CN106672797A - Glue stock grabbing device and method of grabbing glue stock - Google Patents
Glue stock grabbing device and method of grabbing glue stock Download PDFInfo
- Publication number
- CN106672797A CN106672797A CN201611130547.9A CN201611130547A CN106672797A CN 106672797 A CN106672797 A CN 106672797A CN 201611130547 A CN201611130547 A CN 201611130547A CN 106672797 A CN106672797 A CN 106672797A
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- CN
- China
- Prior art keywords
- sizing material
- crawl
- capture
- drill bit
- pulling force
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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
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a glue stock grabbing device and a method of grabbing glue stock. The device comprises a movable component, a drill bit driver and a grabbing component, wherein the movable component is connected with the grabbing component to drive the grabbing component to move; the grabbing component comprises one or more drill bits, is mounted at the tail end of the movable component, is driven by the movable component to move, and is driven by the drill bit driver to rotate; and spiral convex grains are arranged on the outer surface of the drill bit. The method comprises the following steps of: driving the grabbing component to a grabbing position through the movable component; driving the drill bit to rotate and drill into the glue stock to grab through the movable component and the drill bit driver; driving the grabbed glue stock to the placed position through the movable component; driving the drill bit to reversely rotate to unload the grabbed glue stock through the movable component and the drill bit driver; and driving the grabbing component to return to the grabbing position through the movable component, repeating the steps, thereby completing grabbing of the glue stock. According to the device and the method provided by the invention, grabbing is performed in a mode of rotating and drilling into the glue stock, so that grabbing is simple and accurate.
Description
Technical field
The present invention relates to capture machinery design field, more particularly, to a kind of sizing material grabbing device and grab
The method for taking sizing material.
Background technology
During crawl sizing material, the method on the both sides of mechanical hand crawl sizing material is usually taken, the method crawl sizing material is difficult, crawl
When position is inaccurate, sizing material landing is easily caused, at least need two mechanical hands to be captured from sizing material both sides, the sizing material time
Long, efficiency is low and is difficult to two blocks of sizing materials being separately bonded together, and is unfavorable for the development of subsequent handling.
The content of the invention
In view of the above problems, it is an object of the invention to provide a kind of capture convenient, accurate and efficiency high sizing material crawl dress
The method for putting and its capturing sizing material.
According to an aspect of the present invention, there is provided a kind of sizing material grabbing device, including mobile member, drill drive and grab
Component is taken, wherein, mobile member is connected with the capture member, drives capture member movement；Capture member, including one or
Multiple drill bits, installed in the end of the mobile member, are moved by the drive of mobile member, by the drive of drill drive
Move and rotate, wherein, the outer surface of the drill bit has helical ridges.
According to another aspect of the present invention, there is provided a kind of method for capturing sizing material using above-mentioned sizing material grabbing device,
Including：Capture member is driven to crawl position by mobile member；Capture member movement is driven by mobile member, by drill bit
Driver drives bit so that bit pierces sizing material and carries out sizing material crawl；The glue of crawl is driven by mobile member
Expect placement location；Drive drill bit to reversely rotate by the drive and drill drive of mobile member, unload the sizing material of crawl；Move
Dynamic component drives capture member to return to crawl position, and repeat the above steps complete the crawl of all sizing materials.
The method of above-mentioned sizing material grabbing device and its crawl sizing material, pierces sizing material and is captured by capture member rotation,
Crawl is simple and convenient, and efficiency high, capture member has helical ridges, can effectively prevent coming off for sizing material.
Description of the drawings
By reference to detailed description below and claims content and combine accompanying drawing, the present invention other mesh
And result will be more apparent and should be readily appreciated that.In the accompanying drawings：
Fig. 1 is the schematic diagram of sizing material grabbing device of the present invention；
Fig. 2 is the scheme of installation of pulling force sensor of the present invention；
Fig. 3 is the scheme of installation of pressure transducer of the present invention；
Fig. 4 is the schematic diagram of one preferred embodiment of sizing material grabbing device of the present invention.
In the accompanying drawings, identical reference indicates similar or corresponding feature or function.
Specific embodiment
In the following description, for purposes of illustration, in order to provide the comprehensive understanding to one or more embodiments, explain
Many details are stated.It may be evident, however, that these embodiments can also be realized in the case of without these details.
In other examples, for the ease of describing one or more embodiments, known structure and equipment are illustrated in block form an.
Come below with reference to accompanying drawings to be described in detail each embodiment of the invention.
