CN105538332A - Grasping device and method capable of simultaneously grasping many cartons of heteromorphic cigarettes - Google Patents
Grasping device and method capable of simultaneously grasping many cartons of heteromorphic cigarettes Download PDFInfo
- Publication number
- CN105538332A CN105538332A CN201610020888.4A CN201610020888A CN105538332A CN 105538332 A CN105538332 A CN 105538332A CN 201610020888 A CN201610020888 A CN 201610020888A CN 105538332 A CN105538332 A CN 105538332A
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- CN
- China
- Prior art keywords
- special
- cigarette
- shaped
- sucker
- capture
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grasping device and method capable of simultaneously grasping many cartons of heteromorphic cigarettes. The grasping device comprises a support plate (1), wherein through slots (2) are formed in the support plate (1), suckers (3) are arranged under the support plate (1), and height-measuring sensors (4) are arranged near the through slots (2). The grasping device disclosed by the invention has the characteristics of high grasping efficiency and simple equipment structure.
Description
Technical field
The present invention relates to a kind of grabbing device and grasping means of production of cigarettes field, particularly a kind of grabbing device and grasping means that simultaneously can capture many special-shaped cigarettes.
Background technology
At present in production of cigarettes field, be captured by manipulator control sucker to the major way that irregular strip cigarette captures from streamline, and a cigarette can only be captured at every turn.Mainly there is following shortcoming in which, one, the manipulator crawl work period can only capture a cigarette, captures efficiency low.
Summary of the invention
The object of the invention is to, a kind of grabbing device and the grasping means that can capture many special-shaped cigarettes are provided simultaneously.The present invention has, and captures efficiency height and the simple feature of device structure.
Technical scheme of the present invention: a kind of grabbing device that simultaneously can capture many special-shaped cigarettes, comprise gripper shoe, gripper shoe is provided with groove, is provided with sucker below gripper shoe, and other being provided with of groove surveys high sensor.
Aforesaidly can capture in the grabbing device of many special-shaped cigarettes, described gripper shoe is provided with two grooves simultaneously, is provided with one and surveys high sensor between two grooves, is also respectively equipped with one and surveys high sensor outside two grooves.
Aforesaidly can capture in the grabbing device of many special-shaped cigarettes, one end of described gripper shoe is also provided with attaching parts simultaneously.
The aforesaid grasping means that simultaneously can capture the grabbing device of many special-shaped cigarettes is: when capturing 2 special-shaped cigarettes simultaneously, sucker correspondence is moved on to above 2 special-shaped cigarettes, the high sensor of each survey detects the height of 2 special-shaped cigarettes respectively and obtains difference in height σ, when the σ≤Δ of 2 special-shaped cigarettes, sucker moves down distance S=L+ σ, capture 2 special-shaped cigarettes, L is the distance that sucker arrives the high special-shaped cigarette upper surface of most opium simultaneously; Described Δ is the distance of stretch out and draw back of sucker, Δ=0 ~ 15mm.
Aforesaidly can capture in the grasping means of the grabbing device of many special-shaped cigarettes, when σ > Δ, the sucker above the high special-shaped cigarette of minimum cigarette is translated apart simultaneously, posterior sucker move down distance S=L, capture the most special-shaped cigarette of opium height.
Aforesaidly to capture in the grasping means of the grabbing device of many special-shaped cigarettes simultaneously, when capturing 3 special-shaped cigarettes simultaneously, 3 special-shaped cigarettes are arranged in order by sequence, afterwards sucker correspondence is moved to above 3 special-shaped cigarettes, the height of the high sensor of each survey to special-shaped cigarette detects and obtains the difference in height of each special-shaped cigarette, when most opium is high and the difference in height σ of the special-shaped cigarette of minimum cigarette height
maxduring≤Δ, sucker move down distance S=L+ σ
max, capture 3 special-shaped cigarettes simultaneously.
Aforesaidly to capture in the grasping means of the grabbing device of many special-shaped cigarettes simultaneously, to work as σ
max> Δ and most opium is high and the difference in height σ of the special-shaped cigarette of the second cigarette height
1during≤Δ, the sucker above the high special-shaped cigarette of minimum cigarette is translated apart, and sucker moves down distance S=L+ σ
1, capture the high and special-shaped cigarette of the second cigarette height of most opium simultaneously.
