CN105150192B - The grabbing device that Intelligent Measurement container is filled with - Google Patents
The grabbing device that Intelligent Measurement container is filled with Download PDFInfo
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- CN105150192B CN105150192B CN201510571278.9A CN201510571278A CN105150192B CN 105150192 B CN105150192 B CN 105150192B CN 201510571278 A CN201510571278 A CN 201510571278A CN 105150192 B CN105150192 B CN 105150192B
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- grabber
- expansion link
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
The invention discloses the grabbing device that a kind of Intelligent Measurement container is filled with, including grasping mechanism, testing agency, travel mechanism for controlling the grasping mechanism movement, for driving the drive mechanism of the grasping mechanism crawl or the movement of driving travel mechanism and for the controlling organization to drive mechanism transmission driving instruction, the grasping mechanism includes the grabber for being used to capture object, the testing agency includes telescoping mechanism and position sensor, the external part of the telescoping mechanism is connected with the grabber, the telescoping mechanism extends under the Action of Gravity Field of grabber and shortened when grabber meets dynamic resistance；The position sensor is used to be filled with signal to the controlling organization out-put container when the telescoping mechanism shortens to a predeterminable level, advantage high with accuracy in detection, simple in construction.
Description
Technical field
The present invention relates to field of machinery automation, the grabbing device that more particularly to a kind of Intelligent Measurement container is filled with.
Background technology
In automatic field, often the object processed is placed into container and dispensed, there is point of same item
Dress, also there is loading in mixture for different objects.At this moment generally require to realize in phase by detection means or by calculating object number
Same amount of object is placed in same container, for example, dispenses field in eyeglass, is often detected using by setting number of lenses
Whether the object in container is filled with.In the prior art, when detecting whether object is filled with the container with detection means,
Often detection means is separated with the grabbing device, the effect of grabbing device is only limitted to capture and place object, it is impossible to detect
The object amount of placement.Grabbing device is separated with detection means and had the disadvantage that：1st, it is complicated；2nd, container shapes and article shape
Easily it is restricted；3rd, it is easily caused detection inaccurate.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind detection accurately, simple in construction, Intelligent Measurement container is filled with
Grabbing device.
In order to solve the above-mentioned technical problem, the invention provides the grabbing device that a kind of Intelligent Measurement container is filled with, including
Grasping mechanism, testing agency, the travel mechanism for controlling grasping mechanism movement, for driving the grasping mechanism to capture
Or drive the drive mechanism of travel mechanism's movement and the controlling organization for sending driving instruction to drive mechanism, the gripper
Structure includes the grabber for being used to capture object, and the testing agency includes telescoping mechanism and position sensor, the telescoping mechanism
External part be connected with the grabber, the telescoping mechanism extends under the Action of Gravity Field of grabber and met in grabber dynamic
Shorten during resistance；The position sensor is used for defeated to the controlling organization when the telescoping mechanism shortens to a predeterminable level
Go out container and be filled with signal.
Further, the telescoping mechanism be slide rail and on the slide rail vertical sliding motion slider bar, the slider bar
It is connected with the grabber.
Further, the telescoping mechanism includes cylinder body and the expansion link being arranged in cylinder body, and the cylinder body is grabbed with described
Device is taken to connect.
Further, the telescoping mechanism includes cylinder body and the expansion link that is arranged in cylinder body, the expansion link with it is described
Grabber is connected.
Further, the travel mechanism includes vertical movement mechanism, and the cylinder body hangs down with the vertical movement mechanism
Translation moved end is connected by the connecting plate, and the grabbing device that the Intelligent Measurement container is filled with also includes being used for the driving
Device plays the guiding rail of guide effect, and the guiding rail is provided with the movement that guide effect is played to the drive device
Guide runner, the connecting plate is connected with the mobile guide sliding block.
Further, the vertical movement mechanism includes driving cylinder and the drive rod being arranged in driving cylinder, the driving
The external part of bar is connected with the connecting plate.
Further, the guiding rail is provided with the flexible guide runner that guide effect is played to the expansion link, institute
Flexible guide runner is stated to be connected with expansion link or grabber.
Further, the grabbing device that the Intelligent Measurement container is filled with also includes position limiting ruler and can be in the position limiting ruler
The position-limit mechanism of upper slip, the position-limit mechanism is fixedly connected with the expansion link.
