WO2021254385A1 - 一种实现钩子逐一供料装置及其供料方法 - Google Patents

一种实现钩子逐一供料装置及其供料方法 Download PDF

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Publication number
WO2021254385A1
WO2021254385A1 PCT/CN2021/100340 CN2021100340W WO2021254385A1 WO 2021254385 A1 WO2021254385 A1 WO 2021254385A1 CN 2021100340 W CN2021100340 W CN 2021100340W WO 2021254385 A1 WO2021254385 A1 WO 2021254385A1
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WIPO (PCT)
Prior art keywords
hook
blocking mechanism
hooks
blocking
feeding
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PCT/CN2021/100340
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English (en)
French (fr)
Inventor
荀恩雨
张鹏
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临沂雅诺日用品有限公司
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Publication of WO2021254385A1 publication Critical patent/WO2021254385A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
    • B65G47/29—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor by temporarily stopping movement
    • B65G47/295—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor by temporarily stopping movement by means of at least two stopping elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B65G27/04—Load carriers other than helical or spiral channels or conduits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2205/00—Stopping elements used in conveyors to stop articles or arrays of articles
    • B65G2205/04—Stopping elements used in conveyors to stop articles or arrays of articles where the stop device is not adaptable

Definitions

  • the invention belongs to the field of non-marking hook production devices, and specifically relates to a device for realizing hooks one by one feeding device and a feeding method thereof.
  • Non-marking hooks have been loved by consumers in recent years due to their convenience, speed, practicality, and beauty.
  • the non-marking hook mainly includes the film 1, the hook fixing piece 2 and the hook 3.
  • the hook is one of the main components of the non-marking hook. Automatic production requires that the hooks can be fed one by one according to the predetermined direction, so as to facilitate the automatic fixture.
  • a device for realizing the feeding of hooks one by one comprising a multi-stage blocking mechanism arranged corresponding to the hook conveying track and used to block the hooks on the track to realize stepwise feeding.
  • Each level of blocking mechanism is arranged at intervals from front to back along the hook conveying direction,
  • the blocking mechanisms corresponding to each level are respectively provided with detection heads for detecting the in-position of the hooks, and the activation of the previous blocking mechanism is controlled by the detection signal feedback of the detection heads corresponding to the adjacent subsequent blocking mechanisms.
  • each detection head is respectively connected to the controller in signal, and the blocking mechanisms of all levels are respectively connected to the controller for control.
  • the hook conveying track is a linear conveying track.
  • the rear end of the linear conveying track is provided with a stopper to form a hook upper material position.
  • the linear vibrator vibrates to realize the movement of the hook on the linear conveying track.
  • the multi-level blocking mechanism includes a first blocking mechanism, a second blocking mechanism, and a third blocking mechanism.
  • the first blocking mechanism, the second blocking mechanism, and the third blocking mechanism are sequentially spaced along the hook conveying direction and correspond to the first blocking mechanism.
  • a blocking mechanism, a second blocking mechanism, a third blocking mechanism and a hook upper material position are provided with a first detection head, a second detection head, a third detection head and a fourth detection head.
  • the activation of the hook vibrating sieve tray is controlled by the feedback control of the detection signal of the first detection head
  • the activation of the first blocking mechanism is controlled by the feedback control of the detection signal of the second detection head
  • the activation of the second blocking mechanism is controlled by the feedback control of the detection signal of the third detection head
  • the activation of the third blocking mechanism is controlled by the feedback control of the detection signal of the fourth detection head.
  • the first blocking mechanism includes a first front gear tooth and a first rear gear tooth, the first front gear tooth and the first rear gear tooth are controlled by a first front lift cylinder and a first rear lift cylinder, respectively , There is an arrangement space of three hooks between the first front gear tooth and the first rear gear tooth, the second blocking mechanism includes a second front gear tooth and a second rear gear tooth, the second front gear tooth And the second rear gear are respectively controlled by the second front lift cylinder and the second rear lift cylinder, there is a hook arrangement space between the second front gear and the second rear gear; the third blocking mechanism includes The third front gear tooth and the third rear gear tooth are composed of the third front gear tooth and the third rear gear tooth respectively controlled by the third front lift cylinder and the third rear lift cylinder. The third front gear tooth and the third rear gear There is a hook arrangement space between the blocking teeth.
  • the hook on the material level of the hook is clamped and transferred by the clamping device, and the activation of the clamping device is controlled by the feedback control of the detection signal of the fourth detection head.
  • a method for realizing hook feeding one by one including the following steps:
  • the third blocking mechanism is activated to release the hook retained by the third blocking mechanism, and the released hook is transferred along the conveying track to the hook upper material position until When the fourth detection head feedback detects the hook, the third blocking mechanism restores the blocking state;
  • the second blocking mechanism When the third detection head feedback does not detect the hook, the second blocking mechanism is activated, and the hook retained by the second blocking mechanism is released, and the released hook is transferred along the conveying track to the blocking position of the third blocking mechanism until the third detection When the head feedback detects the hook, the second blocking mechanism restores the blocking state;
  • the first blocking mechanism When the second detection head feedback does not detect the hook, the first blocking mechanism is activated to release the hook retained by the first blocking mechanism, and the released hook is transferred along the conveying track to the blocking position of the second blocking mechanism until the second detection When the head feedback detects the hook, the first blocking mechanism restores the blocking state;
  • the hook vibrating sieve tray starts, and the hook is transported along the conveying track to the blocking position of the first blocking mechanism until the first detection head feedback detects the hook, then the hook vibration sieve tray stops working .
  • the clamping device is activated, and the hook on the material position of the hook is clamped and transferred by the clamping device.
  • the present invention provides a device for feeding hooks one by one and a method for feeding each hook one by one.
