CN102502219A - Cigarette box grabbing fixture device of manipulator - Google Patents
Cigarette box grabbing fixture device of manipulator Download PDFInfo
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- CN102502219A CN102502219A CN2011102804032A CN201110280403A CN102502219A CN 102502219 A CN102502219 A CN 102502219A CN 2011102804032 A CN2011102804032 A CN 2011102804032A CN 201110280403 A CN201110280403 A CN 201110280403A CN 102502219 A CN102502219 A CN 102502219A
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Abstract
The invention discloses a cigarette box grabbing fixture device of a manipulator, which comprises a fixture, a detection device and an empty-tray grabbing hook device. At least one suction plate is arranged at the bottom of the fixture, and an inner cavity of each suction plate is vacuum. The detection device comprises at least one vacuum detection switch and at least one photoelectric sensor, the vacuum detection switches sense the vacuum degree of the inner cavities of the suction plate, convert signals of the vacuum degree into digital signals and transmit the digital signals to a manipulator control device, and the photoelectric sensors are adjacent to the suction plate, sense whether cigarette boxes are located below the suction plates or not and transmit signals to the manipulator control device. The empty-tray grabbing hook device is arranged on the fixture, and grabbing hooks on the empty-tray grabbing hook device grab empty trays. Positions of the cigarette boxes can be detected by coordination of a photoelectric detection device and a vacuum negative-pressure detection device, and the cigarette boxes can be considered to be grabbed in place when photoelectric detection and vacuum negative detection meet the requirements simultaneously. Further, grabbing force to the cigarette boxes is increased by the aid of the planar suction plates, and reliable synchronization of the empty-tray grabbing hook device is realized through a connecting rod device.
Description
Technical field
The present invention relates to a kind of manipulator and grasp the smoke box grip device.
Background technology
Existing smoke box grasps grip device and partly is made up of chuck body structure, Acetabula device, smoke box detecting device, pallet grapple device etc.In the de-stacking process, smoke box and pallet often take place grasp the situation that can't quantize even fail.Weak point by following some: 1) conventional device detect to adopt micro-switch to add mechanical linkage to realize.The influence that this detecting device is simple in structure, precision is low, be subject to move and impact, poor stability; 2) Acetabula device adopts leather cup formula sucker, and is high to the smoke box status requirement, is slightly offset the situation that sucker gas leakage will take place and can't grasp.Suction is more concentrated simultaneously, and is high to the requirement of smoke box Facing material; 3) pallet grapple device poor rigidity, easy deformation causes the pallet grasp stability poor.
Summary of the invention
The technical matters that the present invention will solve provides a kind of manipulator and grasps the smoke box grip device, accurately detects the smoke box position and can effectively judge the stability that the raising smoke box grasps; Has the function that grasps empty pallet.
The present invention adopts following technical scheme:
A kind of manipulator grasps the smoke box grip device, comprising: chuck body, and said chuck body bottom is provided with at least one suction disc, and the suction disc inner chamber forms vacuum; Detecting device comprises at least one vacuum detecting switch and at least one opto-electronic pickup, the degree of vacuum of said vacuum detecting inductive switching suction disc inner chamber; And transfer the degree of vacuum signal to digital signal, when digital quantity reaches the value of setting, provide on-off signal; Pass to manipulator controller again; Said opto-electronic pickup is adjacent to suction disc, and whether induction suction disc below has smoke box, and this signal is passed to manipulator controller; And empty pallet grapple device, said grapple device is located on the chuck body, and the grapple on the grapple device is used to grasp empty pallet.
Preferably; Said suction disc has six, is followed successively by the first, second, third, fourth, the 5th, the 6th suction disc, and said opto-electronic pickup has three; It is first, second, third opto-electronic pickup; Said first opto-electronic pickup is located at second suction disc, one end, and second opto-electronic pickup is located at the 4th suction disc one end, and the 3rd opto-electronic pickup is located at the 5th suction disc one end.
Preferably, said vacuum detecting switch is located at the top of chuck body.