Fig. 1 is the schematic diagram of sizing material grabbing device of the present invention, as shown in figure 1, the sizing material grabbing device 100 includes movement
Component 110, drill drive 120 and capture member 130, wherein,
Mobile member 110, is connected with capture member 130, drives capture member 130 to move, and for example, mobile member 110 can
To be the electric up-down structure such as crane and piston structure (pneumatically or hydraulically), screw mandrel auxiliary structure, in addition, mobile member 110 is wrapped
Mechanical arm 111 and main body 112 are included, the one end of mechanical arm 111 connection capture member 130, the other end is connected to main body 112, main body 112
With vehicle, fixed pedestal and driver or slide rail of the movement of mechanical arm 111 etc. can be driven；
Drill drive 120, the drill bit 131 for driving the capture member 130 rotates, such as motor and motor, transmission
The driving means that the combination such as mechanism, brake is constituted；
Capture member 130, including one or more drill bits 131, installed in the end of the mobile member 110, by moving
The drive of dynamic component 110 and move, rotated by the driving of drill drive 120, wherein, the outer surface of the drill bit 131
With helical ridges.
The method for capturing sizing material 10 using above-mentioned sizing material grabbing device 100 includes：
Capture member 130 is driven to arrive crawl position by mobile member 110；
Drive capture member 130 to move by mobile member 110, drive drill bit 131 to rotate by drill drive 120,
So that the rotation of drill bit 131 pierces sizing material 10 and carries out sizing material crawl；
The sizing material 10 of crawl is driven to placement location, the drive and drill bit by mobile member 110 by mobile member 110
Driver 120 drives drill bit 131 to reversely rotate, and unloads the sizing material 10 of crawl, and mobile member 110 drives capture member 130 to return
Crawl position, repeat the above steps complete the crawl of all sizing materials.
Preferably, above-mentioned sizing material grabbing device 100 also includes：
Range sensor 140, is arranged on mobile member 110 towards on the face of sizing material, for measuring the range sensor
With the distance of the sizing material；
Control unit (not shown), by wired or wireless mode the signal of range sensor is received, and is passed by distance
Depth and the rotation of drill bit 131 that sizing material is pierced with the distance controlling drill bit 131 of sizing material 10 of the measurement of sensor 140, it is also possible to
Whether captured successfully by the Distance Judgment sizing material, specifically, as shown in figure 1, range sensor 140 and the end of drill bit 131
The distance of in the vertical direction is L1, and the thickness of the sizing material to be captured is H1, during crawl sizing material, when sizing material 10 and range sensor
When 140 distance is more than L1, illustrate that drill bit does not also pierce sizing material 10；When sizing material 10 is setting with the distance of range sensor 140
Determine in scope (for exampleExtremely) when, sizing material 10 is captured successfully, and drill bit 131 stops operating, and when unloading sizing material, is led to
The drive and drill drive 120 for crossing mobile member 110 drives the reversion capture member 130 of drill bit 131 to invert and causes on sizing material 10
Surface and range sensor 140 apart from increase, when the distance exceedes set point (being greater than L1), represent sizing material 10 with
Capture member 130 departs from, and drill bit 131 stops operating.
Furthermore it is preferred that above-mentioned sizing material grabbing device 100 also includes：
Pulling force sensor 150, measuring drill bit 131, not capture suffered pulling force after sizing material and crawl sizing material poor, as shown in Figure 2
The one end of pulling force sensor 150 connects drill drive 120, and other end connection capture member 130 can adopt a pull sensing
Device 150, the then pulling force suffered by the drill bit 131 being connected with pulling force sensor 150 that above-mentioned pulling force difference is measured for pulling force sensor 150
The product of difference and drill bit number, it would however also be possible to employ multiple pulling force sensors 150；
Wherein, above-mentioned control unit is not after the drill bit 131 that pulling force sensor 150 is measured captures sizing material and crawl sizing material
Suffered pulling force difference judges that capture member 130 captures the piece number of sizing material 10.
It is poor that the drill bit 131 measured using above-mentioned pulling force sensor 150 does not capture pulling force suffered after sizing material and crawl sizing material
Judging the method for the piece number of crawl sizing material includes：
Pulling force suffered after drill bit 131 does not capture sizing material and crawl sizing material is measured by pulling force sensor 150 poor；
The pulling force difference is judged whether in set point, wherein, the set point determines according to the weight of sizing material 10,
The sizing material 10 is lighter, and the value of the set point is less, and for example, the weight of a piece of sizing material 10 is 60Kg, using 3 drill bits
131, above-mentioned set point can be 588N to 600N；
If the pulling force difference is less than set point, the capture member 130 does not capture sizing material 10, sizing material is captured again
10；
If in the set point, the capture member 130 captures a piece of sizing material 10 to the pulling force difference；
If the pulling force difference exceedes the set point, the crawl multi-disc of the capture member 130 sizing material 10 removes unnecessary glue
Material, for example, can remove redundant rubber stock by the reversion of drill bit 131.