  • the device adopts a multi-level blocking mechanism arranged at intervals from front to back along the hook conveying direction, and each blocking mechanism is equipped with a detection head to control The opening and closing of the blocking mechanism and the feeding device, so that the number of hooks arranged in the direction of the conveying track decreases step by step, and finally achieves the purpose of single feeding at the loading position; the three-level blocking mechanism and the fourth-level detection head are coordinated,
  • the auxiliary controller controls the corresponding actions, which solves the problem of instability of machine feeding, so that irregular hooks are distributed in an orderly and hierarchical buffer on the conveying track, ensuring that the feeding process is stable and continuous without chain disconnection, and can ensure that the hooks
  • the feeding speed reaches within 1 second of single hook feeding, which speeds up the feeding speed, reduces the probability of machine jams, and improves production efficiency.
  • Figure 1 is a schematic diagram of the non-marking hook structure
  • Figure 2 is a schematic diagram of the structure of a device for feeding hooks one by one in a specific embodiment of the present invention
  • Figure 3 is a schematic diagram of the arrangement of the detection head and the blocking mechanism in a specific embodiment of the present invention.
  • a device for realizing the feeding of hooks one by one including a multi-level blocking mechanism provided corresponding to the hook conveying track 4 for blocking the hooks on the track to achieve stepwise feeding, and the blocking mechanisms of all levels are along the hooks
  • the conveying direction is arranged at intervals from front to back, and the corresponding blocking mechanisms are provided with detection heads for detecting the in-position of the hooks.
  • the activation of the previous blocking mechanism is fed back by the detection signal of the detection head corresponding to the adjacent blocking mechanism. control.
  • each blocking mechanism is equipped with a detection head to control the opening and closing of the blocking mechanism and the feeding device, so that the number of hooks is arranged in the direction of the conveying track. Decrease, and finally achieve the purpose of single feeding at the feeding position.
  • each detection head is respectively connected to the controller in signal, and the blocking mechanisms of all levels are respectively connected to the controller for control.
  • the controller receives the signals of the detection heads, performs unified analysis, and then transmits them to the corresponding blocking mechanism respectively, and controls the corresponding blocking mechanism to block or release according to the signal of the detection head.
  • the hook conveying track 4 is a linear conveying track
  • the rear end of the linear conveying track is provided with a hook on the material level
  • the front end of the linear conveying track is connected with the hook vibrating screen track
  • the linear conveying track is set on the linear vibrator through the linear vibrator
  • the vibration realizes the movement of the hook on the linear conveying track.
  • the hook vibrating sieve tray enables the hooks to be self-feeding, sorting and feeding.
  • the rear end of the hook vibrating sieve tray track is smoothly connected to the front end of the linear conveying track, so that the hook can smoothly transition to the linear conveying track for feeding.
  • the linear conveying track is mainly used for feeding
  • the number of hooks is deleted, selected and released.
  • the hooks on the linear vibrator vibration assisted linear conveying track move forward continuously.
  • the hook vibrating sieve plate and the linear vibrator are both connected to the controller, and the different signals corresponding to the detection head are controlled by the controller. Its opening and closing.
  • the multi-level blocking mechanism includes a first blocking mechanism 6, a second blocking mechanism 7, and a third blocking mechanism 8.
  • the first blocking mechanism 6, the second blocking mechanism 7, and the third blocking mechanism 8 are arranged at intervals along the hook conveying direction.
  • Respectively corresponding to the first blocking mechanism 6, the second blocking mechanism 7, the third blocking mechanism 8 and the hook upper material position are provided with a first detection head 9, a second detection head 10, a third detection head 11 and a fourth detection head 12.
  • the first blocking mechanism 6, the second blocking mechanism 7 and the third blocking mechanism 8 are all located above the hook conveying track 4 and are arranged at intervals along the hook conveying track 4 in sequence.
  • the first blocking mechanism 6 is mainly used for buffering the hooks, so that a certain number of hooks arranged in an orderly manner are stored at the front end of the hook conveying track 4 to prevent subsequent hooks from breaking the chain during the transmission of the hook conveying track 4; the second blocking mechanism 7 further controls The number of hooks in line on the hook conveying track 4 prevents the hooks from accumulating here, and further ensures the accuracy of a single discharge when entering the next-level blocking mechanism; the third blocking mechanism 8 is used to completely ensure that only one hook is released at a time Enter the hook upper material position for feeding; the first detection head 9 is used to assist the controller to control the feeding action of the hook vibrating sieve tray.
  • the first detection head 9 When the first detection head 9 cannot detect a stable hook, it indicates that the first blocking mechanism The number of hooks lined up on the hook conveying track 4 before 6 is small. At this time, the first detection head 9 transmits the signal to the controller, and the controller controls the hook vibration sieve plate to start, and conveys the hooks to the hook conveying track 4. When the first detection When the head 9 detects a stable hook, it indicates that the number of hooks lined up on the hook transport track 4 before the first blocking mechanism 6 has reached the requirement. At this time, the first detection head 9 transmits the signal to the controller, and the controller controls The hook vibrating sieve tray stops working; the second detection head 10 is used to assist the controller to control the feeding action of the first blocking mechanism 6.
  • the second detection head 10 When the second detection head 10 cannot detect a stable hook, it indicates that the second blocking mechanism 7 The number of hooks lined up on the previous hook conveying track 4 is small. At this time, the second detection head 10 transmits a signal to the controller, and the controller controls the operation of the first blocking mechanism 6 to convey the hooks to the hook conveying track 4. When the head 10 detects a stable hook, it indicates that the number of hooks lined up on the hook transport track 4 before the second blocking mechanism 7 has reached the requirement. At this time, the second detection head 10 transmits the signal to the controller, and the controller controls The first blocking mechanism 6 blocks the hooks to prevent the hooks from continuing to transport the hooks to the second blocking mechanism 7; the third detection head 11 is used to assist the controller to accurately control the feeding action of the second blocking mechanism 7.
