production technologies are widely used in the automatic cutting of sheet metal by laser cutting machines for sorting, handling and palletizing. Due to the heavy weight and irregular shape of the irregularly shaped steel plates cut by laser, the existing end effectors have problems such as unstable center of gravity, weak grip and easy drop when grabbing irregularly shaped steel plates, which seriously affects the normal operation of the production line. At the same time, it also increases the number of temporary repairs, and emergency repairs are time-consuming and labor-intensive, posing great safety hazards. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing an automatic sorting end-effector and its usage method for a laser cutting system. The gripper of the end-effector, by setting up components such as vacuum adsorption components and clamping components, can firmly grasp irregular steel plates and move them smoothly, greatly improving work efficiency and safety performance.

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

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

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

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

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

[0009] The gripping mechanism includes a left gripper and a right gripper, which are respectively mounted on two sliding plates.

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

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

[0012] The vacuum adsorption assembly includes several vacuum suction cups arranged on a mounting plate, each of which can be raised and lowered independently.

[0013] The vacuum detection component can detect the vacuum level of each vacuum chuck.

[0014] The clamping assembly includes a clamping frame, which is directly or indirectly elastically connected to the mounting plate. The clamping frame is fitted around the outer periphery of the vacuum adsorption assembly, and in its natural state, the bottom surface of the clamping frame is lower than the bottom surface of the vacuum suction cup.

[0015] Each clamping frame is equipped with clamping limit components on both the left and right sides. The clamping limit components are used to detect the position and horizontal status of the clamping frame.

[0016] A load sensor is connected between the mounting base and the centering mechanism.

[0017] The centering mechanism is equipped with a distance sensor to detect the height of the gripping mechanism.

[0018] The clamping assembly includes a clamping frame connecting plate, and a spring and a spring maximum stroke limit rod are connected between the clamping frame connecting plate and the clamping frame.

[0019] The spring has a telescopic rod inside; the maximum travel limit rod is used to adjust the amount of extension and retraction of the spring.

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

[0021] The vacuum adsorption assembly includes a suction cup lifting assembly, which 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 assembly includes a suction cup lifting and limiting assembly, which consists of two magnetic sensors mounted on a cylinder.

[0024] The clamping and limiting assembly includes a photoelectric sensor and a height limiting plate.

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

[0026] The vacuum degree detection component consists of a number of vacuum pressure switches equal to the number of vacuum suction cups, with each vacuum pressure switch connected to a vacuum suction cup.

[0027] The power supply used by the end-effector includes UPS power supply and factory power supply.

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

[0029] Step 1: Calculate the center of gravity of the steel plate: Acquire an image of the steel plate to be grasped and calculate its center of gravity;

[0030] Step 2: Calculate the optimal adsorption point: Based on the center of gravity of the steel plate, determine 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 cup. The left optimal adsorption point group is formed on the left gripping end, and the right optimal adsorption point group is formed on the right gripping end.

[0031] Step 3, clamping the steel plate: The left and right jaws of the end effector descend simultaneously, and the clamping frames of the left and right jaws cover the outer periphery of the left and right optimal adsorption point groups, respectively, to clamp the steel plate.

[0032] The distance sensor detects the descent height of the clamping frame and controls the descent speed;

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

[0034] Step 5, Adsorbing the steel plate: The suction cup lifting assembly drives the vacuum suction cups corresponding to the left optimal adsorption point group and the right optimal adsorption point group to descend simultaneously. The suction cup lifting limit assembly controls the vacuum suction cups to descend at the same height. After the vacuum suction cups are in place, the vacuum pump is turned on to adsorb the steel plate.

[0035] Step 6, Vacuum degree detection: The vacuum degree detection component detects the vacuum degree of each vacuum suction cup. When the vacuum degree of all vacuum suction cups reaches the set value and remains consistent, proceed to step 7.

[0036] 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.

[0037] Step 8, Steel Plate Transfer: The control end effector moves upward to move and stack the steel plate to be grabbed to the designated position.

