CN102502219B - Cigarette box grabbing fixture device of manipulator - Google Patents
Cigarette box grabbing fixture device of manipulator Download PDFInfo
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- CN102502219B CN102502219B CN201110280403.2A CN201110280403A CN102502219B CN 102502219 B CN102502219 B CN 102502219B CN 201110280403 A CN201110280403 A CN 201110280403A CN 102502219 B CN102502219 B CN 102502219B
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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 cigarette box grabbing fixture device of manipulator.
Background technology
Existing smoke box captures grip device and partly consists of chuck body structure, Acetabula device, smoke box detecting device, pallet claw hook device etc.In de-stacking process, often there is smoke box and pallet and capture and cannot quantize even failed situation.Weak point by following some: 1) existing device detects and adopts micro-switch to add mechanical linkage to realize.This structure of the detecting device is simple, precision is low, be subject to the impact of elliptical gear, poor stability; 2) Acetabula device adopts leather cup type sucker, high to smoke box status requirement, is slightly offset the situation that sucker gas leakage will occur and cannot capture.Simultaneously suction is more concentrated, to smoke box Facing material require high; 3) pallet claw hook device poor rigidity, easily distortion, causes pallet grasp stability poor.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of cigarette box grabbing fixture device of manipulator, accurately detects smoke box position and can effectively judge, improves the stability that smoke box captures; There is the function that captures empty pallet.
The present invention is by the following technical solutions:
, comprising: chuck body, described chuck body bottom is provided with at least one suction disc, and suction disc inner chamber forms vacuum; Detecting device, comprise at least one vacuum detection switch and at least one opto-electronic pickup, the degree of vacuum of described vacuum detection switch induction suction disc inner chamber, and transfer degree of vacuum signal to digital signal, when digital quantity reaches the value of setting, provide on-off signal, pass to again manipulator controller, described 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 claw hook device, described claw hook device is located in chuck body, and the grapple on claw hook device is used for capturing empty pallet.
Preferably, described suction disc has six, be followed successively by the first, second, third, fourth, the 5th, the 6th suction disc, described opto-electronic pickup has three, it is first, second, third opto-electronic pickup, described the first opto-electronic pickup is located at second suction disc one end, and the 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, described vacuum detection switch is located at the top of chuck body.
Preferably, described vacuum detection switch has three, is first, second, third vacuum detection switch, and each vacuum detection switch receives the degree of vacuum signal of adjacent two suction discs.
Preferably, described claw hook device comprises first, second, the 3rd, the 4th connecting rod, wherein said first connecting rod is connected with described the 4th connecting rod by the first axle, described first, the 4th connecting rod is around the line of centers rotation and first of the first axle, the 4th connection-rod linkage, described second connecting rod is connected with described third connecting rod by the second axle, described second, third connecting rod is around the line of centers rotation and second of the second axle, third connecting rod interlock, described first, second connecting rod all connects driver element, described first, second, the 3rd, one end of the 4th connecting rod is respectively first, second, the 3rd, the 4th grapple.
Preferably, described third connecting rod is also connected with described the 4th connecting rod by the 5th connecting rod, and one end of described the 5th connecting rod is connected with one end away from the 3rd grapple on described third connecting rod, and the other end of the 5th connecting rod is connected with the stage casing of the 4th connecting rod.
Preferably, described chuck body is framed structure, is respectively equipped with first, second, third, fourth bearing on four jiaos of chuck body, and the first axle is arranged on the first, the 4th bearing, and the second axle is arranged on second, third bearing.
Preferably, being shaped as of described first, second, third, fourth grapple is L shaped, and fits with the entry of pallet.
Preferably, described first connecting rod is forging together with the 3rd grapple, described the 4th connecting rod together with the 4th grapple together with the second grapple, described third connecting rod together with the first grapple, described second connecting rod.
Preferably, described driver element comprises first, second cylinder, and the piston end of described the first cylinder is connected with first connecting rod, and the piston end of described the second cylinder is connected with second connecting rod.
Preferably, the material of described chuck body is aluminium section bar.
Whether the present invention detects suction disc below by opto-electronic pickup smoke box, by degree of vacuum, detect the relative position of judgement suction disc plane and material, only have the crawl requirement that simultaneously meets manipulator controller when two testing results, just can carry out next step grasping movement.In addition, interior outside grapple interlock relies on the 5th connecting rod to realize, and guarantees the synchronous of four grapples, has avoided in capturing pallet process pallet to tilt or the situation of landing.Manipulator captures more stable, and production efficiency improves.
Accompanying drawing explanation
Fig. 1 is the structural representation of the cigarette box grabbing fixture device of manipulator that the present invention relates to, and this figure is birds-eye view.