  • the third detection head 11 When the third detection head 11 detects When there is no stable hook, it indicates that there is no cached hook on the hook conveying track 4 before the third blocking mechanism 8. At this time, the third detection head 11 transmits the signal to the controller, and the controller controls the operation of the second blocking mechanism 7 , Convey a single hook to the hook conveying track 4. When the third detection head 11 detects a stable hook, it indicates that there is a hook on the hook conveying track 4 before the third blocking mechanism 8. At this time, the third detection head 11 will The signal is transmitted to the controller, and the controller controls the second blocking mechanism 7 to block the hook to prevent the hook from continuing to convey the hook to the third blocking mechanism 8; the fourth detection head 12 is used to assist the controller to further accurately control the upper part of the third blocking mechanism 8.
  • the fourth detection head 12 completely ensures that the material position on the hook has a hook at the time of loading; the coordinated setting of the three-level blocking mechanism and the fourth-level detection head is assisted
  • the controller controls the corresponding actions to solve the problem of unstable machine feeding, so that irregular hooks are distributed in an orderly and hierarchical buffer on the conveying track to ensure the upper
  • the feeding process is stable and continuous without chain breaking, and it can ensure that the hook feeding speed reaches within 1 second of single hook feeding, which speeds up the feeding speed, reduces the probability of machine jams, and improves production efficiency.
  • the activation of the hook vibrating sieve tray is controlled by the feedback control of the detection signal of the first detection head 9, the activation of the first blocking mechanism 6 is feedback controlled by the detection signal of the second detection head 10, and the activation of the second blocking mechanism 7 is controlled by the third detection head. 11 is the feedback control of the detection signal, and the activation of the third blocking mechanism 8 is controlled by the feedback control of the detection signal of the fourth detection head 12.
  • the hook is loaded onto the hook conveying track 4 through the hook vibrating screen disc.
  • the first detection head 9 fails to detect the hook, the first detection head 9 feedbacks the detection signal to the controller, and the controller controls the hook vibrating screen disc to start conveying to the hook The hooks are conveyed on the track 4.
  • the first detection head 9 When the first detection head 9 detects that the hooks are stopped stably, it indicates that there are hooks in the queue and the number of queues meets the requirements.
  • the detection signals of the first detection head 9 are fed back to the controller, and the controller controls the hooks to vibrate the sieve plate Stop feeding the hooks to the hook conveying track 4; the hooks control the feeding quantity through the first blocking mechanism 6.
  • the detection signal of the second detection head 10 is fed back to the controller, and the controller controls the first A blocking mechanism 6 is quickly lifted upwards and dropped, so that a certain number of hooks travel on the conveyor track to the next blocking mechanism; the hooks are controlled by the second blocking mechanism 7 to further reduce the amount of feeding.
  • the third detection head 11 fails to detect When the hook is reached, the detection signal of the third detection head 11 is fed back to the controller, and the controller controls the second blocking mechanism 7 to lift up and fall quickly, so that a certain number of hooks travel on the conveyor track to the next blocking mechanism; the hooks pass The third blocking mechanism 8 controls to further reduce the number of feeding materials to one.
  • the detection signal of the fourth detection head 12 is fed back to the controller, and the controller controls the third blocking mechanism 8 to lift up quickly. Rise and fall to make a hook travel to the upper material position on the conveying track.
  • the number of hooks is basically reduced to close to one at the third blocking mechanism 8, so as to ensure that only one hook passes when the third blocking mechanism 8 releases the hooks, so that only one hook can be clamped by the rear clamping device;
  • a stopper 5 is provided in front of a hook at the position where the hook stops at the loading position and waits for the clamping device to be clamped. The distance from the detection position of the fourth detection head 12 to the stopper 5 is one hook arrangement space.
  • the first blocking mechanism 6 includes a first front gear tooth 13 and a first rear gear tooth 14.
  • the first front gear tooth 13 and the first rear gear tooth 14 are respectively composed of a first front lift cylinder and a first rear lift cylinder Control, there is an arrangement space of three hooks between the first front gear 13 and the first rear gear 14,
  • the second blocking mechanism 7 includes a second front gear 15 and a second rear gear 16, the second front gear
  • the stop teeth 15 and the second rear stop teeth 16 are respectively controlled by the second front lift cylinder and the second rear lift cylinder, and there is a hook arrangement space between the second front stop teeth 15 and the second rear stop teeth 16;
  • the three blocking mechanism 8 includes a third front gear tooth 17 and a third rear gear tooth 18.
  • the third front gear tooth 17 and the third rear gear tooth 18 are respectively controlled by the third front lift cylinder and the third rear lift cylinder. There is a hook arrangement space between the front gear tooth 17 and the third rear gear tooth 18.
  • the first front gear 13 is used to block the advancement of the hooks
  • the first rear gear 14 is used to screen the number of hooks.
  • the first blocking mechanism 6 When the first blocking mechanism 6 is activated, the first front lifting cylinder rises to drive the first front gear 13 to rise.
  • the descending of the rear lifting cylinder drives the first rear gear 14 to descend. Since there is a space for the arrangement of three hooks between the first front gear 13 and the first rear gear 14, the first rear gear 14 will be arranged in 3 at this time.
  • the first blocking mechanism 6 When closed, the first front lift cylinder descends to drive the first front gear 13 down, the first rear lift cylinder rises to drive the first rear gear 14 up, and the rear hook continues to move forward and is blocked by the first front gear 13;
  • the front gear 15 is used to block the advancement of the hooks, and the second rear gear 16 is used to screen the number of hooks.
  • the second front lifting cylinder raises and drives the second front gear 15 to rise, and the second rear lifts
  • the lowering of the cylinder drives the lowering of the second rear gear tooth 16. Since there is a hook arrangement space between the second front gear tooth 15 and the second rear gear tooth 16, the second rear gear tooth 16 will be arranged in a hook at this time. After the hook is blocked, and the first hook is not blocked after the second front stop tooth 15 rises, so it continues to move forward to the third blocking mechanism 8 under the vibration of the linear vibrator.
  • the hook is blocked, and the first hook is not blocked after the third front stop tooth 17 rises, so it continues to move forward to the material position on the hook under the vibration of the linear vibrator and is blocked by the stopper 5 so that it stays on. Material level, waiting for the clamping action of the clamping device in the next step.
