CN105416654B - Fetching device - Google Patents
Fetching device Download PDFInfo
- Publication number
- CN105416654B CN105416654B CN201510963397.9A CN201510963397A CN105416654B CN 105416654 B CN105416654 B CN 105416654B CN 201510963397 A CN201510963397 A CN 201510963397A CN 105416654 B CN105416654 B CN 105416654B
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- China
- Prior art keywords
- pick
- pedestal
- place object
- place
- intelligent terminal
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
- B65B23/20—Packaging plate glass, tiles, or shingles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
Abstract
The present invention discloses a kind of fetching device, the fetching device includes transmission component, intelligent terminal and pick-and-place component, transmission component is connected to intelligent terminal and picks and places between component, intelligent terminal can send to transmission component and instruct, it is mobile that transmission component is able to drive the pick-and-place component, picking and placing component includes pedestal and three range sensors, range sensor is installed on the direction of the pedestal by the side of pick-and-place object, and the line between three range sensors forms triangle, three range sensors and intelligent terminal are electrically connected, three range sensors are for measuring range sensor and by the distance between pick-and-place object, and to intelligent terminal feedback measurement, intelligent terminal issues command adapted thereto to transmission component according to measurement result.The fetching device may determine that glass is put into the situation of packing case, prevent from causing glass breakage since mistake places glass, so that related economic be avoided to lose.
Description
Technical field
The present invention relates to machinery equipment field more particularly to a kind of for picking and placing the fetching device of article.
Background technique
With the progress for manufacturing industry, more and more production lines realize the automation of production equipment, production equipment
Automation can greatly reduce human cost, and improve production efficiency.Therefore, the automation of production equipment is to manufacture industry
In irresistible trend.In process of production, for example, in the industries such as touch screen, display screen, the rapid wears such as similar glass plate are used
Bad plate material.When this kind of plate material easy to damage is transferred to target storage container from interim storeroom, usually adopt
With the fetching device of automation.
For example, the structural glass of rigid well cutting is packaged into box for packing glass to transport glass etching manufacturer to glass and carry out
Thinning then needs for glass to be transferred to from Cutting platform in the box for packing glass, this process is also frequently with automation
Equipment, however, often will appear the situation that glass is not put into accurately in packing case, such as, it may appear that the side of glass enters
In packing case, and the other side also frame, in the situation on the side wall of packing case, in this case, the equipment of automation can not be known
Not, it will continue to pick and place glass, and continue to be put into packing case after next sheet glass is taken, at this point, the sheet glass is due to previous
Sheet glass is not stored correctly and leads to not correctly store, and is likely to previous horse in the glass pressure of the side wall of packing case
It is broken, it so recycles, in the case where producers' not discovery in time, will cause the damage of a large amount of glass and cause economic loss.
Therefore, it is necessary to prevent such happen.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of fetching device, the fetching device may determine that glass
Glass is put into the situation of packing case, prevents from causing glass breakage since mistake places glass, so that related economic be avoided to lose.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
The present invention provides a kind of fetching device, the fetching device include transmission component, intelligent terminal and pick and place component,
The transmission component is connected between the intelligent terminal and the pick-and-place component, and the intelligent terminal can be to the transmission group
Part sends instruction, and the transmission component is able to drive the pick-and-places component and moves, the pick-and-place component include pedestal and three away from
From sensor, the range sensor is installed on the direction of the pedestal by the side of pick-and-place object, and electric with the intelligent terminal
Property connection, the line between three range sensors forms triangle, and the range sensor is for measuring the distance
Sensor and described by the distance between pick-and-place object, and to the intelligent terminal feedback measurement, the intelligent terminal according to
The measurement result issues command adapted thereto to the transmission component.
Wherein, the range sensor includes transmitter, receiver and signal processor, and the transmitter is used for described
By pick-and-place object transmitted wave signal, the receiver is used to receiving to be emitted by the transmitter and passed through described to be reflected by pick-and-place object
Wave signal, the signal processor be used for handle from the receiver input wave signal with calculate it is described by pick-and-place object with it is described
The value of the distance between range sensor, and the value of the distance is transferred to the intelligent terminal.
Wherein, the transmitter is ultrasonic transmitter, RF transmitter or optical transmitting set, and the receiver is corresponding
Ultrasonic receiver, infrared receiver or optical receiver.
Wherein, three range sensors and the pedestal are equidistant.
