CN115057060B - 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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- CN115057060B CN115057060B CN202210821816.5A CN202210821816A CN115057060B CN 115057060 B CN115057060 B CN 115057060B CN 202210821816 A CN202210821816 A CN 202210821816A CN 115057060 B CN115057060 B CN 115057060B
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- moving assembly
- photoelectric switch
- clamping
- axis moving
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 230000003287 optical effect Effects 0.000 claims abstract description 173
- 238000004806 packaging method and process Methods 0.000 claims description 37
- 238000005303 weighing Methods 0.000 claims description 29
- 230000005484 gravity Effects 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000000151 deposition Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 7
- 238000012856 packing Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
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; the two optical axis fixing seats are arranged on the mounting plate, two ends of the two optical axes are respectively sleeved in the two optical axis fixing seats, the optical axis moving assembly is sleeved on the two optical axes, and the two optical axis fixing seats and the two optical axes are obliquely arranged on the mounting plate. The push rod 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 acts on the push rod horizontally, so that the push rod drives the photoelectric switch to move along the optical axis direction, the detection range of the photoelectric switch is changed, the position of a material is detected, the suction of the pneumatic clamping jaw is controlled, and the clamping of the material is completed. 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 packaging task amount on the packaging assembly line is very large, for the conveying line which needs to carry out classified packaging on products according to the weight of the products, the products are generally required to be weighed before the last procedure before packaging, the products are classified and packaged according to the weight, the application of a robot on the conveying line is wide at present, the weighing and boxing tasks of the products can be completed through the cooperation of a mechanical arm and a weighing platform, the position of each clamping of the robot is difficult to determine due to the uncertainty of the position of the products falling into the weighing platform, and the position of the products is acquired through a machine vision technology in the current common method, so that the robot is guided to clamp and boxing.
Because vision systems are expensive and susceptible to ambient light sources, they have not found widespread use in certain conveyor line packaging applications.
In view of the above drawbacks, the present inventors have finally achieved the present invention through long-time studies and practices.
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; the optical axis moving device comprises a mounting plate, a first optical axis fixing seat, a second optical axis fixing seat, a push rod, a photoelectric switch and an optical axis moving assembly, wherein the first optical axis fixing seat and the second optical axis fixing seat are respectively arranged on the mounting plate, one ends of the first optical axis and the second optical axis are respectively sleeved in the first optical axis fixing seat, the other ends of the first optical axis and the second optical axis are respectively sleeved in the second optical axis fixing seat, the optical axis moving assembly is sleeved on the first optical axis and the second optical axis and slides back and forth along the first optical axis and the second optical axis, the push rod is arranged on the optical axis moving assembly, and the photoelectric switch is arranged on the optical axis moving assembly.
Further, a plurality of through holes for installation are formed in the installation plate.
Further, the first optical axis fixing seat and the second optical axis fixing seat are respectively arranged on the mounting plate in an inclined mode, so that the optical axis moving assembly slides to the lower end along the high ends of the first optical axis and the second optical axis.
Further, 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, wherein 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 respectively arranged in the sliding block, a first clamping groove and a second clamping groove are formed in 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.
Further, the push 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.
The conveying system comprises the material clamping position detection mechanism, 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 materials on the material conveying line and places the materials on the first packaging line, and the material clamping position detection mechanism is arranged at the tail end of the material conveying line.
The clamping mechanism further comprises a pushing electric cylinder, a pneumatic clamping jaw and a fixing pin, wherein the pneumatic clamping jaw is arranged on a push rod of the pushing electric cylinder, the fixing pin is arranged at the end part of the pneumatic clamping jaw, and the fixing pin is used for pushing the optical axis moving assembly to move.
Further, the conveying system further comprises a weighing platform and a second packaging line, wherein the second packaging line is used for placing materials with different weights, and the weighing platform is arranged at the tail end of the material conveying line.
