CN205630659U

CN205630659U - Can snatch grabbing device of many special -shaped cigarettes simultaneously

Info

Publication number: CN205630659U
Application number: CN201620030584.1U
Authority: CN
Inventors: 杨旭东; 靳志强; 陈思顺; 董维付
Original assignee: Guizhou Huilian Technology Ltd Co
Current assignee: Guizhou Huilian Technology Ltd Co
Priority date: 2016-01-13
Filing date: 2016-01-13
Publication date: 2016-10-12
Anticipated expiration: 2026-01-13

Abstract

The utility model discloses a can snatch grabbing device of many special -shaped cigarettes simultaneously. Including backup pad (1), be equipped with logical groove (2) on backup pad (1), backup pad (1) below is equipped with sucking disc (3), leads to groove (2) other be equipped with height finding sensor (4). The utility model has the characteristics of, snatch efficient simply with equipment structure.

Description

A kind of grabbing device that can simultaneously capture a plurality of abnormity cigarette

Technical field

This utility model relates to the grabbing device in a kind of production of cigarettes field, particularly one and can capture simultaneously The grabbing device of a plurality of abnormity cigarette.

Background technology

At present in production of cigarettes field, the major way captured irregular strip cigarette from streamline is to pass through Manipulator control sucker captures, and can only capture a cigarette every time.Which is primarily present following shortcoming, machine One, the tool hands crawl working cycle can only capture a cigarette, captures efficiency low.

Utility model content

The purpose of this utility model is, it is provided that a kind of grabbing device that can simultaneously capture a plurality of abnormity cigarette.This Utility model has, and captures efficiency height and the simple feature of device structure.

The technical solution of the utility model: a kind of grabbing device that can simultaneously capture a plurality of abnormity cigarette, including propping up Fagging, gripper shoe is provided with groove, is provided with sucker below gripper shoe, is provided with the high sensor of survey by groove.

In the aforesaid grabbing device that can simultaneously capture a plurality of abnormity cigarette, described gripper shoe is provided with two and leads to Groove, is provided with one and surveys high sensor between two grooves, further respectively have one and survey high sensing outside two grooves Device.

In the aforesaid grabbing device that can simultaneously capture a plurality of abnormity cigarette, one end of described gripper shoe is additionally provided with Connection member.

Compared with prior art, this utility model connects on a robotic arm by connection member, surveys height by each Sensor obtains the difference in height of each irregular strip cigarette, when difference in height is in Δ, can capture each abnormity cigarette simultaneously； By this structure, for comparing more traditional grasping mechanism, the special-shaped cigarette of one or more can be captured every time simultaneously, Substantially increase the crawl efficiency of abnormity cigarette.Moreover, this utility model is capturing 2 special-shaped cigarettes and is working as During σ ＞ Δ, sucker moves down distance S=L, the most preferentially captures opium height abnormity cigarette, and this effectively prevents because of sucker Move down that stroke (i.e. S) is excessive weighs opium height abnormity cigarette wounded.In the case of capturing 3, work as σ_max＞ Δ and σ₁During≤Δ, capture opium height and the second cigarette height abnormity cigarette the most simultaneously；Work as σ₁＞ Δ and σ₂During≤Δ, Preferentially capture the high and minimum cigarette height abnormity cigarette of the second cigarette simultaneously；Work as σ₂During ＞ Δ, preferentially capture opium Gao Yi Shape cigarette；To sum up, this utility model can effectively prevent sucker from weighing abnormity cigarette during capturing wounded.Moreover, This utility model, by arranging the high sensor of survey in gripper shoe, surveys high sensor by abnormity cigarette cigarette height data acquisition After be sent to mechanical hand, mechanical hand according to cigarette high data can control sucker capture simultaneously a plurality of abnormity cigarette, no Only efficiency is high, and its device structure is simple so that equipment investment cost is effectively controlled.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model；

Fig. 2 is the working state schematic representation of embodiment 1；

Fig. 3 is the working state schematic representation of embodiment 2.

Being labeled as in accompanying drawing: 1-gripper shoe, 2-groove, 3-sucker, 4-surveys high sensor, 5-connecting portion Part, 6-opium height abnormity cigarette, 7-minimum cigarette height abnormity cigarette, 8-the second cigarette height abnormity cigarette.

Detailed description of the invention

With embodiment, this utility model is further described below in conjunction with the accompanying drawings, but is not intended as this reality Foundation with novel restriction.

Embodiment 1.A kind of grabbing device that can simultaneously capture a plurality of abnormity cigarette, is constituted as it is shown in figure 1, include Gripper shoe 1, gripper shoe 1 is provided with groove 2, is provided with sucker 3 below gripper shoe 1, and groove 2 both sides respectively sets One is had to survey high sensor 4.