  • the third blocking mechanism 8 When the third blocking mechanism 8 is closed, the third front lift cylinder descends to drive the third front gear 17 down, and the third rear lift cylinder rises to drive the third rear gear 18 ascends, and the hook that may be released later continues to move forward and is blocked by the third front gear 17.
  • the bottom of the rear gear is set as a small hook to effectively distinguish the lined hooks
  • the bottom of the front gear is set with elastic front gear material, such as rubber or silicone material, to protect the hook conveyor 4 and prevent the front gear.
  • the teeth have repeatedly impacted up and down for a long time to damage the hook conveying track 4, which affects the smooth movement of the hook and at the same time increases the workload of the linear vibrator.
  • the hook on the material position on the hook is clamped and transferred by the clamping device, and the activation of the clamping device is feedback controlled by the detection signal of the fourth detection head 12.
  • the detection signal of the fourth detection head 12 is fed back to the controller, and the controller drives the clamping device to move downward and clamp the hook for the next loading action.
  • a method for realizing hook feeding one by one including the following steps:
  • the third blocking mechanism 8 is activated to release the hooks reserved by the third blocking mechanism 8, and the third blocking mechanism 8 releases only one hook at a time , The released hook is transferred along the conveying track to the hook upper material position, and is blocked by the blocking part at the upper material position and stays on the upper material position.
  • the fourth detection head 12 feedbacks the detection of the hook, and the third blocking mechanism 8 restores the blocking state ;
  • the second blocking mechanism 7 When the third detection head 11 feedbacks that the hook is not detected, the second blocking mechanism 7 is activated to release the hooks reserved by the second blocking mechanism 7. The second blocking mechanism 7 releases only one hook at a time, and the released hook is The conveying track is transferred to the blocking position of the third blocking mechanism 8 until the third detection head 11 detects the hook in feedback, and the second blocking mechanism 7 returns to the blocking state;
  • the first blocking mechanism 6 When the second detection head 10 feedbacks that the hook is not detected, the first blocking mechanism 6 is activated to release the hooks reserved by the first blocking mechanism 6. The first blocking mechanism 6 releases only three hooks at a time, and the released hooks Transport along the conveying track to the blocking position of the second blocking mechanism 7 until the second detection head 10 detects the hook in feedback, and the first blocking mechanism 6 returns to the blocking state;
