CN210557868U - Workpiece dislocation gripping device - Google Patents
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- CN210557868U CN210557868U CN201921014483.5U CN201921014483U CN210557868U CN 210557868 U CN210557868 U CN 210557868U CN 201921014483 U CN201921014483 U CN 201921014483U CN 210557868 U CN210557868 U CN 210557868U
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Abstract
The utility model relates to the technical field of feeding equipment, in particular to a workpiece dislocation gripping device which is used for gripping workpieces which are staggered and superposed left and right; the workpiece detection assembly and the clamping jaw move synchronously, and a trigger signal is generated when the clamping jaw reaches the side edge of the topmost workpiece; the moving distance detection assembly is used for obtaining the moving distance of the clamping jaw in the process from the starting of the workpiece detection assembly to the generation of the trigger signal; the two groups of clamping jaws are positioned above the whole pile of workpieces, the initial positions of the clamping jaws are symmetrically arranged along the width direction of the workpieces by taking the central axis of the whole pile of workpieces as an axis, the clamping jaws move to the position right above the topmost workpiece according to the distance obtained by the moving distance detection assembly, and the clamping jaws move downwards to complete the grabbing of the workpieces. The utility model aims to provide a work piece dislocation snatchs method and device thereof adopts the utility model provides a technical scheme has solved the technical problem that the work piece can't accomplish automatic snatch operation.
Description
Technical Field
The utility model relates to a charging equipment technical field especially relates to a work piece dislocation grabbing device.
Background
Some workpieces are staggered and stacked in a staggered mode, so that the workpieces in the stacking mode need to simultaneously finish the identification and judgment of the placing direction and the central axis of the workpieces, the automatic grabbing of the workpieces is undoubtedly difficult, and the workpieces cannot be automatically grabbed.
Among them, the pallet workpiece is a base made for the convenience of the placement and shipment of scattered articles, and is generally square or rectangular. The pallet workpieces comprise single-sided shapes according to the shapes, and when a workpiece supplier delivers the single-sided workpieces, the workpieces are stacked together in the order of front and back in order to improve the conveying efficiency, so that the central axes of the workpieces are not overlapped with the central axes of the whole stack of workpieces.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a work piece dislocation grabbing device, adopt the utility model provides a technical scheme has solved the technical problem that the work piece that the dislocation stacked can't accomplish automatic grabbing operation.
In order to achieve the purpose, the utility model provides a workpiece dislocation gripping device which is used for gripping workpieces which are staggered and superposed left and right; the device comprises two groups of linked clamping jaws, a workpiece detection assembly and a moving distance detection assembly;
the workpiece detection assembly moves synchronously with the clamping jaw, and generates a trigger signal when the clamping jaw reaches the side edge of the topmost workpiece;
the moving distance detection assembly is used for obtaining the moving distance of the clamping jaw in the process from the starting of the workpiece detection assembly to the generation of the trigger signal;
and the two groups of clamping jaws are positioned above the whole stack of workpieces, the initial positions of the clamping jaws are symmetrically arranged along the width direction of the workpieces by taking the central axis of the whole stack of workpieces as an axis, and the clamping jaws move to the position right above the topmost workpiece according to the distance obtained by the moving distance detection assembly and move downwards to complete the grabbing of the workpieces.
Preferably, the workpiece detection assembly is a correlation sensor arranged on one of the clamping jaws, and the sensing light and the tail end of the clamping jaw are in a vertical plane.
Preferably, the clamping jaw device further comprises a transverse driving assembly for driving the clamping jaw to move horizontally.
Preferably, the driving part of the transverse driving assembly is a servo motor; the workpiece detection assembly is electrically connected with the servo motor to form a moving distance detection assembly.
Preferably, the clamping jaw device further comprises a vertical driving assembly for driving the clamping jaw to move up and down.
Preferably, a sensing assembly for detecting the workpiece is fixedly arranged at the center position between the two groups of clamping jaws.