The method for detecting the 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 the force applied to the optical axis moving assembly drives the photoelectric switch to move along the first optical axis and the second optical axis;
s2: the photoelectric switch moves forwards, light of the photoelectric switch is blocked by materials, and a photoelectric switch signal is triggered;
s3: the photoelectric switch continuously moves forwards, the light of the photoelectric switch is not blocked by the material any more, and the photoelectric switch signal is reset to obtain the material position;
s4: controlling the clamping mechanism to be attracted to finish clamping the material, and placing the material into a packaging line;
s5: the clamping mechanism withdraws to an initial position after clamping the material, and the optical axis moving assembly withdraws 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 the material is not in the detection range of the photoelectric switch, because a certain included angle exists between the first optical axis and the horizontal plane, when the optical axis moving assembly moves to the limit position, the optical axis moving assembly rolls back 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. according to the invention, the two optical axis fixing blocks and the two optical axes are obliquely arranged on the mounting plate, the optical axis moving assembly is horizontally pushed by the pneumatic clamping jaw to slide on the optical axis, and the detection range of the photoelectric switch is changed, so that the position of a material is automatically detected, the suction of the pneumatic clamping jaw is controlled, and the clamping task of the material is completed;
2. when the pushing rod moves to the extreme limit position, the pushing rod can be automatically separated from the pneumatic clamping jaw, automatically reset under the action of gravity, and simultaneously, the size of the material parallel to the direction of the mounting plate can be automatically detected;
3. the weighing platform can weigh the materials, and the materials are placed into a designated first packaging line and a designated second packaging line 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 diagram of a material gripping position detection mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of a material gripping position detection mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a conveying system according to an embodiment of the present invention;
FIG. 4 is a schematic view of a weighing platform for dropping materials according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the movement of the optical axis moving component according to an embodiment of the present invention;
FIG. 6 is an enlarged view of FIG. 5A 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 illustrating resetting of the optical axis moving component according to an embodiment of the present invention.
The figures represent the numbers:
10-an automatic detection mechanism for the material clamping position; 100-a first optical axis fixing seat; 101-pushing a rod; 102-an optoelectronic switch; 1021-ray; 103-a first linear bearing; 104-a first clamp spring; 105-a first optical axis; 106-a second optical axis fixing seat; 107-mounting plates; 108-a second optical axis; 109-a second clamp spring; 110-a second linear bearing; 111-sliding blocks; 121-an optical axis moving assembly; 200-material conveying lines; 201, material; 202-a material conveying line guard plate; 210-a weighing platform guard plate; 211-a weighing platform; 212-a weighing platform mounting plate; 300-a first packaging line; 400-a second packaging line; 500-a linear slipway mounting platform; 600-clamping mechanism; 601-pushing an electric cylinder; 6011-electric cylinder push rod; 602-pneumatic clamping jaws; 603-fixing pins; 700-a linear sliding table; 800-packing box
Detailed Description
The above and further technical 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 diagram of an automatic detection mechanism for a material clamping position; the automatic detection mechanism 10 for the material clamping position comprises a mounting plate 107, a first optical axis fixing seat 100, a second optical axis fixing seat 106, a first optical axis 105, a second optical axis 108, an optical axis moving assembly 121, a pushing rod 101 and a photoelectric switch 102, wherein the first optical axis fixing seat 100 and the second optical axis fixing seat 106 are respectively arranged on the mounting plate 107, one ends of the first optical axis 105 and the second optical axis 108 are respectively sleeved in the first optical axis fixing seat 100, the other ends of the first optical axis 105 and the second optical axis 108 are respectively sleeved in the second optical axis fixing seat 106, the optical axis moving assembly 121 is sleeved on the first optical axis 105 and the second optical axis 108 and slides back and forth along the first optical axis 105 and the second optical axis 108, the pushing rod 101 is arranged on the optical axis moving assembly 121, and the photoelectric switch 102 is arranged on the optical axis moving assembly 121.
Preferably, a plurality of through holes for installation are formed at two ends of the mounting plate 107, and the first optical axis fixing seat 100 and the second optical axis fixing seat 106 are respectively installed on the mounting plate 107 through the through holes, so that the heights and the angles of the first optical axis fixing seat 100 and the second optical axis fixing seat 106 are convenient to adjust.