Further, the position sensor is located on the position-limit mechanism or the position limiting ruler, when the position restrainer
When structure moves up a predeterminable level signal is filled with to controlling organization out-put container.
Further, the position sensor is arranged in the cylinder body, when the expansion link is retracted into the cylinder body
Reach after a predeterminable level, the position sensor is filled with signal to controlling organization out-put container.
The advantage of the invention is that：
1. remained able to not limiting container shapes and not limiting in container under the shape of stacking object in detection container
Whether object is filled with, such as whether the object when different thickness in container is filled with；
2. detect whether that the degree of accuracy being filled with is high；
3. it is simple in construction.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of embodiment eight；
Fig. 2 is the perspective exploded view of embodiment eight；
Fig. 3 is the sliding bar of embodiment two and the structural representation of guiding mechanism；
Fig. 4 is the sliding bar of embodiment three and the structural scheme of mechanism of guiding mechanism；
Fig. 5 is the sliding bar of example IV and the structural representation of guiding mechanism.
11- driving cylinders, 12- drive rods, 21- cylinder bodies, 211- expansion link penetrating ends, 22- connecting plates, 23- expansion links, 231-
Cylinder interior end, 24- grabbers, 25- slide rails, 251- anti-fall off block, 26- slider bars, 27- position sensors, 3- guiding rails,
31- mobile guide sliding blocks, 32- stretches guide runner, 41- position limiting rulers, 42- position-limit mechanisms.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
More fully understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Embodiment one：
The grabbing device that a kind of Intelligent Measurement container is filled with, as shown in Figure 1 and Figure 2, including grasping mechanism, testing agency, use
In controlling the travel mechanism of grasping mechanism movement, for driving the grasping mechanism to capture or driving travel mechanism movement
Drive mechanism and the controlling organization for sending driving instruction to drive mechanism, it is characterised in that the grasping mechanism includes using
In the grabber 24 of crawl object, the testing agency includes telescoping mechanism and position sensor 27, and the telescoping mechanism is stretched
Go out end with the grabber 24 to be connected, the telescoping mechanism extends under the Action of Gravity Field of grabber 24 and met in grabber 24
Shorten during dynamic resistance；The position sensor 27 is used for when the telescoping mechanism shortens to a predeterminable level to the control machine
Structure out-put container is filled with signal.
Operation is as follows：
The travel mechanism moves the grasping mechanism to object storeroom, and the grabber 24 captures object；
After the crawl of grabber 24 object, the grasping mechanism is moved to before the container by the travel mechanism；
The grasping mechanism is moved one section of fixed pre-determined distance, the grabber 24 by the travel mechanism vertically downward
Object is placed into container.
Above step is repeated, because the pre-determined distance that the grasping mechanism is moved vertically downward is fixed, when thing in container
Part is more and more, the deposit position of object also can more and more higher, when the object being deposited in container gives the grabber 24 1
Individual upward dynamic resistance, the telescoping mechanism shortens.The travel mechanism drives the crawl after completion placement action
Mechanism moves back to original position vertically upward, and the telescoping mechanism extends under the Action of Gravity Field of the grabber 24.When described flexible
Mechanism shorten to after a predeterminable level in i.e. described container object accumulation height reach after predeterminable level, the position sensing
Device 27 sends object to the controlling organization and is filled with signal.It may then pass through the grabbing device that container Intelligent Measurement container is filled with
The container for being filled with object is captured.
Sensor is prior art, is usual means for the staff of this area, and the position sensor 27 can
To be proximity transducer, contacting feeling sensor and displacement transducer etc..
The proximity transducer includes infrared ray sensor, laser sensor etc. again.When the grabber 24 is by dynamic resistance
Power, and then the telescoping mechanism is shortened to after certain predetermined degree, the induction pieces enter the sense of the proximity transducer
Scope is answered, sending container to the controlling organization is filled with signal.