In a preferred embodiment of the invention, above-mentioned capture member 130 also includes：
Fixed plate 132, installed in the end of mobile member 110, for supporting drill drive 120 and drill bit 131, drill bit
Driver 120 and range sensor 140 may be mounted in the fixed plate 132；
Transfer case 133, is arranged between the mobile member 110 and the drill bit 131, the size of the transfer case 133
Less than the size of the fixed plate 132, it is provided with the transfer case 133 and accommodates the hole that capture member 130 is passed through, Distance-sensing
Device 140 can also be arranged on transfer case 133 towards on the face of sizing material.
Preferably, above-mentioned sizing material grabbing device 100 also includes angle adjusting (not shown), adjusts fixed plate 132
Luffing angle, so as to adjust angle of the capture member 130 relative to the sizing material 10.
Furthermore it is preferred that the setting of the sizing material grabbing device 100 is as follows：
As shown in figure 4, multiple drill bits 131, for example, three drill bits 131, three drill bits 131 are located on the circumference of same circle；
Mobile member 110 and transfer case 133 are located on same axis；
Range sensor 140 be arranged on fixed plate 132 on, and with the parallel installation of transfer case 133.
In another preferred embodiment of the invention, the piece number of crawl sizing material can be judged by pressure transducer, such as
Shown in Fig. 3, the fixed plate 132 is in I shape, and one end 132a is fixedly connected with travel mechanism 110, and other end 132b pierces institute
State in transfer case 133, pressure transducer 160 is provided between the other end and transfer case 133 of the fixed plate 132, by grabbing
When taking sizing material and when not capturing sizing material, pressure transducer 160 measurement pressure differential come judge capture sizing material piece number, specifically sentence
Disconnected step is similar to pulling force sensor 150.
Sizing material grabbing device 100 of the present invention can judge crawl by pulling force sensor 150 or pressure transducer 160
The piece number of sizing material, prevents from grabbing sizing material more, it is preferable that described control unit is in crawl failure (such as getting stuck) or many crawl (examples
As sizing material 10 is sticked at one piece) when, alarm signal (sound, light etc.) is sent, above-mentioned situation can be eliminated by manual intervention.
Although content disclosed above shows the exemplary embodiment of the present invention, it should be noted that without departing substantially from power
On the premise of profit requires the scope for limiting, may be many modifications and change.According to the side of inventive embodiments described herein
The function of method claim, step and/or action are not required to the execution of any particular order.Although additionally, the element of the present invention can
It is unless explicitly limited individual element it is also contemplated that having multiple elements to describe in individual form or require.
Claims (10)
1. a kind of sizing material grabbing device, including mobile member, drill drive and capture member, it is characterised in that
Mobile member, is connected with the capture member, drives capture member movement；
Capture member, including one or more drill bits, installed in the end of the mobile member, by the drive of mobile member
It is mobile, rotated by the driving of drill drive, wherein, the outer surface of the drill bit has helical ridges.
2. sizing material grabbing device according to claim 1, it is characterised in that also including range sensor, be arranged on movement
Component towards on the face of sizing material, for measuring the distance of the range sensor and the sizing material.
3. sizing material grabbing device according to claim 1, it is characterised in that also including pulling force sensor, the pulling force is passed
Sensor one end connects drill drive, and other end connection drill bit measures the drill bit and do not capture sizing material and capture suffered after sizing material
Pulling force it is poor.
4. sizing material grabbing device according to claim 1, it is characterised in that the grasping mechanism also includes：
Fixed plate, installed in mobile member end, for supporting drill drive and capture member；
Transfer case, be arranged between the mobile member and the drill bit, and the transfer case is smaller in size than the fixed plate
Size, is provided with the transfer case and accommodates the hole that the drill bit is passed through.
5. sizing material grabbing device according to claim 4, it is characterised in that the fixed plate is in I shape, one end with move
Motivation structure is fixedly connected, and the other end is pierced in the transfer case, and between the other end and transfer case of the fixed plate pressure is provided with
Force transducer.
6. the sizing material grabbing device according to claim 2,3 or 5, it is characterised in that also including control unit, by distance
The distance with sizing material of sensor measurement, control drill bit pierces the depth of sizing material and the rotation of drill bit, is sentenced by the distance
Disconnected sizing material whether capture successfully or pass through pulling force sensor measurement drill bit suffered by pulling force difference judge crawl sizing material piece number or
The piece number for capturing sizing material is judged by the pressure differential of pressure transducer measurement.
7. sizing material grabbing device according to claim 1, it is characterised in that the capture member includes multiple drill bits, institute
State multiple drill bits to be located on same circumference.
