CN110255167A - A kind of workpiece dislocation grabbing device - Google Patents
A kind of workpiece dislocation grabbing device Download PDFInfo
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- CN110255167A CN110255167A CN201910579325.2A CN201910579325A CN110255167A CN 110255167 A CN110255167 A CN 110255167A CN 201910579325 A CN201910579325 A CN 201910579325A CN 110255167 A CN110255167 A CN 110255167A
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- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000001939 inductive effect Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004540 process dynamic Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised 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
- 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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The present invention relates to charging equipment technical field more particularly to a kind of workpiece dislocation grabbing device, the workpiece being staggeredly stacked for grabbing left and right；Clamping jaw, workpiece sensing component and moving distance detection components including two groups of linkages.Goal of the invention of the invention is to provide a kind of workpiece dislocation grasping means and its device, solves the technical issues of workpiece is unable to complete automation grasping manipulation using technical solution provided by the invention.
Description
Technical field
The present invention relates to charging equipment technical field more particularly to a kind of workpiece dislocation grabbing devices.
Background technique
Some workpiece staggeredly misplace and stack, therefore the workpiece needs of this stacking mode are completed at the same time and put to workpiece
The identification judgement of direction and central axes is set, bigger difficulty undoubtedly is caused to the automation crawl of workpiece, workpiece can not be complete thus
At automation grasping manipulation.
Wherein, kind of pallet workpiece is a kind of manufactured pedestal for convenience of putting with shipment requirement for scattered articles, one
As be rectangular or rectangle.Pallet workpiece includes single side by shape point, and workpiece supplier is when to single side workpiece shipment
Raising conevying efficiency, workpiece stacked together by positive reverse-order, for this purpose, the central axes of the central axes of workpiece and whole pile workpiece
It is not overlapped.
Summary of the invention
Goal of the invention of the invention is to provide a kind of workpiece dislocation grabbing device, using technical solution provided by the invention
Solves the technical issues of workpiece that dislocation stacks is unable to complete automation grasping manipulation.
In order to achieve the above object of the invention, the present invention proposes a kind of workpiece dislocation grabbing device, interlocks for grabbing left and right
Stacked workpiece；Clamping jaw, workpiece sensing component and moving distance detection components including two groups of linkages；
The workpiece sensing component and the clamping jaw synchronizing moving, and when the clamping jaw reaches the side of top workpiece
Generate trigger signal；
The moving distance detection components obtain workpiece sensing component and start to clamping jaw shifting described in generation trigger signal process
Dynamic distance；
Clamping jaw described in two groups, positioned at the top of the whole pile workpiece, and initial position is using whole pile workpiece central axes as axis edge
The width direction of the workpiece is symmetrical arranged, and is moved to top workpiece according to the distance that the moving distance detection components obtain
Surface, and move down and complete crawl to workpiece.
Preferably, the workpiece sensing component be disposed therein on a clamping jaw to penetrating inductor, and incude light with
The end of the clamping jaw is on a vertical plane.
It preferably, further include the laterally driven component for driving the clamping jaw horizontal direction mobile.
Preferably, the driving part of the laterally driven component is servo motor；The workpiece sensing component and servo electricity
Machine is electrically connected composition moving distance detection components.
It preferably, further include the vertical driving assembly for driving the clamping jaw to move up and down.
Preferably, the center between two groups of clamping jaws is fixedly installed the inductive component for detecting workpiece.
Preferably, the driving part of the vertical driving assembly is servo motor；The inductive component and servo motor electricity
Property connection composition height detection component.
Preferably, the inductive component includes extending downwardly and can retracting upwards described against block against block and induction
The inductor of retraction.
Preferably, the bottom surface against block is in the clamping position for being vertically higher than the clamping jaw, and difference in height is not less than
The plate thickness of workpiece.
Preferably, further include angle detecting component that the inductive component described in two groups is constituted；Wherein sense group described in one group
Part falls into the axis line position of whole pile chopping block.
Preferably, the driving part of clamping jaw described in two groups includes the rotating nuts of servo motor driving and is set to the rotation
Bidirectional-screw on turn nut；Clamping jaw described in two groups is respectively arranged at the both ends of the Bidirectional-screw.
