A double shock-absorbing sampling device

Abstract

The invention discloses a double shock-absorbing sampling device, comprising a first connecting rod, a second connecting rod, a first rocking rod, a second rocking rod and a grasping mechanism; one end of the first connecting rod is used for fixing, and the other end of the first connecting rod is hinged with one end of the first rocking rod; one end of the first rocking rod away from the first connecting rod is hinged with the middle part of the second connecting rod, and the two ends of the second rocking rod are respectively hinged with the middle part of the first connecting rod and one end of the second connecting rod; a parallelogram structure is formed between the first connecting rod, the first rocking rod, the second connecting rod and the second rocking rod; the second connecting rod extends downward in a direction away from the second rocking rod; a first pin is provided on the first connecting rod, a second pin is provided on the second rocking rod, and a first elastic element is connected between the first pin and the second pin; the grasping mechanism is hinged with the lower end of the second connecting rod, and a second elastic element is connected between the grasping mechanism and the second connecting rod. The invention can reduce the labor intensity of manual labor, and perfectly protect the appearance quality of the product when realizing automatic operation.

Description

Technical Field

[0001] The invention relates to an automatic piece taking device, in particular to a double shock absorbing sampling device. Background Art

[0002] In the actual production process, sampling and shifting are often involved. In many cases, the work can only be completed by manual handling and manual sampling. Especially for automatic sampling, most industries are still vacant, which invisibly increases the intensity of manual labor and lacks timing and quantification.

[0003] The automatic sampling of cigarette filter rods uses the positive pressure sampling method. The sampling tube that can be opened and closed is placed under the filter rod flow, opened at a fixed time, and the filter rod falls into the sampling tube under the action of gravity. Then the sampling tube is closed, and one end of the sampling tube is connected to the positive pressure air pipe to output positive pressure air to blow the filter rod to the automatic comprehensive test bench. The existing technology has the problem of inaccurate sampling and easy collision with the equipment during the sampling process. Summary of the invention

[0004] The purpose of the present invention is to provide a double shock-absorbing sampling device to solve the deficiencies in the prior art. It can reduce the intensity of manual labor, perfectly protect the appearance quality of the product during automated operation, achieve the effect of accurate judgment, and improve the operating accuracy in various handling and sampling occasions.

[0005] The present invention provides a double shock-absorbing sampling device, which includes a first connecting rod, a second connecting rod, a first rocking arm, a second rocking arm and a grabbing mechanism;

[0006] One end of the first connecting rod is used for fixing, and the other end of the first connecting rod is hinged to one end of the first rocker;

[0007] One end of the first rocker arm away from the first connecting rod is hinged to the middle part of the second connecting rod, and two ends of the second rocker arm are respectively hinged to the middle part of the first connecting rod and one end of the second connecting rod; a parallelogram structure is formed between the first connecting rod, the first rocker arm, the second connecting rod and the second rocker arm;

[0008] The second connecting rod extends downward in a direction away from the second rocker;

[0009] The first connecting rod is provided with a first pin, the second rocker is provided with a second pin, and a first elastic element is connected between the first pin and the second pin;

[0010] The grabbing mechanism is hinged to the lower end of the second connecting rod, and a second elastic element is connected between the grabbing mechanism and the second connecting rod.

[0011] The double shock-absorbing sampling device as described above, wherein, optionally, a strip hole is provided at the upper end of the first connecting rod, and the long axis direction of the strip hole is consistent with the length direction of the first connecting rod;

[0012] It also includes a pre-installed plate, which is connected to the first connecting rod through two bolts passing through the strip-shaped holes.

[0013] The double shock-absorbing sampling device as described above, wherein, optionally, it further comprises a buffer cylinder;

[0014] A mounting plate is provided at the lower end of the first connecting rod, and the mounting plate is located below the first rocker;

[0015] A through hole is provided in the middle of the first rocker; a buffer cylinder is provided on the mounting plate, the buffer cylinder passes through the through hole, and the extension direction of the buffer cylinder is parallel to the length direction of the first connecting rod.

