CN202481752U - Columnar material gripping device - Google Patents
Columnar material gripping device Download PDFInfo
- Publication number
- CN202481752U CN202481752U CN2012200471307U CN201220047130U CN202481752U CN 202481752 U CN202481752 U CN 202481752U CN 2012200471307 U CN2012200471307 U CN 2012200471307U CN 201220047130 U CN201220047130 U CN 201220047130U CN 202481752 U CN202481752 U CN 202481752U
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- Prior art keywords
- columnar
- robot
- grabbing device
- column
- sucker
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Abstract
The utility model provides a columnar material gripping device. The columnar material gripping device is used to grip columnar materials on a material conveying mechanism and place the columnar materials into a material temporary storage case. The columnar material gripping device comprises a fixing support, at least one robot, at least one material gripping hand, a material backlight and a photographic device, wherein the robot is arranged on the fixing support, the material gripping hand is controlled by the robot, an infrared sensing device connected with the robot is arranged on the material gripping hand, the material backlight is arranged below a conveying belt of the material conveying mechanism and is used to provide backlight for the columnar materials above the conveying belt, the photographic device is arranged on the fixing support and is located right above a position before the columnar materials go to the position below the material gripping hand, and the photographic device is used to shoot the columnar materials on the conveying belt and feed back to the robot. The columnar material gripping device is safe, reliable, fast and accurate in counting, can reduce labor cost of columnar material packaging and arranging, can improve arranging efficiency, and can reduce damage probability of the columnar materials in the process of gripping.
Description
Technical field
The utility model belongs to column automated production equipment technical field, more particularly, relates to a kind of columnar material grabbing device.
Background technology
Columnar material (like the ham sausage of plastic film packing, commercial explosive etc.) because output is big, needs high-revolving arrangement and packing.At present, columnar material needs manual sorting mostly, and utilizes manual sorting, and its speed of production is slow, has also increased working strength of workers greatly; In addition, existing material collator is counted inaccurately, can cause the breakage of some materials in its arrangement process unavoidably.
The utility model content
The utility model technical matters to be solved be to provide a kind of safe and reliable, speed fast, count columnar material grabbing device accurately; Be intended to reduce the cost of labor of columnar material packing arrangement; Improve arrangement efficient, and reduce the damaged probability of material in the extracting process.
For solving the problems of the technologies described above, the technical scheme of the employing of the utility model is: a kind of columnar material grabbing device is provided, is used for the column on the material transport mechanism is grasped and puts into the material holding tank, comprising:
Fixed support;
Be located at least one robot and at least one the material handgrip that receives said robot control on the said fixed support, said material handgrip is provided with the infrared induction device that links to each other with said robot;
The material backlight is located at below the belt conveyor of said material transport mechanism, and being used for provides backlight to the column of belt conveyor top;
Camera head, be located on the said fixed support and be positioned at said column get into position before the below of said material handgrip directly over, be used for the column on the belt conveyor is taken and fed back to said robot.
Further, said material handgrip comprises a plurality of arms that receive the control of said robot and work in coordination and the suction pawl of being located at said arm lower end.
Further, said suction pawl comprises suction pawl support, is located at least one cylinder on the said suction pawl support, the be in line at least one group of sucker that distributes, the vacuum generator that links to each other with said sucker that links to each other with the output shaft of said cylinder.
Further, said sucker is made as two groups and every group of being arrangement in parallel and is made as eight.
Further, said cylinder is made as two and be distributed in two outsides of said sucker.
Further, said vacuum generator is made as four and two one group two outer ends that are positioned at said material handgrip.
The beneficial effect of the columnar material grabbing device that the utility model provides is: adopt the utility model columnar material grabbing device arrangement columnar material, utilize robot to control whole extracting process fully, can replace manual work fully; And grasp accurately, speed is fast, can contaminated equipment and environment; Can be installed on the automatic production line and use; Do not have in the use and impact, no spark, safe and reliable.