Preferably, the driving part of the vertical driving assembly is a servo motor; the induction assembly is electrically connected with the servo motor to form a height detection assembly.
Preferably, the sensing assembly comprises an abutting block extending downwards and retracting upwards and a sensor sensing the retraction of the abutting block.
Preferably, the bottom surface of the abutting block is higher than the clamping position of the clamping jaw in the vertical direction, and the height difference is not less than the plate thickness of the workpiece.
Preferably, the direction detection device further comprises a direction detection assembly consisting of two groups of sensing assemblies; wherein a set of response subassembly falls into the axis position of whole pile of chopping block.
Preferably, the driving parts of the two groups of clamping jaws comprise rotating nuts driven by servo motors and bidirectional screw rods arranged on the rotating nuts; the two groups of clamping jaws are respectively arranged at two ends of the bidirectional screw rod.
From the above, use the utility model provides a technical scheme can obtain following beneficial effect: the offset direction and the offset distance of the topmost workpiece are obtained through calculation of the obtained distance parameters, the clamping jaw is controlled according to the offset direction and the offset distance, the clamping jaw is moved to the position right above the topmost workpiece, and then grabbing of the workpieces stacked in a staggered mode is completed, so that the workpieces stacked in a forward and reverse sequence can be automatically grabbed, and automatic control over feeding of the workpieces stacked in a staggered mode, especially feeding of pallet workpieces, is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic view of an overall structure of a workpiece dislocation gripping device according to an embodiment of the present invention;
fig. 2 is a schematic view of a partial structure of the workpiece dislocation gripping device according to the embodiment of the present invention.
In the figure: 100 is a clamping jaw, 200 is a workpiece detection component, 300 is a fixing plate, 400 is a sliding block, 500 is a first screw rod component, 600 is a second screw rod component, 700 is a mounting plate, 800 is a sensing component, 510 is a first rotating nut, 520 is a first screw rod, 610 is a second rotating nut, 620 is a second screw rod, 810 is an abutting block, and 820 is a sensor.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without any creative effort belong to the protection scope of the present invention.
Example 1
The workpieces comprise a single-sided type according to the appearance, and when the workpieces are stacked together in the positive and negative sequence, the central axis of the workpieces is not overlapped with the central axis of the whole stack of workpieces. The workpieces adopting the above-mentioned stacking mode cannot be automatically grabbed.
As shown in fig. 1-2, in order to solve the above problem, the present embodiment proposes a workpiece misalignment gripping device for gripping workpieces which are stacked crosswise on the left and right. For the condition that the central axis of the workpiece to be grabbed is not overlapped with the central axis of the whole stack of workpieces, the hardware at least comprises two groups of clamping jaws 100 which are symmetrically arranged along the width direction of the whole stack of workpieces by taking the central axis of the whole stack of workpieces as an axis at initial positions.
The workpiece is mostly made of a plate with two supporting legs, in this embodiment, the side where the supporting legs are located is taken as the length direction, and the width direction is perpendicular to the length direction, so that the central axis of the workpiece does not overlap with the central axis of the whole stack of workpieces, the central axis of the workpiece has two conditions of left deviation or right deviation, and for the workpieces of the same specification, the offset distance is the width of the supporting piece.
Based on the arrangement of the workpieces, the workpiece misalignment gripping device provided in this embodiment includes, in addition to the two sets of linked clamping jaws 100 required in the workpiece misalignment gripping method, a workpiece detection assembly 200 located at one of the clamping jaws 100, and a movement distance detection assembly.
Wherein the workpiece detection assembly 200 moves synchronously with the clamping jaw 100 and generates a trigger signal when the clamping jaw 100 reaches the side edge of the topmost workpiece;
the moving distance detection assembly is used for acquiring the moving distance of the clamping jaw 100 in the process from the starting of the workpiece detection assembly 200 to the generation of the trigger signal;
and the two groups of clamping jaws 100 are positioned above the whole stack of workpieces, are symmetrically arranged in the width direction of the workpieces at the initial positions by taking the central axis of the whole stack of workpieces as an axis, move to the position right above the topmost workpiece according to the movement distance obtained by the movement distance detection assembly, and move downwards to complete the grabbing of the workpieces.