Aforesaidly to capture in the grasping means of the grabbing device of many special-shaped cigarettes simultaneously: work as σ
1> Δ and the second cigarette is high and the difference in height σ of the special-shaped cigarette of minimum cigarette height
2during≤Δ, the sucker above the high special-shaped cigarette of most opium is translated apart, and sucker moves down distance S=L
1+ σ
2, capture the second cigarette height and the high special-shaped cigarette of minimum cigarette, L simultaneously
1for sucker is to the distance of the high special-shaped cigarette upper surface of the second cigarette.
Aforesaidly to capture in the grasping means of the grabbing device of many special-shaped cigarettes simultaneously, to work as σ
2during > Δ, the sucker above the high and high special-shaped cigarette of minimum cigarette of the second cigarette is translated apart, posterior sucker move down distance S=L, capture the most special-shaped cigarette of opium height.
Compared with prior art, the present invention connects on a robotic arm by attaching parts, is obtained the difference in height of each irregular strip cigarette by the high sensor of each survey, when difference in height is in Δ, can capture each special-shaped cigarette simultaneously; By this structure, traditional grasping mechanism of comparing, can capture the special-shaped cigarette of one or more at every turn simultaneously, substantially increase the crawl efficiency of special-shaped cigarette.Moreover, the present invention is at crawl 2 special-shaped cigarettes and when σ > Δ, sucker moves down distance S=L, namely preferentially captures the high special-shaped cigarette of most opium, and this effectively prevents because sucker moves down, and stroke (i.e. S) is excessive weighs the most special-shaped cigarette of opium height wounded.In crawl 3 situations, work as σ
max> Δ and σ
1during≤Δ, preferentially capture the high and special-shaped cigarette of the second cigarette height of most opium simultaneously; Work as σ
1> Δ and σ
2during≤Δ, preferentially capture the second cigarette height and the high special-shaped cigarette of minimum cigarette simultaneously; Work as σ
2during > Δ, preferentially capture the high special-shaped cigarette of most opium; To sum up, the present invention can effectively prevent sucker from crawl process, weighing special-shaped cigarette wounded.Moreover, the present invention surveys high sensor by arranging in gripper shoe, survey high sensor and be sent to manipulator by after the data acquisition of special-shaped cigarette cigarette height, manipulator can control sucker according to cigarette high data and capture many special-shaped cigarettes simultaneously, not only efficiency is high, and its device structure is simple, makes equipment investment cost be effectively controlled.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the working state schematic representation of embodiment 1;
Fig. 3 is the working state schematic representation of embodiment 2.
Being labeled as in accompanying drawing: 1-gripper shoe, 2-groove, 3-sucker, 4-surveys high sensor, 5-attaching parts, the high special-shaped cigarette of the most opium of 6-, the high special-shaped cigarette of the minimum cigarette of 7-, the high special-shaped cigarette of 8-second cigarette.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated, but not as the foundation limited the present invention.
Embodiment 1.Can capture a grabbing device for many special-shaped cigarettes, form as shown in Figure 1, comprise gripper shoe 1, gripper shoe 1 is provided with groove 2, is provided with sucker 3 below gripper shoe 1 simultaneously, and groove 2 both sides is respectively provided with one and surveys high sensor 4.
One end of aforesaid gripper shoe 1 is also provided with attaching parts 5.Connect on a robotic arm by attaching parts 5 by gripper shoe 1, described manipulator is generally three axle robert.
The aforesaid grasping means (as shown in Figure 2) that simultaneously can capture the grabbing device of many special-shaped cigarettes is: sucker 3 correspondence moves on to above 2 special-shaped cigarettes by manipulator, the high sensor of each survey 4 detects the height of 2 special-shaped cigarettes respectively and obtains difference in height σ, when the σ≤Δ of 2 special-shaped cigarettes, sucker 3 moves down distance S=L+ σ, capture 2 special-shaped cigarettes, L is sucker 3 to the distance of the most high special-shaped cigarette upper surface of opium simultaneously; Described Δ is the distance of stretch out and draw back of sucker 3, Δ=0 ~ 15mm.Applicant finds in practice, the contraction range delta=0 ~ 15mm of general sucker 3, and when σ is in Δ, sucker 3 can normal contraction, under when being pressed on special-shaped cigarette, special-shaped cigarette can not be weighed wounded.