From the foregoing, it will be observed that available following the utility model has the advantages that by calculating acquisition using technical solution provided by the invention
Distance parameter obtains offset direction and the offset distance of top workpiece, controls clamping jaw further according to offset direction and offset distance,
Clamping jaw is moved to the surface of top workpiece, and then completes the crawl for the workpiece that dislocation stacks, so that positive reverse-order is stacked
Workpiece, can be realized automation crawl, realize that dislocation stacks the automation control of workpiece feeding, especially pallet workpiece is upper
Material.
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 without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of workpiece of embodiment of the present invention dislocation grabbing device；
Fig. 2 is partial structure diagram in workpiece of embodiment of the present invention dislocation grabbing device.
In figure: 100 be clamping jaw, and 200 be workpiece sensing component, and 300 be fixed plate, and 400 be sliding block, and 500 be the first screw rod
Component, 600 be the second screw component, and 700 be mounting plate, and 800 be inductive component, and 510 be the first rotating nuts, and 520 be first
Screw rod, 610 be the second rotating nuts, and 620 be the second screw rod, and 810 is, against block, 820 are inductor.
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.Obviously, described embodiment is only section Example of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art's every other reality obtained under that premise of not paying creative labor
Example is applied, shall fall within the protection scope of the present invention.
Embodiment 1
Workpiece includes single side by shape point, when workpiece stacks together by positive reverse-order, the central axes of workpiece and whole pile
The central axes of workpiece are not overlapped.Using the workpiece of above-mentioned stacked manner, automation grasping manipulation can not be completed to workpiece.
As shown in Figs. 1-2, to solve the above-mentioned problems, the present embodiment proposes a kind of workpiece dislocation grabbing device, for grabbing
The workpiece for taking cross stacked.For to grabbing workpiece central axes and it is whole pile workpiece the nonoverlapping situation in central axes,
It is axle center along the symmetrically arranged clamping jaw of its width direction that hardware, which includes at least two groups of initial positions using the central axes of whole pile workpiece,
100。
Workpiece mostly uses the plate with two support legs to be made, and is length with the side where support leg in the present embodiment
Direction is spent, width direction is then vertical with length direction, thus above-mentioned workpiece central axes and the nonoverlapping feelings in whole pile workpiece central axes
Condition, is subject to width direction, and there are two kinds of situations to the left or to the right for workpiece central axes, and for the workpiece of specification of the same race, partially
Move the width that distance is supporting element.
Based on the arrangement mode of above-mentioned workpiece, workpiece dislocation grabbing device provided in this embodiment, in addition to workpiece dislocation is grabbed
It takes other than the clamping jaw 100 of two groups of linkages needed for method, further includes the workpiece sensing component being located therein at a clamping jaw 100
200 and moving distance detection components.
Wherein workpiece sensing component 200 and 100 synchronizing moving of clamping jaw, and the side of top workpiece is reached in clamping jaw 100
When generate trigger signal；
Moving distance detection components obtain the starting of workpiece sensing component 200 to during generating trigger signal, clamping jaw 100
Moving distance；
Two groups of clamping jaws 100, positioned at the top of whole pile workpiece, and initial position is axis along workpiece using whole pile workpiece central axes
Width direction is symmetrical arranged, and the surface of top workpiece is moved to according to the moving distance that moving distance detection components obtain,
And move down the crawl completed to workpiece.
It misplaces since workpiece exists, needs first the central point of top workpiece to be completed to determine thus, the present embodiment uses
The judgement of central point is completed in workpiece sensing component 200 and the cooperation of moving distance detection components.
In the central point decision process of top workpiece, the technical parameter for obtaining workpiece and clamping jaw, then root are needed first
Carry out calculating judgement according to above-mentioned technical parameter, finally according to judge structure control clamping jaw to top workpiece complete grab.
In technical parameter acquisition process, technical parameter includes the width difference a between top workpiece and whole pile workpiece, wide
Difference a is spent, can be obtained in conjunction with the specification of workpiece, such as the workpiece that cross is stacked, width difference a is that the foot of workpiece is wide, foot
Width can be obtained by the specification of workpiece；Width difference a again may be by extraneous measurement component and obtain.