[0038] The steel plate is an irregularly shaped steel plate, which may be 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. This invention features multiple independently controlled vacuum suction cups, each capable of free lifting and lowering and independent vacuum degree detection. Based on the shape of the irregularly shaped steel plate, this invention selects a suitable vacuum suction cup for adsorption. Simultaneously, the suction cup lifting and limiting component controls the consistent movement distance of each suction cup, and the vacuum degree detection component ensures that the vacuum degree of each suction cup reaches a set value and remains consistent. This results in consistent adsorption force from each vacuum suction cup, a balanced distribution of adsorption force on the irregularly shaped steel plate, and a more secure and reliable gripping of heavy irregularly shaped steel plates.

[0041] 2. This invention includes a clamping assembly that works in conjunction with the vacuum suction cup. The clamping assembly is elastically connected to its connecting parts, allowing it to apply pressure to the steel plate without damaging itself or the steel plate, thus flattening it. Simultaneously, during the movement of the end effector, it acts as a limiter with the vacuum suction assembly, preventing the steel plate from falling due to vibration during movement. The clamping assembly also features a clamping limiter, which detects the position and level of the clamping frame, ensuring that the irregularly shaped steel plate is flattened before the vacuum suction assembly adsorbs it, without any protrusions or warped edges, thereby making the adsorption more secure and reliable.

[0042] 3. This invention is controlled by a controller. The controller has a memory dot matrix control algorithm, which can analyze the overall shape and center of gravity of the input irregular steel plate nesting diagram, and calculate the optimal adsorption point that matches the vacuum suction cup based on the force conditions, forming a left optimal adsorption point group and a right optimal adsorption point group.

[0043] 4. This invention can be installed on a robot or truss, can rotate 360°, and the gripper can slide left and right on the centering mechanism to facilitate finding the optimal adsorption point of the irregular steel plate. The end effector can be set in multiple sets as needed, which is free and flexible and can be adapted to irregular steel plates of different sizes and shapes.

[0044] 5. The present invention is equipped with a load sensor, which can detect the weight of the irregularly shaped steel plate to prevent adjacent steel plates from sticking together; it is also equipped with a distance sensor, which can detect the height of the end effector, thereby controlling the descent speed of the end effector and preventing it from crashing into the steel plate out of control.

[0045] 6. The vacuum pump of this invention uses two power supplies: UPS power supply and factory power supply. When the factory suddenly loses power, the vacuum pump power supply will automatically switch to UPS power supply to ensure that the vacuum pump can be used normally for at least half an hour and prevent the steel plate from falling due to sudden power failure. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure for gripping arc-shaped steel plates in an automatic sorting end-effector of a laser cutting system according to the present invention.

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

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

[0049] Figure 4 This is a schematic diagram of the bottom view of this end effector.

[0050] Figure 5 This is an enlarged schematic diagram of the end effector clamping assembly.

[0051] Among them are:

[0052] 100. Irregularly shaped steel plates;

[0053] 101. Curved steel plate; 102. Elliptical steel plate; 103. Triangular steel plate; 104. Left gripping end; 105. Right gripping end;

[0054] 200. Mounting base; 201. Load cell;

[0055] 300. Institutions targeting China;

[0056] 301. Horizontal slide rail; 302. Gripper sliding drive assembly; 303. Distance sensor; 304. Sliding plate

[0057] 400. Clamping mechanism;

[0058] 401. Clamping assembly; 402. Clamping frame connecting plate; 403. Vacuum adsorption assembly; 404. Mounting plate; 405. Vacuum degree detection assembly; 406. Clamping limit assembly;

[0059] 601. Clamping frame; 602. Inner connecting plate; 603. Through hole; 604. Spring; 605. Spring maximum stroke limit rod; 606. Height limit plate; 607. Photoelectric sensor;

[0060] 701. Vacuum suction cup; 702. Suction cup lifting assembly. Detailed Implementation

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

[0062] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0063] The present invention can grasp irregularly shaped steel plates 100, such as arc-shaped steel plates 101, elliptical steel plates 102 and triangular steel plates 103. Figures 1-3 A schematic diagram of the end effector's structure is shown, along with a schematic diagram of gripping the curved steel plate 101, the elliptical steel plate 102, and the triangular steel plate 103. The attached diagram clearly shows the end effector's grippers flipping upwards with the jaws facing up.