  • the hook vibrating sieve tray is activated, and the hook is transported along the conveying track to the blocking position of the first blocking mechanism 6 until the first detection head 9 feedback detects the hook, then the hook vibrating sieve The disk stopped working.
  • the clamping device When the fourth detection head 12 feeds back that the hook is detected on the hook upper material level, the clamping device is activated, and the hook on the hook upper material position is clamped and transferred by the clamping device.

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  • Feeding Of Articles To Conveyors (AREA)

Abstract

一种实现钩子逐一供料装置及其供料方法，供料装置包括对应钩子输送轨道（4）设置的用于对轨道上钩子（3）进行阻挡实现逐级供料的多级阻挡机构，各级阻挡机构沿钩子（3）输送方向从前到后依次间隔设置，对应各级阻挡机构分别设置有用于检测钩子（3）到位情况的检测头，前一级阻挡机构的启动分别由相邻后一级阻挡机构对应的检测头的检测信号反馈控制。利用供料装置，通过三级阻挡机构和四级检测头相配合，辅助控制器控制各装置的动作，解决了机器供料不稳定的难题，使不规则的钩子（3）在输送轨道上有序分级缓存分布，确保上料过程稳定持续无断链现象，并能保证钩子（3）上料速度达到单钩上料1秒以内，加快了供料速度，降低了机器卡壳的概率，提高了生产效率。

Description

一种实现钩子逐一供料装置及其供料方法 技术领域
本发明属于无痕挂钩生产装置领域，具体地说涉及一种实现钩子逐一供料装置及其供料方法。
背景技术
无痕挂钩由于其方便、快捷、实用、美观等特点近几年深受广大消费者的喜爱，而对于生产无痕挂钩的企业来说，由于生产技术日渐成熟，生产厂家逐渐增多，市场竞争变得日益激烈，如何能够快速生产，提高生产效率，降低生产成本成为企业生存下去的唯一途径。如图1所示，无痕挂钩主要包括胶片1、挂钩固定片2和钩子3，钩子作为无痕挂钩的主要部件之一，自动化生产要求钩子能够按照预定方向逐一供料，从而方便自动夹具的取放，而由于钩子本身形状的不规则性，很难实现让钩子按照预定方向逐一供料这一技术，某些复杂设备虽然能够实现让钩子逐一供料，但钩子供料时经常发生供料不稳定的现象，致使供料速度下降，影响生产效率，导致批量化安装较为困难，很多企业选择人工安装，但人工操作费时费力且效率低下，并且随着物价的上涨，人工成本也日渐提升，显然人工安装已经无法满足目前企业的生产需求。
因此，现有技术还有待于进一步发展和改进。
发明内容
针对现有技术的种种不足，为了解决上述问题，现提出一种实现钩子逐一供料装置及其供料方法。本发明提供如下技术方案：
一种实现钩子逐一供料装置，包括对应钩子输送轨道设置的用于对轨道上钩子进行阻挡实现逐级供料的多级阻挡机构，各级阻挡机构沿钩子输送方向从前到后依次间隔设置，对应各级阻挡机构分别设置有用于检测钩子到位情况的 检测头，前一级阻挡机构的启动分别由相邻后一级阻挡机构对应的检测头的检测信号反馈控制。
进一步的，包括控制器，各检测头分别与控制器信号连接，各级阻挡机构分别与控制器控制连接。
进一步的，钩子输送轨道为直线输送轨道，直线输送轨道后端设置挡料部形成钩子上料位，直线输送轨道前端与钩子震动筛盘轨道相接，直线输送轨道设置于直线震动器上，通过直线震动器振动实现直线输送轨道上钩子的移动。
进一步的，多级阻挡机构包括第一阻挡机构、第二阻挡机构和第三阻挡机构，所述第一阻挡机构、第二阻挡机构及第三阻挡机构沿钩子输送方向依次间隔设置，分别对应第一阻挡机构、第二阻挡机构、第三阻挡机构及钩子上料位设置第一检测头、第二检测头、第三检测头及第四检测头。
进一步的，钩子震动筛盘的启动受到第一检测头检测信号反馈控制，第一阻挡机构的启动受到第二检测头检测信号反馈控制，第二阻挡机构的启动受到第三检测头检测信号反馈控制，第三阻挡机构的启动受到第四检测头检测信号反馈控制。
进一步的，第一检测头探测位置到第一阻挡机构的阻挡位置之间具有18-22个钩子的排布空间，第二检测头探测位置到第二阻挡机构的阻挡位置之间具有4-6个钩子的排布空间，第三检测头探测位置到第三阻挡机构的阻挡位置之间具有2-3个钩子的排布空间，第四检测头探测位置到钩子上料位的阻挡位置之间具有1个钩子的排布空间。
进一步的，所述第一阻挡机构包括第一前挡齿和第一后挡齿组成，所述第一前挡齿和第一后挡齿分别由第一前升降气缸和第一后升降气缸控制，第一前挡齿和第一后挡齿之间具有3个钩子的排布空间，所述第二阻挡机构包括第二前 挡齿和第二后挡齿组成，所述第二前挡齿和第二后挡齿分别由第二前升降气缸和第二后升降气缸控制，第二前挡齿和第二后挡齿之间具有1个钩子的排布空间；所述第三阻挡机构包括第三前挡齿和第三后挡齿组成，所述第三前挡齿和第三后挡齿分别由第三前升降气缸和第三后升降气缸控制，第三前挡齿和第三后挡齿之间具有1个钩子的排布空间。
进一步的，位于钩子上料位上的钩子通过夹持装置夹持进行转移，夹持装置的启动受到第四检测头检测信号反馈控制。
