CN115057060A - Material clamping position detection mechanism, conveying system and position detection method - Google Patents
Material clamping position detection mechanism, conveying system and position detection method Download PDFInfo
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- CN115057060A CN115057060A CN202210821816.5A CN202210821816A CN115057060A CN 115057060 A CN115057060 A CN 115057060A CN 202210821816 A CN202210821816 A CN 202210821816A CN 115057060 A CN115057060 A CN 115057060A
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- clamping
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- sliding block
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- 239000000463 material Substances 0.000 title claims abstract description 124
- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 163
- 238000004806 packaging method and process Methods 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 13
- 238000012546 transfer Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000000151 deposition Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 9
- 238000005303 weighing Methods 0.000 description 27
- 238000012856 packing Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/18—Sorting according to weight using a single stationary weighing mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
Abstract
The invention discloses a material clamping position detection mechanism, a conveying system and a position detection method, wherein the material clamping position detection mechanism comprises a mounting plate, an optical axis fixing seat, an optical axis moving assembly, a push rod and a photoelectric switch; two optical axis fixing bases set up on the mounting panel, and the both ends of two optical axes are established respectively in the inside of two optical axis fixing bases, and the optical axis removes the subassembly cover and establishes on two optical axes, and two optical axis fixing bases and two optical axes all slope on the mounting panel and arrange. The catch bar is fixedly arranged on the optical axis moving assembly, and the photoelectric switch is arranged inside the optical axis moving assembly. The pneumatic clamping jaw horizontally acts on the push rod, so that the push rod drives the photoelectric switch to move along the direction of the optical axis, the detection range of the photoelectric switch is changed, the position of the material is detected, the pneumatic clamping jaw is controlled to be sucked, and the material is clamped. The mechanism has the characteristics of simple structure, low price, good adaptability, easy installation and the like.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a material clamping position detection mechanism, a conveying system and a position detection method.
Background
The product packing task volume on the packing assembly line is very big, carry out the transfer chain of categorised packing to the product according to product weight to needs, need weigh the product before the last process before packing usually, carry out categorised packing to the product according to weight, the application of present robot on the transfer chain is extensive, can accomplish weighing and the dress box task of product through manipulator cooperation weighing platform, because the position that falls into the product of weighing platform is uncertain to lead to the robot to press from both sides the position of getting at every turn and is difficult to confirm, the method commonly used at present acquires the product position through machine vision technique, thereby the guide robot presss from both sides and gets and dress the box.
Because the visual system is expensive and is easily influenced by an environmental light source, the visual system is not generally applied to the field of packaging of some conveying lines.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the invention aims to provide a material clamping position detection mechanism, a conveying system and a position detection method, wherein the material clamping position detection mechanism comprises a mounting plate, a first optical axis fixing seat, a second optical axis fixing seat, a first optical axis, a second optical axis, an optical axis moving assembly, a push rod and a photoelectric switch; first optical axis fixing base, second optical axis fixing base set up respectively on the mounting panel, the one end of first optical axis, second optical axis is established respectively in first optical axis fixing base, and the other end is established respectively in the second optical axis fixing base, the optical axis removes the subassembly cover and establishes on first optical axis, the second optical axis, and follow reciprocal slip on first optical axis, the second optical axis, the catch bar sets up on the optical axis removes the subassembly, photoelectric switch sets up on the optical axis removes the subassembly.
Furthermore, a plurality of through holes for installation are arranged on the installation plate.
Furthermore, first optical axis fixing base, second optical axis fixing base slope respectively set up on the mounting panel, make optical axis removes the subassembly and follows the high-end of first optical axis, second optical axis slides to the low side.
Further, the optical axis removes the subassembly and includes first jump ring, second jump ring, first linear bearing, second linear bearing and sliding block, first linear bearing cover is established on the first optical axis, the second linear bearing cover is established on the second optical axis, the sliding block is established on corresponding first optical axis and second optical axis through first linear bearing and second linear bearing cover respectively, first jump ring, second jump ring set up respectively the inside of sliding block, the inside of sliding block is equipped with first joint groove and second joint groove, first jump ring and first joint groove cooperation joint are in the sliding block, second jump ring and second joint groove cooperation joint are in the sliding block.
Furthermore, the catch bar includes connecting portion and the unsettled portion as an organic whole even, connecting portion with sliding block fixed connection, unsettled portion sets up downwards.