Displacement transducer is also known as linear transducer, is a kind of linear unit for belonging to metal sensing, the effect of sensor
It is that various measurands are converted to electricity.In process of production, the measurement of displacement is generally divided into measurement full size and machine
Two kinds of tool displacement.The form converted by measured variable is different, and displacement transducer can be divided into analog and digital two kinds.It is analog
Two kinds of physical property type and structural type can be divided into again.Conventional displacement transducer is in the majority with analog structure type, including potentiometric displacement
Sensor, inductive displacement transducer, selsyn, capacitive displacement transducer, electric vortex type displacement sensor, Hall-type position
Displacement sensor etc..One important advantage of digital displacement transducer is easy for signal being sent directly into computer system.Small position
Mobile Communication often detects that the conventional sensing of big displacement is same with strain-type, inductance type, differential transformer type, eddy current type, Hall sensor
The sensing technologies such as device, grating, capacitive grating, magnetic grid are walked to measure.Wherein grating sensor is because high with easily realization digitlization, precision
(current resolution ratio highest can reach nanoscale), strong antijamming capability, no artificial error in reading, it is easy for installation, using can
By the advantages of, increasingly extensive application is obtained in the industries such as machine tooling, instrumentation.
When the contacting feeling sensor includes killing fluid additive, contacting feeling sensor etc., when retractor device contracting
When being short to a predeterminable level, the position sensor 27 is contacted with the contact.When the grabber 24 is by dynamic resistance, enter
And the telescoping mechanism is shortened to after certain predetermined degree, after the position sensor 27 is contacted with the contact, to institute
State controlling organization transmission container and be filled with signal.
The present invention detects that object stacks height by detecting degree that the telescoping mechanism shortens, and by detecting object
Whether the object that the methods such as quantity are come in detection container is filled, with advantages below:
1. remained able to not limiting container shapes and not limiting in container under the shape of stacking object in detection container
Whether object is filled with, such as whether the object when different thickness in container is filled with；
2. detect whether that the degree of accuracy being filled with is high；
3. it is simple in construction.
Embodiment two：
On the basis of the embodiment one, the embodiment two has done further improvement, as shown in figure 3, described flexible
The slider bar 26 of mechanism vertical sliding motion for slide rail 25 and on the slide rail 25, the slider bar 26 connects with the grabber 24
Connect.
When the position sensor 27 is contacting feeling sensor, the position sensor 27 is located at the guiding rail 3
Top, the contact is located at the top of guiding rail 3, and the guiding rail 3 rises after one section of pre-determined distance, and the position is passed
Sensor 27 is contacted with the contact.
Certain position sensor 27 can also be located at the optional position of the side of 3 front, rear, left and right of guiding rail four, described
Contact can be located on slide rail 25 and can also be located in other mechanisms, as long as contact is located at into the position sensor 27
Top, after the guiding rail 3 rises one end pre-determined distance, the position sensor 27 can be contacted i.e. with the contact
Can, this is obvious for the staff of this area.
Embodiment three：
On the basis of embodiment one, the embodiment three has made further improvement, as shown in figure 4, the telescoping mechanism
Including cylinder body 21 and the expansion link 23 being arranged in cylinder body 21, the expansion link 23 is connected with the grabber 24.The crawl
Device 24 is moved up in retract cylinder 21 by dynamic resistance, and then the expansion link 23, when the expansion link 23 is in the cylinder body
In 21 after one section of pre-determined distance of retraction, the position sensor 27 sends object to the controlling organization and is filled with signal.
The position sensor 27 can be arranged in cylinder body 21, can also be arranged on outside cylinder body 21.When the position is passed
Optimal when sensor 27 is touch sensor, one of described position sensor 27 and the contact are located at described flexible
The cylinder interior end 231 of bar 23, it is another to be located at the cylinder body 21 other end relative with expansion link penetrating end 211, it is described flexible
Bar 23 is in the cylinder body 21 after one section of pre-determined distance of retraction, and the position sensor 27 is contacted with the contact.It is described to grab
Device 24 is taken to be moved up and make in the retraction rigid body of expansion link 23 by dynamic resistance, and then the cylinder body 21, when described flexible
Bar 23 is retracted after one section of pre-determined distance in the rigid body, and the position sensor 27 is contacted with the contact, the cylinder body
The position sensor 27 sends object to the controlling organization and is filled with signal in 21.
The cylinder interior end 231 of described expansion link 23 is fitted slip with the inwall of cylinder body 21.The expansion link 23
The slip of being fitted with the inwall of cylinder body 21 of cylinder interior end 231 is to prevent the expansion link 23 from sliding in the cylinder body 21
During there is displacement or rock.