Wherein, the pedestal towards the side setting by pick-and-place object, there are three groove, three Distance-sensings
Device is embedded in respectively in three grooves.
Wherein, the pick-and-place component further includes at least one suction nozzle, and the suction nozzle is set to described in the direction of the pedestal
By the side of pick-and-place object, and the suction nozzle is greater than described in three at a distance from the pedestal towards described one end by pick-and-place object
Range sensor towards described one end by pick-and-place object at a distance from the pedestal.
Wherein, the transmission component includes a mechanical arm, and the mechanical arm is connected to being taken away from described for the pedestal
The side of object is put, the mechanical arm is hollow structure, and the pedestal has inner cavity, the inner space of the mechanical arm and the bottom
The inner cavity connection of seat, the side of the pedestal towards the suction nozzle are provided at least one convex pipe, and each suction nozzle is socketed on
The inner cavity of one convex pipe, the convex pipe and the pedestal penetrates through.
Wherein, the mechanical arm includes trailing arm, transverse arm and interconnecting piece, and one end of the trailing arm is connected with the pedestal, separately
One end is connected by the interconnecting piece with one end of the cross wall, and the trailing arm can turn relative to the transverse arm to any direction
It is dynamic.
Wherein, the suction nozzle is rubber parts.
Wherein, the suction nozzle is in horn-like towards described one end by pick-and-place object.
Compared with prior art, technical solution of the present invention at least has the advantages that：
The pick-and-place component of fetching device of the invention includes pedestal and three range sensors, the range sensor installation
In the pedestal direction by the side of pick-and-place object, and line between three range sensors forms triangle, three
The range sensor and the intelligent terminal are electrically connected, and three range sensors are for measuring the range sensor
With by the distance between pick-and-place object, and to the intelligent terminal feedback measurement, the intelligent terminal is tied according to the measurement
Fruit issues command adapted thereto to the transmission component.I.e.：The present invention can determine that the principle of a plane takes described according to 3 points
It puts and is provided with three proximity sensors in device, and the line between three proximity sensors forms triangle, so that it is determined that one
A plane judges whether the plane is parallel by judging three proximity sensors at a distance from by the surface of pick-and-place object
In the surface by pick-and-place object, and it is parallel with the bottom surface of packing case to adjust the plane in advance according to the prior art,
Therefore, if three proximity sensors and being equidistant by the surface of pick-and-place object, the surface by pick-and-place object are parallel
In the plane, it can thus be appreciated that be parallel to the bottom surface of the packing case by the surface of pick-and-place object, i.e., it is described by pick-and-place object by just
Really it is placed in the packing case；If three proximity sensors are unequal at a distance from by the surface of pick-and-place object, illustrate quilt
Object is picked and placed not to be correctly positioned in the packing case.
Therefore, when not being correctly positioned by pick-and-place object (such as glass), the intelligent terminal can be to the transmission
Component issues instruction, its is made to stop loading or unloading operation, is damaged to avoid being picked and placed object (glass) and causes economic loss.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of fetching device in first embodiment of the invention；
Fig. 2 is the distribution schematic diagram of range sensor and suction nozzle on pedestal in first embodiment of the invention；
Fig. 3 is the structural schematic diagram of range sensor in first embodiment of the invention；
Fig. 4 is the course of work schematic diagram of fetching device of the invention；And
Fig. 5 is structural schematic diagram of the second embodiment of the invention further groove on pedestal.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of fetching device in first embodiment of the invention.The present invention first is implemented
Fetching device in example includes transmission component 100, intelligent terminal 200 and picks and places component 300, and dotted line frame indicates dotted line frame in Fig. 1
Interior component is to pick and place component 300.The transmission component 100 be connected to the intelligent terminal 200 and the pick-and-place component 300 it
Between, the intelligent terminal 200 can send to the transmission component 100 and instruct, and instruction transmission component 100 stops picking and placing or continue
It picks and places by pick-and-place object, described is the article, such as glass, display screen or touch screen etc. of surfacing by pick-and-place object.The transmission
Component 100 is able to drive the movement of pick-and-place component 300, and the component 300 that picks and places can be in temporarily the depositing by pick-and-place object
It is moved back and forth between the place of putting and packing case, described be transferred in packing case by pick-and-place object from interim storeroom is packed,
To carry.
