CN110255168A - A kind of workpiece dislocation grasping means - Google Patents
A kind of workpiece dislocation grasping means Download PDFInfo
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- CN110255168A CN110255168A CN201910580609.3A CN201910580609A CN110255168A CN 110255168 A CN110255168 A CN 110255168A CN 201910580609 A CN201910580609 A CN 201910580609A CN 110255168 A CN110255168 A CN 110255168A
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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
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to charging equipment technical field more particularly to a kind of dislocation grasping means of workpiece；Crawl for the workpiece that left and right is staggeredly stacked；Based on two groups of initial positions using it is whole pile workpiece central axes be axle center along the symmetrically arranged clamping jaw of its width direction；The following steps are included: obtaining the width difference a between top workpiece and whole pile workpiece；Clamping jaw is moved along the width direction of workpiece, and obtains moving distance b when detecting top side edge of workpiece；Compare the offset direction that moving distance b and width difference a obtains top workpiece；According to position to the surface of top workpiece of offset direction and width difference a adjustment clamping jaw, and complete grasping movement.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 dislocation grasping means of workpiece.
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 grasping means, 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 grasping means, staggeredly stacked for left and right
Workpiece crawl；Based on two groups of initial positions using it is whole pile workpiece central axes be axle center along the symmetrically arranged folder of its width direction
Pawl；The following steps are included:
A100, top workpiece and the whole width difference a piled up between workpiece are obtained；
A200, clamping jaw is moved along the width direction of workpiece, and obtain moving distance when detecting top side edge of workpiece
b；
A300, compare the offset direction that moving distance b and width difference a obtains top workpiece；
A400, position to the surface of top workpiece that clamping jaw is adjusted according to offset direction and width difference a, and complete to grab
Take movement.
Preferably, before the mobile clamping jaw of step A200, the safe distance c between clamping jaw and whole pile workpiece is preset, and pacify
Full distance c is not less than 0.
In step A300, compare the offset direction that moving distance b and width difference a obtains top workpiece；Preferably,
If moving distance b is greater than width difference a, determine that top workpiece is biased to the moving direction of clamping jaw；
If moving distance d is less than width difference a, determine that top workpiece is biased to the mobile opposite direction of clamping jaw.
In step A400, according to position to the surface of top workpiece of offset direction and width difference a adjustment clamping jaw；
Preferably,
If it is determined that top workpiece is biased to the moving direction of clamping jaw, clamping jaw opposite direction adjusts distance e=safe distance c+ wide
Spend difference a/2；
If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+
Width difference a/2.
Preferably, before step A400, the position for adjusting clamping jaw, the height f of top workpiece is obtained；In step A400
In, clamping jaw adjusts its height according to the height f.
In step A100, the width difference a between top workpiece and whole pile workpiece is obtained；Preferably, the width difference a
It is wide for the foot of workpiece.
Before the mobile clamping jaw of step A200, the safe distance c between clamping jaw and whole pile workpiece is preset；Preferably, it obtains
The width g of whole pile workpiece adjusts the distance between two groups of clamping jaws h=width g+2 safe distance c according to safe distance c.
It preferably, further include the positive and negative detecting step of workpiece, the inductive component being located above workpiece for two groups, one group of induction
Component is located at the central axes of whole pile workpiece, and another group of inductive component is located at other than the central axes；The following steps are included:
B100, two groups of inductive components move down be resisted against on top workpiece simultaneously；
B200, two groups of inductive components sense workpiece, determine the face-up of top workpiece；
B300, wherein one group of inductive component are not sensed by workpiece, determine the reverse side of top workpiece upward.
Preferably, height detection component is formed using the driving assembly that inductive component is connected with signal therewith；The driving
Inductive component described in Component driver is moved down and is resisted against on top workpiece.
Preferably, before the mobile clamping jaw of step A200, the driving component driving inductive component moves up and top
Workpiece is detached from.
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 workpiece of embodiment of the present invention dislocation grasping means flow diagram；
Fig. 2 is the overall structure diagram of workpiece gripper device of the embodiment of the present invention；
Fig. 3 is partial structure diagram in workpiece gripper device of the embodiment of the present invention.
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 Figure 1, to solve the above-mentioned problems, the present embodiment proposes a kind of workpiece dislocation grasping means, for work
Part central axes and the nonoverlapping situation in whole pile workpiece central axes, hardware include at least two groups of initial positions in whole pile workpiece
Axis is axle center along the symmetrically arranged clamping jaw of its width direction.
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 grasping means provided in this embodiment is needed to top work
The central point of part is completed to determine, thus in step A100-A200, needs the technical parameter for obtaining workpiece and clamping jaw first, then
Calculating judgement is carried out according to above-mentioned technical parameter by step A400-A500, finally according to judging structure control clamping jaw to most pushing up
Layer workpiece completes crawl.