Example IV：
On the basis of embodiment one, the example IV has made further improvement, as shown in Figure 1 and Figure 2, described flexible
Mechanism includes cylinder body 21 and the expansion link 23 being arranged in cylinder body 21, and the cylinder body 21 is connected with the grabber 24.
The position sensor 27 can be arranged in cylinder body 21, can also be arranged on outside cylinder body 21.When the position is passed
Sensor 27 is touch sensor, and the position of the position sensor 27 and the contact includes but is not limited to following several：
1. described in one of position sensor 27 and the contact be located at the cylinder interior end of the expansion link 23
231, another to be located at the cylinder body 21 other end relative with expansion link penetrating end 211, the expansion link 23 is in the cylinder body 21
After one section of pre-determined distance of interior retraction, the position sensor 27 is contacted with the contact.The grabber 24 by dynamic resistance,
And then the cylinder body 21 is moved up and made in the retraction rigid body of expansion link 23, when the expansion link 23 is inside contracted in the rigid body
Enter after one section of pre-determined distance, the position sensor 27 is contacted with the contact, the position sensor 27 is to the control
Mechanism sends object and is filled with signal.
2. described in position sensor 27 and the contact one be located at the cylinder interior end 231 of the expansion link 23, separately
One is located at the expansion link penetrating end 211 of the cylinder body 21, and the contact is located at the expansion link penetrating end 211 of the cylinder body 21
Top, the cylinder body 21 rises after one section of pre-determined distance, and the position sensor 27 is contacted with the contact.When described
Grabber 24 is moved up after one section of pre-determined distance by dynamic resistance, and then the cylinder body 21, positioned at the flexible of the cylinder body 21
The position sensor 27 or contact of bar penetrating end 211 and the contact of the top of the expansion link penetrating end 211 positioned at cylinder body 21
Or position sensor 27 is contacted, the position sensor 27 sends object to the controlling organization and is filled with signal.
The position sensor 27 and the orientation of contact illustrated in certain embodiment three and example IV are only optimal implementation
Example, the position sensor 27 and contact can also be located at the both sides of the expansion link 23 or the cylinder body 21, as long as described
Expansion link 23 is retracted after one section of pre-determined distance, and the position sensor 27 is contacted with the contact, and this is for this area
It is obvious for staff.
Embodiment five：
On the basis of example IV, the embodiment five has made further improvement, as shown in Figure 1 and Figure 2, the movement
Mechanism includes vertical movement mechanism, and the cylinder body 21 and the end that vertically moves of the vertical movement mechanism pass through the connecting plate 22
Connection, the grasping mechanism also includes the guiding rail 3 for being used to play the drive device guide effect, the guiding rail
3 provided with the mobile guide sliding block 31 that guide effect is played to the drive device, the connecting plate 22 and the mobile guide
Sliding block 31 is connected.The effect of the guiding rail 3 and mobile guide sliding block 31 is, prevents the drive mechanism from being captured in driving
Mechanism is offset during vertically moving.
The vertical movement mechanism includes driving cylinder 11 and the drive rod 12 being arranged in driving cylinder 11, the drive rod 12
External part be connected with the connecting plate 22.Certain vertical movement mechanism can also be the combination of guide rail and sliding block, still
Thus It is not necessary to set guiding mechanism, the reason for vertical movement mechanism is driven using driving cylinder 11 is, 1, structure
Simply, 2 it is, cheap.This is readily apparent that for skilled artisan.
Embodiment six：
On the basis of embodiment five, the embodiment six has made further improvement, as shown in Figure 1 and Figure 2, described to be oriented to
Guide rail 3 is provided with the flexible guide runner 32 that guide effect is played to the expansion link 23.The flexible guide runner 32 is in institute
State and slided on guiding rail 3, the effect of the flexible guide runner 32 is, prevents expansion link 23 from occurring in sliding process partially
Move.
Embodiment seven：
On the basis of example IV, the embodiment seven has made further improvement, as shown in Figure 1 and Figure 2, the intelligence
The grabbing device that detection container is filled with also includes position limiting ruler 41 and the position-limit mechanism 42 that can be slided on the position limiting ruler 41, institute
Position-limit mechanism 42 is stated to be fixedly connected with the expansion link 23.