[0016] The double shock-absorbing sampling device as described above, wherein, optionally, a buffer pad is provided at the upper end of the buffer cylinder.

[0017] The double shock-absorbing sampling device as described above, wherein, optionally, the lower end of the second connecting rod is connected to a connector, and the second connecting rod is connected to the grabbing mechanism through the connector;

[0018] The connecting head comprises a rod and a U-shaped fork, a damping rotation ring is connected between the rod and the U-shaped fork; the rod and the second connecting rod are clamped, threaded, bolted or welded;

[0019] The gripping mechanism is located in the U-shaped fork and is rotationally connected to the U-shaped fork, and the gripping mechanism is connected to the gripping mechanism via the second elastic element.

[0020] The double shock-absorbing sampling device as described above, wherein, optionally, the gripping mechanism is provided with a suction claw cantilever and a rotating shaft, the rotating shaft is vertically arranged at the middle of the suction claw cantilever; the rotating shaft is rotatably connected to the U-shaped fork, one end of the suction claw cantilever is provided with an arc-shaped suction claw, and the other end of the suction claw cantilever is connected to the edge of the U-shaped fork through the second elastic element;

[0021] The bottom of the arc-shaped suction claw is provided with an inwardly concave arc-shaped surface, and the arc-shaped surface is provided with a negative pressure hole connected with a negative pressure source.

[0022] The double shock-absorbing sampling device as described above, wherein, optionally, a first air pressure detection switch is provided on the pipeline connecting the negative pressure hole and the negative pressure source;

[0023] The arc-shaped suction claw is provided with a first optical fiber detection head;

[0024] The first air pressure detection switch and the first optical fiber detection head are both used to detect whether a workpiece is adsorbed on the arc-shaped suction claw.

[0025] The double shock-absorbing sampling device as described above, wherein, optionally, the grabbing mechanism is box-shaped;

[0026] The middle part of the grabbing mechanism is rotatably connected to the U-shaped fork, a plurality of suction holes are provided at the bottom of the grabbing mechanism, the suction holes are connected to the negative pressure tube, a second air pressure detection switch is installed on the negative pressure tube, and a second optical fiber detection head is installed on the side of the grabbing mechanism;

[0027] The second air pressure detection switch and the second optical fiber detection head are both used to detect whether a workpiece is adsorbed on the bottom of the grasping mechanism.

[0028] The double shock-absorbing sampling device as described above, wherein, optionally, a blocking portion extending downward is provided on one edge of the bottom of the grabbing mechanism;

[0029] The top of the grabbing mechanism is connected to the U-shaped fork via the second limiting element at a side edge away from the blocking portion.

[0030] The double shock-absorbing sampling device as described above, wherein optionally, the grasping mechanism is a mechanical claw.

[0031] Compared with the prior art, the present invention uses negative pressure to suck products, and is used to suck various lightweight products with high surface requirements. It can be used for handling, sampling and other tasks with various mobile modules. When sampling, it has light and heavy spring shock absorption to avoid rigid contact between the suction claw head and the product surface. In terms of judgment, it is equipped with optical fiber detection and air pressure detection. The dual detection can accurately determine whether the product on the suction claw is sucked, and feedback to the control program, which is convenient for correction operation.