Because the workpieces are staggered, the central point of the topmost workpiece needs to be judged first, and the workpiece detection assembly 200 and the moving distance detection assembly are matched to judge the central point.
In the process of judging the central point of the topmost workpiece, firstly, technical parameters of the workpiece and the clamping jaw are acquired, calculation and judgment are carried out according to the technical parameters, and finally, the clamping jaw is controlled to finish grabbing the topmost workpiece according to the judgment structure.
In the technical parameter obtaining process, the technical parameters comprise a width difference a between the topmost workpiece and the whole stack of workpieces, and the width difference a can be obtained by combining the specifications of the workpieces, for example, the workpieces are overlapped in a left-right crossing manner, the width difference a is the foot width of the workpieces, and the foot width can be obtained by the specifications of the workpieces; the width difference a can likewise be acquired by an external measuring component.
In the calculation and judgment process according to the technical parameters, the moving distance b of the clamping jaw 100 is acquired. The initial position of the clamping jaw is located right above the central axis of the whole stack of workpieces, the moving distance b is that the clamping jaw 100 moves along the width direction of the workpieces, and when the workpiece detection assembly 200 detects the side edge of the workpiece, the moving distance detection assembly obtains the moving distance of the clamping jaw.
It should be noted that, when the workpiece detection assembly 200 detects the side edge of the topmost workpiece, the workpiece detection assembly 200 does not detect the side edge of the workpiece, but detects the side edge of the workpiece when the clamping jaw 100 reaches the side edge of the workpiece, and for the accuracy of obtaining the moving distance b, the workpiece detection assembly 200 generates the sensing signal which needs to be synchronized with the time when the clamping jaw 100 reaches the side edge of the workpiece, and therefore, the workpiece detection assembly 200 needs to be on a vertical plane with the clamping jaw.
In this embodiment, the workpiece detecting assembly 200 may be a correlation sensor disposed on one of the clamping jaws 100, and the sensing light is in a vertical plane with the end of the clamping jaw 100.
Before the clamping jaw 100 is moved, in order to avoid collision between the clamping jaw 100 and a workpiece during moving, a safety distance c between the clamping jaw 100 and the whole stack of workpieces needs to be preset, and the safety distance c is not less than 0.
According to the above safety distance c, the distance h between the two sets of clamping jaws is adjusted, in order to realize the grabbing of the workpiece by the clamping jaws, the distance h should be at least larger than the width of the workpiece, in the determination process of the central point below this embodiment, the influence of the clamping jaws on the determination process needs to be avoided, and therefore, the distance h between the two sets of clamping jaws should be ensured to be larger than the width g of the whole stack of workpieces.
Therefore, before moving the clamping jaws 100, not only the width g of the whole stack of workpieces needs to be obtained, but also the distance h between the clamping jaws can be obtained according to the width g of the whole stack of workpieces and the preset safe distance c, wherein the following formula is satisfied among the three: h ═ g +2c, c greater than or equal to 0; the width of the jaw 100 is also adjusted according to the distance h. The width g can be obtained by the specification parameters of the workpiece, and can also be obtained by an external detection assembly.
In this embodiment, the second screw assembly 600 is used as a clamping jaw driving assembly for adjusting the width between the two sets of clamping jaws 100. Specifically, the second lead screw assembly 600 includes a second rotating nut 610 fixed on the mounting plate 700, and a second lead screw 620 connected to the second rotating nut 610, wherein the second lead screw 620 is a bidirectional lead screw, and the two sets of clamping jaws 100 are respectively disposed at two ends of the bidirectional lead screw. Wherein the second swivel nut 610 may be driven by a servo motor, enabling precise control of the distance between the clamping jaws 100.
After the adjustment is completed, the clamping jaw 100 is moved, and when the workpiece detection assembly 200 detects the side edge of the topmost workpiece, the moving distance detection assembly acquires the moving distance b of the clamping jaw 100.
