CN108750605A - A kind of localization method and device ensuring the special-shaped object of manipulator crawl - Google Patents
A kind of localization method and device ensuring the special-shaped object of manipulator crawl Download PDFInfo
- Publication number
- CN108750605A CN108750605A CN201810578491.6A CN201810578491A CN108750605A CN 108750605 A CN108750605 A CN 108750605A CN 201810578491 A CN201810578491 A CN 201810578491A CN 108750605 A CN108750605 A CN 108750605A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- keeps
- spacer pin
- swing rod
- level pressure
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000004807 localization Effects 0.000 title claims abstract description 10
- 125000006850 spacer group Chemical group 0.000 claims abstract description 21
- 235000019504 cigarettes Nutrition 0.000 claims description 13
- 230000001788 irregular Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of localization methods and device ensuring the special-shaped object of manipulator crawl, the device includes pipeline, keep to the side roller machine and the level pressure power apparatus that keeps to the side are installed along conveying direction successively on the conveyor line, one group of oblique roller being mutually parallel is provided on the roller machine that keeps to the side, the level pressure power apparatus that keeps to the side includes the shaft fixed on the conveyor line and the swing rod being rotatablely connected with shaft, the front end of the swing rod is connect with spring, the both sides for being located at shaft on the conveyor line are respectively arranged with a pair of of front end spacer pin and a pair of of rear end spacer pin, and the spacing between the spacer pin of front end is more than the spacing between the spacer pin of rear end.The present invention makes special-shaped object rotate and be run against the side of pipeline on the conveyor line using the roller machine that keeps to the side first, then the edge for making object against pipeline by the swing rod on level pressure power apparatus that keeps to the side is run, and this posture is kept to be transported to designated position, capture object convenient for manipulator.
Description
Technical field
The present invention relates to a kind of localization methods and device ensuring the special-shaped object of manipulator crawl, belong to special-shaped object sorting
Technical field.
Background technology
Currently, the packaging of special-shaped cigarette mostly uses man power encasement or dress band, but such mode production efficiency is too low.In recent years,
To improve production efficiency, manipulator stacking technology is introduced, but the size due to special-shaped cigarette, weight, packaging are widely different, defeated
Position and posture in line sending is very random, and manipulator cannot quickly capture a cigarette and carry out stacking, can only identify irregular strip in real time
The position of cigarette and posture carry out crawl stacking, but this greatly reduces the operating efficiency of manipulator.
Invention content
The purpose of the present invention is to provide a kind of localization methods and device ensuring the special-shaped object of manipulator crawl, to solve
Abnormity cigarette, is located in designated position by the randomness of the position and posture of certainly special-shaped cigarette on the conveyor line, quick convenient for manipulator
Crawl.
Technical scheme of the present invention：A kind of localization method ensuring the special-shaped object of manipulator crawl, first on the conveyor line
Keep to the side roller machine and the level pressure power apparatus that keeps to the side are installed successively along conveying direction, then make irregular object defeated along pipeline
Send, in transmission process, by the oblique roller to keep to the side on roller machine make object rotate and against the side of pipeline run, when by
The object of side operation through keeping to the side level pressure power apparatus when, the swing rod on level pressure of keeping to the side power apparatus makes object against the side of pipeline
Edge is run, and is held the pose and be transported to designated position, and object is captured convenient for manipulator.
In the above method, the object on the pipeline, which remains, to travel at the uniform speed.
Meanwhile being ensured by the above-mentioned localization method structure for ensuring the special-shaped object of manipulator crawl the present invention also provides a kind of
Manipulator captures the positioning device of irregular strip cigarette, including pipeline, installs the roller that keeps to the side successively along conveying direction on the conveyor line
Machine and the level pressure power apparatus that keeps to the side, are provided with one group of oblique roller being mutually parallel on the roller machine that keeps to the side, described keeping to the side is fixed
Pressure apparatus includes the shaft fixed on the conveyor line and the swing rod being rotatablely connected with shaft, and front end and the spring of the swing rod connect
It connects, the both sides for being located at shaft on the conveyor line are respectively arranged with a pair of of front end spacer pin and a pair of of rear end spacer pin, and front end limits
Spacing between the pin of position is more than the spacing between the spacer pin of rear end, and swing rod is between front end spacer pin and rear end spacer pin.
Further, the swing rod is mounted obliquely on pipeline, and the length of swing rod is more than pipeline conveyor surface
Width.
Further, the both ends of the oblique roller are installed with gear, gear and the driving electricity of one of them oblique roller
Machine is sequentially connected, and all gears are connected by Toothed Belts Gearing.
