CN207226510U - A kind of negative pressure de-stacking fixture - Google Patents
A kind of negative pressure de-stacking fixture Download PDFInfo
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- CN207226510U CN207226510U CN201720954588.3U CN201720954588U CN207226510U CN 207226510 U CN207226510 U CN 207226510U CN 201720954588 U CN201720954588 U CN 201720954588U CN 207226510 U CN207226510 U CN 207226510U
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- 229960001685 tacrine Drugs 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Abstract
It the utility model is related to a kind of negative pressure de-stacking fixture,Including de-stacking device and vision supporting rack,Vision installing plate and camera,De-stacking device is rotatablely connected with connector one,Cylinder one is connected with the output shaft of cylinder two,Cylinder two is connected with base rotation,De-stacking device includes fixed frame,Symmetrical two pieces of positioning plates are equipped with fixed frame,Vertically the first cylinder is equipped with each positioning plate,Lifter plate is fixed with the output shaft of two the first cylinders,Swing arm is hinged with the symmetrical both sides of lifter plate,The vacuum cup being connected with vacuum pump is equipped with relative to the top of handgrip fixture clamping opening in fixed frame,Detection of negative pressure device is equipped with vacuum pump,Position sensor is all provided with vacuum cup both sides,Two horizontally disposed second cylinders are arranged with lifter plate,The direction of motion of two the second cylinders is opposite,And the openings of sizes between the swing arm of both sides is adjusted during two the second cylinder operations,The structure improves work efficiency.
Description
Technical field
A kind of solid material Unpacking technical field is the utility model is related to, particularly a kind of negative pressure de-stacking fixture.
Background technology
At present, it is by artificial de-stacking that de-stacking of the in the market to solids package material, which is unpacked, automatically or semi-automatically unpacks, unloads
What material was completed.Since operating personnel are more, labor intensity is big under this situation, it is completely unsuitable for being unfavorable for people for poisonous, harmful
Under the environment of body health and the environment high to material purity requirements.
Such as often there are some materials that there is microtoxicity or corrosivity in petrochemical industry industry, and in food and pharmacy row
It is then very high to the purity requirements of material in industry, therefore, in this case, it is desirable to staff and material should be reduced to the greatest extent
Touch opportunity.
Current automation de-stacking machine equipment major function is that cargo is dismantled from whole pile to form linear distribution, this sets
Standby transport system uses the frequency changing regulating speed control apparatus of efficient frequency conversion, while is controlled using PLC, and mechanical performance is more smart
Really stablize.But wherein Design of Mechanical Structure is more complicated, while it is also by manually checking orientation, causing accurate in dismounting
Degree is not high, influences final de-stacking effect, and full automatic function is not implemented, it is therefore desirable to improve.
Utility model content
The purpose of this utility model is to provide a kind of negative pressure de-stacking fixture to solve above-mentioned the deficiencies in the prior art, its
It is acquired by visual apparatus, is then positioned, solid really full-automatic de-stacking, and complete machine structure is simple, operation side
Just.
To achieve these goals, a kind of negative pressure de-stacking fixture designed by the utility model, including apparatus main body, de-stacking
Device and the fixture vision positioning device being communicatively coupled with de-stacking device, described device main body include connector one, cylinder one, gas
Cylinder two and base, the de-stacking device are rotatablely connected with connector one, and the connector one is connected with the output shaft of cylinder one, institute
The output shaft that cylinder one is stated with cylinder two is connected, and the cylinder two is connected with base rotation, the fixture vision positioning device bag
Vision supporting rack, vision installing plate and camera are included, the vision installing plate is fixed on one end of vision supporting rack, and the camera is consolidated
It is scheduled in vision installing plate, the de-stacking device includes fixed frame, symmetrical two pieces of positioning plates is equipped with fixed frame, at each
First cylinder vertically is equipped with positioning plate, the lifting of a vertical movement is fixed with the output shaft of two the first cylinders
Plate, swing arm is hinged with the symmetrical both sides of lifter plate, and the swing arm of both sides forms a handgrip fixture, is divided into swing arm
There is finger, the vacuum cup being connected with vacuum pump is equipped with relative to the top of handgrip fixture clamping opening in fixed frame, in vacuum pump
Detection of negative pressure device is equipped with, a position sensor is equipped with vacuum cup both sides, two water are arranged with lifter plate
Flat the second cylinder set, the direction of motion of two the second cylinders is on the contrary, and by the swing of both sides during two the second cylinder operations
Openings of sizes between arm is adjusted, and square side is hinged on lifter plate by shaft on a swing arm, the swing arm
The opposite side of top is hinged on Y-shaped connector by the rotor plate of " C " type structure, and Y-shaped connector one end is fixed on the second cylinder
Output shaft on.
Preferably, it is fixed for convenience, connecting seat is equipped with the output shaft of the first cylinder, the lifter plate is fixed on
On connecting seat.