Preferably, 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 all obliquely arranged on the mounting plate 107, and a certain included angle exists between the axes of the first optical axis 105 and the second optical axis 108 and the horizontal plane, so that the optical axis moving assembly 121 can automatically complete resetting under the action of gravity, and the optical axis moving assembly 121 slides to the lower end along the high ends of the first optical axis 105 and the second optical axis 108.
As shown in fig. 2, fig. 2 is an exploded view of the automatic material gripping position detection mechanism; the optical axis moving assembly 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 sleeved on the corresponding first optical axis 105 and second optical axis 108 through the first linear bearing 103 and the second linear bearing 110 respectively, the first clamp spring 104 and the second clamp spring 109 are respectively arranged in the sliding block 111, a first clamping groove and a second clamping groove are formed in the sliding block 111, the first clamp spring 104 and the first clamping groove are matched and clamped in the sliding block 111, and the second clamp spring 109 and the second clamping groove are matched and clamped in the sliding block 111, so that the optical axis moving assembly 121 is more stable in structure, and the optical axis moving assembly 121 can slide stably 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, such as a zigzag structure, which are integrally connected, and the connecting portion is fixedly connected to the sliding block 111, and the suspending portion is suspended downward. The connecting part of the pushing rod 101 is fixedly connected with the sliding block 111, the connecting part of the pushing rod 101 is generally fixedly connected on the sliding block 111 through bolts, the suspending part is in a suspending state, materials are saved, and meanwhile, the clamping mechanism 600 is beneficial to driving the pushing rod 101 to move.
As shown in fig. 3 and 4, fig. 3 is a schematic structural diagram of a conveying system; FIG. 4 is a schematic view of a material falling into a weighing platform; the conveying system comprises the material clamping position detection mechanism 10, the conveying system further comprises a clamping mechanism 600, a material conveying line 200 and at least one packaging line, the packaging line is a first packaging line 300, the clamping mechanism 600 is located between the first packaging line 300 and the material conveying line 200, the clamping mechanism 600 clamps materials 201 on the material conveying line 200 and places the materials 201 on the first packaging line 300, and the material clamping position detection mechanism 10 is arranged at the tail end of the material conveying line 200 and used for detecting positions of the materials 201 conveyed by the material conveying line 200.
Preferably, the clamping mechanism 600 further includes a pushing cylinder 601, a pneumatic clamping jaw 602, and a fixing pin 603, the pneumatic clamping jaw 602 is disposed on a cylinder push rod 6011 of the pushing 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 component 121 to move. The material 201 is clamped while the position of the material 201 is detected, and other external force conditions are not required to be 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, so that classified packages can be carried out according to the weight of the materials 201.
Preferably, the conveying system further comprises a second packing line 400 for sorting and placing the materials 201 by weight, wherein the second packing line 400 is used for sorting and placing and packing and conveying the materials 201 with different weights.
In this embodiment, as shown in fig. 3, the conveying system includes a material conveying line 200, two packaging lines, and the two packaging lines are a first packaging line 300 and a second packaging line 400 respectively, where the material conveying line 200 and the first packaging line 300 and the second packaging line 400 are disposed on the ground through support columns, and the ground is simultaneously provided with a linear sliding table mounting platform 500, and the support columns and the lower part of the linear sliding table mounting platform 500 are all provided with bases similar to discs, so as to enhance the stability of the conveying system. The vertical fixed setting of sharp slip table 700 is on sharp slip table mounting platform 500, and push cylinder 601 passes through the mounting bracket horizontal installation on sharp slip table 700, and pneumatic clamping jaw 602 sets up at the electric jar push rod 6011 end, and fixed pin 603 is fixed to set up the tip of pneumatic clamping jaw 602, and fixed pin 603 is the lug structure of jack-up generally, and fixed pin 603 is used for promoting the motion of push rod 101 to drive optical axis removal subassembly 121 and photoelectric switch 102 along first optical axis 105, second optical axis 109 remove.