By adopting the above-described technical solution, the advantage of the invention is that：The present invention is made using the roller machine that keeps to the side different first
Shape object is rotated and is run against the side of pipeline on the conveyor line, then the swing rod by keeping to the side on level pressure power apparatus
So that object is against the edge operation of pipeline, and this posture is kept to be transported to designated position, object is captured convenient for manipulator.
This mode does not need electronic switch detection and judges, does not need other equipment to complete to rotate, cost-effective, and can be continuous
It uses, withouts waiting for, substantially increase the efficiency of equipment, realize the high speed pile code of special-shaped cigarette.
Description of the drawings
Fig. 1 be the present invention in keep to the side roller machine structural schematic diagram vertical view；
Fig. 2 be the present invention in keep to the side level pressure power apparatus structural schematic diagram vertical view.
Reference sign：1- pipelines, 2- keep to the side roller machine, the oblique rollers of 3-, and 4- keeps to the side level pressure power apparatus, 5- swing rods,
6- shafts, 7- springs, the rear ends 8- spacer pin, the front ends 9- spacer pin.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and examples to this hair
It is bright to be described in further detail.
The embodiment of the present invention：Ensure structural schematic diagram such as Fig. 1 and Fig. 2 of the positioning device of manipulator crawl irregular strip cigarette
It is shown, including pipeline 1, keep to the side roller machine 2 and the level pressure power apparatus 4 that keeps to the side, institute are installed successively in 1 upper edge conveying direction of pipeline
One group of oblique roller 3 being mutually parallel is provided on the roller machine 2 that keeps to the side stated, the level pressure power apparatus 4 that keeps to the side includes being fixed on
Shaft 6 on pipeline 1 and the swing rod 5 with the rotation connection of shaft 6, the front end of the swing rod 5 is connect with spring 7, in pipeline 1
The upper both sides positioned at shaft 6 are respectively arranged with a pair of of front end spacer pin 9 and a pair of of rear end spacer pin 8, and between front end spacer pin 9
Spacing be more than rear end spacer pin 8 between spacing, swing rod 5 is between front end spacer pin 9 and rear end spacer pin 8.Described
Swing rod 5 is mounted obliquely on pipeline 1, and the length of swing rod 5 is more than the width of 1 conveyor surface of pipeline.The oblique roller 3
For existing driving drum structure, it is installed with gear at 3 both ends of oblique roller, the gear of one of them oblique roller 3 and driving
Motor drive connects, and all gears are connected by Toothed Belts Gearing.
The operation principle of the present invention：First 1 upper edge conveying direction of pipeline install successively keep to the side roller machine 2 and keep to the side it is fixed
Then pressure apparatus 4 makes irregular object be conveyed along pipeline 1, in transmission process, by keeping to the side on roller machine 2
Oblique roller 3 makes object rotate and be run against the side of pipeline 1, when the object for operation of keeping to the side is by the level pressure power apparatus 4 that keeps to the side
When, the swing rod 5 on level pressure of keeping to the side power apparatus 4 makes object against the edge operation of pipeline 1, and holds the pose and be transported to
Designated position captures object convenient for manipulator.Object on the pipeline 1, which remains, to travel at the uniform speed.
The present invention makes special-shaped object rotate on the conveyor line and against pipeline 1 using the roller machine 2 that keeps to the side first
Side is run, and the edge for then making object against pipeline 1 by the swing rod 5 to keep to the side on level pressure power apparatus 4 is run, and is kept
This posture is transported to designated position, and object is captured convenient for manipulator.This mode does not need electronic switch detection and judges, is not required to
Other equipment is wanted to complete to rotate, it is cost-effective, and can continuously use, it withouts waiting for, substantially increases the effect of equipment
Rate realizes the high speed pile code of special-shaped cigarette.
Claims (5)
1. a kind of localization method ensuring the special-shaped object of manipulator crawl, it is characterised in that：It is conveyed first in pipeline (1) upper edge
The roller machine that keeps to the side (2) is installed and the level pressure power apparatus (4) that keeps to the side in direction successively, then makes irregular object along pipeline (1)
Conveying makes object rotate and against the one of pipeline (1) in transmission process by the oblique roller (3) on the roller machine that keeps to the side (2)
Side is run, and when the object for operation of keeping to the side, which passes through, keeps to the side level pressure power apparatus (4), the swing rod (5) on level pressure of keeping to the side power apparatus (4) makes
Object againsts the edge operation of pipeline (1), and holds the pose and be transported to designated position, and object is captured convenient for manipulator
Part.