Description of drawings
The columnar material grabbing device that Fig. 1 provides for the utility model embodiment face structural representation;
The perspective view of material handgrip under retracted mode of the columnar material grabbing device that Fig. 2 provides for the utility model embodiment;
The material handgrip of the columnar material grabbing device that Fig. 3 provides for the utility model embodiment is in the perspective view of stretching out under the state;
Fig. 4 looks up structural representation for the material handgrip of the columnar material grabbing device that the utility model embodiment provides;
The material handgrip of the columnar material grabbing device that Fig. 5 the utility model embodiment provides is faced structural representation.
The specific embodiment
In order to make the utility model technical matters to be solved, technical scheme and beneficial effect clearer,, the utility model is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
Please with reference to Fig. 1, the existing columnar material grabbing device that the utility model is provided describes.Said columnar material grabbing device comprises being used for the column on the material transport mechanism 100 200 is grasped and puts into the material holding tank, comprises fixed support 1, at least one robot 2, at least one material handgrip 3, material backlight 4, camera head 5; Said robot 2 is located on the said fixed support 1 with said material handgrip 3; Said material handgrip 3 receives said robot 2 controls; It is (invisible among the figure on said material handgrip 3, also to be provided with the infrared induction device that links to each other with said robot 2; Do not show), this infrared inductor is used to detect the best crawl position, top whether material handgrip 3 moves to column 200; Said material backlight 4 is located at the below of the belt conveyor 111 of said material transport mechanism 100, and its luminous being used for provides backlight to the column 200 of belt conveyor 111 tops, so that the camera head 5 clear images of taking the photograph column 200; Said camera head 5 be located on the said fixed support 1 and be positioned at position before the below that said column 200 gets into said material handgrip 3 directly over; It is used for the column on the belt conveyor 111 200 is taken, and gives robot 2 so that robot 2 grasps according to the particular location of control system calculating and judgement column 200 and to the column 200 that moves to the optimum position with the message feedback of taking.
The columnar material grabbing device that the utility model provides adopts the utility model columnar material grabbing device to utilize robot 2 to control material handgrip 3 fully and accomplishes whole extracting process, can replace manual work fully; And grasp accurately, speed is fast, can contaminated equipment and environment; Can be installed on the automatic production line and use; Do not have in the use and impact, no spark, safe and reliable.
Further; See also Fig. 1 again; A kind of specific embodiment of the columnar material grabbing device that provides as the utility model, said material handgrip 3 comprise and receive said robot 2 controls and a plurality of arms 31 of working in coordination and the suction pawl 32 of being located at said arm 31 lower ends.Between these arms 31 and the robot 2 and and inhale between the pawl 32 and be flexible connection; Under the instruction of the control system of robot 2, can let and inhale pawl 2 and all around move in the horizontal direction; So that after moving to the optimum position column 200 is grasped, guarantees the success of grasping.
Further; Please in the lump referring to Fig. 2 to Fig. 5; A kind of specific embodiment of the columnar material grabbing device that provides as the utility model, said suction pawl 32 comprise inhales pawl support 321, is located at least one cylinder 322 on the said suction pawl support 321, the be in line at least one group of sucker 323 of distribution, the vacuum generator 324 that links to each other with said sucker 323 that links to each other with the output shaft of said cylinder 322.In this embodiment; When suction pawl 32 moves to the best crawl position, top on one of them column 200; Cylinder 322 action and with sucker 323 fall and press to downwards column 200 and with column 200 surperficial closed contacts; The air in the sucker 323 is taken in vacuum generator 324 work simultaneously away, and like this, sucker 323 just holds column 200 steadily under the atmospheric effect in the external world.
Further, referring to Fig. 4, a kind of specific embodiment of the columnar material grabbing device that provides as the utility model, said sucker 323 is made as two groups that are arrangement in parallel, inhales like this and shifts to the column holding tank again after pawl 32 just can hold two columns 200; And the number of every group of sucker 323 is made as eight, so that sucker quantity is many more like this, just not only can draw short lighter column 200, also can draw heavier, longer column 200.
Further, see also the arbitrary diagram of Fig. 2 to Fig. 4, a kind of specific embodiment of the columnar material grabbing device that provides as the utility model, said cylinder 322 is made as two and be distributed in two outsides of said sucker 323.Cylinder 322 is set like this is beneficial to balance, can make suction pawl 32 that lateral deviation takes place when pressing with column 200.