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

[0065] The mounting base 200 is fixed to the top center of the centering mechanism 300 and is used to connect to the robot flange or to the slewing bearing fixed to the Z-axis of the gantry equipment, enabling 360° rotation of the end effector. A load sensor 201 is installed on the mounting base 200 and connected to the mounting base via the connecting flange. The load sensor 201 can detect the weight of the end effector itself and the total weight of the end effector and the clamped irregular steel plate 100. The weight of the clamped irregular steel plate 100 can be measured by tare. By determining whether the weight of the clamped irregular steel plate 100 is within the weight range of a single steel plate, the gripping is controlled, preventing adjacent irregular steel plates 100 from sticking together and falling off, while also preventing overloading and damage to the cooperating robot or gantry manipulator.

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

[0067] The gripper sliding drive assembly 302 includes a main frame, a drive unit, and a transmission unit. The main frame includes a panel, with a left side plate and a right side plate connected to the left and right sides of the panel, respectively. A left panel cover and a right panel cover are also connected to the left and right sides of the main frame, respectively. A distance sensor 303 is installed at the bottom of the main frame to detect the height of the end effector's gripping mechanism.

[0068] The drive unit is preferably a servo motor, which is fixed to the lower right of the panel via a servo motor base. A speed reducer is installed on the servo motor to increase the torque.

[0069] The transmission device includes a trapezoidal forward and reverse threaded screw, a trapezoidal transmission nut, synchronous pulley A, synchronous pulley B, and a synchronous toothed belt. The left and right ends of the trapezoidal forward and reverse threaded screw are respectively connected to a support end bearing and a fixed end bearing assembly. The support end bearing is connected to the left side plate, and the fixed end bearing assembly is connected to the right side plate. Two trapezoidal transmission nuts are symmetrically arranged on the left and right sides of the trapezoidal forward and reverse threaded screw. Synchronous pulley A is connected to the fixed end bearing assembly, and synchronous pulley B is connected to the servo motor. Synchronous pulley A and synchronous pulley B are connected by a synchronous toothed belt.

[0070] The horizontal slide rails 301 are fixed on the panel, preferably two in number, symmetrically arranged on both sides of the trapezoidal positive and negative threaded rods, parallel to the trapezoidal positive and negative threaded rods; the horizontal slide rails 301 are slidably connected to the slide blocks, with two slide blocks symmetrically arranged on each horizontal slide rail 301, for a total of four slide blocks. 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 facilitates stable connection with the clamping mechanism 400. The slide blocks and trapezoidal transmission nut at the right end of the horizontal slide rails 301 are similarly arranged.

[0071] There are two sliding plates 304, which are fixed to the top surface of the slide block and the trapezoidal transmission nut.

[0072] The servo motor drives the synchronous pulleys A and B to rotate, which in turn drives the trapezoidal transmission nut and the sliding plate 304 on the slide block to move towards or away from each other along the horizontal slide rail 301.

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

[0074] n connecting rods, where n ≥ 2, pass through the mounting plate 404. 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 clamping frame connecting plate 402, forming a cavity in the middle to facilitate the installation of the vacuum adsorption assembly 403. The mounting plate 404 and the clamping frame connecting plate 402 are connected by n connecting rods, where n ≥ 2.

[0075] The vacuum adsorption assembly 403 includes several vacuum suction cups 701 arranged on a 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, which is mounted on the suction cup lifting assembly 702. The vacuum adsorption assembly 403 can be controlled by a controller to select different vacuum suction cups 701.

[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, and the cylinder connecting rod is connected to the cylinder. A guide sleeve is provided on the clamping frame connecting plate 402. The cylinder connecting rod passes through the guide sleeve and connects to the suction cup connecting sleeve. The suction cup connecting sleeve is connected to the vacuum suction cup 701.