The pick-and-place component 300 includes pedestal 310 and three range sensors 320, and the range sensor 320 is installed on
The pedestal 310 towards the side by pick-and-place object, three range sensors 320 are at a distance from the pedestal 310
It is equal.Three range sensors 320 are for measuring the range sensor 320 and the measured point by pick-and-place object
The distance between, i.e., each range sensor 320 is worth with described by the distance between pick-and-place object corresponding one.Described in three
Line between range sensor 320 forms triangle, so that three range sensors can determine that a plane, i.e., three
The range sensor 320 is not provided on same straight line.
In addition, three range sensors and the intelligent terminal 200 are electrically connected, and to the intelligent terminal 200
Feedback measurement feeds back measured distance value to the intelligent terminal 200.The intelligent terminal 200 is according to the survey
It measures result (distance value) and issues command adapted thereto to the transmission component 100, i.e.,：Measured by three range sensors 320
Distance value it is all equal when, intelligent terminal 200 to the transmission component 100 issue subsequent pick-up under a piece of finger by pick-and-place object
It enables；The distance value measured by three range sensors 320 is unequal or three distance values between certain two distance
For the difference of value not in the range of deviation requirement, then intelligent terminal 200 is issued to the transmission component 100 stops a piece of quilt under pickup
The instruction of object is picked and placed, and is sounded an alarm, staff is waited to check, in case damage causes economic loss by pick-and-place object.
Further, together refering to fig. 1 and Fig. 2, the pick-and-place component 300 further include at least one suction nozzle 330, the suction
Mouth 330 be set to the pedestal 310 towards the side by pick-and-place object, i.e., the described suction nozzle 330 and the range sensor
320 are installed on the same side of the pedestal 310, when the suction nozzle 330 is multiple, each suction nozzle 330 and the pedestal
310 are equidistant.The suction nozzle 330 can be rubber parts, plastic part etc. with elastic article, the direction of the suction nozzle 330
Described one end by pick-and-place object is in horn-like.In addition, the suction nozzle 330 towards described one end by pick-and-place object and the pedestal
310 distance be greater than three range sensors 320 towards described one end by pick-and-place object and the pedestal 310 away from
From, with prevent pick up by pick-and-place object during suction nozzle 330 draw the object by pick-and-place when range sensor 320 touch institute
It states by pick-and-place object, if range sensor 320 touches described by pick-and-place object, suction nozzle 330 can be interfered to be connect with described by pick-and-place object
It touches and is difficult to be picked up described by pick-and-place object, furthermore, it is also possible to described bad or described possible by pick-and-place object by the touching of pick-and-place object
The proximity sensor 320 is broken.Preferably, three range sensors 320 are disposed in proximity to the pedestal 310
The position at edge, also, when placing the object by pick-and-place, the line of three range sensors 320 is formed by triangle
Shape falls in described taken towards the orthographic projection in the plane where the surface of the range sensor 320 by pick-and-place object described
Put on object, i.e., the area that the line of the described range sensor 320 is formed by triangle be less than it is described by pick-and-place object towards institute
The surface of range sensor 320 is stated, to guarantee that it is described by pick-and-place object that the range sensor can sense.
Still referring to Fig. 1, the transmission component 100 includes transmission assisted parts 110 and mechanical arm 120, the transmission is auxiliary
Helping portion 110 includes pneumatic equipment (not shown), such as vacuum elements or vacuum pump etc..The mechanical arm 120 is connected to institute
The side by pick-and-place object that deviates from of pedestal 310 is stated, the mechanical arm is hollow structure, and the pedestal 310 has inner cavity
311, the inner space of the mechanical arm is connected to the inner cavity 311 of the pedestal 310.The mechanical arm 120 is pneumatically set with described
It is standby to be connected, power is provided for the pedestal 310 and suction nozzle 330.In addition, the pedestal 310 includes at least one convex pipe 312,
The convex pipe 312 be set to the pedestal 310 towards the side by pick-and-place object, the number of the convex pipe 312 with it is described
The number of suction nozzle 330 is identical, each described suction nozzle 330 is socketed on the convex pipe 312.The convex pipe 312 has through-hole,
The through-hole penetrates through the inner cavity 311 of the suction nozzle 330 and the pedestal 310, i.e., the described mechanical arm 120, the pedestal 310,
The convex pipe 312 and the suction nozzle 330 connect to form an air ventilation passage, described are mentioned by pick-and-place object to pick up and placing
For power.