In the present embodiment, the first lead screw assembly 500 and the slider 400 are used to perform the horizontal movement of the chuck 100. Specifically, the slide block 400 can be horizontally and slidably disposed above the whole stack of workpieces, the first lead screw assembly 500 includes a first rotating nut 510 fixed on the slide block 400, and a first lead screw 520 connected to the first rotating nut 510, the first lead screw assembly 500 constitutes a vertical driving assembly for driving the clamping jaw 100 to move up and down, and the mounting plate 700 in the clamping jaw driving assembly is fixed at the bottom end of the first lead screw 520. For this purpose, the first spindle 520 and the slide 400 form a lateral drive assembly for the gripper 100.
In the process of acquiring the moving distance b of the holding jaw 100, it is also possible to acquire it by an externally provided moving distance detecting assembly. Specifically, a distance sensor may be used, or a correlation sensor may be used in combination with the moving distance of the clamping jaw 100, as long as the distance e between the clamping jaw 100 and the topmost workpiece is measured. In this embodiment, the slider 400 is driven to slide by a servo motor, and for this purpose, the moving distance detecting unit may be composed of the slider 400 and the servo motor.
And after the moving distance b and the width difference a are obtained, the offset direction of the topmost workpiece can be obtained through comparison.
In this embodiment, the workpiece is deviated to the left or right, and the deviation distance is the width of the supporting member for the workpiece of the same specification.
For this reason, the present embodiment achieves the determination of the workpiece shift direction by comparing the magnitude relationship between the movement distance b and the width difference a.
The specific determination process of the offset direction is as follows:
if b is larger than a, judging that the central point of the topmost workpiece deviates the moving direction of the clamping jaw 100;
if b is less than a, the central point of the topmost workpiece is determined to be deviated to the opposite direction of the movement of the clamping jaw 100.
For example:
setting the width difference a as 100mm of the foot width of the workpiece, and setting the moving direction of the clamping jaw 100 to the right, wherein the workpiece detection assembly 200 needs to be arranged on the clamping jaw 100 on the left side, and when the workpiece detection assembly 200 generates a sensing signal, the clamping jaw 100 on the left side reaches the left side position of the topmost workpiece, and the moving distance b of the clamping jaw is obtained.
If b is larger than 100mm, judging that the topmost workpiece is deviated to the clamping jaw 100 on the right side, and the deviation distance is 100/2-50 mm;
if b is less than 100mm, the topmost workpiece is judged to be biased towards the left clamping jaw 100, and the offset distance is 100/2-50 mm.
It should be noted that, in the above calculation equation, since the workpieces are not regularly arranged in the real stacking process, and therefore the side edge of the topmost workpiece is not exactly located at the upper left corner or the upper right corner of the whole stack of workpieces, an error correction value of 10mm, i.e. a comparison process between b and a, may be added in this embodiment, and a correction value of 10mm may be added, and of course, the above 10mm needs to be in the range of d/2.
And (5) after the deviation direction is calculated, adjusting the position of the clamping jaw 100 to be right above the topmost workpiece, and finishing the grabbing action.
Since the deviation direction of the topmost workpiece is determined to be left or right, the adjustment distance of the clamping jaw 100 is changed according to the determination result, and the servo motor drives the sliding block 400 to drive the clamping jaw 100 to be adjusted to be right above the topmost workpiece.
If the topmost workpiece is judged to be deviated to the moving direction of the clamping jaw 100, adjusting the distance e of the clamping jaw 100 in the opposite direction to be the safe distance c + the width difference a/2; if the topmost workpiece is deviated to the opposite moving direction of the clamping jaw 100, the clamping jaw 100 is adjusted to the opposite direction by the distance e which is equal to the moving distance d + the width difference a/2.