一种实现钩子逐一供料方法，包括以下步骤：
当第四检测头反馈钩子上料位上未检测到钩子时，则第三阻挡机构启动，将第三阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至钩子上料位，直至第四检测头反馈检测到钩子时，则第三阻挡机构恢复阻挡状态；
当第三检测头反馈未检测到钩子时，则第二阻挡机构启动，将第二阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至第三阻挡机构拦阻位置，直至第三检测头反馈检测到钩子时，则第二阻挡机构恢复阻挡状态；
当第二检测头反馈未检测到钩子时，则第一阻挡机构启动，将第一阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至第二阻挡机构拦阻位置，直至第二检测头反馈检测到钩子时，则第一阻挡机构恢复阻挡状态；
当第一检测头反馈未检测到钩子时，则钩子震动筛盘启动，沿输送轨道输送钩子至第一阻挡机构拦阻位置，直至第一检测头反馈检测到钩子时，则钩子震动筛盘停止工作。
进一步的，当第四检测头反馈钩子上料位上检测到钩子时，则夹持装置启动，通过夹持装置对钩子上料位上钩子进行夹持转移。
有益效果：
本发明提供一种实现钩子逐一供料装置及实现钩子逐一供料的方法，该装置通过沿钩子输送方向从前到后依次间隔设置的多级阻挡机构，配合每一阻挡机构设置有检测头，控制阻挡机构及供料装置的启闭，从而使钩子沿输送轨道方向排布数量逐级递减，最终达到在上料位处单个上料的目的；三级阻挡机构和四级检测头的配合设置，辅助控制器控制相应的动作，解决了机器供料不稳定的难题，使不规则的钩子在输送轨道上有序分级缓存分布，确保上料过程稳定持续没有断链现象的发生，并能保证钩子上料速度达到单钩上料1秒以内，加快了供料速度，降低了机器卡壳的概率，提高了生产效率。
附图说明
图1是无痕挂钩结构示意图；
图2是本发明具体实施例中实现钩子逐一供料装置结构示意图；
图3是本发明具体实施例中检测头与阻挡机构排布示意图；
附图中：1、胶片；2、挂钩固定片；3、钩子；4、钩子输送轨道；5、挡料部；6、第一阻挡机构；7、第二阻挡机构；8、第三阻挡机构；9、第一检测头；10、第二检测头；11、第三检测头；12、第四检测头；13、第一前挡齿；14、第一后挡齿；15、第二前挡齿；16、第二后挡齿；17、第三前挡齿；18、第三后挡齿；19、夹持装置。
具体实施方式
为了使本领域的人员更好地理解本发明的技术方案，下面结合本发明的附图，对本发明的技术方案进行清楚、完整的描述，基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的其它类同实施例，都应当属于本申请保护的范围。此外，以下实施例中提到的方向用词，例如“上”“下”“左”“右”等仅是参考附图的方向，因此，使用的方向用词是用来说 明而非限制本发明创造。
如图2-3所示，一种实现钩子逐一供料装置，包括对应钩子输送轨道4设置的用于对轨道上钩子进行阻挡实现逐级供料的多级阻挡机构，各级阻挡机构沿钩子输送方向从前到后依次间隔设置，对应各级阻挡机构分别设置有用于检测钩子到位情况的检测头，前一级阻挡机构的启动分别由相邻后一级阻挡机构对应的检测头的检测信号反馈控制。通过沿钩子输送方向从前到后依次间隔设置的多级阻挡机构，配合每一阻挡机构设置有检测头，控制阻挡机构及供料装置的启闭，从而使钩子沿输送轨道方向排布数量逐级递减，最终达到在上料位处单个上料的目的。
进一步的，包括控制器，各检测头分别与控制器信号连接，各级阻挡机构分别与控制器控制连接。控制器接收各检测头的信号，并进行统一分析，然后分别传递给对应的阻挡机构，根据检测头的信号控制对应的阻挡机构阻挡或放行。
进一步的，钩子输送轨道4为直线输送轨道，直线输送轨道后端设置钩子上料位，直线输送轨道前端与钩子震动筛盘轨道相接，直线输送轨道设置于直线震动器上，通过直线震动器振动实现直线输送轨道上钩子的移动。钩子震动筛盘使钩子能够自送排序上料，钩子震动筛盘轨道后端与直线输送轨道前端平滑相接，使得钩子能够顺畅的过渡到直线输送轨道进行上料，直线输送轨道主要用于对钩子数量进行删选放行，直线震动器振动辅助直线输送轨道上的钩子不断向前移动，钩子震动筛盘与直线震动器均与控制器控制连接，并且对应于检测头的不同信号由控制器控制其启闭。
进一步的，多级阻挡机构包括第一阻挡机构6、第二阻挡机构7和第三阻挡机构8，第一阻挡机构6、第二阻挡机构7及第三阻挡机构8沿钩子输送方向依次 间隔设置，分别对应第一阻挡机构6、第二阻挡机构7、第三阻挡机构8及钩子上料位设置第一检测头9、第二检测头10、第三检测头11及第四检测头12。第一阻挡机构6、第二阻挡机构7及第三阻挡机构8均位于钩子输送轨道4上方，并沿钩子输送轨道4依次间隔设置。第一阻挡机构6主要用于缓存钩子，使有序排列的钩子在钩子输送轨道4前端储存一定数量，防止后续钩子在钩子输送轨道4的传输上存在断链现象；第二阻挡机构7进一步控制钩子在钩子输送轨道4上的排队数量，防止钩子在此处堆积，进一步保证进入下一级阻挡机构时单个放料的准确性；第三阻挡机构8用于完全确保每次仅放行1个钩子进入钩子上料位进行上料；第一检测头9用于协助控制器控制钩子震动筛盘的上料动作，当第一检测头9检测不到稳定存在的钩子时，表明在第一阻挡机构6之前的钩子输送轨道4上排队的钩子数量较少，此时第一检测头9将信号传递给控制器，控制器控制钩子震动筛盘启动，向钩子输送轨道4输送钩子，当第一检测头9检测到稳定存在的钩子时，表明在第一阻挡机构6之前的钩子输送轨道4上排队的钩子数量已经达到要求了，此时第一检测头9将信号传递给控制器，控制器控制钩子震动筛盘停止工作；第二检测头10用于协助控制器控制第一阻挡机构6的上料动作，当第二检测头10检测不到稳定存在的钩子时，表明在第二阻挡机构7之前的钩子输送轨道4上排队的钩子数量较少，此时第二检测头10将信号传递给控制器，控制器控制第一阻挡机构6工作，向钩子输送轨道4输送钩子，当第二检测头10检测到稳定存在的钩子时，表明在第二阻挡机构7之前的钩子输送轨道4上排队的钩子数量已经达到要求了，此时第二检测头10将信号传递给控制器，控制器控制第一阻挡机构6挡住钩子，防止钩子继续向第二阻挡机构7方向输送钩子；第三检测头11用于协助控制器精确控制第二阻挡机构7的上料动作，当第三检测头11检测不到稳定存在的钩子时，表明在第三阻挡机构8之前的钩子输送轨道4上没有缓存 