It is carried out in calculating deterministic process according to above-mentioned technical parameter, it is also necessary to obtain the moving distance b of clamping jaw 100.Its
The initial position of middle clamping jaw is located at the surface of the central axes of whole pile workpiece, and moving distance b is then width of the clamping jaw 100 along workpiece
It is mobile to spend direction, when workpiece sensing component 200 detects side edge of workpiece, moving distance detection components get the movement of clamping jaw
Distance.
It should be noted that when workpiece sensing component 200 detects top side edge of workpiece, not with workpiece sensing component
200 detect subject to side edge of workpiece, but be subject to clamping jaw 100 reach side edge of workpiece when, for the standard obtained to moving distance b
True property, the generation of workpiece sensing component 200 inductive signal is synchronous when need to be with the arrival side edge of workpiece of clamping jaw 100, thus workpiece sensing group
Part 200 need to be with clamping jaw on a vertical plane.
In the present embodiment, workpiece sensing component 200 can be disposed therein on a clamping jaw 100 to penetrating inductor,
And the end of light and clamping jaw 100 is incuded on a vertical plane.
Before mobile clamping jaw 100, in order to avoid 100 moving process of clamping jaw collides with workpiece, clamping jaw 100 need to be preset
With it is whole pile workpiece between safe distance c, and safe distance c be not less than 0.
The distance between two groups of clamping jaws h is adjusted according to above-mentioned safe distance c to answer to realize crawl of the clamping jaw to workpiece
At least more than the width of workpiece, in the decision process of the following central point of the present embodiment, clamping jaw need to be avoided to the shadow of decision process
It rings, thus it should also ensure that the distance between two groups of clamping jaws h is greater than the width g of whole pile workpiece.
For this purpose, the width g for obtaining whole pile workpiece is not only needed, according to the width g of whole pile workpiece before mobile clamping jaw 100
With preset safe distance c, the distance between clamping jaw h can get, wherein meet following formula between three: h=g+2c, c are big
In or equal to 0；Also need the width that clamping jaw 100 is adjusted according to distance h.Wherein width g can equally use the specifications parameter of workpiece
It obtains, can also be obtained using external detection component.
In the present embodiment, the clamping jaw using the second screw component 600 as width between two groups of clamping jaws 100 of adjustment drives
Component.Specifically, the second screw component 600 includes the second rotating nuts 610 being fixed on mounting plate 700, and revolved with second
The second screw rod 620 that turn nut 610 connects, wherein the second screw rod 620 is Bidirectional-screw, two groups of clamping jaws 100 are respectively arranged at double
To the both ends of screw rod.Wherein the second rotating nuts 610 can be driven by servo motor, realize the essence of the distance between clamping jaw 100
Quasi- control.
After completing above-mentioned adjustment, mobile clamping jaw 100 is moved when workpiece sensing component 200 detects top side edge of workpiece
The dynamic moving distance b that clamping jaw 100 is obtained apart from detection components.
In the present embodiment, the movement of horizontal direction is completed to clamping jaw 100 using the first screw component 500 and sliding block 400.
Specifically, the horizontally slidable top for being set to whole pile workpiece of sliding block 400, the first screw component 500 includes being fixed on sliding block 400
On the first rotating nuts 510, and the first screw rod 520 connecting with the first rotating nuts 510, the first screw component 500 constitutes
The vertical driving assembly that driving clamping jaw 100 moves up and down, the mounting plate 700 in clamping jaw driving assembly are fixed on the first screw rod
520 bottom end.The first screw rod 520 and sliding block 400 constitute the laterally driven component of clamping jaw 100 thus.
During obtaining the moving distance b of clamping jaw 100, the moving distance detection group of external setting again may be by
Part obtains.Range sensor can be specifically used, or using the moving distance of opposite type sensor combination clamping jaw 100, as long as right
The distance between clamping jaw 100 and top workpiece e complete measurement.In the present embodiment, sliding block 400 is driven by servo motor
Sliding, moving distance detection components can be made of sliding block 400 and servo motor thus.
After obtaining moving distance b and width difference a, the offset direction of top workpiece can be obtained by comparing.
In the present embodiment, there are two kinds of situations to the left or to the right for workpiece, and for the workpiece of specification of the same race, offset distance
From the width for supporting element.