Preferably, being oriented to for convenience, the guide rod of front, rear, left and right four is arranged with fixed frame, and it is described
Two guide rods are run through in the symmetrical both sides of lifter plate.
In order to improve detection pixel, the camera is Cognex cameras.
Further, user of service can program robot body, control robot body right arm swaying direction and away from
From.
A kind of negative pressure de-stacking fixture that the utility model obtains, is acquired by visual apparatus, is then positioned, real
The heart really full-automatic de-stacking, and complete machine structure is simple, it is easy to operate, and can realize that 4 direction of principal axis work.
Brief description of the drawings
Fig. 1 is the stereogram of de-stacking device in the present embodiment；
Fig. 2 is the partial enlarged view of part A in Fig. 1；
Fig. 3 is the front view of de-stacking device in the present embodiment；
Fig. 4 is the side view of de-stacking device in the present embodiment；
Fig. 5 is the structure diagram of the fixture vision positioning device in the present embodiment.
Fig. 6 is the structure diagram of the apparatus main body in the present embodiment.
In figure：1. de-stacking device；2. fixture vision positioning device；3-1. vision supporting racks；3-2. vision installing plates；3-3. phase
Machine；4. fixed frame；5. positioning plate；6. the first cylinder；7. lifter plate；8. swing arm；9. handgrip fixture；10. finger；11. vacuum
Pump；12. vacuum cup；13. detection of negative pressure device；14. position sensor；15. the second cylinder；16. rotor plate；17.Y connectors；18.
Connecting seat；19. guide rod；20. shaft；21. linking arm；22. mechanical arm body；23. mounting seat.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
Embodiment：
As shown in figs 1 to 6, a kind of negative pressure de-stacking fixture provided in this embodiment, including apparatus main body, de-stacking device 1 and
The fixture vision positioning device 2 being communicatively coupled with de-stacking device 1, apparatus main body include connector 1, cylinder 1, cylinder two
23 and base 24, de-stacking device 1 is rotatablely connected with connector 1, and connector 1 is connected with the output shaft of cylinder 1, gas
Cylinder 1 is connected with the output shaft of cylinder 2 23, and cylinder 2 23 is rotatablely connected with base 24, and fixture vision positioning device 2 includes regarding
Feel that supporting rack 3-1, vision installing plate 3-2 and camera 3-3, vision installing plate 3-2 are fixed on one end of vision supporting rack 3-1, phase
Machine 3-3 is fixed in vision installing plate 3-2, and de-stacking device 1 includes fixed frame 4, and symmetrical two pieces of positioning plates are equipped with fixed frame 4
5, first cylinder 6 vertically is equipped with each positioning plate 5, one is fixed with the output shaft of two the first cylinders 6
The lifter plate 7 of vertical movement, swing arm 8 is hinged with 7 symmetrical both sides of lifter plate, and the swing arm 8 of both sides forms one and grabs
Hand fixture 9, finger 10 is had in swing arm 8, is equipped with relative to the top of 9 clamping opening of handgrip fixture in the fixed frame 4 and vacuum
The vacuum cup 12 of the connection of pump 11, detection of negative pressure device 13 is equipped with vacuum pump 11, one is equipped with 12 both sides of vacuum cup
Position sensor 14, is arranged with two horizontally disposed second cylinders 15, the movement of two the second cylinders 15 on lifter plate 7
Direction on the contrary, and when two the second cylinders 15 work the openings of sizes between the swing arm 8 of both sides is adjusted, in swing arm
The side of 8 tops is hinged on lifter plate 7 by shaft 20, and the opposite side above swing arm 8 passes through turn of " C " type structure
Movable plate 16 is hinged on Y-shaped connector 17, and 17 one end of Y-shaped connector is fixed on the output shaft of the second cylinder 15.
Preferably, it is fixed for convenience, connecting seat 18 is equipped with the output shaft of the first cylinder 6, lifter plate 7 is fixed on
On connecting seat 18.
Preferably, being oriented to for convenience, the guide rod 19 of front, rear, left and right four is arranged with fixed frame 4, and rise
Two guide rods 19 are run through in 7 symmetrical both sides of drop plate.
In order to improve detection pixel, camera 3-3 is Cognex cameras.