Preferably, said vacuum detecting switch has three, is first, second, third vacuum detecting switch, and each vacuum detecting switch receives the degree of vacuum signal of adjacent two suction discs.
Preferably; Said grapple device comprises first, second, third, fourth connecting rod; Wherein said first connecting rod is connected with said the 4th connecting rod through primary shaft; Said the first, the 4th connecting rod is around the line of centers rotation and the interlock of the first, the 4th connecting rod of primary shaft, and said second connecting rod is connected with said third connecting rod through second, and said second, third connecting rod links around second line of centers rotation and second, third connecting rod; Said first, second connecting rod all connects driver element, and an end of said first, second, third, fourth connecting rod respectively is first, second, third, fourth grapple.
Preferably, said third connecting rod also is connected with said the 4th connecting rod through the 5th connecting rod, and the end away from the 3rd grapple on an end of said the 5th connecting rod and the said third connecting rod is connected, and the other end of the 5th connecting rod is connected with the stage casing of the 4th connecting rod.
Preferably, said chuck body is a framed structure, is respectively equipped with first, second, third, fourth bearing on four jiaos of chuck body, and primary shaft is installed on the first, the 4th bearing, and second axle mounting is on second, third bearing.
Preferably, being shaped as of said first, second, third, fourth grapple is L shaped, and fits with the entry of pallet.
Preferably, said first connecting rod is forging together with the 3rd grapple, said the 4th connecting rod together with the 4th grapple together with second grapple, said third connecting rod together with first grapple, said second connecting rod.
Preferably, said driver element comprises first, second cylinder, and the piston end of said first cylinder is connected with first connecting rod, and the piston end of said second cylinder is connected with second connecting rod.
Preferably, the material of said chuck body is an aluminium section bar.
Whether the present invention detects the suction disc below through opto-electronic pickup has smoke box; Detect the relative position of judging suction disc plane and material through degree of vacuum; Have only the extracting requirement that meets manipulator controller when two testing results simultaneously, just can carry out next step grasping movement.In addition, interior outside grapple interlock relies on the 5th connecting rod to realize, guarantee four grapples synchronously, avoided in grasping pallet process pallet to tilt or the situation of landing.Manipulator grasps more stable, and production efficiency improves.
Description of drawings
Fig. 1 is the structural representation that the manipulator that the present invention relates to grasps the smoke box grip device, and this figure is a birds-eye view.
Fig. 2 is the structural representation that the manipulator that the present invention relates to grasps the smoke box grip device, and this figure is the birds-eye view of Fig. 1.
Fig. 3 is the structural representation that the manipulator that the present invention relates to grasps the smoke box grip device, and this figure is the back view of Fig. 1.
Fig. 4 is the structural representation of grapple device in the manipulator extracting smoke box grip device that the present invention relates to, and this figure is a birds-eye view.
Fig. 5 is the structural representation of grapple device in the manipulator extracting smoke box grip device that the present invention relates to, and this figure is the front view of Fig. 4.
The specific embodiment
In conjunction with Fig. 1, Fig. 2; Grasp the structural representation of smoke box grip device for the manipulator that the present invention relates to; This grip device comprises chuck body 1, and said chuck body 1 bottom is provided with at least one suction disc 2, and the suction disc inner chamber forms vacuum; The central authorities at chuck body 1 top are provided with connecting portion framework 5, and this connecting portion framework 5 connects the manipulator arm; Detecting device, said detecting device comprise at least one vacuum detecting switch 4 and at least one opto-electronic pickup 3, and said vacuum detecting switch 4 is through the degree of vacuum of tracheae induction suction disc inner chamber; And transfer the degree of vacuum signal to number signal; Pass to manipulator controller again, said opto-electronic pickup 3 also is located at anchor clamps 1 bottom, and adjacent to suction disc 2; Whether said opto-electronic pickup 3 induction suction discs 2 belows have smoke box, and this signal is passed to manipulator controller; And empty pallet grapple device 6, said grapple device 6 is located on the chuck body 1, and the grapple on the grapple device 6 grasps empty pallet.