For this purpose, the present embodiment reaches by comparing the size relation between moving distance b and width difference a to workpiece variation
The judgement in direction.
The specific deterministic process in offset direction is as described below:
If b > a, determine that the central point of top workpiece is biased to the moving direction of clamping jaw 100；
If b < a, determine that the central point of top workpiece is biased to the mobile opposite direction of clamping jaw 100.
Such as:
Width difference a is set as the wide 100mm of workpiece foot, the moving direction of clamping jaw 100 to the right, workpiece sensing component 200 at this time
It need to be set on the clamping jaw 100 in left side, when workpiece sensing component 200 generates inductive signal, left side clamping jaw 100 reaches top work
Part left side position obtains the moving distance b of clamping jaw.
If b > 100mm, determine that top workpiece is biased to the clamping jaw 100 on right side, and offset distance is 100/2=50mm；
If b < 100mm, determine that top workpiece is biased to the clamping jaw 100 in left side, and offset distance is 100/2=50mm.
It should be noted that in above-mentioned calculation equation, since in real laminating process, workpiece is not neat row
Column, the side of top workpiece is not accurately located at the upper left corner or the upper right corner of whole pile workpiece thus, in the present embodiment may be used
The error correction value of 10mm is added, i.e. the corrected value of 10mm can be added in comparison procedure between b and a, and certain above-mentioned 10mm need to be
In the range of d/2.
Position to the surface of top workpiece of clamping jaw 100 is adjusted after offset direction is calculated, and it is dynamic to complete crawl
Make.
Due to determine obtain top workpiece offset direction be it is to the left or to the right, thus clamping jaw 100 adjustment distance
It is changed according to result is determined, servo motor driving sliding block 400 drives clamping jaw 100 to adjust to the surface of top workpiece.
If it is determined that top workpiece be biased to clamping jaw 100 moving direction, 100 opposite direction of clamping jaw adjust distance e=safety away from
A/2 poor from c+ width；If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw 100,100 opposite direction of clamping jaw adjusts distance e
=moving distance d+ width difference a/2.
In the example above explanation, if it is determined that top workpiece is biased to the clamping jaw 100 on right side, clamping jaw 100 is needed to the left at this time
Adjustment, and adjust distance e=c+a/2=c+50；If it is determined that top workpiece is biased to the clamping jaw 100 in left side, clamping jaw 100 is same at this time
Sample need to adjust to the left, the difference is that adjusting distance e=d+a/2=d+50.
After completing the adjustment of 100 horizontal direction position of clamping jaw, clamping jaw 100 is located at the surface of top workpiece at this time, in order to
The crawl for realizing top workpiece, also needs to drop to clamping jaw 100 into the corresponding height of top workpiece, for this purpose, in adjustment clamping jaw
Before 100 position, the height f for obtaining top workpiece is also needed, after clamping jaw 100 is moved to the surface of top workpiece, then
Corresponding height is dropped to according to height f, completes the crawl of top workpiece.
In the present embodiment, the vertical driving group that the first screw component 500 of sampling is moved up and down as driving clamping jaw 100
Part.Specifically, including the fixed fixed plate 300 being suspended in above whole pile workpiece, the sliding block 400 of laterally driven component passes through sliding rail
Width direction along workpiece is slidably arranged in fixed plate 300, and the first screw component 500 constitutes the vertical driving of clamping jaw 100
Component.
Embodiment 2
The present embodiment provides a kind of workpiece dislocation grabbing devices, for grabbing the stacked workpiece of cross.
It equally include the clamping jaw 100 of two groups of linkages, the workpiece sensing component 200 being located therein at a clamping jaw 100, Yi Jiyi
It moves apart from detection components.
Workpiece sensing component 200 and 100 synchronizing moving of clamping jaw, and produced when clamping jaw 100 reaches the side of top workpiece
Raw trigger signal；Moving distance detection components obtain the starting of workpiece sensing component 200 to during generating trigger signal, clamping jaw
100 moving distance；Two groups of clamping jaws 100, positioned at the top of whole pile workpiece, and initial position is using whole pile workpiece central axes as axis edge
The width direction of workpiece is symmetrical arranged, and is being moved to top workpiece just according to the moving distance that moving distance detection components obtain
Top, and move down the crawl completed to workpiece.