的钩子，此时第三检测头11将信号传递给控制器，控制器控制第二阻挡机构7工作，向钩子输送轨道4输送单个钩子，当第三检测头11检测到稳定存在的钩子时，表明在第三阻挡机构8之前存在一个钩子在钩子输送轨道4上，此时第三检测头11将信号传递给控制器，控制器控制第二阻挡机构7挡住钩子，防止钩子继续向第三阻挡机构8方向输送钩子；第四检测头12用于协助控制器进一步精确控制第三阻挡机构8的上料动作以及夹取装置的夹取动作，第四检测头12完全确保钩子上料位上在上料时始保持有1个钩子的存在；三级阻挡机构和四级检测头的配合设置，辅助控制器控制相应的动作，解决了机器供料不稳定的难题，使不规则的钩子在输送轨道上有序分级缓存分布，确保上料过程稳定持续没有断链现象的发生，并能保证钩子上料速度达到单钩上料1秒以内，加快了供料速度，降低了机器卡壳的概率，提高了生产效率。
进一步的，钩子震动筛盘的启动受到第一检测头9检测信号反馈控制，第一阻挡机构6的启动受到第二检测头10检测信号反馈控制，第二阻挡机构7的启动受到第三检测头11检测信号反馈控制，第三阻挡机构8的启动受到第四检测头12检测信号反馈控制。钩子通过钩子震动筛盘上料到钩子输送轨道4上，当第一检测头9检测不到钩子时，第一检测头9检测信号反馈给控制器，控制器控制钩子震动筛盘启动向钩子输送轨道4上输送钩子，当第一检测头9检测到钩子稳定停止时，表明有钩子在排队，且排队数量符合要求，第一检测头9检测信号反馈给控制器，控制器控制钩子震动筛盘停止向钩子输送轨道4上输送钩子；钩子通过第一阻挡机构6控制上料数量，当第二检测头10检测不到钩子时，第二检测头10检测信号反馈给控制器，控制器控制第一阻挡机构6向上快速抬起并下落，使一定数量的钩子在输送轨道上向下一级阻挡机构行进；钩子通过第二阻挡机构7控制进一步降低上料数量，当第三检测头11检测不到钩子时，第三检测头11检测 信号反馈给控制器，控制器控制第二阻挡机构7向上快速抬起并下落，使一定数量的钩子在输送轨道上向下一级阻挡机构行进；钩子通过第三阻挡机构8控制进一步降低上料数量为1个，当第四检测头12检测不到钩子时，第四检测头12检测信号反馈给控制器，控制器控制第三阻挡机构8向上快速抬起并下落，使一个钩子在输送轨道上向上料位置行进。
进一步的，第一检测头9探测位置到第一阻挡机构6的阻挡位置之间具有18-22个钩子的排布空间，第二检测头10探测位置到第二阻挡机构7的阻挡位置之间具有4-6个钩子的排布空间，第三检测头11探测位置到第三阻挡机构8的阻挡位置之间具有2-3个钩子的排布空间，第四检测头12探测位置到钩子上料位的阻挡位置之间具有1个钩子的排布空间。第一检测头9探测位置到第一阻挡机构6的阻挡位置之间具有20个钩子左右的排布空间，使得钩子在第一检测头9探测位置到第一阻挡机构6的阻挡位置之间能够缓存20个左右的钩子物料，保证下一级阻挡始终有连续钩子的供应，防止上料断链现象的发生，保证机器整体供货的连续性，又不会因为供应过多导致钩子之间堆积严重，从而出现积压钩挂现象，影响上料，并且还可以减少钩子震动筛盘的工作时间，节省能源；第二检测头10探测位置到第二阻挡机构7的阻挡位置之间具有5个钩子左右的排布空间，进一步减少了钩子的排队数量，为下一级继续降低钩子数量做准备；第三检测头11探测位置到第三阻挡机构8的阻挡位置之间具有2个钩子左右的排布空间，在第三阻挡机构8处基本将钩子数量降低到接近一个，从而保证在第三阻挡机构8放行钩子时仅有一个钩子通过，方便后面夹持装置只夹取一个钩子；上料位处的一个钩子前面设有使钩子停止在上料位处等待夹持装置夹持的挡料部5，第四检测头12探测位置到挡料部5的距离为1个钩子的排布空间。
进一步的，第一阻挡机构6包括第一前挡齿13和第一后挡齿14组成，第一前 挡齿13和第一后挡齿14分别由第一前升降气缸和第一后升降气缸控制，第一前挡齿13和第一后挡齿14之间具有3个钩子的排布空间，第二阻挡机构7包括第二前挡齿15和第二后挡齿16组成，第二前挡齿15和第二后挡齿16分别由第二前升降气缸和第二后升降气缸控制，第二前挡齿15和第二后挡齿16之间具有1个钩子的排布空间；第三阻挡机构8包括第三前挡齿17和第三后挡齿18组成，第三前挡齿17和第三后挡齿18分别由第三前升降气缸和第三后升降气缸控制，第三前挡齿17和第三后挡齿18之间具有1个钩子的排布空间。第一前挡齿13用于阻挡钩子前进，第一后挡齿14用于筛选钩子数量，当第一阻挡机构6启动时，第一前升降气缸上升带动第一前挡齿13上升，第一后升降气缸下降带动第一后挡齿14下降，由于第一前挡齿13和第一后挡齿14之间具有3个钩子的排布空间，此时第一后挡齿14将排在3个钩子之后的钩子挡住，而前3个钩子由于第一前挡齿13上升上升后没有阻挡，因而在直线震动器的振动下继续向前行进到第二阻挡机构7处，当第一阻挡机构6关闭时，第一前升降气缸下降带动第一前挡齿13下降，第一后升降气缸上升带动第一后挡齿14上升，后面的钩子继续前进被第一前挡齿13挡住；第二前挡齿15用于阻挡钩子前进，第二后挡齿16用于筛选钩子数量，当第二阻挡机构7启动时，第二前升降气缸上升带动第二前挡齿15上升，第二后升降气缸下降带动第二后挡齿16下降，由于第二前挡齿15和第二后挡齿16之间具有1个钩子的排布空间，此时第二后挡齿16将排在1个钩子之后的钩子挡住，而第1个钩子由于第二前挡齿15上升上升后没有阻挡，因而在直线震动器的振动下继续向前行进到第三阻挡机构8处，当第二阻挡机构7关闭时，第二前升降气缸下降带动第二前挡齿15下降，第二后升降气缸上升带动第二后挡齿16上升，后面的钩子继续前进被第二前挡齿15挡住；第三前挡齿17用于阻挡钩子前进，第三后挡齿18用于筛选钩子数量，当第三阻挡机构8启动时，第三前升降气缸上升带动第 三前挡齿17上升，第三后升降气缸下降带动第三后挡齿18下降，由于第三前挡齿17和第三后挡齿18之间具有1个钩子的排布空间，此时第三后挡齿18将排在1个钩子之后的钩子挡住，而第1个钩子由于第三前挡齿17上升上升后没有阻挡，因而在直线震动器的振动下继续向前行进到钩子上料位处并被挡料部5阻挡从而停留在上料位，等待下一步夹持装置的夹持动作，当第三阻挡机构8关闭时，第三前升降气缸下降带动第三前挡齿17下降，第三后升降气缸上升带动第三后挡齿18上升，后面可能多放行的钩子继续前进被第三前挡齿17挡住。后挡齿底部设置为较细的小钩，用于有效区分开列队的钩子，前挡齿底部设置为弹性前挡齿材料，例如橡胶或硅胶材料，用于保护钩子输送轨道4，防止前挡齿长时间多次上下冲击导致钩子输送轨道4受损，影响钩子的顺畅移动，同时增加直线震动器的工作负担。
