CN208921262U - A kind of special-shaped workpiece detection grabbing device - Google Patents
A kind of special-shaped workpiece detection grabbing device Download PDFInfo
- Publication number
- CN208921262U CN208921262U CN201821234912.5U CN201821234912U CN208921262U CN 208921262 U CN208921262 U CN 208921262U CN 201821234912 U CN201821234912 U CN 201821234912U CN 208921262 U CN208921262 U CN 208921262U
- Authority
- CN
- China
- Prior art keywords
- frame
- chip microcontroller
- slide bar
- special
- ultrasonic sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The utility model discloses a kind of special-shaped workpieces to detect grabbing device, including mechanical arm, transport box, ultrasonic sensor, weighing sensor, motor, lead screw, slide bar, buzzer, display screen, key switch, single-chip microcontroller, power module and frame；Slide bar is mounted on frame upper end, and for one end through track installation on frame, the other end is equipped with the nut with lead screw cooperation；Several ultrasonic sensors are mounted on slide bar, and each ultrasonic sensor is connect with single-chip microcontroller；Motor is fixed on frame, and is connect with single-chip microcontroller；Lead screw is mounted on frame by bearing, is cooperatively connected with the nut of slide bar one end, and is connected by the output end of belt and motor；Weighing sensor is mounted on the bottom end of frame, places transport box thereon, and connect with single-chip microcontroller；Buzzer, display screen, key switch, single-chip microcontroller and power module are mounted on frame；Mechanical arm, buzzer, display screen, key switch and power module are connect with single-chip microcontroller.
Description
Technical field
The utility model relates to workpiece sensing field, specifically a kind of special-shaped workpiece detects grabbing device.
Background technique
The form of workpiece is various, can be divided into regular and irregular two types, and the crawl of regular workpiece is very convenient,
But there are many problems for the crawl of irregular workpiece: 1, piece count is indefinite: workpiece shapes irregularly lead to each transport box
Middle piece count is uncertain；2, workpiece is lodged and left: workpiece shapes irregularly lead to put irregular, crawl in transport box
It may cause the lodging of other workpiece in workpiece fabrication or even workpiece omission occur；3, human problems: needing manpower intervention, and checking is
The no residue for having workpiece, cost of labor is high, and low efficiency.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of special-shaped workpiece detection
Grabbing device.
The technical solution that the utility model solves the technical problem is to provide a kind of special-shaped workpiece detection grabbing device,
It is characterized in that the device includes mechanical arm, transport box, ultrasonic sensor, weighing sensor, motor, lead screw, slide bar, buzzing
Device, display screen, key switch, single-chip microcontroller, power module and frame；
The slide bar is mounted on frame upper end, and one end is through track installation on frame, and the other end is equipped with and lead screw
The nut of cooperation；Several ultrasonic sensors are mounted on slide bar；Each ultrasonic sensor is connect with single-chip microcontroller；It is described
Motor is fixed on frame, and is connect with single-chip microcontroller；The lead screw is mounted on frame by bearing, with slide bar one end
Nut is cooperatively connected, and is connected by the output end of belt and motor, and slide bar is allowed to drive ultrasonic sensor by frame
Upper end side be moved to the other side；The weighing sensor is mounted on the bottom end of frame, places transport box thereon, and with list
The connection of piece machine；The buzzer, display screen, key switch, single-chip microcontroller and power module are mounted on frame；The mechanical arm,
Buzzer, display screen, key switch and power module are connect with single-chip microcontroller.
Compared with prior art, the utility model beneficial effect is:
(1) for the device in known single workpiece and transfer box weight, weighing sensor is to the workpiece in transport box
Weigh, obtain the number of workpiece, after device grabbing workpiece, weigh transport box again, if weight is referred to as transhipment
Case self weight then workpiece exhaustive, otherwise alarm has workpiece omission.
(2) in terms of the device workpiece grabbing path planning, the distance of workpiece is measured using ultrasonic sensor, determines and turns
The position of highest workpiece and the arrangement situation of workpiece in case are transported, to carry out workpiece grabbing by planning path.And in display screen
The number of parts after number pieces and crawl when upper display time, beginning, is observed convenient for patrol.
(3) device reduces required worker's number, saves the time, reduces cost, and can find to grab faster
Lodging phenomenon during taking and leave phenomenon.
Detailed description of the invention
Fig. 1 is the overall structure axonometric schematic diagram that the utility model special-shaped workpiece detects a kind of embodiment of grabbing device.
Fig. 2 is the overall structure schematic rear view that the utility model special-shaped workpiece detects a kind of embodiment of grabbing device.
Fig. 3 is the module connection signal block diagram that the utility model special-shaped workpiece detects a kind of embodiment of grabbing device.
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new
Type does not limit the protection scope of the claim of this application.