Fig. 2 is the structural representation of the cigarette box grabbing fixture device of manipulator that the present invention relates to, the birds-eye view that this figure is Fig. 1.
Fig. 3 is the structural representation of the cigarette box grabbing fixture device of manipulator that the present invention relates to, the back view that this figure is Fig. 1.
Fig. 4 is the structural representation of claw hook device in the cigarette box grabbing fixture device of manipulator the present invention relates to, and this figure is birds-eye view.
Fig. 5 is the structural representation of claw hook device in the cigarette box grabbing fixture device of manipulator the present invention relates to, the front view that this figure is Fig. 4.
The specific embodiment
In conjunction with Fig. 1, Fig. 2, structural representation for the cigarette box grabbing fixture device of manipulator that the present invention relates to, this grip device comprises chuck body 1, described chuck body 1 bottom is provided with at least one suction disc 2, 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 manipulator arm; Detecting device, described detecting device comprises at least one vacuum detection switch 4 and at least one opto-electronic pickup 3, described vacuum detection switch 4 is responded to the degree of vacuum of suction disc inner chamber by tracheae, and transfer degree of vacuum signal to number signal, pass to manipulator controller, described opto-electronic pickup 3 is also located at fixture 1 bottom again, and adjacent to suction disc 2, whether described opto-electronic pickup 3 induction suction disc 2 belows have smoke box, and this signal is passed to manipulator controller; And empty pallet claw hook device 6, described claw hook device 6 is located in chuck body 1, and the grapple on claw hook device 6 captures empty pallet.
There is a suction disc inner chamber suction disc 2 inside, and pressurized air enters vacuum generator under the control of electromagnetic valve, by venturi principle, at suction disc inner chamber, form certain degree of vacuum.4 of vacuum detection switchs are connected to suction disc inner chamber by tracheae, vacuum detection switch 4 can sense that by tracheae the degree of vacuum of suction disc inner chamber changes, and this degree of vacuum signal can be converted into 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 one end of suction disc 2, within whether the smoke box that can detect suction disc 2 belows arrives the distance of setting, and collection signal is passed to the control setup of manipulator.
Described vacuum detection switch 4 possesses programmability, can to switching point and sluggish point, regulate as required, and the flexible that needs according to reality use, shows in digital form, facilitates on-the-spot observation.
Described vacuum detection switch 4 is located at the top of fixture 1.Fixture 1 body is rectangular frame structure, and the material of described chuck body 1 is aluminium section bar.Described 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, described opto-electronic pickup 3 has three, it is first, second, third opto- electronic pickup 31,32,33, described the first opto-electronic pickup 31 is located at second suction disc 22 one end, the second opto-electronic pickup 32 is located at the 4th suction disc 24 one end, and the 3rd opto-electronic pickup 33 is located at the 5th suction disc 25 one end.Must slot milling for opto-electronic pickup 3, the second, the 4th, the 5th suction disc 22,24,25 are set, as seen from the figure, the Length Ratio first of the second, the 4th, the 5th suction disc 22,24,25, the 3rd, the 6th suction disc 21,23,26 are short.
Described vacuum detection switch 4 has three, it is first, second, third vacuum detection switch 41,42,43, see Fig. 1, first, second vacuum detection switch 41,42 is located at a side of connecting portion, and the 3rd vacuum detection switch 43 is located at the opposite side of connecting portion, each vacuum detection switch is responsible for receiving the degree of vacuum signal of adjacent two suction discs.
The present invention is detected together with degree of vacuum detection material position is detected by opto-electronic pickup (Distance-sensing), grasp stability is effectively judged simultaneously, quantizes detected state.Detection mode, from touching no touch, is not affected by material profile.Detection by degree of vacuum simultaneously can judge more accurately to gripping surface (suction disc plane) and material relative position.In addition, detecting device has adopted two kinds of relatively independent detection modes, and two kinds of modes complement one another and mutually check, and has improved the stability and the fiduciary level that detect.
Referring to Fig. 3-Fig. 5, the structure for claw hook device 6, comprises first, second, the 3rd, the 4th connecting rod 61, 62, 63, 64, wherein said first connecting rod 61 is connected with described the 4th connecting rod 64 by the first axle 65, and described first, the 4th connecting rod 61, 64 can be around the line of centers rotation and first of the first axle 65, the 4th connecting rod 61, 64 interlocks, described second connecting rod 62 is connected with described third connecting rod 63 by the second axle 66, and described second, third connecting rod 62, 63 can be around the line of centers rotation and second of the second axle 66, third connecting rod 62, 63 interlocks, described first, second, the 3rd, the 4th connecting rod 61, 62, 63, 64 one end is respectively first, second, the 3rd, the 4th grapple 611, 621, 631, 641, described third connecting rod 63 is also connected with described the 4th connecting rod 64 by the 5th connecting rod 67, described the 5th connecting rod 67 one end with on described third connecting rod 63, away from the 3rd grapple 631 one end 632, be connected, the other end of the 5th connecting rod 67 is connected with the 4th connecting rod 64 stage casing 642, described first, second connecting rod 61, 62 all connect driver element.