There is a suction disc inner chamber suction disc 2 inside, and pressurized air is the entering vacuum generator under the control of electromagnetic valve, form certain degree of vacuum through venturi principle at the suction disc inner chamber.4 on vacuum detecting switch is connected to the suction disc inner chamber through tracheae; The degree of vacuum that vacuum detecting switch 4 can be sensed the suction disc inner chamber through tracheae changes; And can this degree of vacuum signal be converted into the digital quantity electric signal; When digital quantity reaches the value of setting, provide on-off signal, pass to the control setup of manipulator.Opto-electronic pickup 3 is located at an end of suction disc 2, and whether the smoke box that can detect suction disc 2 belows arrives within the distance of setting, and acquired signal is passed to the control setup of manipulator.
Said vacuum detecting switch 4 possesses programmability, can regulate switching point and sluggish point as required, and the needs flexible according to reality is used shows with digital form, convenient on-the-spot observation.
Said vacuum detecting switch 4 is located at the top of anchor clamps 1.Anchor clamps 1 body is a rectangular frame structure, and the material of said chuck body 1 is an aluminium section bar.Said suction disc 2 has six; Be followed successively by the first, second, third, fourth, the 5th, the 6th suction disc 21,22,23,24,25,26; Said opto-electronic pickup 3 has three, is first, second, third opto- electronic pickup 31,32,33, and said first opto-electronic pickup 31 is located at second suction disc, 22 1 ends; Second opto-electronic pickup 32 is located at the 4th suction disc 24 1 ends, and the 3rd opto-electronic pickup 33 is located at the 5th suction disc 25 1 ends.For opto-electronic pickup 3, the second, the 4th, the 5th suction disc 22,24,25 necessary slot millings are set, can know that by figure the length of the second, the 4th, the 5th suction disc 22,24,25 is shorter than the first, the 3rd, the 6th suction disc 21,23,26.
Said vacuum detecting switch 4 has three; It is first, second, third vacuum detecting switch 41,42,43; See Fig. 1; First, second vacuum detecting switch 41,42 is located at a side of connecting portion, and the 3rd vacuum detecting switch 43 is located at the opposite side of connecting portion, and each vacuum detecting switch is responsible for receiving the degree of vacuum signal of adjacent two suction discs.
The present invention detects through opto-electronic pickup (apart from sensing) and the degree of vacuum detection detects the material position together, simultaneously grasp stability is effectively judged, quantizes detected state.Detection mode is not influenced by the material profile from touching no touch.Can judge more accurately gripping surface (suction disc plane) and material relative position through the detection of degree of vacuum simultaneously.In addition, detecting device has adopted two kinds of relatively independent detection modes, and dual mode complements one another and checks each other, has improved the stability and the fiduciary level that detect.
Referring to Fig. 3-Fig. 5; Structure for grapple device 6; Comprise first, second, third, fourth connecting rod 61,62,63,64; Wherein said first connecting rod 61 is connected with said the 4th connecting rod 64 through primary shaft 65; Said the first, the 4th connecting rod 61,64 can be around the line of centers rotation and 61,64 interlocks of the first, the 4th connecting rod of primary shaft 65; Said second connecting rod 62 is connected with said third connecting rod 63 through second 66, and said second, third connecting rod 62,63 can be around second 66 line of centers rotation and 62,63 interlocks of second, third connecting rod, and an end of said first, second, third, fourth connecting rod 61,62,63,64 respectively is first, second, third, fourth grapple 611,621,631,641; Said third connecting rod 63 also is connected with said the 4th connecting rod 64 through the 5th connecting rod 67; End 632 away from the 3rd grapple 631 on one end of said the 5th connecting rod 67 and the said third connecting rod 63 is connected, and the other end of the 5th connecting rod 67 is connected with the stage casing 642 of the 4th connecting rod 64, and said first, second connecting rod 61,62 all connects driver element.
See Fig. 4; Because chuck body 1 is a rectangular frame structure; Be respectively equipped with first, second, third, fourth bearing 71,72,73,74 on four jiaos of chuck body 1, primary shaft 65 is installed on the first, the 4th bearing 71,74, and second 66 is installed on second, third bearing 72,73.