The utility model provides a conveying system, includes that foretell material clamp gets position detection mechanism, conveying system still includes fixture, material transfer chain, an at least baling line, the baling line is first baling line, fixture is located first baling line with between the material transfer chain, fixture clamp gets material on the material transfer chain is placed on the first baling line, position detection mechanism sets up is got to the material clamp the end of material transfer chain.
Fixture is still including promoting electric jar, pneumatic clamping jaw, fixed pin, pneumatic clamping jaw sets up promote on the push rod of electric jar, the fixed pin sets up the tip of pneumatic clamping jaw, the fixed pin is used for promoting the optical axis removes the subassembly and removes.
Further, this conveying system still includes weighing platform, second packing line is used for putting the material of different weight, weighing platform sets up the end of material transfer chain.
A method for detecting a material clamping position by using the conveying system comprises the following steps:
s1: the clamping mechanism moves towards the direction of the material conveying line, and applies force to the optical axis moving assembly to drive the photoelectric switch to move along the first optical axis and the second optical axis;
s2: the photoelectric switch moves forwards, the light of the photoelectric switch is blocked by the material, and the signal of the photoelectric switch is triggered;
s3: the photoelectric switch continues to move forwards, the light of the photoelectric switch is not blocked by the material any more, and the signal of the photoelectric switch is reset to obtain the position of the material;
s4: controlling the clamping mechanism to suck, finishing material clamping, and placing the material clamping into a packaging line;
s5: the clamping mechanism clamps the materials and then returns to the initial position, and the optical axis moving assembly returns to the initial position under the action of gravity to complete the reset action;
s6: if the optical axis moving assembly moves to the limit position, the photoelectric switch is not triggered, and it is indicated that the material is not in the detection range of the photoelectric switch, and because a certain included angle exists between the first optical axis, the second optical axis and the horizontal plane, when the optical axis moving assembly moves to the limit position, the optical axis moving assembly returns to the initial position under the action of gravity, and the reset action is automatically completed.
Compared with the prior art, the invention has the beneficial effects that:
1. the two optical axis fixing blocks and the two optical axes are arranged on the mounting plate in an inclined mode, the optical axis moving assembly is horizontally pushed to slide on the optical axes through the pneumatic clamping jaws, the detection range of the photoelectric switch is changed, the position of a material is automatically detected, the pneumatic clamping jaws are controlled to be closed, and the task of clamping the material is completed;
2. when the push rod moves to the extreme position, the push rod can be automatically separated from the pneumatic clamping jaw, automatically reset under the action of gravity, and can automatically detect the size of the material parallel to the direction of the mounting plate;
3. the weighing platform can weigh the materials, and the materials are placed into a first packaging line and a second packaging line which are appointed according to the weight;
4. the invention has the characteristics of simple structure, low price, good adaptability, easy installation and the like.
Drawings
Fig. 1 is a schematic structural view of a material clamping position detection mechanism in an embodiment of the invention;
fig. 2 is an exploded view of a material gripping position detection mechanism in an embodiment of the present invention;
FIG. 3 is a schematic view of a conveyor system according to an embodiment of the invention;
FIG. 4 is a schematic view of a weighing platform into which material falls in an embodiment of the present invention;
FIG. 5 is a schematic diagram of the movement of the optical axis moving assembly according to the embodiment of the present invention;
FIG. 6 is an enlarged view of the portion A in FIG. 5 according to an embodiment of the present invention;
FIG. 7 is a schematic view of a pneumatic gripper gripping a product according to an embodiment of the present invention;
fig. 8 is a schematic diagram of resetting the optical axis moving component according to the embodiment of the present invention.