See Fig. 4, because chuck body 1 is rectangular frame structure, on four jiaos of chuck body 1, be respectively equipped with first, second, third, fourth bearing 71,72,73,74, the first axles 65 and be arranged on the first, the 4th bearing 71,74, the second axle 66 is arranged on second, third bearing 72,73.
Driver element is driving link, drive respectively first, second connecting rod 61,62 around the line of centers of first, second axle 65,66, to rotate separately, due to 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.Described driver element comprises first, second identical cylinder 68,69, the piston end of described the first cylinder 68 is connected with first connecting rod 61, the piston end of described the second cylinder 69 is connected with second connecting rod 62, and is connected to (connection location is symmetrical) on the same position on two connecting rods 61,62.Synchronous in order to ensure grapple, is also provided with the 5th connecting rod 67 and is connected with the 3rd, the 4th connecting rod 63,64 respectively, and is connected to (connection location is equidistant apart from pivot center, but is positioned at heteropleural) on the different position of two connecting rods 63,64.Grasping movement is more reliable and stable like this.
Preferably, being shaped as of described first, second, third, fourth grapple 611,621,631,641 is L shaped, coordinate (entry is rectangular opening) with the entry of pallet, and the end of grapple must have certain length, when first, second, third, fourth grapple 611,621,631,641 injects entry, eave tile can stretch into enough degree of depth in entry.
Preferably, described first connecting rod 61 is forging together with the 3rd grapple 631, described the 4th connecting rod 64 together with the 4th grapple 641 together with the second grapple 621, described third connecting rod 63 together with the first grapple 611, described 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, not yielding.
Operation engineering of the present invention is as follows, is divided into and captures smoke box and empty pallet step:
(1) capture smoke box step:
Manipulator receives crawl task → manipulator servomotor according to instruction campaign, make grip device arrive to specify pallet top (now having smoke box on pallet) → manipulator drive grip device move straight down → after apart from smoke box certain altitude, electromagnetic valve on grip device is opened, pressurized air enters vacuum generator, produce negative pressure, make suction disc there is adsorption affinity → manipulator and further reduce grip device → arrive at grip device after the theoretical level of smoke box with lower running velocity, grip device detects smoke box whether below suction disc by electro-optical tubes (being opto-electronic pickup), vacuum checking device detects the force value of negative pressure of vacuum simultaneously, determine whether smoke box has been adsorbed on grip device → obtain after photocell detection signal and vacuum detecting signal when manipulator simultaneously, system is thought smoke box correct position, simultaneously be adsorbed on steadily on grip device → grip device of smoke box is mentioned smoke box, be placed on travel line.
While capturing smoke box, claw hook 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 every two suction discs are responsible for capturing 1 smoke box, therefore can capture 3 smoke boxes simultaneously.Suction disc is provided with airflow hole.What the area of suction disc did not exceed smoke box treats gripping surface area.
Etc. (2), after the whole smoke boxes on pallet are caught away, next carry out and capture empty pallet step:
Manipulator full wind-up drives grip device → grip device to arrive empty pallet top → manipulator drive grip device and moves straight down → at grip device, arrive after certain altitude, cylinder action (piston rod stretches out) on fixture, the continuation of grapple is opened → manipulator moves downward at a slow speed → in arrival, captures after the theoretical level of empty pallet, cylinder action retraction, pack up grapple, grapple stretches into pallet entry, hook on empty pallet → manipulator lifting clamp device, empty pallet is picked up → manipulator full wind-up, is then placed on empty pallet on pallet travel line.
In the present embodiment, entry is located at the both sides of pallet, and entry is rectangle, grapple shape and entry laminating, and the end of L shaped grapple can stretch in entry.
Chuck body of the present invention changes standard aluminum section bar framework into from welded-steel plate construction, makes grip device weight reducing, is also convenient to device simultaneously and installs; By Photoelectric Detection and negative pressure of vacuum detecting device, smoke box position is detected, only had and all meet when Photoelectric Detection and negative pressure of vacuum testing requirement, just illustrate that smoke box captures to put in place; By plane suction disc, improve the grasp force to smoke box in addition; Claw hook device adopts the grapple of forging structure, and realizes reliable synchronization by linkage (setting of the 5th connecting rod).