[0077] Each cylinder is connected to a 2-position 5-way solenoid valve via a PU air pipe and connector. All 2-position 5-way solenoid valves are connected to a gas triple unit via PU air pipes and connectors. The gas triple unit is connected to an air compressor, enabling independent control of each cylinder. All 2-position 5-way solenoid valves are integrated into a module and deployed on the centering mechanism 300.

[0078] Each vacuum suction cup is connected to a two-position three-way negative pressure solenoid valve via a PU air inlet pipe and a pipe connector; all two-position three-way negative pressure solenoid valves are connected to a vacuum pump via a PU air inlet pipe and a pipe connector, enabling independent control of each vacuum suction cup 701; all two-position three-way negative pressure solenoid valves are integrated into a module and deployed on the centering mechanism 300.

[0079] The power supply used by the end effector includes UPS power supply and factory power supply. When the factory suddenly loses power, the vacuum pump power supply will automatically switch to UPS power supply to ensure that the vacuum pump can be used normally for at least half an hour to prevent the irregular steel plate 100 from falling due to sudden power failure.

[0080] The suction cup lifting limit assembly is used to control the moving distance of the suction cup lifting assembly. It is preferably set as a magnetic sensor. Two magnetic sensors are set on the outside of each cylinder, and magnetic material is set on the cylinder piston. The moving distance of the cylinder piston is controlled by the magnetic sensor, so that the moving distance of each vacuum suction cup 701 used is consistent.

[0081] The vacuum detection component 405 is preferably configured as a vacuum pressure switch. Each vacuum suction cup 701 has a vacuum pressure switch on its inlet pipe to detect the vacuum level of the corresponding vacuum suction cup 701. All vacuum switches are integrated into a single module on the centering mechanism, resulting in a compact and efficient arrangement. The end effector only begins to rise and fall when the vacuum level of each vacuum suction cup 701 reaches the set value and remains consistent, ensuring the stability and safety of the adsorption process.

[0082] The clamping assembly 401 includes a clamping frame 601 and a clamping frame connecting plate 402. The clamping frame 601 is directly or indirectly elastically connected to the mounting plate and is sleeved on the outer periphery of the vacuum adsorption assembly 403. The clamping frame 601 is a frame-shaped structure composed of four side plates and an inner connecting plate 602. The clamping frame 601 is made of flexible material to avoid damage to the irregular steel plate 100 during the clamping process. Weight reduction holes are provided on the side wall of the clamping frame 601. The inner connecting plate 602 is connected to the lower part of the clamping frame connecting plate 402 through a spring 604 and a spring maximum stroke limit rod 605. The spring 604 is rectangular and has a spring telescopic rod inside. The spring maximum stroke limit rod 605 is used to adjust the extension and retraction of the spring 604, thereby adjusting the extension and retraction of the clamping frame 601.

[0083] The inner connecting plate 602 is provided with multiple through holes 603. The vacuum suction cup 701 passes through the through holes 603. In its natural state, the bottom surface of the clamping frame 601 is lower than the bottom surface of the vacuum suction cup 701. This distance is preferably set to 5 cm to ensure that the clamping frame 601 contacts the irregular steel plate 100 first during the clamping process, while leaving a margin for the extension distance of the clamping frame 601.

[0084] Each clamping frame 601 has clamping limiting components on both its left and right sides, with a total of 4 sets. The clamping limiting components are used to detect the position and horizontal status of the clamping frame 601. Each set of clamping limiting components 406 includes a photoelectric sensor 607 and a height limiting plate 606. The height limiting plates 606 are symmetrically arranged on the left and right sides of each clamping frame 601. Each height limiting plate 606 has a photoelectric sensor 607 on the same side. The transmitter and receiver of each photoelectric sensor 607 are fixed to the bottom of the clamping frame connecting plate 402 through a connecting plate. The height of the transmitter and receiver are 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 height of the photoelectric sensor 607 signal, and the signal emitted by the transmitter can be received by the receiver. When the clamping frame 601 is compressed, the height limit plate 606 moves upward with the clamping frame 601, blocking the signal emitted by the transmitter, and the receiver cannot receive the signal. The clamping and limiting assembly 406 can detect the position and horizontal state of the clamping frame 601, thereby reflecting whether the steel plate has been flattened.