[0032] The device reduces manual labor intensity, realizes automated operation, perfectly protects the appearance quality of the product, and achieves the effect of accurate judgment, improving the operating accuracy of various handling and sampling occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0034] Figure 2 is a three-dimensional diagram of the grabbing mechanism proposed in Example 1 of the present invention;

[0035] Figure 3 is a three-dimensional diagram of the grabbing mechanism proposed in Example 1 of the present invention from another viewing angle;

[0036] Figure 4is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0037] Figure 5 is a three-dimensional diagram of the grabbing mechanism proposed in Example 2 of the present invention;

[0038] Figure 6 is a three-dimensional diagram of the grabbing mechanism proposed in Embodiment 2 of the present invention from another viewing angle;

[0039] Explanation of the accompanying drawings: 1-first connecting rod, 2-second connecting rod, 3-first rocker, 4-second rocker, 5-grabbing mechanism, 6-first pin, 7-second pin, 8-second elastic element, 9-bar hole, 10-pre-installed plate, 11-buffer cylinder, 12-mounting plate, 13-connecting head, 14-rod, 15-U-shaped fork, 16-damping rotating ring, 17-suction claw cantilever, 18-rotating shaft, 19-arc-shaped suction claw, 20-arc-shaped surface, 21-negative pressure hole, 22-first air pressure detection switch, 23-first optical fiber detection head, 24-suction hole, 25-second air pressure detection switch, 26-second optical fiber detection head, 27-blocking part, 28-first elastic element. DETAILED DESCRIPTION

[0040] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, but should not be construed as limiting the present invention.

[0041] Example 1

[0042] Please refer to Figures 1 to 3 This embodiment provides a double shock-absorbing sampling device, which includes a first connecting rod 1, a second connecting rod 2, a first rocking arm 3, a second rocking arm 4 and a grabbing mechanism 5. The first connecting rod 1, the second connecting rod 2, the first rocking arm 3 and the second rocking arm 4 are used to form a parallelogram structure. Since the top corners of the parallelogram are all hinged, the deformation of the parallelogram is used to achieve a certain amount of movement of the second connecting rod 2 in the axial direction.

[0043] One end of the first connecting rod 1 is used for fixing, and the other end of the first connecting rod 1 is hinged to one end of the first rocker 3. One end of the first rocker 3 away from the first connecting rod 1 is hinged to the middle of the second connecting rod 2, and two ends of the second rocker 4 are respectively hinged to the middle of the first connecting rod 1 and one end of the second connecting rod 2; a parallelogram structure is formed between the first connecting rod 1, the first rocker 3, the second connecting rod 2 and the second rocker 4. The second connecting rod 2 extends downward in a direction away from the second rocker 4; a first pin 6 is provided on the first connecting rod 1, and a second pin 7 is provided on the second rocker 4, and a first elastic element 28 is connected between the first pin 6 and the second pin 7. Through the synergistic effect between the parallelogram structure and the first elastic element 28, a primary shock absorption effect can be achieved.

[0044] The grabbing mechanism 5 is hinged to the lower end of the second connecting rod 2, and a second elastic element 8 is connected between the grabbing mechanism 5 and the second connecting rod 2. The second elastic element 8 can play a secondary shock absorption role.

[0045] Specifically, the entire device is fixed on the mobile module, and can move forward, backward, left, right, up and down under the drive of the mobile module. When moving downward to grab an object, when the suction claw touches the object to be grabbed, if the module has the action of continuing to descend, the second connecting rod 2 is pushed by the grabbing mechanism and moves upward with the help of the first elastic element 28. At the same time, a second elastic element 8 is also provided on the grabbing mechanism 5 to prevent the surface of the product from being damaged and play a protective role.

[0046] The first connecting rod 1, the second connecting rod 2, the first rocker 3 and the second rocker 4 are used to form a parallelogram structure to ensure that the second connecting rod 2 can move up and down stably to avoid excessive shaking. Small bearings are used at the connection points to achieve better rotation effect. Specifically, the outer diameter of the bearing is not greater than 40 mm.

[0047] In order to facilitate installation and adjustment of the height of the entire device, a strip hole 9 is provided at the upper end of the first connecting rod 1, and the long axis direction of the strip hole 9 is consistent with the length direction of the first connecting rod 1; a pre-installed plate 10 is also included, and the pre-installed plate 10 is connected to the first connecting rod 1 through two bolts passing through the strip hole 9. By providing the strip hole 9, after installation, the installation height of the entire device can be adjusted by changing the position of the bolt on the strip hole 9.