The position-limit mechanism 42 is fixedly connected with the expansion link 23.
The distance that the vertical movement mechanism is moved vertically downward is constant, when the grabber 24 constantly puts the object
Put in container, the object in the container is constantly accumulated and gives described 24 1 dynamic resistance of grabber, and then drive described
Expansion link 23 is moved up and in retract cylinder 21, and the expansion link 23 drives the position-limit mechanism 42 motion upwards.When described
Grabber 24 has been placed after object, and the vertical movement apparatus is moved upwards, the grabber 24 be in overhead positions and because
Gravity awards described 23 1 downward power of expansion link, and at this moment the position-limit mechanism 42 is locked on position limiting ruler 41, prevents described
Expansion link 23 glides, after the expansion link 23 moves up one section of pre-determined distance, and the position-limit mechanism 42 is followed described flexible
Bar 23 moves up one section of pre-determined distance, and the position sensor 27 is filled with signal to the controlling organization out-put container, described
Position-limit mechanism 42 unclamps, and the expansion link 23 returns to the state of naturally drooping.The effect of position-limit mechanism 42 is set to be to flexible
Bar 23 plays a protective action, and the expansion link 23 is during grabber 24 places object, if being not provided with position restrainer
Structure 42, the grabber 24 has placed object, during in vacant state, and the expansion link 23, which is always returned to, naturally droops shape
State, expansion link 23 stretches repeatedly easily causes abrasion what this will be appreciated that for skilled artisan.
Embodiment eight：
On the basis of embodiment seven, the embodiment eight has made further improvement, and the position sensor 27 is located at institute
State on position-limit mechanism 42 or the position limiting ruler 41, when the position-limit mechanism 42 moves up a predeterminable level to controlling organization
Out-put container is filled with signal.
Embodiment nine：
On the basis of embodiment three and/or example IV, the embodiment nine has made further improvement, and the position is passed
Sensor 27 is arranged in the cylinder body 21, when reached in the retract cylinder 21 of cylinder interior end 231 of the expansion link 23 one preset
After degree signal is filled with to controlling organization out-put container.The position sensor 27 is arranged in cylinder body 21, play one it is attractive in appearance
And do not allow flimsy effect.
Certainly, the position sensor 27 can also be located on grabber 24.
In addition, can also set length adjustment mechanism on the grabber 24, length adjustment mechanism is used in the institute present invention
In the state of not running also, adjust the height of the grabber 24 to adapt to crawl.
The telescoping mechanism can also set anti-detachment mechanism.
The anti-detachment mechanism and length adjustment mechanism are prior art, and the length adjustment mechanism can be regulation spiral shell
Mother etc., the anti-detachment mechanism is adapted with the telescoping mechanism.
The anti-disengaging device can be in the following manner：
1st, as shown in figure 3, when the telescoping mechanism is slide rail 25 and guiding rail 3, the guiding rail 3 is along the cunning
Rail 25 is slided, and can be respectively provided with anti-fall off block 251 in the both sides of the lower end of slide rail 25 and the both sides of the upper end of the guiding rail 3, when
When guiding rail 3 slides into 25 lower end of slide rail, the anti-fall off block 251 of the both sides of guiding rail 3 is stacked in the slide rail 25
On the anti-fall off block 251 of both sides, prevent the guiding rail 3 from being slid from the slide rail 25.
2nd, as shown in figure 4, when the telescoping mechanism is cylinder body 21 and expansion link 23, the expansion link 23 connects with connecting plate 22
Connect, when the cylinder body 21 is connected with the grabber 24, one layer of increasing can be added at the cylinder interior end 231 of the expansion link 23
Thick-layer, the expansion link 23, which is not added, to be thickened layer segment and the inwall of cylinder body 21 and has space, and the expansion link of the cylinder body 21 is worn
Enter end 211 do not added with the expansion link 23 thicken layer segment be adapted and mutually fit, when cylinder body 21 is fallen, it is described stretch
The cylinder interior end 231 of bar 23 prevents the expansion link penetrating end 211 of the cylinder body 21 from sliding.