The figures in the drawings represent:
10-an automatic detection mechanism for the material clamping position; 100-a first optical axis holder; 101-a push rod; 102-a photoelectric switch; 1021-a light ray; 103-a first linear bearing; 104-a first snap spring; 105-a first optical axis; 106-a second optical axis fixing seat; 107-mounting plate; 108-a second optical axis; 109-a second snap spring; 110-a second linear bearing; 111-a slider; 121-optical axis moving component; 200-a material conveying line; 201-material; 202-material conveying line guard plate; 210-weighing platform apron; 211-weighing platform; 212-a weighing platform mounting plate; 300-a first packaging line; 400-a second packaging line; 500-linear sliding table mounting platform; 600-a clamping mechanism; 601-pushing an electric cylinder; 6011-electric cylinder push rod; 602-a pneumatic gripper; 603-fixed pins; 700-linear sliding table; 800-packaging box
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
As shown in fig. 1, fig. 1 is a schematic structural view of an automatic detection mechanism for a material clamping position; position automatic checkout mechanism 10 is got to material clamp, including mounting panel 107, first optical axis fixing base 100, second optical axis fixing base 106, first optical axis 105, second optical axis 108, optical axis removes subassembly 121, catch bar 101 and photoelectric switch 102, first optical axis fixing base 100 and second optical axis fixing base 106 set up respectively on mounting panel 107, the one end of first optical axis 105 and second optical axis 108 is established respectively in first optical axis fixing base 100, the other end is established respectively inside second optical axis fixing base 106, optical axis removes subassembly 121 overlaps and is established on first optical axis 105 and second optical axis 108, and along first optical axis 105, reciprocal slip on the second optical axis 108, catch bar 101 sets up on optical axis removes subassembly 121, photoelectric switch 102 sets up on optical axis removes subassembly 121.
Preferably, a plurality of through holes for installation are formed at two ends of the installation plate 107, and the first optical axis fixing seat 100 and the second optical axis fixing seat 106 are respectively installed on the installation plate 107 through the through holes, so that the heights and angles of the first optical axis fixing seat 100 and the second optical axis fixing seat 106 can be conveniently adjusted.
Preferably, first optical axis fixing base 100, second optical axis fixing base 106 and first optical axis 105, second optical axis 108 all incline to arrange on mounting panel 107, and there is certain contained angle in the axis of first optical axis 105, second optical axis 108 and horizontal plane, can realize that optical axis removes subassembly 121 accomplishes the restoration automatically under the effect of gravity, makes optical axis remove subassembly 121 slide to the low side along the high-end of first optical axis 105, second optical axis 108.
As shown in fig. 2, fig. 2 is an exploded view of the automatic detecting mechanism for material gripping positions; the optical axis moving component 121 comprises a first clamp spring 104, a first linear bearing 103, a second clamp spring 109, a second linear bearing 110 and a sliding block 111, wherein the first linear bearing 103 is sleeved on the first optical axis 105, the second linear bearing 110 is sleeved on the second optical axis 108, the sliding block 111 is respectively sleeved on the corresponding first optical axis 105 and the second optical axis 108 through the first linear bearing 103 and the second linear bearing 110, the first clamp spring 104 and the second clamp spring 109 are respectively arranged inside the sliding block 111, a first clamping groove and a second clamping groove are arranged inside the sliding block 111, the first clamp spring 104 and the first clamping groove are clamped in the sliding block 111 in a matching manner, the second clamp spring 109 and the second clamping groove are clamped in the sliding block 111 in a matching manner, so that the optical axis moving component 121 is more stable in structure, and the optical axis moving component 121 can stably slide along the first optical axis 105 and the second optical axis 108.
Preferably, the pushing rod 101 includes a connecting portion and a suspending portion integrally connected to each other, such as a first-shaped structure, the connecting portion is fixedly connected to the sliding block 111, and the suspending portion is suspended downward. The connecting portion of the push rod 101 is fixedly connected with the sliding block 111, the connecting portion of the push rod 101 is generally fixedly connected to the sliding block 111 through a bolt, the suspension portion is in a suspension state, materials are saved, and meanwhile the clamping mechanism 600 is favorable for driving the push rod 101 to move.
As shown in fig. 3 and 4, fig. 3 is a schematic structural view of the conveying system; FIG. 4 is a schematic view of a material falling into a weighing platform; conveying system includes that foretell material presss from both sides and gets position detection mechanism 10, conveying system still includes fixture 600, material transfer chain 200, an at least baling line, the baling line is first baling line 300, fixture 600 is located first baling line 300 with between the material transfer chain 200, fixture 600 presss from both sides and gets material 201 on the material transfer chain 200 places first baling line 300 on, position detection mechanism 10 setting is got to the material clamp for detect the position at material 201 place that material transfer chain 200 conveyed and come.
Preferably, the clamping mechanism 600 further includes a pushing electric cylinder 601, a pneumatic clamping jaw 602, and a fixing pin 603, the pneumatic clamping jaw 602 is disposed on an electric cylinder push rod 6011 of the pushing electric cylinder 601, the fixing pin 603 is disposed at an end of the pneumatic clamping jaw 602, and the fixing pin 603 is used for pushing the optical axis moving assembly 121 to move. The material 201 can be clamped while the position of the material 201 is detected, and other external force conditions are not applied.