Claims (10)
1. a cigarette box grabbing fixture device of manipulator, is characterized in that comprising:
Chuck body (1), described chuck body (1) bottom is provided with at least one suction disc (2), and suction disc inner chamber forms vacuum;
Detecting device, comprise at least one vacuum detection switch (4) and at least one opto-electronic pickup (3), the degree of vacuum of described vacuum detection switch (4) induction suction disc inner chamber, and transfer degree of vacuum signal to digital signal, pass to again manipulator controller, described 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 claw hook device (6), it is upper that described claw hook device (6) is located at chuck body (1), and the grapple on claw hook device (6) captures empty pallet, and described empty pallet claw hook device (6) comprises first, second, the 3rd, the 4th connecting rod (61, 62, 63, 64), wherein said first connecting rod (61) is connected with described the 4th connecting rod (64) by the first axle (65), and described first, the 4th connecting rod (61, 64) around the line of centers rotation and first of the first axle (65), the 4th connecting rod (61, 64) interlock, described second connecting rod (62) is connected with described third connecting rod (63) by the second axle (66), and described second, third connecting rod (62, 63) around the line of centers rotation and second of the second axle (66), third connecting rod (62, 63) interlock, described first, second connecting rod (61, 62) all connect driver element, described first, second, the 3rd, the 4th connecting rod (61, 62, 63, 64) one end is respectively first, second, the 3rd, the 4th grapple (611, 621, 631, 641).
2. cigarette box grabbing fixture device of manipulator according to claim 1, it is characterized in that: described suction disc (2) has six, be followed successively by first, second, the 3rd, the 4th, the 5th, the 6th suction disc (21, 22, 23, 24, 25, 26), described opto-electronic pickup (3) has three, be first, second, the 3rd opto-electronic pickup (31, 32, 33), described the first opto-electronic pickup (31) is located at the second suction disc (22) one end, the second opto-electronic pickup (32) is located at the 4th suction disc (24) one end, the 3rd opto-electronic pickup (33) is located at the 5th suction disc (25) one end.
3. cigarette box grabbing fixture device of manipulator according to claim 1, is characterized in that: described vacuum detection switch (4) is located at the top of chuck body (1).
4. cigarette box grabbing fixture device of manipulator according to claim 2, it is characterized in that: described vacuum detection switch (4) has three, be first, second, third vacuum detection switch (41,42,43), each vacuum detection switch receives the degree of vacuum signal of adjacent two suction discs.
5. cigarette box grabbing fixture device of manipulator according to claim 1, it is characterized in that: described third connecting rod (63) is also connected with described the 4th connecting rod (64) by the 5th connecting rod (67), one end of described the 5th connecting rod (67) is connected with the upper one end (632) away from the 3rd grapple (631) of described third connecting rod (63), and the other end of the 5th connecting rod (67) is connected with the stage casing (642) of the 4th connecting rod (64).
6. cigarette box grabbing fixture device of manipulator according to claim 1, it is characterized in that: described chuck body (1) is framed structure, on four jiaos of chuck body (1), be respectively equipped with first, second, third, fourth bearing (71,72,73,74), it is upper that the first axle (65) is arranged on the first, the 4th bearing (71,74), and the second axle (66) is arranged on second, third bearing (72,73).
7. cigarette box grabbing fixture device of manipulator according to claim 1, is characterized in that: being shaped as of described first, second, third, fourth grapple (611,621,631,641) is L shaped, and fits with the entry of pallet.
8. cigarette box grabbing fixture device of manipulator according to claim 1, is characterized in that: described first connecting rod (61) is forging together with the 3rd grapple (631), described the 4th connecting rod (64) together with the 4th grapple (641) together with the second grapple (621), described third connecting rod (63) together with the first grapple (611), described second connecting rod (62).
9. cigarette box grabbing fixture device of manipulator according to claim 1, it is characterized in that: described driver element comprises first, second cylinder (68,69), the piston end of described the first cylinder (68) is connected with first connecting rod (61), and the piston end of described the second cylinder (69) is connected with second connecting rod (62).
10. according to the cigarette box grabbing fixture device of manipulator described in any one in claim 1-9, it is characterized in that: the material of described chuck body (1) is aluminium section bar.
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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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| 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 CN102502219A (en) | 2012-06-20 |
| CN102502219B true 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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| 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 |
| CN111426794B (en) * | 2020-04-26 | 2022-07-01 | 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 |
| 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 |
| CN113753569A (en) * | 2021-09-30 | 2021-12-07 | 英业达(重庆)有限公司 | Clamping device |
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