Driver element is a driving link; Drive first, second connecting rod 61,62 respectively separately around first, second line of centers of 65,66 rotation; Because the first, the 4th connecting rod the 61, the 64th, interlock; Second, third connecting rod the 62, the 63rd, interlock, therefore the 4th, also and then rotation of third connecting rod 64,63.Said driver element comprises first, second identical cylinder 68,69; The piston end of said first cylinder 68 is connected with first connecting rod 61; The piston end of said second cylinder 69 is connected with second connecting rod 62, and is connected (connection location is symmetrical) on the same position on two connecting rods 61,62.In order to ensure grapple synchronously, also be provided with the 5th connecting rod 67 and be connected with the 3rd, the 4th connecting rod 63,64 respectively, and be connected on the different position of two connecting rods 63,64 (connection location apart from the pivot center equidistance, but be positioned at heteropleural).Grasping movement is more reliable and stable like this.
Preferably; Being shaped as of said first, second, third, fourth grapple 611,621,631,641 is L shaped; Cooperate (entry is a rectangular opening) with the entry of pallet; And the terminal of grapple must have certain length, and when first, second, third, fourth grapple, 611,621,631,641 reeve entries, eave tile can stretch into the degree of depth enough in the entry.
Preferably, said first connecting rod 61 is forging together with the 3rd grapple 631, said the 4th connecting rod 64 together with the 4th grapple 641 together with second grapple 621, said third connecting rod 63 together with first grapple 611, said second connecting rod 62.Forging has good mechanical characteristics, and each connecting rod 61,62,63,64 and grapple 611,621,631,641 be polyhedral structure, and intensity, rigidity all increase, and is not yielding.
Operation engineering of the present invention is following, is divided into grasping smoke box and empty pallet step:
(1) grasp the smoke box step:
Manipulator receives extracting task → manipulator servomotor according to the instruction motion; Make grip device arrive to specify pallet top (have smoke box on the pallet this moment) → manipulator drive grip device and move straight down → after apart from the smoke box certain altitude; Electromagnetic valve on the grip device is opened; Pressurized air gets into vacuum generator, produces negative pressure, and suction disc is had after adsorption affinity → manipulator further reduces grip device → arrive the theoretical level of smoke box at grip device with lower running velocity; Grip device detects smoke box whether below suction disc through electro-optical tubes (being opto-electronic pickup); Simultaneously vacuum checking device detects the force value of negative pressure of vacuum, confirms whether smoke box has been adsorbed on the grip device → after manipulator obtains photocell detection signal and vacuum detecting signal simultaneously, and the smoke box correct position is thought by system; Simultaneously smoke box be adsorbed on steadily on the grip device → grip device mentions smoke box, is placed on the travel line.
When grasping smoke box, the grapple device is packed up, and first, second, third, fourth grapple is not worked, and is arranged in the both sides of chuck body.In addition, in the present embodiment, suction disc has 6, and per two suction discs are responsible for grasping 1 smoke box, therefore can grasp 3 smoke boxes simultaneously.Suction disc is provided with airflow hole.What the area of suction disc did not exceed smoke box treats the gripping surface area.
(2) etc. after the whole smoke boxes on the pallet are caught away, next carry out and grasp the empty pallet step:
The manipulator full wind-up drives grip device → grip device and arrives empty pallet top → manipulator and drive grip device and move straight down → behind grip device arrival certain altitude; Cylinder action (piston rod stretches out) on the anchor clamps; Grapple is opened → manipulator continues to move downward at a slow speed → and after arriving the theoretical level that grasps empty pallet, cylinder action retraction is packed up grapple; Grapple stretches into the pallet entry; Collude on empty pallet → manipulator lifting clamp device, empty pallet is picked up → the manipulator full wind-up, then empty pallet is placed on the pallet travel line.
In the present embodiment, entry is located at the both sides of pallet, and entry is a rectangle, and grapple shape and entry are fitted, and the end of L shaped grapple can stretch in the entry.