[0048] In order to prevent the violent impact caused by the sudden and rapid downward movement of the second connecting rod 2, the present embodiment has been further improved, specifically, it also includes a buffer cylinder 11; a mounting plate 12 is provided at the lower end of the first connecting rod 1, and the mounting plate 12 is located below the first rocking arm 3; a through hole is provided in the middle of the first rocking arm 3; a buffer cylinder 11 is provided on the mounting plate 12, and the buffer cylinder 11 passes through the through hole, and the expansion and contraction direction of the buffer cylinder 11 is parallel to the length direction of the first connecting rod 1. More specifically, a buffer pad is provided at the upper end of the buffer cylinder 11.

[0049] For easy installation, the lower end of the second connecting rod 2 is connected with a connector 13, and the second connecting rod 2 is connected to the grabbing mechanism 5 through the connector 13; the connector 13 includes a rod 14 and a U-shaped fork 15, and a damping rotating ring 16 is connected between the rod 14 and the U-shaped fork 15; the rod 14 and the second connecting rod 2 are clamped, threaded, bolted or welded; the grabbing mechanism 5 is located in the U-shaped fork 15 and is rotatably connected to the U-shaped fork 15, and the grabbing mechanism 5 is connected to the grabbing mechanism 5 through the second elastic element 8. In specific implementation, the elastic coefficient of the second elastic element 8 is smaller than the elastic coefficient of the first elastic element 28. The second elastic element 8 is used to be sensitive to relatively slight forces and produce corresponding deformations. Generally, the second elastic element 8 works first, and the first elastic element 28 works after reaching the limit stroke. In specific implementation, both the first elastic element 28 and the second elastic element 8 are springs.

[0050] As a structure mainly used for grasping cylindrical products, this embodiment is a further design. Specifically, the grasping mechanism 5 is provided with a suction claw cantilever 17 and a rotating shaft 18, and the rotating shaft 18 is vertically arranged in the middle of the suction claw cantilever 17; the rotating shaft 18 is rotatably connected to the U-shaped fork 15, and one end of the suction claw cantilever 17 is provided with an arc-shaped suction claw 19, and the other end of the suction claw cantilever 17 is connected to the edge of the U-shaped fork 15 through the second elastic element 8; the bottom of the arc-shaped suction claw 19 is provided with a concave arc surface 20, and the arc surface 20 is provided with a negative pressure hole 21 connected to the negative pressure source.

[0051] In order to facilitate the cargo detection, the present embodiment has been further improved. A first air pressure detection switch 22 is provided on the pipeline connecting the negative pressure hole 21 and the negative pressure source; a first optical fiber detection head 23 is provided on the arc-shaped suction claw 19; the first air pressure detection switch 22 and the first optical fiber detection head 23 are both used to detect whether a workpiece is adsorbed on the arc-shaped suction claw 19. Specifically, when the arc-shaped suction claw 19 absorbs the product, the two negative pressure holes 21 at the lower part of the arc-shaped suction claw 19 are blocked, and the negative pressure at this time is doubled. When the air pressure is greater than the set value when the first air pressure detection switch 22 detects and performs a threshold judgment, a signal is sent to the control element to determine that the arc-shaped suction claw 19 has absorbed the product; at the same time, when the rod-shaped product is longer than the arc-shaped suction claw 19, the suction claw absorbs the product, and the rod-shaped product will block the first optical fiber detection head 23, and the blocking signal is sent to the control element through the optical fiber line, and it is determined that the product has been absorbed. The mobile module will not proceed to the next step of lifting or moving until the first optical fiber detection head 23 and the first air pressure detection switch 22 have both determined that the product has been sucked. The addition of double detection can effectively prevent the product on the assembly line from not being sucked in time, and the entire device from making a large number of misoperations.