It should be noted that the optical axis moving component 121 may be pushed to move under the condition that an external force is applied, and the optical axis moving component 121 may not be pushed to move only 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 tail 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 tail end of the material conveying line 200, so that the material 201 can be conveyed onto the weighing platform 211 after being conveyed by the material conveying line 200, the automatic detection mechanism 10 for the material clamping position is fixedly arranged on one side of the aluminum profile frame at the tail end of the material conveying line 200 through bolts, the weighing platform guard plate 210 is fixedly arranged on the other side of the aluminum profile frame at the tail end of the material conveying line 200 through bolts, the material 201 is prevented from reaching the weighing platform 211 but does not appear on the weighing platform 211 due to falling, and the situation that the position of the material 201 cannot be detected by the detection mechanism 10 for the material clamping position is avoided.
As shown in fig. 5, 6, 7 and 8, fig. 5 is a schematic view of movement of the optical axis moving component; FIG. 6 is an enlarged view of FIG. 5 at A; 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 operation of the material gripping position detection mechanism and the gripping position detection method will now be described in detail with reference to fig. 1 to 8.
The material 201 is conveyed by the material conveying line 200, and the packing boxes 800 are conveyed by the first packing line 300 and the second packing line 400, so that the requirement of classifying the material 201 according to weight is met. When the material 201 falls onto the weighing platform 211, the weighing platform 211 weighs the material 201, the pneumatic clamping jaw 602 clamps the weighed material 201, and the clamping method specifically comprises the following steps:
first, the 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 that the photoelectric switch 102 is pushed to move along the first optical axis 105 and the second optical axis 108.
Then, the light 1021 of the photoelectric switch 102 is blocked by the material 201, which means that the photoelectric switch 102 passes through the material 201 at this time, the photoelectric switch 102 is triggered by a signal of the photoelectric switch 102, the electric cylinder push rod 6011 pushes the photoelectric switch 102 to move continuously, the light 1021 of the photoelectric switch 102 is no longer blocked by the material 201, which means that the photoelectric switch 102 completely passes through the material 201 at this time, the photoelectric switch 102 is reset by a signal, the electric cylinder push rod 6011 stops moving, the pneumatic clamping jaw 602 is attracted to clamp the material 201, and the pneumatic clamping jaw clamps the material 201 by using compressed air as power.
Finally, after the suction of the pneumatic clamping jaw 602 is completed, the electric cylinder push rod 6011 is retracted 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 and divides the material 201 into two types according to the weight of the material 201, the material 201 after the symmetrical weighing of the pneumatic clamping jaw 602 is clamped, the material 201 is placed into the packing box 800 on the first packing line 300 or the second packing line 400 according to the classification standard, the clamping task is completed, and meanwhile, the optical axis moving assembly 121 can retract to the initial position under the action of gravity.
If the pneumatic clamping jaw 602 pushes the pushing 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 pushing rod 101 moves to the limit position, the pneumatic clamping jaw 602 is separated from the pushing rod 101 at this time, 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 continues to move forward for a certain distance and then is attracted to return to the initial position.
It should be noted that, there are no more packaging lines to transport the package 800, and in the case that the photoelectric switch 102 detects the position of the material 201 and the gripping mechanism 600 grips the material 201, it is within the scope of the present invention to sort the material 201 according to different weights no matter how many packaging lines are provided in the conveying system.
The size of the material 201 parallel to the direction of 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. When the velocity of the electric cylinder push rod 6011 is v and the trigger time of the photoelectric switch 102 is t, the dimension of the material 201 parallel to the direction of the mounting plate 107 is l=vt.