The conveying system further comprises a weighing platform 211, wherein the weighing platform 211 is arranged at the tail end of the material conveying line 200 and can weigh the materials 201 conveyed by the material conveying line 200, and therefore the materials 201 are classified and packaged according to the weight of the materials 201.
Preferably, the conveying system further comprises a second packaging line 400 for classified weight sorting and placing of the materials 201, wherein the second packaging line 400 is used for classified sorting and packaging conveying of the materials 201 with different weights.
In this embodiment, as shown in fig. 3, the conveying system includes a material conveying line 200, two packing lines, the two packing lines are a first packing line 300 and a second packing line 400 respectively, the material conveying line 200 and the first packing line 300 and the second packing line 400 are set on the ground through a support column, a linear sliding table mounting platform 500 is simultaneously arranged on the ground, and the support column and the lower part of the linear sliding table mounting platform 500 both have bases similar to a circular disc for enhancing the stability of the conveying system. The vertical fixed setting of sharp slip table 700 is on sharp slip table mounting platform 500, promotes electric cylinder 601 through mounting bracket horizontal installation on sharp slip table 700, and pneumatic clamping jaw 602 sets up at electric cylinder push rod 6011 end, and the fixed tip that sets up pneumatic clamping jaw 602 of fixed pin 603, fixed pin 603 are the lug structure of jack-up generally, and fixed pin 603 is used for promoting the catch bar 101 motion to drive optical axis removal subassembly 121 and photoelectric switch 102 and follow first optical axis 105, second optical axis 109 remove.
It should be noted that the optical axis moving component 121 can be pushed to move under the condition of applying an external force, and the optical axis moving component 121 can not only be pushed to move by the fixing pin 603.
As shown in fig. 4, the weighing platform mounting plate 212 is fixedly arranged on the aluminum profile frame at the end of the material conveying line 200, the weighing platform 211 is fixedly arranged on the weighing platform mounting plate 212, the weighing platform 211 is connected with the end of the material conveying line 200, so that the material 201 can be conveyed to the weighing platform 211 after being conveyed by the material conveying line 200, the automatic position detecting mechanism 10 is clamped by the material clamp and arranged on one side of the aluminum profile frame at the end of the material conveying line 200 through bolt fixation, the weighing platform guard plate 210 is arranged on the other side of the aluminum profile frame at the end of the material conveying line 200 through bolt fixation, the material 201 is prevented from reaching the weighing platform 211 but not falling on the weighing platform 211, and the situation that the position detecting mechanism 10 cannot detect the position of the material 201 is avoided.
As shown in fig. 5, 6, 7 and 8, fig. 5 is a schematic moving diagram of the optical axis moving assembly; FIG. 6 is an enlarged view taken at A in FIG. 5; FIG. 7 is a schematic view of a pneumatic gripper gripping a product; fig. 8 is a schematic diagram of resetting the optical axis moving assembly.
The working process of the material gripping position detecting mechanism and the gripping position detecting method will now be described in detail with reference to fig. 1 to 8.
first, the electric pushing cylinder 601 drives the pneumatic clamping jaw 602 to move towards the weighing platform 211, and when the fixing pin 603 at the end of the pneumatic clamping jaw 602 contacts with the pushing rod 101, the pushing rod 101 is pushed to move along the first optical axis 105 and the second optical axis 108, so as to push the photoelectric switch 102 to move along the first optical axis 105 and the second optical axis 108.
Next, the light 1021 of the photoelectric switch 102 is shielded by the material 201, which means that the photoelectric switch 102 passes through the material 201 at this time, the signal of the photoelectric switch 102 is triggered, the electric cylinder push rod 6011 pushes the photoelectric switch 102 to move continuously, the light 1021 of the photoelectric switch 102 is not shielded by the material 201 any more, which means that the photoelectric switch 102 passes through the material 201 completely, the signal of the photoelectric switch 102 resets, the electric cylinder push rod 6011 stops moving, the pneumatic clamping jaw 602 attracts to clamp the material 201, and the pneumatic clamping jaw clamps the material 201 by using compressed air as power.