In the above example, if it is determined that the topmost workpiece is biased toward the right-hand gripper 100, the gripper 100 needs to be adjusted to the left, and the adjustment distance e is c + a/2 is c + 50; if it is determined that the topmost workpiece is biased toward the left gripper 100, the gripper 100 is likewise adjusted to the left, with the difference that the adjustment distance e is d + a/2 is d + 50.
After the position of the clamping jaw 100 in the horizontal direction is adjusted, the clamping jaw 100 is located right above the topmost workpiece, and in order to achieve grabbing of the topmost workpiece, the clamping jaw 100 needs to be lowered to a height corresponding to the topmost workpiece, therefore, before the position of the clamping jaw 100 is adjusted, the height f of the topmost workpiece needs to be obtained, and after the clamping jaw 100 moves right above the topmost workpiece, the topmost workpiece is lowered to a corresponding height according to the height f, and grabbing of the topmost workpiece is completed.
In this embodiment, the first screw assembly 500 is used as a vertical driving assembly for driving the clamping jaw 100 to move up and down. Specifically, the clamping jaw comprises a fixing plate 300 fixedly suspended above the whole stack of workpieces, a slide block 400 of the transverse driving assembly is arranged on the fixing plate 300 in a sliding mode along the width direction of the workpieces through a sliding rail, and the first screw rod assembly 500 forms a vertical driving assembly of the clamping jaw 100.
Example 2
The embodiment provides a workpiece dislocation gripping device which is used for gripping workpieces which are crossed and overlapped left and right.
Also included are two sets of linked jaws 100, a workpiece detection assembly 200 at one of the jaws 100, and a travel distance detection assembly.
The workpiece detection assembly 200 moves synchronously with the clamping jaw 100 and generates a trigger signal when the clamping jaw 100 reaches the side edge of the topmost workpiece; the moving distance detection assembly is used for acquiring the moving distance of the clamping jaw 100 in the process from the starting of the workpiece detection assembly 200 to the generation of the trigger signal; and the two groups of clamping jaws 100 are positioned above the whole stack of workpieces, are symmetrically arranged in the width direction of the workpieces at the initial positions by taking the central axis of the whole stack of workpieces as an axis, move to the position right above the topmost workpiece according to the movement distance obtained by the movement distance detection assembly, and move downwards to complete the grabbing of the workpieces.
In order to complete the gripping of the topmost workpiece, the clamping jaw 100 needs to be moved down to the height corresponding to the topmost workpiece during the gripping process, and for this reason, the height of the topmost workpiece needs to be obtained first, and the height can be obtained according to the specification of the workpiece, which is not described in detail herein. The height of the topmost workpiece is obtained through the height detection assembly.
The height detection of the topmost workpiece is completed by detecting the downward movement height of the clamping jaw 100 in the embodiment, and the height detection is composed of a sensing assembly 800 and a servo motor for driving the first rotating nut 510.
Wherein the sensing assembly 800 includes an abutting block 810 extending downward and retractable upward and a sensor 820 sensing the retraction of the abutting block 810. The sensor 820 is fixed to the top surface of the mounting plate 700 and the abutment block 810 extends through the mounting plate 700 to the bottom surface of the mounting plate 700.
When the servo motor of the first rotating nut 510 drives the first lead screw 520 to move downwards, the abutting block 810 on the mounting plate 700 is driven to move downwards, when the abutting block 810 abuts against the top surface of the topmost workpiece, the first lead screw 520 continues to move downwards, so that the abutting block 810 is jacked upwards, when the abutting block 810 is jacked to the top end to trigger the sensor 820, the sensor 820 generates a signal or generates signal interruption, the sensing assembly 800 is judged to reach the topmost workpiece, the descending height of the sensing assembly 800 can be calculated according to the operation of the servo motor, and the initial position of the sensing assembly 800 is combined, so that the height of the whole stack of workpieces is finally obtained.