[0052] The damping rotating ring 16 can rotate 360° in an axial quantitative manner. It is clamped by the internal structure every 15° and requires a large force to continue rotating. In this way, the plane direction of the suction claw can be adjusted to facilitate the suction of products entering at any angle.

[0053] Compared with the prior art, this embodiment uses negative pressure to suck products, and is used to suck various lightweight products with high surface requirements. It can be used for handling, sampling, etc. in conjunction with various mobile modules. When sampling, it has light and heavy spring shock absorption to avoid rigid contact between the suction claw head and the product surface. In terms of judgment, optical fiber detection and air pressure detection are provided. The dual detection can accurately determine whether the product on the suction claw is sucked, and feedback to the control program to facilitate correction operations.

[0054] The device reduces manual labor intensity, realizes automated operation, perfectly protects the appearance quality of the product, and achieves the effect of accurate judgment, improving the operating accuracy of various handling and sampling occasions.

[0055] Embodiment 2,

[0056] Compared with Example 1, the difference of this embodiment is only that the grasping mechanism 5 is different, and the same parts are not repeated. Compared with Example 1, the working principle of the box-shaped grasping mechanism 5 provided in this embodiment is consistent with the arc-shaped suction claw assembly, and the difference is that its contact surface with the product is a plane, which is used to absorb objects with a flat surface and the flat surface facing upwards.

[0057] For details, please refer to Figures 4 to 6The grabbing mechanism 5 is box-shaped; the middle part of the grabbing mechanism 5 is rotatably connected to the U-shaped fork 15, a plurality of suction holes 24 are provided at the bottom of the grabbing mechanism 5, the suction holes 24 are connected to the negative pressure tube, a second air pressure detection switch 25 is installed on the negative pressure tube, and a second optical fiber detection head 26 is installed on the side of the grabbing mechanism 5;

[0058] The second air pressure detection switch 25 and the second optical fiber detection head 26 are both used to detect whether there is a workpiece adsorbed at the bottom of the gripping mechanism 5. The working process is the same as that of Example 1, and the specific working process and effects can refer to Example 1. A blocking portion 27 extending downward is provided on one edge of the bottom of the gripping mechanism 5; the top of the gripping mechanism 5 is connected to the U-shaped fork 15 through the second limiting element at a side edge away from the blocking portion 27. The blocking portion 27 smoothly transitions with the bottom of the gripping mechanism 5. By setting the blocking portion 27, it is convenient for the gripped product to gradually move to the suction hole 24 along the smooth transition surface to ensure the adsorption effect.

[0059] Embodiment 3,

[0060] Compared with the first and second embodiments, the only difference of the present embodiment is that the gripping mechanism 5 is a mechanical claw. The structure, function and effect of other parts can refer to the first or second embodiment and will not be described in detail.

[0061] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made according to the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A double shock-absorbing sampling device, characterized in that: It comprises a first connecting rod (1), a second connecting rod (2), a first rocking arm (3), a second rocking arm (4) and a grasping mechanism (5); One end of the first connecting rod (1) is used for fixing, and the other end of the first connecting rod (1) is hinged to one end of the first rocker (3); One end of the first rocker (3) away from the first connecting rod (1) is hinged to the middle part of the second connecting rod (2), and two ends of the second rocker (4) are respectively hinged to the middle part of the first connecting rod (1) and one end of the second connecting rod (2); a parallelogram structure is formed between the first connecting rod (1), the first rocker (3), the second connecting rod (2) and the second rocker (4); The second connecting rod (2) extends downward in a direction away from the second rocker (4); The first connecting rod (1) is provided with a first pin (6), the second rocker (4) is provided with a second pin (7), and a first elastic element (28) is connected between the first pin (6) and the second pin (7); The gripping mechanism (5) is hinged to the lower end of the second connecting rod (2), and a second elastic element (8) is connected between the gripping mechanism (5) and the second connecting rod (2); Also includes a buffer cylinder (11); A mounting plate (12) is provided at the lower end of the first connecting rod (1), and the mounting plate (12) is located below the first rocker (3); A through hole is provided in the middle of the first rocker (3); a buffer cylinder (11) is provided on the mounting plate (12), the buffer cylinder (11) passes through the through hole, and the extension direction of the buffer cylinder (11) is parallel to the length direction of the first connecting rod (1); The lower end of the second connecting rod (2) is connected to a connecting head (13), and the second connecting rod (2) is connected to the grabbing mechanism (5) via the connecting head (13); The connecting head (13) comprises a rod portion (14) and a U-shaped fork (15); a damping rotation ring (16) is connected between the rod portion (14) and the U-shaped fork (15); the rod portion (14) and the second connecting rod (2) are clamped, threaded or welded; The grasping mechanism (5) is located inside the U-shaped fork (15) and is rotatably connected to the U-shaped fork (15); the grasping mechanism (5) is connected to the U-shaped fork (15) via the second elastic element (8); The elastic coefficient of the second elastic element (8) is smaller than the elastic coefficient of the first elastic element (28).