In technical parameter acquisition process, comprising the following steps:
A100, top workpiece and the whole width difference a piled up between workpiece are obtained.
In this step, width difference a can be obtained in conjunction with the specification of workpiece, such as the workpiece that cross is stacked, wide
It is wide for the foot of workpiece to spend difference a, foot is wide to be obtained by the specification of workpiece；Width difference a again may be by extraneous measurement component and obtain
It takes.
A200, clamping jaw is moved along the width direction of workpiece, and obtain moving distance when detecting top side edge of workpiece
b。
Before mobile clamping jaw, in order to avoid clamping jaw moving process collides with workpiece, clamping jaw and whole pile work need to be preset
Safe distance c between part, and safe distance c is not less than 0.
The distance between two groups of clamping jaws h, in order to realize crawl of the clamping jaw to workpiece, should at least more than the width of workpiece,
In the decision process of the following central point of the present embodiment, influence of the clamping jaw to decision process need to be avoided, thus it should also ensure that two groups of folders
The distance between pawl h is greater than the width g of whole pile workpiece.
For this purpose, also needing the width g for obtaining whole pile workpiece before mobile clamping jaw, according to the width g of whole pile workpiece and presetting
Safe distance c, can get the distance between clamping jaw h, meet following formula between three: h=g+2c, c are greater than or equal to 0.
After completing above-mentioned adjustment, mobile clamping jaw obtains the moving distance b of clamping jaw when detecting top side edge of workpiece.
It should be noted that it is not subject to workpiece sensing component detection to side edge of workpiece when detecting top side edge of workpiece, but with
Subject to when clamping jaw arrival side edge of workpiece, for the accuracy obtained to moving distance b, workpiece sensing component generates inductive signal and needs
Synchronous when with clamping jaw arrival side edge of workpiece, workpiece sensing component need to be with clamping jaw on a vertical plane thus.
During obtaining the moving distance b of clamping jaw, it again may be by the moving distance detection components of external setting
It obtains.Range sensor can specifically be used, or using the moving distance of opposite type sensor combination clamping jaw, if to clamping jaw and
The distance between top workpiece e completes measurement.
A300, compare the offset direction that moving distance b and width difference a obtains top workpiece.
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；
If b < a, determine that the central point of top workpiece is biased to the mobile opposite direction of clamping jaw.
For example, set width difference a as the wide 100mm of workpiece foot, in step A200 the moving direction of clamping jaw to the right, workpiece at this time
Detection components need to be set on the clamping jaw in left side, and when workpiece sensing component generates inductive signal, left side clamping jaw 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 on right side, and offset distance is 100/2=50mm；
If b < 100mm, determine that top workpiece is biased to the clamping jaw 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.
A400, position to the surface of top workpiece that clamping jaw is adjusted according to offset direction and width difference a, and complete to grab
Take movement.
In step A300 determine obtain top workpiece offset direction be it is to the left or to the right, thus the adjustment of clamping jaw away from
From also according to determine result and change.
If it is determined that top workpiece is biased to the moving direction of clamping jaw, clamping jaw opposite direction adjusts distance e=safe distance c+ wide
Spend difference a/2；If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+
Width difference a/2.
In the illustration of step A300, if it is determined that top workpiece is biased to the clamping jaw on right side, clamping jaw 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 be biased to left side clamping jaw, at this time clamping jaw equally need to
Left adjustment, the difference is that adjusting distance e=d+a/2=d+50.
During the adjustment of above-mentioned clamping jaw, in order to improve precision, the detection of moving distance b and the control for adjusting distance e
It can be completed by servo motor, can not only complete to be precisely controlled, moreover it is possible to complete range measurement by servo motor.
After the position adjustment for completing clamping jaw, clamping jaw is located at the surface of top workpiece at this time, in order to realize top work
The crawl of part also needs to drop to clamping jaw into the corresponding height of top workpiece, for this purpose, also needing before the position of adjustment clamping jaw
The height f for obtaining top workpiece, after clamping jaw is moved to the surface of top workpiece, drops to corresponding height further according to height f
Degree completes the crawl of top workpiece.
Determined by the central point that workpiece can be completed in step A100-A400 and accurate crawl to workpiece, and just
In the workpiece that replicate is set, there is only face-up workpiece, and there is also the workpiece of reverse side upward, for positive and negative face-up work
Part, subsequent process have differences.Face-up workpiece can be grabbed directly and is placed on transfer assembly；The work of reverse side upward
Part is completed overturning after then needing crawl, then is placed on transfer assembly.For this purpose, completing the crawl of top workpiece in step A400
Before, the front and back sides detecting step of completion 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.