When σ > Δ, the sucker 3 above the high special-shaped cigarette of minimum cigarette is translated apart, posterior sucker 3 move down distance S=L, capture the most special-shaped cigarette of opium height.By this structure, S can be avoided to move down and excessively to weigh the high special-shaped cigarette of most opium wounded.
Embodiment 2.A kind of grabbing device that simultaneously can capture many special-shaped cigarettes, comprise gripper shoe 1, gripper shoe 1 is provided with two grooves 2, is provided with sucker 3 below gripper shoe 1, be provided with between two grooves 2 outside a high sensor of survey 4, two grooves 2 and be also respectively equipped with a high sensor 4 of survey.
One end of aforesaid gripper shoe 1 is also provided with attaching parts 5.
The aforesaid grasping means (as shown in Figure 3) that simultaneously can capture the grabbing device of many special-shaped cigarettes is: when capturing 3 special-shaped cigarettes simultaneously, 3 special-shaped cigarettes are arranged in order by sequence, afterwards sucker 3 correspondence is moved to above 3 special-shaped cigarettes, the high sensor of each survey 4 detects the height of special-shaped cigarette and obtains the difference in height of each special-shaped cigarette, when the high special-shaped cigarette 6 of most opium and the high special-shaped cigarette 7 difference in height σ max≤Δ of minimum cigarette, sucker 3 move down distance S=L+ σ max, simultaneously capture 3 special-shaped cigarettes.
Work as σ
max> Δ and most opium is high and the difference in height σ of the special-shaped cigarette of the second cigarette height
1during≤Δ, the sucker 3 above the high special-shaped cigarette of minimum cigarette is translated apart (be translated apart avoid the suction of sucker 3 to disturb the high special-shaped cigarette of minimum cigarette to make it be shifted be not easy to capture) next time, and sucker 3 moves down distance S=L+ σ
1, capture the most high special-shaped cigarette of opium and the high special-shaped cigarette 8 of the second cigarette simultaneously.Sucker 3 contract by distance now above the high special-shaped cigarette of most opium is σ
1≤ Δ, shrinks in scope at sucker 3, can not weigh the high special-shaped cigarette of most opium wounded.
Work as σ
1> Δ and the second cigarette is high and the difference in height σ of the special-shaped cigarette of minimum cigarette height
2during≤Δ, the sucker 3 above the high special-shaped cigarette of most opium is translated apart, and sucker 3 moves down distance S=L
1+ σ
2, capture the second cigarette height and the high special-shaped cigarette of minimum cigarette, L simultaneously
1for the distance of the high special-shaped cigarette upper surface of sucker 3 to the second cigarette.By this structure, sucker 3 is avoided to damage the high special-shaped cigarette of most opium by pressure.
Work as σ
2during > Δ, the sucker 3 above the high and high special-shaped cigarette of minimum cigarette of the second cigarette is translated apart, posterior sucker 3 move down distance S=L, capture the most special-shaped cigarette of opium height.
Claims (9)
1. one kind can capture the grabbing device of many special-shaped cigarettes simultaneously, it is characterized in that: comprise gripper shoe (1), gripper shoe (1) is provided with groove (2), gripper shoe (1) below is provided with sucker (3), and other being provided with of groove (2) surveys high sensor (4).
2. the grabbing device that simultaneously can capture many special-shaped cigarettes according to claim 1, it is characterized in that: described gripper shoe (1) is provided with two grooves (2), be provided with one between two grooves (2) and survey high sensor (4), two groove (2) outsides are also respectively equipped with one and survey high sensor (4).
3. the grabbing device that simultaneously can capture many special-shaped cigarettes according to claim 1 and 2, is characterized in that: one end of described gripper shoe (1) is also provided with attaching parts (5).
4. the grasping means that simultaneously can capture the grabbing device of many special-shaped cigarettes as described in any one of claim 1-3, it is characterized in that: when capturing 2 special-shaped cigarettes simultaneously, sucker (3) correspondence is moved on to above 2 special-shaped cigarettes, the high sensor of each survey (4) detects the height of 2 special-shaped cigarettes respectively and obtains difference in height σ, when the σ≤Δ of 2 special-shaped cigarettes, sucker (3) moves down distance S=L+ σ, capture 2 special-shaped cigarettes, L is sucker (3) to the distance of the most high special-shaped cigarette upper surface of opium simultaneously; Described Δ is the distance of stretch out and draw back of sucker (3), Δ=0 ~ 15mm.