Further, in this embodiment mechanical arm includes trailing arm 121, transverse arm 122 and interconnecting piece 123, the trailing arm 121
One end be connected with the pedestal 310, the other end is connected by the interconnecting piece 123 with one end of the cross wall 122, described to indulge
Arm 121 can be rotated relative to the transverse arm 122 to any direction.The transmission assisted parts 110 is the rotation of the trailing arm 121
Power is provided.The connection 123 not can be articulation piece or tubular elastomer.Since the trailing arm 121 can be to any direction
Rotation, and the pedestal 310 is connected with the trailing arm, so the pedestal 310 and the component being set on the pedestal 310
Direction all follow the rotation of the trailing arm 121 and change.Therefore, when not being properly positioned in packing case by pick-and-place object
When, after the measurement of proximity sensor 320 distance feeds back to intelligent terminal 200, intelligent terminal 200 finds three proximity sensors
Distance value measured by 320 is different, can issue active correction instruction to the transmission component 100, i.e.,：Indicate transmission component
The 100 rotation trailing arms 121, make the pedestal 310 being connected with the trailing arm 121 tilt and put down with the surface by pick-and-place object
Row, even if also distance value measured by three proximity sensors 320 is equal, and is again picked up this by pick-and-place object, then
The trailing arm is resetted, reapposes this by pick-and-place object, so that mistake is actively corrected, without stopping a piece of under picking up picked and placed
Object improves working efficiency.
Referring to Fig. 3, the range sensor 320 includes at transmitter 321, receiver 322 and signal in the present embodiment
Manage device 323.The transmitter 321 is used for the 410 transmitted wave signal of surface by pick-and-place object 400, for example, infrared ray is believed
Number, ultrasonic signal or visible light signal, the wave signal connect after being reflected by the surface 410 by pick-and-place object 400 by described
It receives device 322 to receive, i.e., the described receiver 322 emits and for receiving the transmitter 321 by the table by pick-and-place object 400
Wave signal after the reflection of face 410.The signal processor 323 record the wave signal from be launched into be received required when
Between, and handle the wave signal that input from the receiver 322, with calculate the measured point by pick-and-place object 400 with it is described away from
The intelligent terminal 200 is transferred to from the distance between sensor 320, and by the distance value.The transmitter 321 can be
Ultrasonic transmitter, RF transmitter or optical transmitting set, correspondingly, the receiver 322 are ultrasonic receiver, infrared ray
Receiver or optical receiver.
The course of work of the fetching device in the present embodiment is illustrated below.Referring to Fig. 4, Fig. 4 is of the invention
The course of work schematic diagram of fetching device.After starting the fetching device, the transmission component 100 of the fetching device drives described
Pick and place component 300 to be moved to by the top of pick-and-place object, and be vertically lowered, until the suction nozzle 330 touch it is described by pick-and-place object
Surface, at this point, the pneumatic equipment of the transmission component 100 is evacuated, the surface by pick-and-place object by the suction nozzle
Gas between the part and the pneumatic equipment of 330 coverings, passes through the mechanical arm 120, the pedestal 310, the convex pipe
312 and the suction nozzle 330 connect and be formed by air ventilation passage discharge, to make the air ventilation passage be in
Vacuum state.Under the action of external atmosphere pressure, the suction nozzle 330 is tightly bonded with the surface by pick-and-place object, is made described
Suction nozzle 330 generates extremely strong adsorption capacity to the surface by pick-and-place object, at this point, transmission component 100 drives the mechanical arm 120
Movement, the mechanical arm 120 is moved to above packing case with described by pick-and-place object, and is vertically lowered to the packing case,
The pneumatic equipment of the transmission component 100 stops pumping, and make outside air flow into the mechanical arm 120, the pedestal 310,
The convex pipe 312 and the suction nozzle 330, which connect, is formed by the air ventilation passage, makes the suction nozzle 330 to described
It is disappeared by the adsorption capacity on the surface of pick-and-place object, to be placed into the packing case by pick-and-place object for described.
After placing the object by pick-and-place, the pedestal 310 rises to certain height vertically under the drive of mechanical arm 120
Degree.