8. the method that the sizing material grabbing device in a kind of utilization claim 1 to 7 described in any claim captures sizing material, it is special
Levy and be, including：
Capture member is driven to crawl position by mobile member；
Capture member movement is driven by mobile member, bit is driven by drill drive so that bit is pierced
Sizing material carries out sizing material crawl；
The sizing material of crawl is driven to placement location by mobile member；
Drive drill bit to reversely rotate by the drive and drill drive of mobile member, unload the sizing material of crawl；
Mobile member drives capture member to return to crawl position, and repeat the above steps complete the crawl of all sizing materials.
9. it is according to claim 8 crawl sizing material method, it is characterised in that also include：
During crawl sizing material, judge the distance of sizing material and range sensor whether in set point, the distance is in set point
When interior, sizing material is captured successfully, and capture member stops operating；
When unloading sizing material, when sizing material exceedes set point with range sensor distance, represent sizing material and depart from capture member, crawl
Component stops operating.
10. it is according to claim 8 crawl sizing material method, it is characterised in that also include：By pulling force sensor or
Pressure transducer judges the piece number of crawl sizing material,
Wherein, the method for the piece number of crawl sizing material is judged by pulling force sensor to be included：
Pulling force suffered after drill bit does not capture sizing material and crawl sizing material is measured by pulling force sensor poor；
Judge the pulling force difference whether in set point；
If the pulling force difference is less than set point, the capture member does not capture sizing material, sizing material is captured again；
If the pulling force difference is in the set point, the capture member captures a piece of sizing material；
If the pulling force difference exceedes the set point, the capture member captures multi-disc sizing material, removes redundant rubber stock,
Wherein, the method for the piece number of crawl sizing material is judged by pressure transducer to be included：
Pressure differential during sizing material is measured when capturing sizing material and not captured by pressure transducer；
Judge the pressure differential whether in set point；
If the pressure differential is less than set point, the capture member does not capture sizing material, sizing material is captured again；
If the pressure differential is in the set point, the capture member captures a piece of sizing material；
If the pressure differential exceedes the set point, the capture member captures multi-disc sizing material, removes redundant rubber stock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130547.9A CN106672797A (en) | 2016-12-09 | 2016-12-09 | Glue stock grabbing device and method of grabbing glue stock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130547.9A CN106672797A (en) | 2016-12-09 | 2016-12-09 | Glue stock grabbing device and method of grabbing glue stock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106672797A true CN106672797A (en) | 2017-05-17 |
Family
ID=58868655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611130547.9A Pending CN106672797A (en) | 2016-12-09 | 2016-12-09 | Glue stock grabbing device and method of grabbing glue stock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106672797A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN109813238A (en) * | 2019-01-28 | 2019-05-28 | 广东拓斯达科技股份有限公司 | The control method and device of thickness of glass detection |
| CN112799435A (en) * | 2020-12-31 | 2021-05-14 | 海门市帕源路桥建设有限公司 | Intelligent machine control method for mounting and dismounting bottom plate low wall formwork |
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| JP2010120751A (en) * | 2008-11-20 | 2010-06-03 | Sumitomo Rubber Ind Ltd | Conveyance device and conveyance method for elastic body |
| CN203922542U (en) * | 2014-06-30 | 2014-11-05 | 白晶 | A kind of mining elevator for coal mining |
| CN206486193U (en) * | 2016-12-09 | 2017-09-12 | 周红润 | Sizing material grabbing device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19637470A1 (en) * | 1995-09-15 | 1997-03-20 | Mb Woodtech Gmbh | Anchor device for insertion in wooden beam |
| JP2010120751A (en) * | 2008-11-20 | 2010-06-03 | Sumitomo Rubber Ind Ltd | Conveyance device and conveyance method for elastic body |
| CN203922542U (en) * | 2014-06-30 | 2014-11-05 | 白晶 | A kind of mining elevator for coal mining |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN109557327B (en) * | 2017-09-26 | 2022-04-29 | 深圳市新产业生物医学工程股份有限公司 | Cup grabbing judgment method |
| CN109813238A (en) * | 2019-01-28 | 2019-05-28 | 广东拓斯达科技股份有限公司 | The control method and device of thickness of glass detection |
| CN112799435A (en) * | 2020-12-31 | 2021-05-14 | 海门市帕源路桥建设有限公司 | Intelligent machine control method for mounting and dismounting bottom plate low wall formwork |
| CN112799435B (en) * | 2020-12-31 | 2022-08-05 | 海门市帕源路桥建设有限公司 | Intelligent machine control method for mounting and dismounting bottom plate low wall formwork |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170517 |
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