进一步的，位于钩子上料位上的钩子通过夹持装置夹持进行转移，夹持装置的启动受到第四检测头12检测信号反馈控制。第四检测头12检测到有钩子在上料位等待时，第四检测头12的检测信号反馈给控制器，控制器驱动夹持装置向下移动并夹持钩子进行接下来的上料动作。
一种实现钩子逐一供料方法，包括以下步骤：
当第四检测头12反馈钩子上料位上未检测到钩子时，则第三阻挡机构8启动，将第三阻挡机构8所保留的钩子进行释放，第三阻挡机构8每次仅释放一个钩子，所释放钩子沿输送轨道传输至钩子上料位，被上料位处的阻挡部阻挡停留在上料位上，此时第四检测头12反馈检测到钩子，第三阻挡机构8恢复阻挡状态；
当第三检测头11反馈未检测到钩子时，则第二阻挡机构7启动，将第二阻挡机构7所保留的钩子进行释放，第二阻挡机构7每次仅释放一个钩子，所释放钩 子沿输送轨道传输至第三阻挡机构8拦阻位置，直至第三检测头11反馈检测到钩子时，则第二阻挡机构7恢复阻挡状态；
当第二检测头10反馈未检测到钩子时，则第一阻挡机构6启动，将第一阻挡机构6所保留的钩子进行释放，第一阻挡机构6每次仅释放三个钩子，所释放钩子沿输送轨道传输至第二阻挡机构7拦阻位置，直至第二检测头10反馈检测到钩子时，则第一阻挡机构6恢复阻挡状态；
当第一检测头9反馈未检测到钩子时，则钩子震动筛盘启动，沿输送轨道输送钩子至第一阻挡机构6拦阻位置，直至第一检测头9反馈检测到钩子时，则钩子震动筛盘停止工作。
当第四检测头12反馈钩子上料位上检测到钩子时，则夹持装置启动，通过夹持装置对钩子上料位上钩子进行夹持转移。
以上已将本发明做一详细说明，以上所述，仅为本发明之较佳实施例而已，当不能限定本发明实施范围，即凡依本申请范围所作均等变化与修饰，皆应仍属本发明涵盖范围内。

Claims (10)

  1. 一种实现钩子逐一供料装置，其特征在于，包括对应钩子输送轨道设置的用于对轨道上钩子进行阻挡实现逐级供料的多级阻挡机构，各级阻挡机构沿钩子输送方向从前到后依次间隔设置，对应各级阻挡机构分别设置有用于检测钩子到位情况的检测头，前一级阻挡机构的启动分别由相邻后一级阻挡机构对应的检测头的检测信号反馈控制。
  2. 根据权利要求1所述的实现钩子逐一供料装置，其特征在于，包括控制器，各检测头分别与控制器信号连接，各级阻挡机构分别与控制器控制连接。
  3. 根据权利要求2所述的实现钩子逐一供料装置，其特征在于，钩子输送轨道为直线输送轨道，直线输送轨道后端设置挡料部形成钩子上料位，直线输送轨道前端与钩子震动筛盘轨道相接，直线输送轨道设置于直线震动器上，通过直线震动器振动实现直线输送轨道上钩子的移动。
  4. 根据权利要求3所述的实现钩子逐一供料装置，其特征在于，多级阻挡机构包括第一阻挡机构、第二阻挡机构和第三阻挡机构，所述第一阻挡机构、第二阻挡机构及第三阻挡机构沿钩子输送方向依次间隔设置，分别对应第一阻挡机构、第二阻挡机构、第三阻挡机构及钩子上料位设置第一检测头、第二检测头、第三检测头及第四检测头。
  5. 根据权利要求4所述的实现钩子逐一供料装置，其特征在于，钩子震动筛盘的启动受到第一检测头检测信号反馈控制，第一阻挡机构的启动受到第二检测头检测信号反馈控制，第二阻挡机构的启动受到第三检测头检测信号反馈控制，第三阻挡机构的启动受到第四检测头检测信号反馈控制。
  6. 根据权利要求4所述的实现钩子逐一供料装置，其特征在于，第一检测头探测位置到第一阻挡机构的阻挡位置之间具有18-22个钩子的排布空间，第二检测头探测位置到第二阻挡机构的阻挡位置之间具有4-6个钩子的排布空间，第 三检测头探测位置到第三阻挡机构的阻挡位置之间具有2-3个钩子的排布空间，第四检测头探测位置到钩子上料位的阻挡位置之间具有1个钩子的排布空间。
  7. 根据权利要求4所述的实现钩子逐一供料装置，其特征在于，所述第一阻挡机构包括第一前挡齿和第一后挡齿组成，所述第一前挡齿和第一后挡齿分别由第一前升降气缸和第一后升降气缸控制，第一前挡齿和第一后挡齿之间具有3个钩子的排布空间，所述第二阻挡机构包括第二前挡齿和第二后挡齿组成，所述第二前挡齿和第二后挡齿分别由第二前升降气缸和第二后升降气缸控制，第二前挡齿和第二后挡齿之间具有1个钩子的排布空间；所述第三阻挡机构包括第三前挡齿和第三后挡齿组成，所述第三前挡齿和第三后挡齿分别由第三前升降气缸和第三后升降气缸控制，第三前挡齿和第三后挡齿之间具有1个钩子的排布空间。
  8. 根据权利要求1所述的实现钩子逐一供料装置，其特征在于，位于钩子上料位上的钩子通过夹持装置夹持进行转移，夹持装置的启动受到第四检测头检测信号反馈控制。
  9. 一种实现钩子逐一供料方法，其特征在于，包括以下步骤：
    当第四检测头反馈钩子上料位上未检测到钩子时，则第三阻挡机构启动，将第三阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至钩子上料位，直至第四检测头反馈检测到钩子时，则第三阻挡机构恢复阻挡状态；
    当第三检测头反馈未检测到钩子时，则第二阻挡机构启动，将第二阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至第三阻挡机构拦阻位置，直至第三检测头反馈检测到钩子时，则第二阻挡机构恢复阻挡状态；
    当第二检测头反馈未检测到钩子时，则第一阻挡机构启动，将第一阻挡机构所保留的钩子进行释放，所释放钩子沿输送轨道传输至第二阻挡机构拦阻位 置，直至第二检测头反馈检测到钩子时，则第一阻挡机构恢复阻挡状态；
    当第一检测头反馈未检测到钩子时，则钩子震动筛盘启动，沿输送轨道输送钩子至第一阻挡机构拦阻位置，直至第一检测头反馈检测到钩子时，则钩子震动筛盘停止工作。
  10. 根据权利要求9所述的实现钩子逐一供料方法，其特征在于，当第四检测头反馈钩子上料位上检测到钩子时，则夹持装置启动，通过夹持装置对钩子上料位上钩子进行夹持转移。
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