Start three range sensors 320.It should be noted that being first passed through in advance before starting the fetching device
Adjustment ensures that three range sensors 320 are formed by plane determined by triangle and the bottom surface of the packing case is flat
Row.Three range sensors 320 measure the range sensor 320 itself with described by between the surface of pick-and-place object respectively
Vertical distance send the intelligent terminal 200 to and by the signal processor processes of the range sensor 320.In order to just
In description, three range sensors 320 are denoted as a, b with the value by the vertical distance between pick-and-place object respectively respectively
And c.
The intelligent terminal 200 judges the value of a, b and c, and judges whether equation a=b=c is true.
If the judgement conclusion of intelligent terminal 200 is "Yes", i.e. equation a=b=c is set up, that is, correct by pick-and-place object
Ground is placed in packing case, then the intelligent terminal 200 issues a piece of finger by pick-and-place object under subsequent pick-up to transmission component 100
It enables；If the judgement conclusion of intelligent terminal 200 is "No", i.e. equation a=b=c is invalid, that is, by pick-and-place object not by correctly
It is placed in packing case, then the intelligent terminal 200 sounds an alarm, and next to the transmission component 100 sending stopping pickup
Piece waits staff to check by the instruction of pick-and-place object, to prevent from causing economic loss because damaging by pick-and-place object.
In the another embodiment of the present embodiment, if the judgement conclusion of intelligent terminal 200 is "No", i.e. equation a=b
=c is invalid, that is, is not properly positioned in packing case by pick-and-place object, and intelligent terminal 200 can be to the transmission group
Part 100 issues " active error correction " instruction, i.e.,：Instruction transmission component 100 rotates the trailing arm 121, makes to be connected with the trailing arm 121
Pedestal 310 inclination and it is parallel with the surface by pick-and-place object, even if also measured by three proximity sensors 320 away from
It is equal from being worth, and again picked up this by pick-and-place object, then the trailing arm 121 is resetted, reapposes this by pick-and-place object, thus
Mistake is actively corrected, it is a piece of by pick-and-place object under picking up without stopping, improving working efficiency.
Referring to Fig. 5,5 be structural schematic diagram of the second embodiment of the invention further groove on pedestal.The present embodiment (second
Embodiment) in fetching device structure and first embodiment in fetching device structure it is essentially identical, the difference is that：
For the direction of the pedestal by the side setting of pick-and-place object there are three groove 313, three range sensors 320 are embedded in three respectively
In a groove 313, i.e., the described range sensor 320 is contained in the pedestal 310.In this way, can be to avoid Distance-sensing
Device 320 touch it is described by pick-and-place object, thus prevent that range sensor 320 from interfering suction nozzle 330 and described contacted by pick-and-place object and
It is difficult to described the phenomenon that being picked up by pick-and-place object, in addition, it is also avoidable bad by the touching of pick-and-place object described, or avoid described taken
Object is put to break the proximity sensor 320.
The present invention can determine that the principle of a plane is provided with three distance perceptions in the fetching device according to 3 points
Survey device, and line between three proximity sensors forms triangle, to form a plane, by described in judging three away from
Judge whether the plane is parallel to the surface by pick-and-place object at a distance from by the surface of pick-and-place object from sensor, due to
It is parallel with the bottom surface of packing case to adjust the plane in advance, therefore, if three proximity sensors with by the table of pick-and-place object
Face is equidistant, then the surface by pick-and-place object is parallel to the plane, it can thus be appreciated that being parallel to by the surface of pick-and-place object
The bottom surface of the packing case, i.e., it is described to be correctly positioned by pick-and-place object in the packing case；If three proximity sensors
Unequal at a distance from by the surface of pick-and-place object, then explanation is not correctly positioned by pick-and-place object in the packing case.Its essence is
After guaranteeing that being picked and placed object is placed on packing case, the surface by pick-and-place object is parallel with the bottom surface of packing case, thus not
The a piece of correct placement by pick-and-place object can be interfered down, while also being avoided described a piece of by pick-and-place object pressure by under by pick-and-place object
It is bad.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are different
Surely identical embodiment or example is referred to.Moreover, the particular features, structures, materials, or characteristics of description can be any one
It can be combined in any suitable manner in a or multiple embodiment or examples.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of fetching device, including transmission component, intelligent terminal and pick-and-place component, the transmission component are connected to the intelligence
Between terminal and the pick-and-place component, the intelligent terminal can send to the transmission component and instruct, the transmission component energy
Enough drive the pick-and-place component mobile, which is characterized in that the pick-and-place component includes pedestal and three range sensors, it is described away from
The direction for being installed on the pedestal from sensor is electrically connected by the side of pick-and-place object, and with the intelligent terminal, described in three
Line between range sensor forms triangle, so that three range sensors can determine that a plane, and described flat
Face is parallel with the supporting surface to be placed by pick-and-place object, the range sensor for measure the range sensor with it is described
By the distance between pick-and-place object, and to the intelligent terminal feedback measurement, measured by three range sensors
When distance value is all equal, the intelligent terminal issues a piece of instruction by pick-and-place object under subsequent pick-up to the transmission component, opens
Move the fetching device；The distance value measured by three range sensors is unequal or three distance values between
Not in the range of deviation requirement, then the intelligent terminal is issued to the transmission component stops picking up the difference of certain two distance value
Under a piece of instruction by pick-and-place object, and sound an alarm.