Finally, after the actuation of the pneumatic clamping jaw 602 is completed, the electric cylinder push rod 6011 returns to the initial position, the electric cylinder 601 is pushed to slide up and down along the linear sliding table 700, the electric cylinder push rod 6011 is of a telescopic structure, the weighing platform 211 weighs the material 201, the material 201 is divided into two categories according to the weight of the material 201, the material 201 after the completion of the symmetrical weight of the pneumatic clamping jaw 602 is clamped, the material 201 is placed into the packaging box 800 on the first packaging line 300 or the second packaging line 400 according to the classification standard, the clamping task is completed, and meanwhile, the optical axis moving assembly 121 returns to the initial position due to the action of gravity.
If the pneumatic clamping jaw 602 pushes the push rod 101 to move to the limit position, the photoelectric switch 102 is still not triggered, which indicates that the material 201 is not in the detection range of the sensor, because a certain included angle exists between the first optical axis 105 and the second optical axis 108 and the horizontal plane, the pneumatic clamping jaw 602 moves horizontally all the time, when the push rod 101 moves to the limit position, the pneumatic clamping jaw 602 is disengaged from the push rod 101 at the moment, the optical axis moving assembly 121 returns to the initial position under the action of gravity, the reset action is automatically completed, and the pneumatic clamping jaw 602 attracts after continuously moving forward for a certain distance and returns to the initial position.
It should be noted that, while more packaging lines are not excluded to transport the packaging box 800, in the case that the photoelectric switch 102 detects the position of the material 201 and the material 201 is gripped by the gripping mechanism 600, no matter how many specific number of packaging lines are provided in the conveying system, the material 201 is classified according to different weights, and therefore, the present invention is within the protection scope.
The size of the material 201 parallel to the mounting plate 107 can be calculated according to the running speed of the electric cylinder push rod 6011 and the triggering time of the photoelectric switch 102. The speed of the electric cylinder push rod 6011 is v, the triggering time of the photoelectric switch 102 is t, and the dimension of the material 201 parallel to the mounting plate 107 is l ═ vt.
According to the invention, the first optical axis fixing seat 100, the second optical axis fixing seat 106, the first optical axis 105 and the second optical axis 108 are obliquely arranged on the weighing platform mounting plate 212, so that the optical axis moving component 121 can automatically reset; the optical axis moving assembly 121 is horizontally pushed by the pneumatic clamping jaw 602 to slide on the first optical axis 105 and the second optical axis 108, the detection range of the photoelectric switch 102 is changed, so that the position of the material 201 is automatically detected, the pneumatic clamping jaw 602 is controlled to be attracted, the clamping task of the material 201 is completed, when the push rod 101 runs to the limit position, the push rod can be automatically separated from the pneumatic clamping jaw 602, the push rod can automatically reset under the action of gravity, and meanwhile, the size of the material 201 parallel to the direction of the mounting plate 107 can be automatically detected. The invention has the characteristics of simple structure, low price, good adaptability, easy installation and the like.
The foregoing is merely a preferred embodiment of this invention, which is intended to be illustrative, and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A material clamping position detection mechanism is characterized by comprising a mounting plate, a first optical axis fixing seat, a second optical axis fixing seat, a first optical axis, a second optical axis, an optical axis moving assembly, a push rod and a photoelectric switch; first optical axis fixing base, second optical axis fixing base set up respectively on the mounting panel, the one end of first optical axis, second optical axis is established respectively in first optical axis fixing base, and the other end is established respectively in second optical axis fixing base, the optical axis removes the subassembly cover and establishes on first optical axis, the second optical axis, and follow reciprocal slip on first optical axis, the second optical axis, the catch bar sets up on the optical axis removes the subassembly, photoelectric switch sets up on the optical axis removes the subassembly.
2. The material clamping position detecting mechanism as claimed in claim 1, wherein the mounting plate is provided with a plurality of through holes for mounting.
3. The material clamping position detecting mechanism as claimed in claim 2, wherein the first optical axis fixing seat and the second optical axis fixing seat are respectively disposed on the mounting plate in an inclined manner, so that the optical axis moving assembly slides along a high end of the first optical axis and a low end of the second optical axis.
4. The material clamping position detecting mechanism as claimed in claim 3, wherein the optical axis moving assembly comprises a first clamp spring, a second clamp spring, a first linear bearing, a second linear bearing and a sliding block, the first linear bearing is sleeved on the first optical axis, the second linear bearing is sleeved on the second optical axis, the sliding block is sleeved on the corresponding first optical axis and second optical axis through the first linear bearing and the second linear bearing respectively, the first clamp spring and the second clamp spring are arranged inside the sliding block respectively, a first clamping groove and a second clamping groove are arranged inside the sliding block, the first clamp spring and the first clamping groove are matched and clamped in the sliding block, and the second clamp spring and the second clamping groove are matched and clamped in the sliding block.
