CN109051621B - Automatic workpiece feeding posture detection device - Google Patents
Automatic workpiece feeding posture detection device Download PDFInfo
- Publication number
- CN109051621B CN109051621B CN201811115279.2A CN201811115279A CN109051621B CN 109051621 B CN109051621 B CN 109051621B CN 201811115279 A CN201811115279 A CN 201811115279A CN 109051621 B CN109051621 B CN 109051621B
- Authority
- CN
- China
- Prior art keywords
- air cylinder
- pressing plate
- fixed
- supporting plate
- guide pin
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000003825 pressing Methods 0.000 claims abstract description 41
- 238000006073 displacement reaction Methods 0.000 claims abstract description 16
- 239000000523 sample Substances 0.000 claims description 7
- 239000000463 material Substances 0.000 claims 1
- 230000036544 posture Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Abstract
The invention discloses an automatic detection device for workpiece feeding gestures, which comprises: the device comprises an air cylinder, at least two grippers which are fixed on the air cylinder and can radially clamp a workpiece under the driving of the air cylinder, a supporting plate which is fixed on the air cylinder and is positioned in the middle of the grippers, an elastic pressing plate which is movably arranged below the supporting plate, and a linear displacement sensor which is arranged between the air cylinder and the elastic pressing plate. The invention has simple structure and accurate identification, can be used for automatically detecting the forward and reverse postures of workpieces with circular inner diameters and unequal diameters, is suitable for mechanical arms and other mechanical devices, and improves the workpiece feeding efficiency.
Description
Technical Field
The invention belongs to a detection device, and particularly relates to an automatic detection device for workpiece feeding gestures.
Background
In modern manufacturing industry, the automatic production line occupies larger proportion, and the carrying and feeding and discharging in the processing flow are carried out by the aid of the mechanical arm, so that the industrial efficiency is greatly improved. In the feeding step of an automatic production line, the problems of random placement and unfixed posture of workpieces are frequently encountered, and great difficulty is brought to grabbing and feeding of a manipulator. At present, the gesture detection of the workpiece mainly takes naked eyes as a main part, and the efficiency is low and the cost is high. Some detection mechanisms based on visual recognition have complex structures and are not very expensive to manufacture.
Disclosure of Invention
The invention aims to provide the workpiece feeding gesture automatic detection device which is simple in structure, accurate in recognition and high in efficiency.
The technical scheme for realizing the aim of the invention is as follows:
the invention provides a workpiece feeding gesture automatic detection device, which comprises: the device comprises an air cylinder, at least two grippers which are fixed on the air cylinder and can radially clamp a workpiece under the driving of the air cylinder, a supporting plate which is fixed on the air cylinder and is positioned in the middle of the grippers, an elastic pressing plate which is movably arranged below the supporting plate, and a linear displacement sensor which is arranged between the air cylinder and the elastic pressing plate.
The elastic pressing plate comprises a pressing plate, a guide pin and a return spring, wherein the guide pin penetrates through the supporting plate, a limit flange is arranged at the upper end of the guide pin, a pressing bar is fixed at the upper end of the guide pin, the lower end of the guide pin is fixedly connected with the pressing plate, and the return spring is arranged between the pressing plate and the supporting plate.
The linear displacement sensor comprises a fixing part and an automatic resetting probe, wherein the fixing part is fixed on the cylinder, and the automatic resetting probe is abutted against the pressing strip.
The supporting plate is fixed on the air cylinder through the anchor ear.
The invention has the beneficial effects that:
the invention has simple structure and accurate identification, can be used for automatically detecting the forward and reverse postures of workpieces with circular inner diameters and unequal diameters, is suitable for mechanical arms and other mechanical devices, and improves the workpiece feeding efficiency.
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of a cylinder and grip of the present invention.
Fig. 3 is a schematic view of the structure of the support plate and the elastic pressing plate in the present invention.
Fig. 4 is a schematic structural view of a linear displacement sensor according to the present invention.
Fig. 5 is a schematic view of a workpiece.
FIG. 6 is a schematic diagram of two workpieces.
Detailed Description
Referring to fig. 1 to 4, the workpiece feeding posture automatic detection device provided by the invention comprises: the device comprises an air cylinder 6, three grippers 5 which are fixed on the air cylinder 6 and can radially clamp a workpiece, a supporting plate 3 which is fixed on the air cylinder 6 and is positioned in the middle of the grippers 5, an elastic pressing plate 1 which is movably arranged below the supporting plate 3, a pressing strip 4 which is fixed on the supporting plate 3, and a linear displacement sensor 7 which is arranged between the air cylinder 6 and the pressing strip 4.
As shown in fig. 3, the elastic pressing plate 1 includes a pressing plate 101, a guide pin 103 and a return spring 102, the guide pin 103 passes through the supporting plate 3, a limit flange 104 is arranged at the upper end of the guide pin 103 and fixes the pressing bar 4, the lower end of the guide pin 103 is fixedly connected with the pressing plate 101, the return spring 102 is arranged between the pressing plate 101 and the supporting plate 3, the supporting plate 3 is connected to the air cylinder 6 through a hoop 2, and the distance between the pressing bar 4 and the pressing plate 101 is fixed;
as shown in fig. 4, the linear displacement sensor 7 includes a fixing portion 701 and an automatic resetting probe 702, the fixing portion 701 is fixed on the cylinder 6, the automatic resetting probe 702 abuts against the pressing bar 4 and can follow up the up-down displacement of the pressing bar 4, and a signal is transmitted by detecting the vertical displacement of the pressing bar 4.
