感应装置、取料装置及上下料设备

Abstract

本实用新型属于机械手技术领域，特别是涉及一种感应装置、取料装置及上下料设备。一种感应装置包括安装座、第一感应器、第二感应器及活动件，活动件可移动地连接于安装座，第一感应器连接于安装座，第二感应器连接于第一感应器；活动件能够抵接于料板，并沿第一方向朝靠近第一感应器的方向移动；活动件具有接触位置与压紧位置，活动件位于接触位置时，第一感应器和第二感应器中仅第一感应器能够感应到活动件，活动件位于压紧位置时，第一感应器和第二感应器均能够感应到活动件。本实用新型中将料板高度变化通过活动件反馈，通过第二感应器能够感知料板堆叠高度实时产生的高度变化，提高机械手抓取的准确性。

Claims

1. An inductive device, characterized by The device includes a mounting base, a first sensor, a second sensor, and a movable component. The mounting base is adapted to be mounted on a robotic arm, and the movable component is movably connected to the mounting base. The first sensor and the second sensor are mounted on the mounting base. The robotic arm is used to grasp a material plate. The movable part can abut against the material plate and move in a first direction toward the first sensor. The movable part has a contact position and a pressing position. When the movable part is in the contact position, only the first sensor or the second sensor can sense the movable part. When the movable part is in the pressing position, both the first sensor and the second sensor can sense the movable part.

2. The inductive device of claim 1, wherein, The movable component includes a movable component body and a flexible connector. The movable component body is slidably connected to the mounting base, and the flexible connector is disposed at the end of the movable component body away from the first sensor. The flexible connector is used to abut against the material plate.

3. The inductive device of claim 2, wherein the first and second conductive layers are formed of a conductive material selected from the group consisting of copper, aluminum, silver, gold, and combinations thereof. The mounting base is provided with a sliding groove, and the main body of the movable component is disposed in the sliding groove.

4. The inductive device of claim 3, wherein the first and second conductive layers are formed of a conductive material selected from the group consisting of copper, aluminum, silver, gold, and combinations thereof. The mounting base includes a base body and a baffle. The slide groove extends through the base body along the first direction. The second sensor is disposed on the side of the first sensor away from the base body. The baffle is connected to the base body and is used to prevent the main body of the movable component from disengaging from the slide groove.

5. The inductive device of claim 2, wherein, The movable component also includes a limiting component, which is disposed on the main body of the movable component and is used to limit the movement stroke of the main body of the movable component.

6. The inductive device of claim 5, wherein the first and second conductive layers are formed of a conductive material selected from the group consisting of copper, aluminum, silver, gold, and combinations thereof. The limiting member includes a first limiting post and a second limiting post, which are spaced apart along the first direction. The first limiting post can abut against the mounting base to limit the lower limit position of the movable part body, and the second limiting post can abut against the mounting base to limit the upper limit position of the movable part body.

7. The inductive device of claim 1, wherein, The sensing device further includes a pad, wherein the first sensor and the second sensor are spaced apart in the first direction, and the pad is disposed between the first sensor and the second sensor.

8. A material taking-out device characterized by comprising: The device includes a robotic arm, a material box, and a sensing device as described in any one of claims 1-7, wherein the mounting base is mounted on the robotic arm, the material box is used to hold the material plate, and the robotic arm is used to grasp the material plate in the material box.

9. The material taking-out device according to claim 8, wherein Multiple first sensors are provided, and multiple mounting bases are provided. The multiple first sensors are connected to the multiple mounting bases in a one-to-one correspondence. At least one first sensor has a second sensor provided on the side away from the mounting base.

10. The material taking-out device according to claim 8, wherein The robotic arm includes a first lifting mechanism, a fixed frame, and a suction cup assembly. The output end of the first lifting mechanism is connected to the fixed frame. The first lifting mechanism can drive the fixed frame to lift or move closer to or away from the material box. The suction cup assembly is mounted on the fixing frame and is used to pick up the material plate.

11. The material taking-out device according to claim 10, wherein The robotic arm also includes a shaking component, which is mounted on the fixed frame and is used to shake the material plate picked up by the suction cup component; The material handling device also includes a frame, on which the robotic arm is mounted. The frame is equipped with a plate drop sensor and / or an ion nozzle. The plate drop sensor is used to detect whether the plate is stuck after shaking the plate. The ion nozzle is used to blow out ion air when the suction cup assembly handles the material.

12. The material taking-out device according to claim 10, wherein The material handling device also includes a third sensor, which is used to detect the number of material plates gripped by the suction cup assembly.

13. The material taking-out device according to claim 8, wherein The material handling device further includes a metal sensor and / or a color sensor, wherein the metal sensor is used to detect the material plate in the material box; The material box contains a first film and a second film, and multiple material plates are stacked between the first film and the second film. The color sensor is used to detect the first film and the second film.

14. A loading and unloading device, characterized in that, Includes a second lifting mechanism and the material handling device according to any one of claims 8-13, wherein the second lifting mechanism can drive the material box to lift or move closer to or away from the robotic arm; When the second sensor detects the moving part, the second lifting mechanism stops.

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