In the detection process of front and back sides, the hardware of use need to include two groups of inductive components being located above workpiece, one group of sense
Component is answered to be located at the central axes of whole pile workpiece, another group of inductive component is located at other than the central axes of whole pile workpiece；Including following
Step:
B100, two groups of inductive components move down the top surface for being resisted against top workpiece simultaneously；
B200, two groups of inductive components sense workpiece, illustrate to detect flat end face, determine the front of top workpiece
Upward；
B300, wherein one group of inductive component is not sensed by workpiece, illustrates the reinforcement fin for detecting workpiece reverse side, then determines
The reverse side of top workpiece is upward.
Embodiment 2
Based on workpiece described in embodiment 1 dislocation grasping means, the present embodiment provides a kind of workpiece gripper devices, for grabbing
The workpiece for taking cross stacked.
As Figure 2-3, hardware configuration in addition to workpiece dislocation grasping means needed for two groups of linkages clamping jaw 100 with
It outside, further include the workpiece sensing component 200 and moving distance detection components being located therein at a clamping jaw 100.
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 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.
Wherein, workpiece sensing component 200 can be disposed therein on a clamping jaw 100 to penetrating inductor, and incude light
The end of line and clamping jaw 100 is on a vertical plane.
In order to complete the mobile crawl of clamping jaw 100 and the movement of workpiece sensing component 200, the present embodiment is driven by three axis
Component completes driving, and three axis transmission components include the laterally driven component for driving 100 horizontal direction of clamping jaw mobile and driving clamping jaw
The 100 vertical driving assemblies moved up and down.
Wherein laterally driven component and vertical driving assembly drive screw rod to complete driving by rotating nuts.
Specifically, include the fixed fixed plate 300 being suspended in above whole pile workpiece, it can by sliding rail in fixed plate 300
Width direction sliding along workpiece is provided with sliding block 400, and the first screw component 500 being vertically arranged is fixedly installed on sliding block 400,
It is fixedly installed mounting plate 700 in the bottom end of the first screw component 500, horizontal second is fixedly installed on mounting plate 700
Screw component 600, two groups of clamping jaws 100 are set on the second screw component 600.
Wherein sliding block 400 can transverse shifting, drive the first screw component 500 mobile, constitute driving 100 level side of clamping jaw
To mobile laterally driven component.
First screw component 500 includes the first rotating nuts 510 for being fixed on sliding block 400, and with the first rotating nuts
First screw rod 520 of 510 connections, the first screw component 500 constitute the vertical driving assembly that driving clamping jaw 100 moves up and down.
Second screw component 600 includes the second rotating nuts 610 being fixed on mounting plate 700, and rotates spiral shell with second
Second screw rod 620 of 610 connection of mother, wherein the second screw rod 620 is Bidirectional-screw, two groups of clamping jaws 100 are respectively arranged at two-way silk
The both ends of bar.Second screw component 600 constitutes the driving assembly of the crawl of clamping jaw 100.
In the present embodiment, in order to realize accurate crawl of the clamping jaw 100 to top workpiece, need to determine top workpiece
Offset direction.
In the present embodiment, using the size relation between 100 moving distance of clamping jaw and workpiece variation distance to top
The offset direction of workpiece, which is realized, to be determined.In decision process, 100 moving distance of detection and clamping jaw of top workpiece need to be completed
Detection.For this purpose, be wherein provided with workpiece sensing component 200 on one group of clamping jaw 100, workpiece sensing component 200 can be to pass to penetrating
Sensor is installed on one of clamping jaw 100, and in the present embodiment, workpiece sensing component 200 is set to the clamping jaw on the left side
On 100.
It should be noted that not detecting side edge of workpiece when detecting top side edge of workpiece with workpiece sensing component 200
Subject to, but be subject to clamping jaw 100 reach side edge of workpiece when, for the accuracy obtained to moving distance, workpiece sensing component
200 generation inductive signals are synchronous when need to be with the arrival side edge of workpiece of clamping jaw 100, and workpiece sensing component 200 need to be in clamping jaw 100 thus
On one vertical plane.
In addition sliding block 400 is driven by servo motor, and workpiece sensing component 200 and servo motor electric connection constitute shifting
It moves apart from detection components.
Sliding block 400 is mobile to drive two groups of clamping jaws 100 mobile, when workpiece sensing component 200 generates inductive signal, shows to press from both sides
Pawl 100 reaches the lateral location of top workpiece, obtains sliding block by calculating the servo motor operating parameters of sliding block 400 at this time
400 moving distance, the moving distance are the moving distance of clamping jaw 100.
The width between moving distance and whole pile workpiece and a workpiece by comparing clamping jaw 100 is poor, can determine that
To the offset direction of top workpiece, as described in Example 1, sliding block 400 is driven further according to offset direction, clamping jaw 100 is mobile
To the surface of top workpiece, the crawl of top workpiece is completed.