5. The material clamping position detecting mechanism as claimed in claim 4, wherein the pushing rod comprises a connecting part and a suspending part which are connected into a whole, the connecting part is fixedly connected with the sliding block, and the suspending part is suspended downwards.
6. A conveying system, comprising the material clamping position detecting mechanism according to any one of claims 1 to 5, and further comprising a clamping mechanism, a material conveying line, and at least one packaging line, wherein the packaging line is a first packaging line, the clamping mechanism is located between the first packaging line and the material conveying line, the clamping mechanism clamps the material on the material conveying line and places the material on the first packaging line, and the material clamping position detecting mechanism is arranged at the end of the material conveying line.
7. The transport system of claim 6, wherein the clamping mechanism further comprises an electric pushing cylinder, a pneumatic clamping jaw, and a fixing pin, the pneumatic clamping jaw is disposed on a pushing rod of the electric pushing cylinder, the fixing pin is disposed at an end of the pneumatic clamping jaw, and the fixing pin is used for pushing the optical axis moving assembly to move.
8. A conveyor system as in claim 6 further comprising a weigh platform, a second package line for depositing different weights of material, the weigh platform being disposed at the end of the material transfer line.
9. A material gripping position detection method using the conveying system according to any one of claims 6 to 8, characterized by comprising the steps of:
s1: the clamping mechanism moves towards the material conveying line, and applies force to the optical axis moving assembly to drive the photoelectric switch to move along the first optical axis and the second optical axis;
s2: the photoelectric switch moves forwards, the light of the photoelectric switch is blocked by the material, and the signal of the photoelectric switch is triggered;
s3: the photoelectric switch continues to move forwards, the light of the photoelectric switch is not blocked by the material any more, and the signal of the photoelectric switch is reset to obtain the position of the material;
s4: controlling the clamping mechanism to suck, completing material clamping, and placing the material clamping into a first packaging line;
s5: the clamping mechanism clamps the materials and then returns to the initial position, and the optical axis moving assembly returns to the initial position under the action of gravity to complete the reset action;
s6: if the optical axis moving assembly moves to the limit position, the photoelectric switch is still not triggered, the material is not in the detection range of the photoelectric switch, and due to the fact that a certain included angle exists between the first optical axis and the horizontal plane and between the second optical axis and the horizontal plane, when the optical axis moving assembly moves to the limit position, the optical axis moving assembly returns to the initial position under the action of gravity, and the reset action is automatically completed.
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| CN202210821816.5A CN115057060B (en) | 2022-07-13 | 2022-07-13 | Material clamping position detection mechanism, conveying system and position detection method |
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| CN202210821816.5A CN115057060B (en) | 2022-07-13 | 2022-07-13 | Material clamping position detection mechanism, conveying system and position detection method |
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| CN115057060B CN115057060B (en) | 2023-11-21 |
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| CN206632527U (en) * | 2017-04-21 | 2017-11-14 | 福建船政交通职业学院 | A kind of laser engraving equipment |
| CN212444066U (en) * | 2020-05-21 | 2021-02-02 | 杭州聚贤自动化科技有限公司 | Tightening mechanism for fixing screws of wheel cylinder of automobile drum brake disc |
| CN213444812U (en) * | 2020-09-25 | 2021-06-15 | 济南翼菲自动化科技有限公司 | Gantry type picking and transplanting machine |
-
2022
- 2022-07-13 CN CN202210821816.5A patent/CN115057060B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204145906U (en) * | 2014-11-12 | 2015-02-04 | 长沙常衡机电设备有限公司 | A kind of vision paster machine initial point automatic correcting mechanism |
| CN206632527U (en) * | 2017-04-21 | 2017-11-14 | 福建船政交通职业学院 | A kind of laser engraving equipment |
| CN212444066U (en) * | 2020-05-21 | 2021-02-02 | 杭州聚贤自动化科技有限公司 | Tightening mechanism for fixing screws of wheel cylinder of automobile drum brake disc |
| CN213444812U (en) * | 2020-09-25 | 2021-06-15 | 济南翼菲自动化科技有限公司 | Gantry type picking and transplanting machine |
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