In the embodiment, the sensing assembly 800 moves downwards to contact with the topmost workpiece to obtain the height of the topmost workpiece, and the slider 400 is driven to complete the detection of the moving distance of the clamping jaw 100, in order to prevent the clamping jaw 100 from colliding with the workpiece in the moving process, in the embodiment, after the height of the topmost workpiece is obtained, the first screw 520 of the vertical driving assembly drives the mounting plate 700 to move upwards, so that the abutting block 810 is separated from the topmost workpiece, specifically, the distance can be moved upwards by 10mm, and the slider 400 drives the two groups of clamping jaws 100 to move to the right until the workpiece detection assembly 200 senses the side edge of the workpiece.
After the height of the topmost workpiece is obtained, when the topmost workpiece is grabbed, the descending height of the clamping jaw 100 can be adjusted according to the obtained height, and grabbing of the topmost workpiece is completed.
Example 3
The embodiment provides a workpiece dislocation gripping device which is used for gripping workpieces which are crossed and overlapped left and right.
Also included are two sets of linked jaws 100, a workpiece detection assembly 200 at one of the jaws 100, and a travel distance detection assembly.
The workpiece detection assembly 200 moves synchronously with the clamping jaw 100 and generates a trigger signal when the clamping jaw 100 reaches the side edge of the topmost workpiece; the moving distance detection assembly is used for acquiring the moving distance of the clamping jaw 100 in the process from the starting of the workpiece detection assembly 200 to the generation of the trigger signal; and the two groups of clamping jaws 100 are positioned above the whole stack of workpieces, are symmetrically arranged in the width direction of the workpieces at the initial positions by taking the central axis of the whole stack of workpieces as an axis, move to the position right above the topmost workpiece according to the movement distance obtained by the movement distance detection assembly, and move downwards to complete the grabbing of the workpieces.
In the front-back stacked workpieces, there are not only the workpieces with the front side facing upward but also the workpieces with the back side facing upward, and there is a difference in the subsequent processes for the workpieces with the front side facing upward. The workpiece with the front surface facing upwards can be directly grabbed and placed on the conveying assembly; and the workpiece with the reverse side facing upwards needs to be picked, turned over and placed on the conveying assembly. For this reason, before the gripping jaw 100 finishes the gripping of the topmost workpiece, the front and back detection steps of the workpiece are also finished.
In the workpiece structure, the front surface is a flat surface, and in the back surface, in order to ensure the bearing capacity, reinforcing ribs are fixed on the central axis position of the back surface. Aiming at the structure, the front and back detection step can achieve the effect of detecting the front and back by detecting the top surface flatness of the topmost workpiece.
In the present embodiment, two sets of sensing elements 800 fixed on the mounting plate 700 are used to detect the placement direction of the topmost workpiece. One group of sensing assemblies 800 is positioned on the central axis of the whole stack of workpieces and serves as a workpiece height detection assembly and a part of a workpiece front and back detection assembly; another set of sensing elements 800 is located outside the central axis of the stack of workpieces.
The two sets of sensing elements 800 move downward simultaneously against the top surface of the topmost workpiece; the two groups of sensing assemblies 800 sense the workpieces, which indicates that a flat end face is detected, and the front side of the topmost workpiece is determined to be upward; one set of sensing elements 800 does not sense a workpiece, indicating that a reinforcing rib is detected on the reverse side of the workpiece, and then determining that the reverse side of the topmost workpiece faces upward.
To sum up, the embodiment of the utility model provides a technical scheme obtains the skew direction and the skew distance of topmost layer work piece through the distance parameter that the calculation obtained, again according to skew direction and skew distance control clamping jaw, moves the clamping jaw to the topmost layer work piece directly over, and then accomplishes snatching of work piece for the work piece of positive and negative order superpose can realize automatic snatching, realizes the automated control of work piece material loading.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (11)
1. A workpiece dislocation gripping device is used for gripping workpieces which are staggered and superposed left and right; the method is characterized in that: comprises two groups of linked clamping jaws (100), a workpiece detection component (200) and a moving distance detection component;
the workpiece detection assembly (200) moves synchronously with the clamping jaw (100) and generates a trigger signal when the clamping jaw (100) reaches the side edge of the topmost workpiece;
the moving distance detection assembly is used for obtaining the moving distance of the clamping jaw (100) in the process from the starting of the workpiece detection assembly to the generation of the trigger signal;
and the two groups of clamping jaws (100) are positioned above the whole stack of workpieces, the initial positions of the clamping jaws are symmetrically arranged along the width direction of the workpieces by taking the central axis of the whole stack of workpieces as an axis, and the clamping jaws move to the position right above the topmost workpiece according to the distance obtained by the moving distance detection assembly and move downwards to complete the grabbing of the workpieces.