Chuck body of the present invention changes standard aluminum section bar framework into from welded-steel plate construction, and grip device weight is reduced, and also is convenient to device simultaneously and installs; Through Photoelectric Detection and negative pressure of vacuum detecting device the smoke box position is detected, had only when Photoelectric Detection and negative pressure of vacuum detect to require all to satisfy, explain that just the smoke box extracting puts in place; Improve grasp force through the plane suction disc in addition to smoke box; The grapple device adopts the grapple of forging structure, and realizes reliable synchronization through linkage (setting of the 5th connecting rod).
Claims (11)
1. a manipulator grasps the smoke box grip device, it is characterized in that comprising:
Chuck body (1), said chuck body (1) bottom is provided with at least one suction disc (2), and the suction disc inner chamber forms vacuum;
Detecting device; Comprise at least one vacuum detecting switch (4) and at least one opto-electronic pickup (3), said vacuum detecting switch (4) is responded to the degree of vacuum of suction disc inner chamber, and transfers the degree of vacuum signal to digital signal; Pass to manipulator controller again; Said opto-electronic pickup (3) is adjacent to suction disc (2), and whether induction suction disc (2) below has smoke box, and this signal is passed to manipulator controller; And
Empty pallet grapple device (6), said grapple device (6) are located on the chuck body (1), and the grapple on the grapple device (6) grasps empty pallet.
2. manipulator according to claim 1 grasps the smoke box grip device; It is characterized in that: said suction disc (2) has six; Be followed successively by the first, second, third, fourth, the 5th, the 6th suction disc (21,22,23,24,25,26); Said opto-electronic pickup (3) has three, is first, second, third opto-electronic pickup (31,32,33), and said first opto-electronic pickup (31) is located at second suction disc (22) one ends; Second opto-electronic pickup (32) is located at the 4th suction disc (24) one ends, and the 3rd opto-electronic pickup (33) is located at the 5th suction disc (25) one ends.
3. manipulator according to claim 1 grasps the smoke box grip device, and it is characterized in that: said vacuum detecting switch (4) is located at the top of chuck body (1).
4. manipulator according to claim 2 grasps the smoke box grip device; It is characterized in that: said vacuum detecting switch (4) has three; Be first, second, third vacuum detecting switch (41,42,43), each vacuum detecting switch receives the degree of vacuum signal of adjacent two suction discs.
5. manipulator according to claim 1 grasps the smoke box grip device; It is characterized in that: said empty pallet grapple device (6) comprises first, second, third, fourth connecting rod (61,62,63,64); Wherein said first connecting rod (61) is connected with said the 4th connecting rod (64) through primary shaft (65); Said the first, the 4th connecting rod (61,64) is around the line of centers rotation and the first, the 4th connecting rod (61, the 64) interlock of primary shaft (65); Said second connecting rod (62) is connected with said third connecting rod (63) through second (66); Said second, third connecting rod (62,63) is around line of centers rotation and second, third connecting rod (62,63) interlock of second (66); Said first, second connecting rod (61,62) all connects driver element, and an end of said first, second, third, fourth connecting rod (61,62,63,64) respectively is first, second, third, fourth grapple (611,621,631,641).
6. manipulator according to claim 5 grasps the smoke box grip device; It is characterized in that: said third connecting rod (63) also is connected with said the 4th connecting rod (64) through the 5th connecting rod (67); One end of said the 5th connecting rod (67) is connected with the end (632) that said third connecting rod (63) is gone up away from the 3rd grapple (631), and the other end of the 5th connecting rod (67) is connected with the stage casing (642) of the 4th connecting rod (64).
7. manipulator according to claim 5 grasps the smoke box grip device; It is characterized in that: said chuck body (1) is a framed structure; Be respectively equipped with first, second, third, fourth bearing (71,72,73,74) on four jiaos of chuck body (1); Primary shaft (65) is installed on the first, the 4th bearing (71,74), and second (66) are installed on second, third bearing (72,73).