Embodiment 3
The present embodiment provides a kind of workpiece gripper 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, but be obtained
Height value precision tell somebody what one's real intentions are, do not elaborate herein.The present embodiment is by height detection component to the height of top workpiece
It completes to obtain.
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,
In example 2 driving sliding block 400 complete clamping jaw 100 moving distance detection, in order to prevent in 100 moving process of clamping jaw with work
Part collides, and for the present embodiment after the height for obtaining top workpiece, the first screw rod 520 of vertical driving assembly drives installation
Plate 700 moves up, and to be detached from against block 810 and top workpiece, can specifically move up 10mm, sliding block 400 drives two groups again
Clamping jaw 100 is mobile toward the right, 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 4
The present embodiment provides a kind of workpiece gripper 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.
Since stacked workpiece is stacked for front and back sides, there is the workpiece of face-up and reverse side upward, for this purpose, the present embodiment
It is same as Example 1, it also needs to detect the placement direction of top workpiece.
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.
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 (10)
- A kind of grasping means 1. workpiece misplaces, it is characterised in that: the crawl for the workpiece that left and right is staggeredly stacked；Based at the beginning of two groups Beginning position is axle center along the symmetrically arranged clamping jaw of its width direction using the central axes of whole pile workpiece；The following steps are included:A100, top workpiece and the whole width difference a piled up between workpiece are obtained；A200, clamping jaw is moved along the width direction of workpiece, and obtain moving distance b when detecting top side edge of workpiece；A300, compare the offset direction that moving distance b and width difference a obtains top workpiece；A400, position to the surface of top workpiece of clamping jaw is adjusted according to offset direction and width difference a, and it is dynamic to complete crawl Make.
- The grasping means 2. workpiece according to claim 1 misplaces, it is characterised in that: before the mobile clamping jaw of step A200, Safe distance c between default clamping jaw and whole pile workpiece, and safe distance c is not less than 0.
- 3. workpiece dislocation grasping means according to claim 1 or 2 compares moving distance b and width in step A300 Poor a obtains the offset direction of top workpiece；It is characterized by:If moving distance b is greater than width difference a, determine that top workpiece is biased to the moving direction of clamping jaw；If moving distance d is less than width difference a, determine that top workpiece is biased to the mobile opposite direction of clamping jaw.
- The grasping means 4. workpiece according to claim 3 misplaces, in step A400, according to offset direction and width difference a Adjust position to the surface of top workpiece of clamping jaw；It is characterized by:If it is determined that top workpiece is biased to the moving direction of clamping jaw, it is poor that clamping jaw opposite direction adjusts distance e=safe distance c+ width a/2；If it is determined that top workpiece is biased to the mobile opposite direction of clamping jaw, clamping jaw opposite direction adjusts distance e=moving distance d+ width Poor a/2.
- The grasping means 5. workpiece according to claim 1 misplaces, it is characterised in that: in step A400, adjust the position of clamping jaw Before setting, the height f of top workpiece is obtained；In step A400, clamping jaw adjusts its height according to the height f.
- The grasping means 6. workpiece according to claim 1 misplaces obtains top workpiece and whole pile work in step A100 Width difference a between part；It is characterized by: the width difference a is wide for the foot of workpiece.
- The grasping means 7. workpiece according to claim 2 misplaces, before the mobile clamping jaw of step A200, preset clamping jaw with it is whole Pile up the safe distance c between workpiece；It is characterized by: obtaining the width g of whole pile workpiece, two groups of folders are adjusted according to safe distance c The distance between pawl h=width g+2 safe distance c.
- The grasping means 8. workpiece according to claim 1 misplaces, it is characterised in that: it further include the positive and negative detecting step of workpiece, The inductive component being located above workpiece for two groups, one group of inductive component are located at the central axes of whole pile workpiece, another group of induction Component is located at other than the central axes；The following steps are included:B100, two groups of inductive components move down be resisted against on top workpiece simultaneously；B200, two groups of inductive components sense workpiece, determine the face-up of top workpiece；B300, wherein one group of inductive component are not sensed by workpiece, determine the reverse side of top workpiece upward.
- The grasping means 9. workpiece according to claim 5 misplaces, it is characterised in that: use inductive component and signal connects therewith The driving assembly composition height detection component connect；The driving component drives the inductive component to move down and be resisted against top work On part.
- The grasping means 10. workpiece according to claim 9 misplaces, it is characterised in that: before the mobile clamping jaw of step A200, institute Stating driving assembly drives the inductive component to move up and the disengaging of top workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910580609.3A CN110255168B (en) | 2019-06-28 | 2019-06-28 | Workpiece dislocation grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910580609.3A CN110255168B (en) | 2019-06-28 | 2019-06-28 | Workpiece dislocation grabbing method |
Publications (2)
| Publication Number | Publication Date |
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| CN110255168A true CN110255168A (en) | 2019-09-20 |
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