[0086] The end effector is also equipped with a camera mechanism and other visual acquisition devices to scan the shape of the irregular steel plate 100 and transmit the data 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 degree detection assembly 405, and clamping limit assembly 406 of this end effector are all electrically connected to the controller. The controller is preferably a programmable logic controller (PLC) for control. The controller has a memory dot matrix control algorithm and can automatically select different combinations of vacuum adsorption components 403 to adsorb the cut plate material according to the nesting diagram of the laser cutting machine. The design is ingenious, flexible, and highly adaptable.

[0088] The usage of this end effector includes the following steps:

[0089] Step 1: Input the 100 sets of irregularly shaped steel plates after laser cutting into the controller. The controller has a memory dot matrix control algorithm that can analyze the overall shape and center of gravity of the 100 sets of irregularly shaped steel plates and calculate the center of gravity of the 100 irregularly shaped steel plates.

[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 cup. The left optimal adsorption point group is formed on the left gripping end 104, and the right optimal adsorption point group is formed on the right gripping end 105.

[0091] Step 3: The robot or gantry controls the end effector to rotate to a suitable angle, and the left and right grippers of the end effector descend simultaneously. During the descent, the distance sensor 303 detects the height of the end effector gripping mechanism 400 in real time. When it is close to the irregular steel plate 100, the descent speed is slowed down to prevent the end effector from crashing into the irregular steel plate 100 out of control.

[0092] The clamping frames of the left and right grippers are respectively placed around the outer periphery of the left and right optimal adsorption point groups to press the steel plates together and make them flat.

[0093] Step 4: As the end effector descends, the spring 604 inside the clamping frame 601 is compressed. When the two clamping frames 601 are compressed to the set position, the height limiting plates 606 on the left and right sides of each clamping frame 601 will rise to block the signal of the photoelectric sensor 607. If the signals of the four photoelectric sensors 607 are blocked at the same time, it can be determined that the irregular steel plate 100 has been flattened and there are no protrusions or warping issues.

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

[0095] Step 6: The vacuum pressure switch detects the vacuum level of each vacuum suction cup 701. When the vacuum level of all vacuum suction cups 701 reaches the set value and remains consistent, it is determined that the irregular steel plate 100 is firmly adsorbed, thus preventing the irregular steel plate 100 from falling off during subsequent movement due to unstable adsorption.

[0096] Step 7: After the vacuum suction cup 701 firmly adsorbs the steel plate, the load sensor 201 detects the weight of the adsorbed irregular steel plate 100. When the detected weight fluctuates within the weight range of the irregular steel plate 100, the control end effector rises to determine whether the steel plate has been adsorbed and to prevent adjacent irregular steel plates 100 from sticking together.

[0097] Step 8: Control the end effector to rise and move and stack the gripped irregular steel plate 100 to the designated position.