5. can capture the grasping means of the grabbing device of many special-shaped cigarettes as claimed in claim 4 simultaneously, it is characterized in that: when σ > Δ, sucker (3) above the high special-shaped cigarette of minimum cigarette is translated apart, posterior sucker (3) move down distance S=L, capture the high special-shaped cigarette of most opium.
6. can capture the grasping means of the grabbing device of many special-shaped cigarettes as claimed in claim 4 simultaneously, it is characterized in that: when capturing 3 special-shaped cigarettes simultaneously, 3 special-shaped cigarettes are arranged in order by sequence, afterwards sucker (3) correspondence is moved to above 3 special-shaped cigarettes, the high sensor of each survey (4) height to special-shaped cigarette detects and obtains the difference in height of each special-shaped cigarette, when most opium is high and the difference in height σ of the special-shaped cigarette of minimum cigarette height
maxduring≤Δ, sucker (3) move down distance S=L+ σ
max, capture 3 special-shaped cigarettes simultaneously.
7. can capture the grasping means of the grabbing device of many special-shaped cigarettes as claimed in claim 6 simultaneously, it is characterized in that: work as σ
max> Δ and most opium is high and the difference in height σ of the special-shaped cigarette of the second cigarette height
1during≤Δ, the sucker (3) above the high special-shaped cigarette of minimum cigarette is translated apart, and sucker (3) moves down distance S=L+ σ
1, capture the high and special-shaped cigarette of the second cigarette height of most opium simultaneously.
8. can capture the grasping means of the grabbing device of many special-shaped cigarettes as claimed in claim 7 simultaneously, it is characterized in that: work as σ
1> Δ and the second cigarette is high and the difference in height σ of the special-shaped cigarette of minimum cigarette height
2during≤Δ, the sucker (3) above the high special-shaped cigarette of most opium is translated apart, and sucker (3) moves down distance S=L
1+ σ
2, capture the second cigarette height and the high special-shaped cigarette of minimum cigarette, L simultaneously
1for sucker (3) is to the distance of the high special-shaped cigarette upper surface of the second cigarette.
9. can capture the grasping means of the grabbing device of many special-shaped cigarettes as claimed in claim 8 simultaneously, it is characterized in that: work as σ
2during > Δ, the sucker (3) above the high and high special-shaped cigarette of minimum cigarette of the second cigarette is translated apart, posterior sucker (3) move down distance S=L, capture the most special-shaped cigarette of opium height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020888.4A CN105538332B (en) | 2016-01-13 | 2016-01-13 | A kind of grabbing device that can grab a plurality of special-shaped cigarette simultaneously and grasping means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610020888.4A CN105538332B (en) | 2016-01-13 | 2016-01-13 | A kind of grabbing device that can grab a plurality of special-shaped cigarette simultaneously and grasping means |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105538332A true CN105538332A (en) | 2016-05-04 |
| CN105538332B CN105538332B (en) | 2018-12-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610020888.4A Active CN105538332B (en) | 2016-01-13 | 2016-01-13 | A kind of grabbing device that can grab a plurality of special-shaped cigarette simultaneously and grasping means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105538332B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792610A (en) * | 2018-06-13 | 2018-11-13 | 安吉欧也钣金科技有限公司 | A kind of grasping mechanism of special-shaped workpiece |
| CN110255234A (en) * | 2019-08-01 | 2019-09-20 | 广州盛原成自动化科技有限公司 | It is a kind of to survey high grabbing device and grasping means |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910533B (en) * | 2018-06-13 | 2020-05-05 | 安吉欧也钣金科技有限公司 | Transfer mechanism of special-shaped workpiece |
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| JPH09103981A (en) * | 1995-10-05 | 1997-04-22 | Fuji Electric Co Ltd | Food feeding device |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108792610A (en) * | 2018-06-13 | 2018-11-13 | 安吉欧也钣金科技有限公司 | A kind of grasping mechanism of special-shaped workpiece |
| CN110255234A (en) * | 2019-08-01 | 2019-09-20 | 广州盛原成自动化科技有限公司 | It is a kind of to survey high grabbing device and grasping means |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105538332B (en) | 2018-12-28 |
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