3rd, when the telescoping mechanism is cylinder body 21 and expansion link 23, the cylinder body 21 is connected with connecting plate 22, described flexible
When bar 23 is connected with the grabber 24, the expansion link 23 is slided in the cylinder body 21, in the cylinder body of the expansion link 23
Portion end 231 is fitted slip with the inwall of cylinder body 21.Firstth, as shown in figure 4, can be at the cylinder interior end 231 of the expansion link 23
Add one layer of thickening layer, the expansion link 23, which is not added, to be thickened layer segment and the inwall of cylinder body 21 and have space, the cylinder body 21
Expansion link penetrating end 211 do not added with the expansion link 23 thicken layer segment be adapted and mutually fit, when expansion link 23 falls
When lower, the expansion link penetrating end 211 of the cylinder body 21 prevents the cylinder interior end 231 of the expansion link 23 from sliding.Secondth, also may be used
To be provided with buckle structure between expansion link 23 and the cylinder body 21, buckle includes spring, sub-buckle and box, and spring connects with sub-buckle
Connect, sub-buckle is upper flat lower circular arc, and box is groove, when expansion link 23 is snapped down to snapped-in position, and sub-buckle is buckled into box, is stretched
Contracting bar 23 no longer glides, when giving 23 1 upward power of expansion link, because sub-buckle is upper flat lower circular arc, the expansion link
23 give the power of one compression spring of sub-buckle in pushing course, and the sub-buckle departs from box.
Several anti-drop devices are all prior arts above, and those skilled in the art are easy to the scheme from above-mentioned anti-drop device
In amplify out other anti-dropout schemes, for those skilled in the art, it is clear that anti-drop device still fall within the present invention
Protection domain.
Embodiment described above is only the preferred embodiment to absolutely prove the present invention and being lifted, protection model of the invention
Enclose not limited to this.Equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is defined by claims.
Claims (10)
1. the grabbing device that a kind of Intelligent Measurement container is filled with, including grasping mechanism, testing agency, for controlling the gripper
The travel mechanism of structure movement, for drive the grasping mechanism capture or the movement of driving travel mechanism drive mechanism and for
Drive mechanism sends the controlling organization of driving instruction, it is characterised in that the grasping mechanism includes the crawl for being used to capture object
Device (24), the testing agency includes telescoping mechanism and position sensor (27), and the external part of the telescoping mechanism is grabbed with described
Device (24) is taken to be connected, the telescoping mechanism extends under the Action of Gravity Field of grabber (24) and met obstructions in grabber (24)
When shorten；The position sensor (27) is used for defeated to the controlling organization when the telescoping mechanism shortens to a predeterminable level
Go out container and be filled with signal.
2. the grabbing device that Intelligent Measurement container as claimed in claim 1 is filled with, it is characterised in that the telescoping mechanism is cunning
Rail (25) and on the slide rail (25) vertical sliding motion slider bar (26), the slider bar (26) and the grabber (24) are even
Connect.
3. the grabbing device that Intelligent Measurement container as claimed in claim 1 is filled with, it is characterised in that the telescoping mechanism includes
Cylinder body (21) and the expansion link (23) being arranged in cylinder body (21), the cylinder body (21) are connected with the grabber (24).
4. the grabbing device that Intelligent Measurement container as claimed in claim 1 is filled with, it is characterised in that the telescoping mechanism includes
Cylinder body (21) and the expansion link (23) being arranged in cylinder body (21), the expansion link (23) are connected with the grabber (24).
5. the grabbing device that Intelligent Measurement container as claimed in claim 4 is filled with, it is characterised in that the travel mechanism includes
Vertical movement mechanism, the cylinder body (21) is connected with the end that vertically moves of the vertical movement mechanism by connecting plate (22), institute
State the grabbing device also guiding rail including being used to play the drive mechanism guide effect that Intelligent Measurement container is filled with
(3), the guiding rail (3) is provided with the mobile guide sliding block (31) that guide effect is played to the drive mechanism, the company
Fishplate bar (22) is connected with the mobile guide sliding block (31).
6. the grabbing device that Intelligent Measurement container as claimed in claim 5 is filled with, it is characterised in that the vertical movement mechanism
Including driving cylinder (11) and the drive rod (12) being arranged in driving cylinder (11), external part and the company of the drive rod (12)
Fishplate bar (22) is connected.