Operation principle：
After system starts, de-stacking device 1, which is moved to initialization, takes pictures activation camera 3-3 camera functions in Y0 contacts is triggered behind position,
Triggering mode is IO hardwires, is communicatively coupled carry out digital independent by ICP/IP protocol and camera 3-3 after triggering, works as phase
Machine 3-3 carries out photographic analysis after receiving trigger signal, takes out the XY coordinates of product space, while calculates the angle of C direction of principal axis
Degree, by three numbers, individual data chain form is sent to manipulator according to this, each coordinate is won by separation of comma, phase
Machine 3-3 is by all coordinate datas collected with from left to right, order from top to bottom carries out location label, and de-stacking device 1 obtains
Ranking after the data that camera 3-3 is sended over sequentially is moved to corresponding coordinate position, when handgrip fixture 9 moves
Start 14 signal execution Z axis of calling station sensor after to position coordinates and move down action, two position sensors 14 detect
Stopping Z axis after sucker is contacted with material is moved to handgrip and moves down action, while opens the negative pressure of vacuum on vacuum pump 11
Valve, starts to enable 13 signal of detection of negative pressure device, starts to perform after negative pressure value reaches the 40KPa of setting after opening negative pressure of vacuum valve
Z axis moves up action, starts to perform mobile discharge position instruction while trigger fixture after Z axis moves up 350MM promptly to act, fixture
The triggering fixture release of de-stacking device 1 acts the negative pressure of vacuum valve simultaneously closed off on vacuum pump 11 after being moved to discharge position, then holds
Row is next to take bag to act.
Claims (5)
1. a kind of negative pressure de-stacking fixture, including apparatus main body, de-stacking device (1) and the folder being communicatively coupled with de-stacking device (1)
Has vision positioning device (2), it is characterised in that described device main body includes connector one (21), cylinder one (22), cylinder two (23)
With base (24), the de-stacking device (1) is rotatablely connected with connector one (21), the connector one (21) and cylinder one (22)
Output shaft is connected, and the cylinder one (22) is connected with the output shaft of cylinder two (23), the cylinder two (23) and base
(24) it is rotatablely connected, the fixture vision positioning device (2) includes vision supporting rack (3-1), vision installing plate (3-2) and camera
(3-3), the vision installing plate (3-2) are fixed on one end of vision supporting rack (3-1), and the camera (3-3) is fixed on vision
In installing plate (3-2), the de-stacking device (1) includes fixed frame (4), and symmetrical two pieces of positioning plates are equipped with fixed frame (4)
(5), first cylinder (6) vertically is equipped with each positioning plate (5), it is solid on the output shaft of two the first cylinders (6)
Surely there is the lifter plate (7) of a vertical movement, swing arm (8), and the swing of both sides are hinged with the symmetrical both sides of lifter plate (7)
Arm (8) forms a handgrip fixture (9), and finger (10) is had in swing arm (8), is pressed from both sides in fixed frame (4) relative to handgrip
The top of tool (9) clamping opening is equipped with the vacuum cup (12) being connected with vacuum pump (11), and detection of negative pressure is equipped with vacuum pump (11)
Device (13), is equipped with a position sensor (14) in vacuum cup (12) both sides, two water is arranged with lifter plate (7)
Flat the second cylinder (15) set, the direction of motion of two the second cylinders (15) is on the contrary, and during two the second cylinders (15) work
Openings of sizes between the swing arm (8) of both sides is adjusted, the side above swing arm (8) is hinged by shaft (20)
On lifter plate (7), the opposite side above the swing arm (8) is hinged on Y by the rotor plate (16) of " C " type structure and connects
On head (17), and Y-shaped connector (17) one end is fixed on the output shaft of the second cylinder (15).
2. a kind of negative pressure de-stacking fixture according to claim 1, it is characterised in that on the output shaft of the first cylinder (6)
Equipped with connecting seat (18), the lifter plate (7) is fixed on connecting seat (18).
3. a kind of negative pressure de-stacking fixture according to claim 1 or 2, it is characterised in that be arranged with fixed frame (4)
The guide rod (19) of front, rear, left and right four, and two guide rods (19) are run through in the symmetrical both sides of the lifter plate (7).
4. a kind of negative pressure de-stacking fixture according to claim 1 or 2, it is characterised in that the camera (3-3) is Cognex
Camera.
5. a kind of negative pressure de-stacking fixture according to claim 3, it is characterised in that the camera (3-3) is Cognex phases
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720954588.3U CN207226510U (en) | 2017-08-02 | 2017-08-02 | A kind of negative pressure de-stacking fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720954588.3U CN207226510U (en) | 2017-08-02 | 2017-08-02 | A kind of negative pressure de-stacking fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207226510U true CN207226510U (en) | 2018-04-13 |
Family
ID=61855277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720954588.3U Withdrawn - After Issue CN207226510U (en) | 2017-08-02 | 2017-08-02 | A kind of negative pressure de-stacking fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207226510U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384051A (en) * | 2017-08-02 | 2019-02-26 | 广州德莱克自动化设备股份有限公司 | A kind of full-automatic de-stacking system of view-based access control model system and control method |
-
2017
- 2017-08-02 CN CN201720954588.3U patent/CN207226510U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384051A (en) * | 2017-08-02 | 2019-02-26 | 广州德莱克自动化设备股份有限公司 | A kind of full-automatic de-stacking system of view-based access control model system and control method |
| CN109384051B (en) * | 2017-08-02 | 2023-12-19 | 广州德莱克自动化设备股份有限公司 | Full-automatic unstacking system based on vision system and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180413 Effective date of abandoning: 20231219 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180413 Effective date of abandoning: 20231219 |