2. The double shock-absorbing sampling device according to claim 1, characterized in that: A strip-shaped hole (9) is provided at the upper end of the first connecting rod (1), and the long axis direction of the strip-shaped hole (9) is consistent with the length direction of the first connecting rod (1); It also includes a pre-installed plate (10), wherein the pre-installed plate (10) is connected to the first connecting rod (1) via two bolts passing through the strip-shaped holes (9).

3. The double shock-absorbing sampling device according to claim 1, characterized in that: A buffer pad is provided at the upper end of the buffer cylinder (11).

4. The double shock-absorbing sampling device according to claim 1, characterized in that: The gripping mechanism (5) is provided with a suction claw cantilever (17) and a rotating shaft (18), wherein the rotating shaft (18) is vertically arranged at the middle of the suction claw cantilever (17); the rotating shaft (18) is rotationally connected to the U-shaped fork (15); one end of the suction claw cantilever (17) is provided with an arc-shaped suction claw (19), and the other end of the suction claw cantilever (17) is connected to the edge of the U-shaped fork (15) via the second elastic element (8); The bottom of the arc-shaped suction claw (19) is provided with an inwardly concave arc-shaped surface (20), and the arc-shaped surface (20) is provided with a negative pressure hole (21) connected to a negative pressure source.

5. The double shock-absorbing sampling device according to claim 4, characterized in that: A first air pressure detection switch (22) is provided on the pipeline connecting the negative pressure hole (21) and the negative pressure source; The arc-shaped suction claw (19) is provided with a first optical fiber detection head (23); The first air pressure detection switch (22) and the first optical fiber detection head (23) are both used to detect whether a workpiece is adsorbed on the arc-shaped suction claw (19).

6. The double shock-absorbing sampling device according to claim 1, characterized in that: The grabbing mechanism (5) is box-shaped; The middle part of the grasping mechanism (5) is rotatably connected to the U-shaped fork (15); a plurality of suction holes (24) are provided at the bottom of the grasping mechanism (5); the suction holes (24) are connected to a negative pressure tube; a second air pressure detection switch (25) is installed on the negative pressure tube; and a second optical fiber detection head (26) is installed on the side of the grasping mechanism (5); The second air pressure detection switch (25) and the second optical fiber detection head (26) are both used to detect whether a workpiece is adsorbed on the bottom of the gripping mechanism (5).

7. The double shock-absorbing sampling device according to claim 6, characterized in that: A blocking portion (27) extending downward is provided on one edge of the bottom of the grabbing mechanism (5); The top of the grabbing mechanism (5) is connected to the U-shaped fork (15) via a second limiting element at a side edge away from the blocking portion (27).

8. The double shock-absorbing sampling device according to claim 1, characterized in that: The grasping mechanism (5) is a mechanical claw.

Images