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Gripping device for intelligently detecting full storage of container

A technology of intelligent detection and grasping device, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex structure, inaccurate detection, and inability to detect the amount of placed objects, and achieves high accuracy and simple structure. Effect

Active Publication Date: 2015-12-16
LINHAI JINZHENG MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, when a detection device is used to detect whether the object in the container is full, the detection device is often separated from the grabbing device, and the function of the grabbing device is limited to grabbing and placing the object, and cannot detect whether the object is placed. the amount of objects
The separation of the grasping device and the detection device has the following disadvantages: 1. The structure is complex; 2. The shape of the container and the shape of the object are easily restricted; 3. It is easy to cause inaccurate detection

Method used

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  • Gripping device for intelligently detecting full storage of container
  • Gripping device for intelligently detecting full storage of container
  • Gripping device for intelligently detecting full storage of container

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] A grasping device that intelligently detects that the container is full, such as figure 1 , figure 2 As shown, it includes a grasping mechanism, a detection mechanism, a moving mechanism for controlling the movement of the grasping mechanism, a driving mechanism for driving the grasping mechanism to grasp or driving the moving mechanism to move, and a driving mechanism for sending a driving mechanism to the driving mechanism The control mechanism of instruction, it is characterized in that, described grasping mechanism comprises the grasper 24 that is used for grasping object, and described detection mechanism comprises telescoping mechanism and position sensor 27, and the protruding end of described telescoping mechanism and described grasping The telescopic mechanism is stretched under the gravity of the gripper 24 and shortened when the gripper 24 encounters dynamic resistance; the position sensor 27 is used to shorten the telescopic mechanism to a preset When the ...

Embodiment 2

[0041] On the basis of the first embodiment, the second embodiment has been further improved, such as image 3 As shown, the telescoping mechanism is a slide rail 25 and a slide bar 26 vertically sliding on the slide rail 25 , and the slide bar 26 is connected with the gripper 24 .

[0042] When the position sensor 27 is a touch sensor, the position sensor 27 is arranged on the top of the guide rail 3, and the contact piece is arranged above the guide rail 3, and after the guide rail 3 rises for a predetermined distance, The position sensor 27 is in contact with the contact.

[0043]Certainly described position sensor 27 also can be located at the arbitrary position of guide rail 3 front, back, left and right four sides, and described contact member can be located on slide rail 25 and also can be located on other mechanism, as long as contact member is set Above the position sensor 27 , after the guide rail 3 rises a preset distance, it is sufficient for the position sensor 2...

Embodiment 3

[0045] On the basis of embodiment one, described embodiment three has been further improved, as Figure 4 As shown, the telescopic mechanism includes a cylinder body 21 and a telescopic rod 23 arranged in the cylinder body 21 , and the telescopic rod 23 is connected to the gripper 24 . The grabber 24 is subjected to dynamic resistance, and then the telescopic rod 23 moves upward and retracts into the cylinder body 21. When the telescopic rod 23 retracts a preset distance in the cylinder body 21, the position sensor 27 Send an object full signal to said control mechanism.

[0046] The position sensor 27 can be arranged inside the cylinder 21 or outside the cylinder 21 . When the position sensor 27 is a tactile sensor, preferably, one of the position sensor 27 and the contact member is arranged at the inner end 231 of the cylinder body of the telescopic rod 23, and the other is arranged at the cylinder body end 231 of the telescopic rod 23. 21 is the other end opposite to the ...

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Abstract

The invention discloses a gripping device for intelligently detecting full storage of a container. The gripping device comprises a gripping mechanism, a detection mechanism, a movement mechanism used for controlling the gripping mechanism to move, a drive mechanism used for driving the gripping mechanism to conduct gripping or driving the movement mechanism to move, and a control mechanism used for sending a drive instruction to the drive mechanism. The gripping mechanism comprises a gripper used for gripping objects. The detection mechanism comprises a telescopic mechanism and a position sensor. The stretching end of the telescopic mechanism is connected with the gripper. The telescopic mechanism stretches out under the gravity effect of the gripper and draws back when the gripper encounters resistance. The position sensor is used for outputting a container full storage signal to the control mechanism when the telescopic mechanism draws back to a preset degree, and the gripping device has the advantages of being high in detection accuracy and simple in structure.

Description

technical field [0001] The invention relates to the field of mechanical automation, in particular to a grasping device for intelligently detecting that a container is full. Background technique [0002] In the field of automation, it is often necessary to place processed objects into containers for subpackage. There are subpackages of the same items and mixed packages of different items. At this time, it is often necessary to place the same amount of objects in the same container through a detection device or by counting the number of objects. For example, in the field of lens packaging, it is often used to detect whether the objects in the container are full by setting the number of lenses. In the prior art, when a detection device is used to detect whether the object in the container is full, the detection device is often separated from the grabbing device, and the function of the grabbing device is limited to grabbing and placing the object, and cannot detect whether the ...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J13/08
Inventor 潘吕娇
Owner LINHAI JINZHENG MACHINERY
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