The first optical axis fixing seat 100 and 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 assembly 121 can automatically reset; the pneumatic clamping jaw 602 horizontally pushes the optical axis moving assembly 121 to slide on the first optical axis 105 and the second optical axis 108, so that the detection range of the photoelectric switch 102 is changed, 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 pushing rod 101 moves to the limit position, the pushing rod can be automatically separated from the pneumatic clamping jaw 602, the pushing rod can be automatically reset under the action of gravity, and meanwhile, the dimension 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 description of the preferred embodiment of the invention is merely illustrative of the invention, and is not intended to be limiting. It will be appreciated by persons skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. The 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; the first optical axis fixing seat and the second optical axis fixing seat are respectively arranged on the mounting plate, one ends of the first optical axis and the second optical axis are respectively sleeved in the first optical axis fixing seat, the other ends of the first optical axis and the second optical axis are respectively sleeved in the second optical axis fixing seat, the optical axis moving assembly is sleeved on the first optical axis and the second optical axis and slides back and forth along the first optical axis and the second optical axis, the pushing rod is arranged on the optical axis moving assembly, and the photoelectric switch is arranged on the optical axis moving assembly;
when the clamping mechanism contacts with the pushing rod, the pushing rod is pushed to move, the first optical axis fixing seat and the second optical axis fixing seat are respectively obliquely arranged on the mounting plate, so that the optical axis moving assembly slides to the lower end along the high ends of the first optical axis and the second optical axis, and the optical axis moving assembly returns to the initial position under the action of gravity, and automatically completes the reset action.
2. A material gripping position detection mechanism as claimed in claim 1, wherein a plurality of through holes are provided in said mounting plate for mounting.
3. The material clamping position detection mechanism according to claim 1, 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 respectively arranged in the sliding block, a first clamping groove and a second clamping groove are formed in 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.
4. A material gripping position detection mechanism according to claim 3, wherein the push rod comprises a connecting portion and a suspending portion which are integrally connected, the connecting portion is fixedly connected with the sliding block, and the suspending portion is suspended downwards.
5. A conveying system, characterized by comprising the material gripping position detection mechanism according to any one of claims 1-4, 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 material gripping on the material conveying line is gripped by the clamping mechanism and placed on the first packaging line, and the material gripping position detection mechanism is arranged at the tail end of the material conveying line.
6. A delivery system according to claim 5, wherein the clamping mechanism further comprises a pushing cylinder, a pneumatic clamping jaw, a securing pin, the pneumatic clamping jaw being disposed on a push rod of the pushing cylinder, the securing pin being disposed at an end of the pneumatic clamping jaw, the securing pin being for pushing the optical axis moving assembly to move.
7. A conveyor system as in claim 5 further comprising a weighing platform, a second packaging line for depositing materials of different weights, the weighing platform being disposed at the end of the material transfer line.
8. A method of detecting a material gripping position using the conveying system according to any one of claims 5 to 7, comprising the steps of:
s1: the clamping mechanism moves towards the direction of the material conveying line, and the force applied to the optical axis moving assembly drives the photoelectric switch to move along the first optical axis and the second optical axis;
s2: the photoelectric switch moves forwards, light of the photoelectric switch is blocked by materials, and a photoelectric switch signal is triggered;
s3: the photoelectric switch continuously moves forwards, the light of the photoelectric switch is not blocked by the material any more, and the photoelectric switch signal is reset to obtain the material position;
s4: controlling the clamping mechanism to be attracted to finish clamping the material, and placing the material into a first packaging line;
s5: the clamping mechanism withdraws to an initial position after clamping the material, and the optical axis moving assembly withdraws 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 the material is not in the detection range of the photoelectric switch, because a certain included angle exists between the first optical axis and the horizontal plane, when the optical axis moving assembly moves to the limit position, the optical axis moving assembly rolls back to the initial position under the action of gravity, and the reset action is automatically completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN115057060A CN115057060A (en) | 2022-09-16 |
| CN115057060B true CN115057060B (en) | 2023-11-21 |
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| CN202210821816.5A Active CN115057060B (en) | 2022-07-13 | 2022-07-13 | Material clamping position detection mechanism, conveying system and position detection method |
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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 |
-
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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| Publication number | Publication date |
|---|---|
| CN115057060A (en) | 2022-09-16 |
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