[0098] During the upward movement, the spring 604 inside the clamping frame 601 is stretched by gravity, pressing the irregular steel plate 100 and playing a limiting role to prevent the vacuum suction cup 701 from shaking during the movement and causing the irregular 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 of 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. A method of using an automatic sorting end-effector in a laser cutting system, characterized in that, The end effector includes a mounting base, a centering mechanism, and a gripping mechanism; the centering mechanism is located at the bottom of the mounting base and includes a horizontal slide rail, a sliding plate, and a sliding drive assembly; the horizontal slide rail is located at the bottom of the mounting base. There are two sliding plates, both of which are slidably disposed at the bottom of the horizontal slide rail; the two sliding plates can move towards each other or away from each other along the horizontal slide rail under the drive of the sliding drive assembly; The gripping mechanism includes a left gripper and a right gripper, which are respectively mounted on two sliding plates; Both the left and right grippers include a mounting plate, a vacuum adsorption assembly, a vacuum degree detection assembly, a clamping assembly, and a clamping limit assembly; the mounting plate is connected to the bottom of the sliding plate; the vacuum adsorption assembly includes several vacuum suction cups arranged on the mounting plate, each vacuum suction cup can be raised and lowered independently; the vacuum degree detection assembly can detect the vacuum degree of each vacuum suction cup; The clamping assembly includes a clamping frame, which is directly or indirectly elastically connected to the mounting plate. The clamping frame is fitted around the outer periphery of the vacuum adsorption assembly. In its natural state, the bottom surface of the clamping frame is lower than the bottom surface of the vacuum suction cup. Each clamping frame is provided with clamping limiting components on both the left and right sides. The clamping limiting components are used to detect the position and horizontal status of the clamping frame. The method includes the following steps: Step 1: Calculate the center of gravity of the steel plate: Acquire an image of the steel plate to be grasped and calculate its center of gravity; Step 2: Calculate the optimal adsorption point: Based on the center of gravity of the steel plate, determine 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 cup. The left optimal adsorption point group is formed on the left gripping end, and the right optimal adsorption point group is formed on the right gripping end. Step 3, clamping the steel plate: The left and right jaws of the end effector descend simultaneously, and the clamping frames of the left and right jaws cover the outer periphery of the left and right optimal adsorption point groups, respectively, to clamp the steel plate. Step 4: Detect the status of the clamping frame: The clamping limit component detects the position and horizontal status of each clamping frame. When each clamping frame is compressed to the set position and the left and right sides of each clamping frame remain horizontal, proceed to step 5. Step 5, Adsorbing the steel plate: The suction cup lifting assembly drives the vacuum suction cups corresponding to the left optimal adsorption point group and the right optimal adsorption point group to descend simultaneously. The suction cup lifting limit assembly controls the vacuum suction cups to descend at the same height. After the vacuum suction cups are in place, the vacuum pump is turned on to adsorb the steel plate. Step 6, Vacuum degree detection: The vacuum degree detection component detects the vacuum degree of each vacuum suction cup. When the vacuum degree of all vacuum suction cups reaches the set value and remains 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: The control end effector moves upward to move and stack the steel plate to be grabbed to the designated position.

2. The method of using the end effector according to claim 1, characterized in that: A load sensor is connected between the mounting base and the centering mechanism; The centering mechanism is equipped with a distance sensor to detect the height of the gripping mechanism.

3. The method of using the end effector according to claim 1, characterized in that: The clamping assembly includes a clamping frame connecting plate, and a spring and a spring maximum stroke limit rod are connected between the clamping frame connecting plate and the clamping frame. The spring has a telescopic rod inside; the maximum stroke limit rod of the spring is used to adjust the amount of extension and retraction of the spring. The clamping frame connecting plate is connected to the mounting plate.

4. The method of using the end effector according to claim 1, characterized in that: The vacuum adsorption assembly includes a suction cup lifting assembly, which 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 method of using the end effector according to claim 4, characterized in that: The vacuum adsorption assembly includes a suction cup lifting and limiting assembly, which consists of two magnetic sensors mounted on a cylinder.

6. The method of using the end effector according to claim 1, characterized in that: The clamping and limiting assembly includes a photoelectric sensor and a height limiting plate; The height limiting plates are symmetrically arranged on the left and right sides of the clamping frame, and photoelectric sensors are correspondingly arranged on the same side of the height limiting plates.

7. The method of using the end effector according to claim 1, characterized in that: The vacuum degree detection component consists of a number of vacuum pressure switches equal to the number of vacuum suction cups, with each vacuum pressure switch connected to a vacuum suction cup.

8. The method of using the end effector according to claim 1, characterized in that: The power supply used by the end-effector includes UPS power supply and factory power supply.

9. The method of using the end effector according to claim 1, characterized in that, The steel plate is an irregularly shaped steel plate, which may be an arc-shaped steel plate, a triangular steel plate, or an elliptical steel plate.

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