In order to complete the crawl of top workpiece, need that clamping jaw 100 is displaced downwardly to top workpiece pair in the process of grasping
The height answered, for this reason, it may be necessary to first obtain the height of top workpiece, this can highly be obtained by the specification of workpiece, herein not
It elaborates.The present embodiment is completed to obtain by height of the height detection component to top workpiece.
The present embodiment moves down the height detection that height completes top workpiece by detecting clamping jaw 100, by inductive component 800
It is constituted with the servo motor of the first rotating nuts 510 of driving.
Wherein inductive component 800 contracts against block 810 and induction against block 810 including what is extended downwardly and can retract upwards
The inductor 820 returned.Inductor 820 is fixed on the top surface of mounting plate 700, passes through mounting plate 700 against block 810 and extends to installation
The bottom surface of plate 700.
When the servo motor of first rotating nuts 510 drives the first screw rod 520 to move down, drive on mounting plate 700
It is moved down against block 810, when being resisted against the top surface of top workpiece against block 810, the first screw rod 520 continues to moving down
Dynamic, so that jacking up upwards against block 810, when jack-up to its top triggers inductor 820, inductor 820 generates signal or hair
Raw signal interruption, then determine that inductive component 800 has arrived at top workpiece, can be counted according to the operating of servo motor at this time
It calculates and obtains the height that inductive component 800 declines, in conjunction with the initial position of inductive component 800, finally obtain the height of whole pile workpiece
Degree.
The present embodiment is to move down to contact with top workpiece by inductive component 800, to obtain the height of top workpiece,
It drives sliding block 400 to complete the moving distance detection of clamping jaw 100, collides in 100 moving process of clamping jaw with workpiece in order to prevent,
For the present embodiment after the height for obtaining top workpiece, the first screw rod 520 of vertical driving assembly drives mounting plate 700 to move up,
And to be detached from against block 810 and top workpiece, 10mm can be specifically moved up, sliding block 400 drives two groups of clamping jaws 100 to turn right again
Side is mobile, until workpiece sensing component 200 senses the side of workpiece.
It, can be according to the height tune of acquisition when being grabbed to top workpiece after the height for obtaining top workpiece
The falling head of whole clamping jaw 100 completes the crawl of top workpiece.
Embodiment 3
The present embodiment provides a kind of workpiece dislocation grabbing devices, for grabbing the stacked workpiece of cross.
It equally include the clamping jaw 100 of two groups of linkages, the workpiece sensing component 200 being located therein at a clamping jaw 100, Yi Jiyi
It moves apart from detection components.
Workpiece sensing component 200 and 100 synchronizing moving of clamping jaw, and produced when clamping jaw 100 reaches the side of top workpiece
Raw trigger signal；Moving distance detection components obtain the starting of workpiece sensing component 200 to during generating trigger signal, clamping jaw
100 moving distance；Two groups of clamping jaws 100, positioned at the top of whole pile workpiece, and initial position is using whole pile workpiece central axes as axis edge
The width direction of workpiece is symmetrical arranged, and is being moved to top workpiece just according to the moving distance that moving distance detection components obtain
Top, and move down the crawl completed to workpiece.
In positive and negative stacked workpiece, there is only face-up workpiece, and there is also the workpiece of reverse side upward, for just
The workpiece of reverse side upward, subsequent process have differences.Face-up workpiece can be grabbed directly and is placed on transfer assembly；Instead
Face-up workpiece is completed overturning after then needing crawl, then is placed on transfer assembly.For this purpose, completing top work in clamping jaw 100
Before the crawl of part, the front and back sides detecting step for completing workpiece is also needed.
In Workpiece structure, front is burnishing surface, in reverse side, in order to ensure its bearing capacity, in the axis line position of reverse side
It is respectively and fixedly provided with reinforcement fin.For the structure, front and back sides detecting step can pass through the top surface flatness of detection top workpiece
Achieve the effect that detect front and back sides.