More specific description: first, the shape of the pressing plate 101 is designed according to the shape of the inner diameter of the workpiece, and when the workpiece a is placed in front (see fig. a), the shape of the inner diameter of the workpiece a is matched with the shape of the pressing plate 101, and the pressing plate 101 is sunk into the workpiece a, as shown in fig. 5 and 6; when the work a is placed in reverse (see fig. b), the pressing plate 101 is stacked by the work a due to the non-conforming shape.
When the equipment operates, the whole equipment moves downwards under the action of the truss guide rail, the air cylinder 6 drives the gripper 5 to grasp the workpiece A, if the workpiece A is placed on the front surface, the pressing plate 101 can be just embedded into the workpiece A, the pressing bar 4 connected with the pressing plate 101 can not generate vertical displacement, the displacement sensor 7 can not receive a displacement signal, and the front surface is judged. If the workpiece a is placed on the opposite side, the pressing plate 101 will be stacked with the workpiece a, and in the process of the gripper 5 being downward, the pressing plate 101 will be pushed upward by a displacement of the thickness of the workpiece a relative to the support plate 3, and this displacement is reflected on the pressing bar 4, and will be detected by the automatic reset probe 702 of the linear displacement sensor 7, and a signal is generated, and the opposite side is determined.
Claims (1)
1. Automatic detection device of work piece material loading gesture, characterized by includes: the device comprises an air cylinder, at least two grippers, a supporting plate, an elastic pressing plate and a linear displacement sensor, wherein the grippers are fixed on the air cylinder and can radially clamp a workpiece under the driving of the air cylinder; the elastic pressing plate comprises a pressing plate, a guide pin and a return spring, the guide pin penetrates through the supporting plate, a limit flange is arranged at the upper end of the guide pin, a pressing bar is fixed at the upper end of the guide pin, the lower end of the guide pin is fixedly connected with the pressing plate, and the return spring is arranged between the pressing plate and the supporting plate; the linear displacement sensor comprises a fixed part and an automatic resetting probe, wherein the fixed part is fixed on the cylinder, and the automatic resetting probe is abutted against the pressing strip; the supporting plate is fixed on the air cylinder through the anchor ear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115279.2A CN109051621B (en) | 2018-09-25 | 2018-09-25 | Automatic workpiece feeding posture detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115279.2A CN109051621B (en) | 2018-09-25 | 2018-09-25 | Automatic workpiece feeding posture detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109051621A CN109051621A (en) | 2018-12-21 |
| CN109051621B true CN109051621B (en) | 2024-01-12 |
Family
ID=64765671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811115279.2A Active CN109051621B (en) | 2018-09-25 | 2018-09-25 | Automatic workpiece feeding posture detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051621B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4402053A (en) * | 1980-09-25 | 1983-08-30 | Board Of Regents For Education For The State Of Rhode Island | Estimating workpiece pose using the feature points method |
| CN101279421A (en) * | 2008-05-21 | 2008-10-08 | 大连智云自动化装备股份有限公司 | Duct direction recognition device |
| CN201192772Y (en) * | 2008-05-21 | 2009-02-11 | 大连智云自动化装备股份有限公司 | Assembly equipment of tube/seat ring |
| CN105058043A (en) * | 2015-08-31 | 2015-11-18 | 重庆豪能兴富同步器有限公司 | Gear sleeve planeness and positive and negative pose detecting mechanism of synchronizer assembling and detecting line |
| CN105171404A (en) * | 2015-08-31 | 2015-12-23 | 重庆豪能兴富同步器有限公司 | Gear hub pose detection mechanism of synchronizer automatic production line |
| CN206169578U (en) * | 2016-09-28 | 2017-05-17 | 儒拉玛特自动化技术(苏州)有限公司 | Detection apparatus for spring washers assembly |
| CN107498301A (en) * | 2017-09-27 | 2017-12-22 | 东莞市鑫骏自动化科技有限公司 | Automatic locking screw machine |
| CN108161401A (en) * | 2017-12-18 | 2018-06-15 | 上汽通用五菱汽车股份有限公司 | The positive and negative detection correcting device of valve retainer |
| CN209080815U (en) * | 2018-09-25 | 2019-07-09 | 湖南宇环智能装备有限公司 | A kind of workpiece feeding posture automatic detection device |
-
2018
- 2018-09-25 CN CN201811115279.2A patent/CN109051621B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4402053A (en) * | 1980-09-25 | 1983-08-30 | Board Of Regents For Education For The State Of Rhode Island | Estimating workpiece pose using the feature points method |
| CN101279421A (en) * | 2008-05-21 | 2008-10-08 | 大连智云自动化装备股份有限公司 | Duct direction recognition device |
| CN201192772Y (en) * | 2008-05-21 | 2009-02-11 | 大连智云自动化装备股份有限公司 | Assembly equipment of tube/seat ring |
| CN105058043A (en) * | 2015-08-31 | 2015-11-18 | 重庆豪能兴富同步器有限公司 | Gear sleeve planeness and positive and negative pose detecting mechanism of synchronizer assembling and detecting line |
| CN105171404A (en) * | 2015-08-31 | 2015-12-23 | 重庆豪能兴富同步器有限公司 | Gear hub pose detection mechanism of synchronizer automatic production line |
| CN206169578U (en) * | 2016-09-28 | 2017-05-17 | 儒拉玛特自动化技术(苏州)有限公司 | Detection apparatus for spring washers assembly |
| CN107498301A (en) * | 2017-09-27 | 2017-12-22 | 东莞市鑫骏自动化科技有限公司 | Automatic locking screw machine |
| CN108161401A (en) * | 2017-12-18 | 2018-06-15 | 上汽通用五菱汽车股份有限公司 | The positive and negative detection correcting device of valve retainer |
| CN209080815U (en) * | 2018-09-25 | 2019-07-09 | 湖南宇环智能装备有限公司 | A kind of workpiece feeding posture automatic detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109051621A (en) | 2018-12-21 |
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