7. the grabbing device that Intelligent Measurement container as claimed in claim 5 is filled with, it is characterised in that the guiding rail (3)
Provided with the flexible guide runner (32) that guide effect is played to the expansion link (23), the flexible guide runner (32) is with stretching
Contracting bar (23) or grabber (24) connection.
8. the grabbing device that Intelligent Measurement container as claimed in claim 4 is filled with, it is characterised in that the Intelligent Measurement container
The grabbing device being filled with also includes position limiting ruler (41) and the position-limit mechanism (42) that can be slided on the position limiting ruler (41), described
Position-limit mechanism (42) is fixedly connected with the expansion link (23).
9. the grabbing device that Intelligent Measurement container as claimed in claim 8 is filled with, it is characterised in that the position sensor
(27) it is located on the position-limit mechanism (42) or the position limiting ruler (41), is preset when the position-limit mechanism (42) moves up one
During degree signal is filled with to controlling organization out-put container.
10. the grabbing device that the Intelligent Measurement container as described in claim 3 or 4 is filled with, it is characterised in that the position sensing
Device (27) is arranged in the cylinder body (21), and when the expansion link (23), into the cylinder body (21), retraction reaches a predeterminable level
Afterwards, the position sensor (27) is filled with signal to controlling organization out-put container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510571278.9A CN105150192B (en) | 2015-09-09 | 2015-09-09 | The grabbing device that Intelligent Measurement container is filled with |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510571278.9A CN105150192B (en) | 2015-09-09 | 2015-09-09 | The grabbing device that Intelligent Measurement container is filled with |
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| Publication Number | Publication Date |
|---|---|
| CN105150192A CN105150192A (en) | 2015-12-16 |
| CN105150192B true CN105150192B (en) | 2017-08-25 |
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| CN201510571278.9A Expired - Fee Related CN105150192B (en) | 2015-09-09 | 2015-09-09 | The grabbing device that Intelligent Measurement container is filled with |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108818598B (en) * | 2018-08-30 | 2024-03-19 | 深圳市德业智能股份有限公司 | Feeding device |
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| DE2047169A1 (en) * | 1969-09-25 | 1971-04-01 | American Ass Cybernetics | Sensor-controlled cybernetic machine |
| US5794339A (en) * | 1994-12-27 | 1998-08-18 | Ford Global Technologies, Inc. | Automated assembly of transmission components |
| CN202318324U (en) * | 2011-11-08 | 2012-07-11 | 上海理工大学 | Device for searching spines by means of gravity |
| CN104085683A (en) * | 2014-06-26 | 2014-10-08 | 郭玉华 | Chicken egg picking and carrying manipulator |
| CN104736439A (en) * | 2012-10-16 | 2015-06-24 | 贝克曼考尔特公司 | Container fill level detection |
| CN205085967U (en) * | 2015-09-09 | 2016-03-16 | 临海市锦铮机械有限公司 | Full grabbing device is deposited to intellectual detection system container |
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2015
- 2015-09-09 CN CN201510571278.9A patent/CN105150192B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2047169A1 (en) * | 1969-09-25 | 1971-04-01 | American Ass Cybernetics | Sensor-controlled cybernetic machine |
| US5794339A (en) * | 1994-12-27 | 1998-08-18 | Ford Global Technologies, Inc. | Automated assembly of transmission components |
| CN202318324U (en) * | 2011-11-08 | 2012-07-11 | 上海理工大学 | Device for searching spines by means of gravity |
| CN104736439A (en) * | 2012-10-16 | 2015-06-24 | 贝克曼考尔特公司 | Container fill level detection |
| CN104085683A (en) * | 2014-06-26 | 2014-10-08 | 郭玉华 | Chicken egg picking and carrying manipulator |
| CN205085967U (en) * | 2015-09-09 | 2016-03-16 | 临海市锦铮机械有限公司 | Full grabbing device is deposited to intellectual detection system container |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105150192A (en) | 2015-12-16 |
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Denomination of invention: Gripping device for intelligently detecting full storage of container Effective date of registration: 20170927 Granted publication date: 20170825 Pledgee: Zhejiang Rural Commercial Bank of China branch of Limited by Share Ltd. Pledgor: LINHAI JINZHENG MACHINERY Co.,Ltd. Registration number: 2017330000114 |
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