One end of aforesaid gripper shoe 1 is additionally provided with connection member 5.By connection member 5, gripper shoe 1 is connected On a robotic arm, described mechanical hand is generally three axle robert.

The grasping means (as shown in Figure 2) of the aforesaid grabbing device that can simultaneously capture a plurality of abnormity cigarette is: machine Sucker 3 correspondence is moved on to above 2 special-shaped cigarettes by tool hands, and the high sensor 4 of each survey is respectively to 2 special-shaped cigarettes Highly carrying out detecting and obtaining difference in height σ, when the σ≤Δ of 2 special-shaped cigarettes, sucker 3 moves down distance S=L+ σ, captures 2 special-shaped cigarettes simultaneously, and L is the sucker 3 distance to opium height abnormity cigarette upper surface；Described Δ is the distance of stretch out and draw back of sucker 3, Δ=0～15mm.Applicant is in practice, it has been found that the receipts of general sucker 3 Contracting range delta=0～15mm, when σ is in Δ, sucker 3 can normal contraction, under be pressed in abnormity cigarette on time, Abnormity cigarette will not be weighed wounded.

When σ ＞ Δ, the sucker 3 above minimum cigarette height abnormity cigarette is translated out, posterior sucker 3 move down away from From S=L, capture opium height abnormity cigarette.By this structure, S can be avoided to move down and excessive to weigh opium Gao Yi wounded Shape cigarette.

Embodiment 2.A kind of grabbing device that can simultaneously capture a plurality of abnormity cigarette, including gripper shoe 1, gripper shoe 1 is provided with two grooves 2, is provided with sucker 3 below gripper shoe 1, is provided with one and surveys high biography between two grooves 2 Sensor 4, further respectively has one and surveys high sensor 4 outside two grooves 2.

One end of aforesaid gripper shoe 1 is additionally provided with connection member 5.

The grasping means (as shown in Figure 3) of the aforesaid grabbing device that can simultaneously capture a plurality of abnormity cigarette is: with Time when capturing 3 special-shaped cigarettes, 3 special-shaped cigarettes are arranged in order by sequence, afterwards by corresponding for sucker 3 Moving to above 3 special-shaped cigarettes, the height of abnormity cigarette is detected and obtains each abnormity by the high sensor 4 of each survey The difference in height of cigarette, when opium height abnormity cigarette 6 and minimum cigarette height abnormity cigarette 7 difference in height σ max≤Δ, inhales Dish 3 move down distance S=L+ σ max, capture 3 special-shaped cigarettes simultaneously.

Work as σ_maxHigh difference in height σ with the second cigarette height abnormity cigarette of ＞ Δ and opium₁During≤Δ, minimum cigarette Gao Yi Sucker 3 above shape cigarette is translated out and (is translated apart and avoids the minimum cigarette height abnormity cigarette of suction interference of sucker 3 to make it Displacement is not easy to capture next time), sucker 3 moves down distance S=L+ σ₁, capture opium height height abnormity simultaneously Cigarette and the second cigarette height abnormity cigarette 8.Sucker 3 contract by distance above opium height abnormity cigarette is σ₁≤ Δ, In the range of sucker 3 shrinks, opium height abnormity cigarette will not be weighed wounded.

Work as σ₁＞ Δ and difference in height σ of the high and minimum cigarette height abnormity cigarette of the second cigarette₂During≤Δ, opium height abnormity Sucker 3 above cigarette is translated out, and sucker 3 moves down distance S=L₁+σ₂, capture the second cigarette high and the most simultaneously Little cigarette height abnormity cigarette, L₁Distance for the high special-shaped cigarette upper surface of sucker the 3 to the second cigarette.By this structure, Sucker 3 is avoided to damage opium height abnormity cigarette by pressure.

Work as σ₂During ＞ Δ, the sucker 3 above the high and minimum cigarette height abnormity cigarette of the second cigarette is translated out, and inhales afterwards Dish 3 moves down distance S=L, captures opium height abnormity cigarette.

Claims

1. the grabbing device that can simultaneously capture a plurality of abnormity cigarette, it is characterised in that: include gripper shoe (1), Gripper shoe (1) is provided with groove (2), and gripper shoe (1) lower section is provided with sucker (3), and groove (2) is other to be set There is the high sensor of survey (4).

The grabbing device that can simultaneously capture a plurality of abnormity cigarette the most according to claim 1, it is characterised in that: Described gripper shoe (1) is provided with two grooves (2), is provided with one and surveys high sensing between two grooves (2) Device (4), two groove (2) outsides further respectively have one and survey high sensor (4).

The grabbing device that can simultaneously capture a plurality of abnormity cigarette the most according to claim 1 and 2, its feature It is: one end of described gripper shoe (1) is additionally provided with connection member (5).