Further, see also the arbitrary diagram of Fig. 2 to Fig. 4 again, a kind of specific embodiment of the columnar material grabbing device that provides as the utility model, said vacuum generator 324 is made as four and two one group two outer ends that are positioned at said material handgrip 3.Sucker 323 is many more, and needed vacuum generator 324 is also just many more, so that can the air in the sucker 323 be extracted out as far as possible fully in the short period of time, guarantees that sucker 323 can steadily hold column 200.
The above is merely the preferred embodiment of the utility model; Not in order to restriction the utility model; Any modification of being done within all spirit and principles at the utility model, be equal to replacement and improvement etc., all should be included within the protection domain of the utility model.
Claims (6)
1. columnar material grabbing device is used for the column on the material transport mechanism is grasped and puts into the material holding tank, it is characterized in that, comprising:
Fixed support;
Be located at least one robot and at least one the material handgrip that receives said robot control on the said fixed support, said material handgrip is provided with the infrared induction device that links to each other with said robot;
The material backlight is located at below the belt conveyor of said material transport mechanism, and being used for provides backlight to the column of belt conveyor top;
Camera head, be located on the said fixed support and be positioned at said column get into position before the below of said material handgrip directly over, be used for the column on the belt conveyor is taken and fed back to said robot.
2. columnar material grabbing device as claimed in claim 1 is characterized in that, said material handgrip comprises a plurality of arms that receive the control of said robot and work in coordination and the suction pawl of being located at said arm lower end.
3. columnar material grabbing device as claimed in claim 2; It is characterized in that said suction pawl comprises suction pawl support, is located at least one cylinder on the said suction pawl support, the be in line at least one group of sucker that distributes, the vacuum generator that links to each other with said sucker that links to each other with the output shaft of said cylinder.
4. columnar material grabbing device as claimed in claim 3 is characterized in that, said sucker is made as two groups and every group of being arrangement in parallel and is made as eight.
5. columnar material grabbing device as claimed in claim 4 is characterized in that, said cylinder is made as two and be distributed in two outsides of said sucker.
6. columnar material grabbing device as claimed in claim 4 is characterized in that, said vacuum generator is made as four and two one group two outer ends that are positioned at said material handgrip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200471307U CN202481752U (en) | 2012-02-14 | 2012-02-14 | Columnar material gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200471307U CN202481752U (en) | 2012-02-14 | 2012-02-14 | Columnar material gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202481752U true CN202481752U (en) | 2012-10-10 |
Family
ID=46956196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200471307U Expired - Lifetime CN202481752U (en) | 2012-02-14 | 2012-02-14 | Columnar material gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202481752U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553030A (en) * | 2015-09-30 | 2017-04-05 | 明光市和诚电气有限公司 | A kind of refrigerator finished product combination unit |
| CN109570046A (en) * | 2019-01-10 | 2019-04-05 | 长沙智能制造研究总院有限公司 | A kind of band radian object vision-based detection technique |
| CN109573618A (en) * | 2019-01-18 | 2019-04-05 | 济南翼菲自动化科技有限公司 | A kind of clamping and placing system of parallel robot |
-
2012
- 2012-02-14 CN CN2012200471307U patent/CN202481752U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553030A (en) * | 2015-09-30 | 2017-04-05 | 明光市和诚电气有限公司 | A kind of refrigerator finished product combination unit |
| CN109570046A (en) * | 2019-01-10 | 2019-04-05 | 长沙智能制造研究总院有限公司 | A kind of band radian object vision-based detection technique |
| CN109573618A (en) * | 2019-01-18 | 2019-04-05 | 济南翼菲自动化科技有限公司 | A kind of clamping and placing system of parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shenzhen Meige Packing Equipment Co. Ltd. Assignor: Jin'aobo Science and Technology Co., Ltd., Shenzhen City Contract record no.: 2014440020339 Denomination of utility model: Columnar material gripping device Granted publication date: 20121010 License type: Exclusive License Record date: 20140917 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee after: SHENZHEN KING EXPLORER SCIENCE & TECHNOLOGY CO., LTD. Address before: 518057, R2-A building, 4 floor, Nanshan District hi tech Industrial Park (South District), Guangdong, Shenzhen Patentee before: Jin'aobo Science and Technology Co., Ltd., Shenzhen City |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121010 |