2. The workpiece dislocation gripping device according to claim 1, wherein: the workpiece detection assembly (200) is a correlation sensor arranged on one clamping jaw, and sensing light rays are vertical to the tail end of the clamping jaw (100).
3. The workpiece dislocation gripping device according to claim 1, wherein: the horizontal driving assembly is used for driving the clamping jaw (100) to move horizontally.
4. The workpiece dislocation gripping device according to claim 3, wherein: the driving part of the transverse driving assembly is a servo motor; the workpiece detection assembly (200) is electrically connected with the servo motor to form a moving distance detection assembly.
5. The workpiece dislocation gripping device according to claim 1, wherein: the vertical driving assembly is used for driving the clamping jaw (100) to move up and down.
6. The workpiece dislocation gripping device according to claim 5, wherein: and a sensing assembly (800) for detecting a workpiece is fixedly arranged at the central position between the two groups of clamping jaws (100).
7. The workpiece dislocation gripping device according to claim 6, wherein: the driving part of the vertical driving assembly is a servo motor; the induction component (800) is electrically connected with the servo motor to form a height detection component.
8. The workpiece dislocation gripping device according to claim 6 or 7, wherein: the sensing assembly (800) comprises an abutting block (810) extending downwards and capable of retracting upwards and a sensor (820) sensing the retraction of the abutting block (810).
9. The workpiece dislocation gripping device according to claim 8, wherein: the bottom surface of the abutting block (810) is higher than the clamping position of the clamping jaw (100) in the vertical direction, and the height difference is not less than the plate thickness of the workpiece.
10. The workpiece dislocation gripping device according to claim 6, wherein: the direction detection assembly is composed of two groups of sensing assemblies (800); one group of the induction components (800) falls into the central axis position of the whole stack of cutting boards.
11. The workpiece dislocation gripping device according to claim 1, wherein: the driving parts of the two groups of clamping jaws (100) comprise rotating nuts driven by servo motors and bidirectional screw rods arranged on the rotating nuts; the two groups of clamping jaws are respectively arranged at two ends of the bidirectional screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921014483.5U CN210557868U (en) | 2019-06-28 | 2019-06-28 | Workpiece dislocation gripping device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921014483.5U CN210557868U (en) | 2019-06-28 | 2019-06-28 | Workpiece dislocation gripping device |
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| CN210557868U true CN210557868U (en) | 2020-05-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255167A (en) * | 2019-06-28 | 2019-09-20 | 广东利元亨智能装备股份有限公司 | A kind of workpiece dislocation grabbing device |
| CN114620488A (en) * | 2022-03-24 | 2022-06-14 | 业泓科技(成都)有限公司 | Chip taking jig of electronic component module and operation method thereof |
-
2019
- 2019-06-28 CN CN201921014483.5U patent/CN210557868U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255167A (en) * | 2019-06-28 | 2019-09-20 | 广东利元亨智能装备股份有限公司 | A kind of workpiece dislocation grabbing device |
| CN110255167B (en) * | 2019-06-28 | 2024-06-21 | 广东利元亨智能装备股份有限公司 | Workpiece dislocation grabbing device |
| CN114620488A (en) * | 2022-03-24 | 2022-06-14 | 业泓科技(成都)有限公司 | Chip taking jig of electronic component module and operation method thereof |
| CN114620488B (en) * | 2022-03-24 | 2023-06-02 | 业泓科技(成都)有限公司 | Piece taking jig of electronic component module and operation method thereof |
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