8. manipulator according to claim 5 grasps the smoke box grip device, and it is characterized in that: being shaped as of said first, second, third, fourth grapple (611,621,631,641) is L shaped, and fits with the entry of pallet.
9. manipulator according to claim 5 grasps the smoke box grip device, and it is characterized in that: said first connecting rod (61) is forging together with the 3rd grapple (631), said the 4th connecting rod (64) together with the 4th grapple (641) together with second grapple (621), said third connecting rod (63) together with first grapple (611), said second connecting rod (62).
10. manipulator according to claim 5 grasps the smoke box grip device; It is characterized in that: said driver element comprises first, second cylinder (68,69); The piston end of said first cylinder (68) is connected with first connecting rod (61), and the piston end of said second cylinder (69) is connected with second connecting rod (62).
11. grasp the smoke box grip device according to each described manipulator among the claim 1-10, it is characterized in that: the material of said chuck body (1) is an aluminium section bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110280403.2A CN102502219B (en) | 2011-09-20 | 2011-09-20 | Cigarette box grabbing fixture device of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110280403.2A CN102502219B (en) | 2011-09-20 | 2011-09-20 | Cigarette box grabbing fixture device of manipulator |
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| CN102502219A true CN102502219A (en) | 2012-06-20 |
| CN102502219B CN102502219B (en) | 2014-01-15 |
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| CN201110280403.2A Active CN102502219B (en) | 2011-09-20 | 2011-09-20 | Cigarette box grabbing fixture device of manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104326262A (en) * | 2014-11-19 | 2015-02-04 | 重庆正佳饲料有限公司 | Hooked type sliding conveying device for article processing |
| CN107512514A (en) * | 2017-09-21 | 2017-12-26 | 成都三泰智能设备有限公司 | Safe deposit box system |
| CN108163538A (en) * | 2018-02-06 | 2018-06-15 | 新智数字科技有限公司 | Wireless remote gas meter, flow meter circuit board detecting device and method |
| CN109205331A (en) * | 2017-07-07 | 2019-01-15 | 上海烟草集团有限责任公司 | Equipment and its operational method for de-stacking, distribution |
| CN109821761A (en) * | 2019-03-13 | 2019-05-31 | 东莞市冠泰机电设备有限公司 | A kind of hole diameter detection apparatus of multi-arm layer part |
| CN110840584A (en) * | 2019-10-15 | 2020-02-28 | 浙江隐齿丽医学技术有限公司 | Pick-up device, pick-up system and pick-up method for shell-shaped dental appliance |
| CN111426795A (en) * | 2020-04-26 | 2020-07-17 | 云南中烟工业有限责任公司 | Method for representing cigarette combustion ash-wrapping performance based on manipulator simulation human body cigarette smoking overall process and overall vision measurement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111426795A (en) * | 2020-04-26 | 2020-07-17 | 云南中烟工业有限责任公司 | Method for representing cigarette combustion ash-wrapping performance based on manipulator simulation human body cigarette smoking overall process and overall vision measurement |
| CN111521727A (en) * | 2020-04-26 | 2020-08-11 | 云南中烟工业有限责任公司 | Method for measuring cigarette combustion ash holding rate by mechanical arm simulation human body suction |
| CN111426795B (en) * | 2020-04-26 | 2022-07-01 | 云南中烟工业有限责任公司 | Method for measuring and representing cigarette combustion ash-wrapping performance based on whole process of human body cigarette smoking simulation by mechanical arm and whole vision |
| CN111521727B (en) * | 2020-04-26 | 2022-07-01 | 云南中烟工业有限责任公司 | Method for measuring cigarette combustion ash holding rate by mechanical arm simulation human body suction |
| CN111426794A (en) * | 2020-04-26 | 2020-07-17 | 云南中烟工业有限责任公司 | Method for representing cigarette combustion carbon line quality based on whole process of human body cigarette smoking simulation and whole visual measurement |
| CN113753569A (en) * | 2021-09-30 | 2021-12-07 | 英业达(重庆)有限公司 | Clamping device |
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