2. fetching device as described in claim 1, which is characterized in that the range sensor include transmitter, receiver and
Signal processor, the transmitter are used for described by pick-and-place object transmitted wave signal, and the receiver is for receiving by the hair
Emitter emits and passes through the wave signal reflected by pick-and-place object, and the signal processor is inputted for handling from the receiver
Wave signal to calculate the value by the distance between pick-and-place object and the range sensor, and the value of the distance is transmitted
To the intelligent terminal.
3. fetching device as claimed in claim 2, which is characterized in that the transmitter is ultrasonic transmitter, infrared ray hair
Emitter or visible light emitter, the receiver are corresponding ultrasonic receiver, infrared receiver or visible light receiver.
4. fetching device as claimed in claim 2, which is characterized in that three range sensors are at a distance from the pedestal
It is equal.
5. fetching device as claimed in claim 2, which is characterized in that the pedestal is set towards the side by pick-and-place object
It sets there are three groove, three range sensors are embedded in respectively in three grooves.
6. such as fetching device described in any one of claim 1 to 5, which is characterized in that the pick-and-place component further includes at least one
A suction nozzle, the suction nozzle be set to the pedestal towards the side by pick-and-place object, and the suction nozzle towards the quilt
Pick and place object one end be greater than with the pedestal at a distance from three range sensors towards described one end by pick-and-place object and
The distance of the pedestal.
7. fetching device as claimed in claim 6, which is characterized in that the transmission component includes a mechanical arm, the machinery
Arm is connected to the side by pick-and-place object that deviates from of the pedestal, and the mechanical arm is hollow structure, and the pedestal has interior
Chamber, the inner space of the mechanical arm are connected to the inner cavity of the pedestal, and the side of the pedestal towards the suction nozzle is provided with
At least one convex pipe, each suction nozzle are socketed on the convex pipe, the inner cavity perforation of the convex pipe and the pedestal.
8. fetching device as claimed in claim 7, which is characterized in that the mechanical arm includes trailing arm, transverse arm and interconnecting piece, institute
The one end for stating trailing arm is connected with the pedestal, and the other end is connected by the interconnecting piece with one end of the transverse arm, the trailing arm
It can be rotated relative to the transverse arm to any direction.
9. fetching device as claimed in claim 7, which is characterized in that the suction nozzle is rubber parts.
10. fetching device as claimed in claim 7, which is characterized in that the suction nozzle towards described one end by pick-and-place object
In horn-like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963397.9A CN105416654B (en) | 2015-12-21 | 2015-12-21 | Fetching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510963397.9A CN105416654B (en) | 2015-12-21 | 2015-12-21 | Fetching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105416654A CN105416654A (en) | 2016-03-23 |
| CN105416654B true CN105416654B (en) | 2018-11-23 |
Family
ID=55495290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510963397.9A Active CN105416654B (en) | 2015-12-21 | 2015-12-21 | Fetching device |
Country Status (1)
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| CN107878842A (en) * | 2017-10-19 | 2018-04-06 | 国网天津市电力公司电力科学研究院 | One kind is used to tear back concentrator narrowband carrier module automatic sorting method open |
| CN108216731A (en) * | 2018-01-03 | 2018-06-29 | 京东方科技集团股份有限公司 | A kind of liquid crystal display panel vanning sucker and liquid crystal display panel boxing apparatus |
| CN112164357B (en) * | 2020-09-25 | 2021-11-16 | 广州能源检测研究院 | Display energy efficiency testing device and control method thereof |
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