The utility model provides a kind of special-shaped workpiece detection grabbing device (referring to Fig. 1-3, abbreviation device), and feature exists
In the device include mechanical arm 1, transport box 2, ultrasonic sensor 3, weighing sensor 4, motor 5, lead screw 6, slide bar 7, buzzing
Device 8, display screen 9, key switch 10, single-chip microcontroller 11, power module 12 and frame 13；
The frame 13 is the main body cover of device；The slide bar 7 is mounted on 13 upper end of frame, and one end is pacified by track
On frame 13, the other end is equipped with the nut cooperated with lead screw 6；Several ultrasonic sensors 3 are mounted on slide bar 7,
For measuring the distance between workpiece surface and ultrasonic sensor 3；The ultrasonic sensor 3 is axially arranged along slide bar 7, is in
Uniline state；Each ultrasonic sensor 3 is connect with single-chip microcontroller 11, and the data measured are transferred to single-chip microcontroller 11；It is each super
Height of the transmitting terminal and receiving end of sonic sensor 3 apart from horizontal plane is all the same；Between two neighboring ultrasonic sensor 3
The transmitting terminal phase of transmitting terminal and receiving end arranged for interval, the i.e. receiving end of this ultrasonic sensor and next ultrasonic sensor
It is adjacent；The motor 5 is fixed on frame 13, and is connect with single-chip microcontroller 11, is controlled by it；The lead screw 6 is installed by bearing
It on frame 13, is cooperatively connected with the nut of 7 one end of slide bar, constitutes ball screw assembly, and pass through the output of belt and motor 5
End connection, allows slide bar 7 that ultrasonic sensor 3 is driven to be moved to the other side by the upper end side of frame 13；The weighing
Sensor 4 is mounted on the bottom end of frame 13, places transport box 2 thereon, for measuring the weight of transport box 2 and workpiece, and with
Single-chip microcontroller 11 connects, and the data measured are transferred to single-chip microcontroller 11；The buzzer 8, display screen 9, key switch 10, monolithic
Machine 11 and power module 12 are mounted on frame 13；The mechanical arm 1, buzzer 8, display screen 9, key switch 10 and power supply mould
Block 12 is connect with single-chip microcontroller 11；
The buzzer 8 can issue alarm；The display screen 9 number pieces and is grabbed when can show the time, start
Number pieces at the end of taking；The key switch 10 controls the starting and closing of whole device；The mechanical arm 1 and single-chip microcontroller
11 connections, control mechanical arm grab path.
The working principle and workflow of the utility model special-shaped workpiece detection grabbing device are:
(1) when working beginning, transport box 2 is transported in frame 13 and is placed on weighing sensor 4 by whole device initialization
On, power on module 12, whole device is powered, and presses the button switch 10, starter；
(2) weighing sensor 4 first measures the total weight (G gross weight) of transport box 2, and the data measured are transferred to list
Piece machine 11, single-chip microcontroller 11 calculate transhipment by the weight (G workpiece) of the transfer box weight (G transport box) and each workpiece that set
Number of Jobs (N) in case 2, calculation formula are as follows: Number of Jobs N is shown and shown by N=(G gross weight-G transport box)/G workpiece
On screen 9, data are observed and recorded convenient for worker；Meanwhile single-chip microcontroller 11 sends a signal to motor 5, motor 5 is started to work, is passed through
Lead screw 6 is with moving slide-bar 7, so that slide bar 7 drives all ultrasonic sensors 3 to be moved to the other side by the side of frame 13, in cunning
During bar 7 is mobile, ultrasonic sensor 3 can continuously send out ultrasonic wave to the surface piece of transport box 2, and by ultrasonic wave
Sensor 3 receives the ultrasonic wave returned, and will obtain time interval (t) and be transferred to single-chip microcontroller 11, can be obtained by formula s=340t/2
To the distance between ultrasonic sensor 3 and surface piece s, single-chip microcontroller 11 according to Distance Judgment which point be in transport box 2 most
The workpiece of upper end；
(3) after being measured, single-chip microcontroller 11 will cook up Optimal Grasp path, Optimal Grasp path are as follows: grab first
The top workpiece, then grab time high point ... and grabbed until by the biggish point of gap；Then it presses from one jiao in transport box 2 by close
And remote path order crawl, until grabbing workpiece sum n times；Single-chip microcontroller 11 will control mechanical arm 1 according to having planned most
Excellent crawl path is grabbed, and can reduce lodging phenomenon in this way；After mechanical arm 1 completes crawl task, weighing sensor 4 will
Weighing measurement can be carried out again, and transfers data to single-chip microcontroller 11, and single-chip microcontroller 11 presses formula N=(G gross weight-G transport box)/G
Workpiece calculates workpiece either with or without residue, if not having workpiece remaining in transport box 2, can show that workpiece grabbing is complete in display screen 9
Finish；If there is workpiece residue, then remaining number pieces can be shown, and single-chip microcontroller 11 can control buzzer 8 and sound the alarm, and mention
Wake up patrol worker；
(4) in power cut-off, patrol worker presses the button switch 10, device is closed, and module 12 of cutting off the power
Power supply.