2. the localization method according to claim 1 for ensuring the special-shaped object of manipulator crawl, it is characterised in that：The conveying
Object on line (1), which remains, to travel at the uniform speed.
3. a kind of ensuring machinery by the localization method structure as claimed in claim 1 or 2 for ensuring the special-shaped object of manipulator crawl
Hand captures the positioning device of irregular strip cigarette, including pipeline (1), it is characterised in that：Pipeline (1) upper edge conveying direction successively
Keep to the side roller machine (2) and the level pressure power apparatus (4) that keeps to the side are installed, one group is provided on the roller machine that keeps to the side (2) and is mutually parallel
Oblique roller (3), the described level pressure power apparatus (4) that keeps to the side include the shaft (6) being fixed on pipeline (1) and with shaft (6)
The front end of the swing rod (5) of rotation connection, the swing rod (5) is connect with spring (7), and the two of shaft (6) is located on pipeline (1)
Side is respectively arranged with a pair of of front end spacer pin (9) and a pair of of rear end spacer pin (8), and the spacing between front end spacer pin (9) is big
Spacing between rear end spacer pin (8), swing rod (5) are located between front end spacer pin (9) and rear end spacer pin (8).
4. the positioning device according to claim 3 for ensuring manipulator crawl irregular strip cigarette, it is characterised in that：The pendulum
Bar (5) is mounted obliquely on pipeline (1), and the length of swing rod (5) is more than the width of pipeline (1) conveyor surface.
5. the positioning device according to claim 3 for ensuring manipulator crawl irregular strip cigarette, it is characterised in that：Described is oblique
The both ends of roller (3) are installed with gear, gear and the driving motor of one of them oblique roller (3) are sequentially connected, all
Gear is connected by Toothed Belts Gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810578491.6A CN108750605A (en) | 2018-06-07 | 2018-06-07 | A kind of localization method and device ensuring the special-shaped object of manipulator crawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810578491.6A CN108750605A (en) | 2018-06-07 | 2018-06-07 | A kind of localization method and device ensuring the special-shaped object of manipulator crawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108750605A true CN108750605A (en) | 2018-11-06 |
Family
ID=64000324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810578491.6A Pending CN108750605A (en) | 2018-06-07 | 2018-06-07 | A kind of localization method and device ensuring the special-shaped object of manipulator crawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108750605A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6438312A (en) * | 1987-08-04 | 1989-02-08 | Sandvik Kk | Lateral collection conveyer |
| JP2010215303A (en) * | 2009-03-13 | 2010-09-30 | Daifuku Co Ltd | Aligning and conveying device |
| CN202226374U (en) * | 2011-09-10 | 2012-05-23 | 深圳市金刚手机电有限公司 | Horizontal bottle stopping device on bottle arranging machine and bottle arranging machine with the same |
| CN205274593U (en) * | 2015-12-04 | 2016-06-01 | 林明皓 | Cutting feed inlet positioning mechanism |
| CN105966881A (en) * | 2016-07-12 | 2016-09-28 | 江苏省烟草公司无锡市公司 | Steering device used for A-type frame |
| CN205771803U (en) * | 2016-05-20 | 2016-12-07 | Tcl王牌电器(惠州)有限公司 | Cylinder conveying equipment |
| CN208666375U (en) * | 2018-06-07 | 2019-03-29 | 贵阳普天物流技术有限公司 | A kind of positioning device for ensuring manipulator and grabbing special-shaped object |
-
2018
- 2018-06-07 CN CN201810578491.6A patent/CN108750605A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6438312A (en) * | 1987-08-04 | 1989-02-08 | Sandvik Kk | Lateral collection conveyer |
| JP2010215303A (en) * | 2009-03-13 | 2010-09-30 | Daifuku Co Ltd | Aligning and conveying device |
| CN202226374U (en) * | 2011-09-10 | 2012-05-23 | 深圳市金刚手机电有限公司 | Horizontal bottle stopping device on bottle arranging machine and bottle arranging machine with the same |
| CN205274593U (en) * | 2015-12-04 | 2016-06-01 | 林明皓 | Cutting feed inlet positioning mechanism |
| CN205771803U (en) * | 2016-05-20 | 2016-12-07 | Tcl王牌电器(惠州)有限公司 | Cylinder conveying equipment |
| CN105966881A (en) * | 2016-07-12 | 2016-09-28 | 江苏省烟草公司无锡市公司 | Steering device used for A-type frame |
| CN208666375U (en) * | 2018-06-07 | 2019-03-29 | 贵阳普天物流技术有限公司 | A kind of positioning device for ensuring manipulator and grabbing special-shaped object |
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