The inductive component 800 that the present embodiment is fixed on mounting plate 700 using two groups completes the placement side of top workpiece
To detection.Wherein one group of inductive component 800 is located at the central axes of whole pile workpiece, serves not only as workpiece height detection components, also
A part as the positive and negative detection components of workpiece；Another group of inductive component 800 is located at other than the central axes of whole pile workpiece.
Two groups of inductive components 800 move down the top surface for being resisted against top workpiece simultaneously；Two groups of inductive components 800 sense
Workpiece illustrates to detect flat end face, determines the face-up of top workpiece；Wherein one group of inductive component 800 is not sensed by
Workpiece illustrates the reinforcement fin for detecting workpiece reverse side, then determines the reverse side of top workpiece upward.
In conclusion technical solution provided in an embodiment of the present invention, obtains top by calculating the distance parameter obtained
The offset direction of workpiece and offset distance control clamping jaw further according to offset direction and offset distance, clamping jaw are moved to top
The surface of workpiece, and then the crawl of workpiece is completed, so that the workpiece that positive reverse-order is stacked, can be realized automation crawl, it is real
The automation control of existing workpiece feeding.
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 (11)
- The grabbing device 1. a kind of workpiece misplaces, the workpiece being staggeredly stacked for grabbing left and right；It is characterized by comprising two groups of linkages Clamping jaw (100), workpiece sensing component (200) and moving distance detection components；The workpiece sensing component (200) and the clamping jaw (100) synchronizing moving, and top is reached in the clamping jaw (100) Trigger signal is generated when the side of workpiece；The moving distance detection components obtain workpiece sensing component and start to clamping jaw (100) described in generation trigger signal process Mobile distance；Clamping jaw described in two groups (100), positioned at the top of the whole pile workpiece, and initial position is using whole pile workpiece central axes as axis edge The width direction of the workpiece is symmetrical arranged, and is moved to top workpiece according to the distance that the moving distance detection components obtain Surface, and move down and complete crawl to workpiece.
- The grabbing device 2. workpiece according to claim 1 misplaces, it is characterised in that: the workpiece sensing component (200) is Be disposed therein on a clamping jaw to penetrating inductor, and incude the end of light and the clamping jaw (100) on a vertical plane.
- The grabbing device 3. workpiece according to claim 1 misplaces, it is characterised in that: further include driving the clamping jaw (100) The mobile laterally driven component of horizontal direction.
- The grabbing device 4. workpiece according to claim 3 misplaces, it is characterised in that: the driving portion of the laterally driven component Part is servo motor；The workpiece sensing component (200) and servo motor are electrically connected composition moving distance detection components.
- The grabbing device 5. workpiece according to claim 1 misplaces, it is characterised in that: further include driving the clamping jaw (100) The vertical driving assembly moved up and down.
- The grabbing device 6. workpiece according to claim 5 misplaces, it is characterised in that: between two groups of clamping jaws (100) Heart position is fixedly installed the inductive component (800) for detecting workpiece.
- The grabbing device 7. workpiece according to claim 6 misplaces, it is characterised in that: the driving portion of the vertical driving assembly Part is servo motor；The inductive component (800) and servo motor are electrically connected composition height detection component.
- The grabbing device 8. workpiece according to claim 6 or 7 misplaces, it is characterised in that: the inductive component (800) includes Extend downwardly and can retract upwards against block (810) and the induction inductor (820) retracted against block (810).
- The grabbing device 9. workpiece according to claim 8 misplaces, it is characterised in that: the bottom surface against block (810) in It is vertically higher than the clamping position of the clamping jaw (100), and difference in height is not less than the plate thickness of workpiece.
- The grabbing device 10. workpiece according to claim 6 misplaces, it is characterised in that: further include the sense group as described in two groups The angle detecting component that part (800) is constituted；Wherein inductive component described in one group (800) falls into the axis line position of whole pile chopping block.
- The grabbing device 11. workpiece according to claim 1 misplaces, it is characterised in that: the driving of clamping jaw described in two groups (100) Component includes the rotating nuts that servo motor drives and the Bidirectional-screw being set in the rotating nuts；Clamping jaw described in two groups point It is not set to the both ends of the Bidirectional-screw.
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| CN201910579325.2A CN110255167A (en) | 2019-06-28 | 2019-06-28 | A kind of workpiece dislocation grabbing device |
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