The utility model does not address place and is suitable for the prior art.
Claims (4)
1. a kind of special-shaped workpiece detects grabbing device, it is characterised in that the device includes mechanical arm, transport box, supersonic sensing
Device, weighing sensor, motor, lead screw, slide bar, buzzer, display screen, key switch, single-chip microcontroller, power module and frame；
The slide bar is mounted on frame upper end, and through track installation on frame, the other end is equipped with to be cooperated one end with lead screw
Nut；Several ultrasonic sensors are mounted on slide bar；Each ultrasonic sensor is connect with single-chip microcontroller；The motor
It is fixed on frame, and is connect with single-chip microcontroller；The lead screw is mounted on frame by bearing, the nut with slide bar one end
It is cooperatively connected, and is connected by the output end of belt and motor, slide bar is allowed to drive ultrasonic sensor by the upper of frame
End side is moved to the other side；The weighing sensor is mounted on the bottom end of frame, places transport box, and and single-chip microcontroller thereon
Connection；The buzzer, display screen, key switch, single-chip microcontroller and power module are mounted on frame；The mechanical arm, buzzing
Device, display screen, key switch and power module are connect with single-chip microcontroller.
2. special-shaped workpiece according to claim 1 detects grabbing device, it is characterised in that ultrasonic sensor is on slide bar
In uniline state.
3. special-shaped workpiece according to claim 1 detects grabbing device, it is characterised in that the hair of each ultrasonic sensor
The height of sending end and receiving end apart from horizontal plane is all the same.
4. special-shaped workpiece according to claim 1 detects grabbing device, it is characterised in that two neighboring ultrasonic sensor
Between transmitting terminal and receiving end arranged for interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234912.5U CN208921262U (en) | 2018-08-02 | 2018-08-02 | A kind of special-shaped workpiece detection grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234912.5U CN208921262U (en) | 2018-08-02 | 2018-08-02 | A kind of special-shaped workpiece detection grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208921262U true CN208921262U (en) | 2019-05-31 |
Family
ID=66701692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821234912.5U Active CN208921262U (en) | 2018-08-02 | 2018-08-02 | A kind of special-shaped workpiece detection grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208921262U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709620A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection device |
| CN111999779A (en) * | 2020-10-28 | 2020-11-27 | 天津开发区精诺瀚海数据科技有限公司 | Special-shaped metal workpiece intelligent transfer box based on photoelectric sensor |
-
2018
- 2018-08-02 CN CN201821234912.5U patent/CN208921262U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709620A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection device |
| CN111999779A (en) * | 2020-10-28 | 2020-11-27 | 天津开发区精诺瀚海数据科技有限公司 | Special-shaped metal workpiece intelligent transfer box based on photoelectric sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208921262U (en) | A kind of special-shaped workpiece detection grabbing device | |
| CN109114411A (en) | For preventing the discrepancy sensing system of safety accident | |
| CN104807424B (en) | A kind of contact pipe inside weld reinforcement measurement apparatus | |
| CN206838708U (en) | A kind of can body descaling machine | |
| CN208505449U (en) | A kind of special-shaped workpiece detection grabbing device based on supersonic array | |
| CN108709620A (en) | A kind of special-shaped workpiece detection device | |
| CN102530325A (en) | Automatic loading system and automatic loading method | |
| CN106426744A (en) | Forming machine for door and window accessories and use method thereof | |
| CN104516305A (en) | Method for detecting weights of products and treating sub-quality products | |
| CN211051957U (en) | Metal automatic separator of feeding conveying system | |
| CN110902227B (en) | Clamping device is used in warehouse transportation | |
| CN214893584U (en) | Weighing, length measuring and material turning equipment | |
| CN201777432U (en) | Food mechanical weighing device | |
| CN108709621A (en) | A kind of special-shaped workpiece detection grabbing device based on supersonic array | |
| CN204884902U (en) | Foot, detection, count, packing apparatus are cut to ageing machine | |
| CN105584962A (en) | Safe loading gate, loading platform and loading method | |
| CN211324755U (en) | Floor sweeping robot capable of automatically identifying garbage | |
| CN209680590U (en) | A kind of pipeline detecting refractory brick thickness, weight | |
| CN206883298U (en) | A kind of robot assisted Digit Control Machine Tool automatic loading and unloading device | |
| CN112875543A (en) | Logistics transportation shunting robot | |
| CN211191773U (en) | Mis-feeding prevention material blocking structure of stamping die | |
| CN207467082U (en) | One kind connects salt bag clamping device | |
| CN209279978U (en) | A kind of pocket rangefinder | |
| CN206216706U (en) | Robot takes piece machine device | |
| CN207649581U (en) | A kind of metal tube processing length-measuring appliance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |