CN112623395B - Automatic tracking feeding system and method thereof - Google Patents
Automatic tracking feeding system and method thereof Download PDFInfo
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- CN112623395B CN112623395B CN202011637027.3A CN202011637027A CN112623395B CN 112623395 B CN112623395 B CN 112623395B CN 202011637027 A CN202011637027 A CN 202011637027A CN 112623395 B CN112623395 B CN 112623395B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses an automatic tracking feeding system which comprises a feeding loading unit for enabling a material to enter a material taking point, a material clamping mechanism which is used for clamping the material at the material taking point, horizontally moving and is arranged at one side of a material conveying belt, wherein the material clamping mechanism comprises a front clamping tooth and a rear clamping tooth which can move back and forth along a conveying direction and move up and down, a first detection module and a second detection module are arranged on the front clamping tooth along the conveying direction of the material and are used for detecting the conveying position of the material on the material conveying belt.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to an automatic tracking feeding system and an automatic tracking feeding method.
Background
The HW400 cartoning machine commonly used at present is a high-speed cartoning machine, and for this high-speed equipment, the feeding is a great difficulty, especially like book-type specifications, and the feeding needs to be vertical, the feeding is horizontally carried into a bubble cap, and the thickness of the feeding is 5mm, so that the length of a conveying belt is limited to the thickness, and no more specifications can be loaded. In order to solve the problem, a common solution is to change a feeding mode and a container for containing the instruction manual, for example, a packaged strip instruction manual is adopted, the feeding speed is unstable and is difficult to follow high-speed feeding, errors are easy to occur, the efficiency is affected, the instruction manual thickness can cause extrusion force to deform the instruction manual during feeding, and finally the instruction manual is blocked during discharging.
Disclosure of Invention
First, the technical problem to be solved
Based on the problems, the invention provides an automatic tracking feeding system and a method thereof, which solve the feeding problem of instructions on a boxing machine, and particularly can follow high-speed feeding, the feeding speed is stable, and the feeding efficiency is improved.
(II) technical scheme
Based on the technical problems, the invention provides an automatic tracking feeding system, which comprises a feeding loading unit for enabling a material to enter a material taking point, and a material clamping mechanism which is used for clamping the material at the material taking point, horizontally moves and is arranged on one side of a material conveying belt, wherein the material clamping mechanism comprises front clamping teeth and rear clamping teeth which can move back and forth along a conveying direction and move up and down, and the front clamping teeth are provided with a first detection module and a second detection module along the conveying direction of the material and are used for detecting the conveying position of the material on the material conveying belt.
Further, the first detection module and the second detection module are adjustable in distance in the conveying direction.
Further, the system also comprises a crosspiece module on the material conveyor belt for exerting thrust behind the material for fixing.
Further, the system also comprises an in-place detection module for detecting whether the material reaches a material taking point, and the feeding loading unit comprises a feeding material detection module for detecting whether the material to be loaded exists in the feeding loading area and a feeding driving module for pushing the material to be loaded to the material taking point.
Further, the system also comprises a driving module and a control unit for controlling the driving module, wherein the driving module comprises a driving module I for driving the clamping mechanism to horizontally move, a driving module II for driving the front clamping teeth and the rear clamping teeth to move back and forth along the conveying direction and lift, a driving module III for controlling the crosspiece module to push and return, and the control unit is electrically connected with the first detection module, the second detection module, the in-place detection module, the feeding material detection module, the driving module and the feeding driving module respectively.
The driving module I comprises a servo driver and a servo motor, the driving module II comprises a front clamping cylinder for controlling the front clamping teeth to move forwards or backwards along the conveying direction, a front lifting cylinder for ascending or descending, a rear clamping cylinder for controlling the rear clamping teeth to move forwards or backwards along the conveying direction, and a rear lifting cylinder for ascending or descending, and the driving module III comprises a crosspiece cylinder for applying thrust to the crosspiece module and a long pushing cylinder for enabling the crosspiece module to return to the rear clamping teeth again.
The invention also discloses an automatic tracking feeding method for automatically tracking the operation of the feeding system, which comprises the following steps:
S1, in an initial state, a zero coordinate point and a maximum travel position of the clamping mechanism are calibrated, and the control unit calculates the following speed and the following range of the clamping mechanism according to the zero coordinate point and the maximum travel position;
s2, starting feeding, namely after the feeding and discharging device is started, when the feeding material detection module detects the material to be loaded in the feeding loading area, enabling the material to reach a material taking point by the feeding driving module, and when the in-place detection module detects that the material is in place at the material taking point, giving a material clamping preparation signal by the control unit, giving a material feeding position by calculating, and giving a following feeding instruction;
s3, automatically tracking, namely clamping the material by the material clamping mechanism according to the position of the material, lifting and maintaining a clamping state, so that the material horizontally moves above the conveyor belt along the material conveying direction, and searching the current conveying position of the material by the first detection module and the second detection module;
S4, feeding is carried out in a following mode, wherein the second detection module reads the real-time conveying position of the operation material in real time to judge whether the material clamping mechanism reaches the following range or not, if not, the material clamping mechanism continues to follow, if so, the material clamping mechanism completely drops the material, the material clamping mechanism returns to the material taking point, and the step S2 is returned.
Further, the step S3 further includes the following steps:
S3.1, fast tracking, namely, the material clamping mechanism clamps the material and initially moves horizontally along the material conveying direction at the speed I, and a first detection module searches for the real-time conveying position of the material;
and S3.2, tracking at a low speed, namely reducing the speed of the material clamping mechanism when the first detection module detects the material for the first time, horizontally moving along the material conveying direction at a second speed, and searching the real-time conveying position of the material by the second detection module.
Further, the step S3 further includes the following steps:
and S3.3, calibrating and tracking, namely after the second detection module detects the real-time conveying position of the material, determining the speed required by tracking the clamping mechanism through calculation, and calibrating the displacement tracked by the clamping mechanism through a preset material thickness parameter.
Further, in step S6, in the process that the clamping mechanism does not reach the followable range, the front clamping teeth are put down, the crosspiece module gives a stable thrust to the rear of the material, and when the clamping mechanism reaches the followable range, the rear clamping teeth of the clamping mechanism are put down.
(III) beneficial effects
The technical scheme of the invention has the following advantages:
(1) According to the invention, the clamping mechanism is used for clamping the material to track the material being conveyed, so that full-automatic tracking feeding is realized, feeding can be realized no matter the material moves along with the conveyor belt at a low speed or a high speed, stable feeding is kept, the speed is uniform, and the feeding efficiency is improved;
(2) According to the invention, materials on the conveyor belt are searched through the first detection module and the second detection module, the tracking speed of the clamping mechanism is adjusted twice, the tracking displacement of the clamping mechanism is calibrated according to the thickness parameters of the materials, so that the accurate tracking feeding of the materials is controlled, the extrusion force on the materials is consistent, the deformation caused by the extrusion force is avoided, and the system clamping machine is effectively reduced;
(3) The invention also calibrates the displacement tracked by the clamping mechanism according to the thickness parameter of the material, is also beneficial to controlling the accurate tracking feeding of the material, ensures that the extrusion force generated on the material is consistent, avoids the deformation generated by the extrusion force, and effectively reduces the system card machine;
(4) The invention also provides stable thrust for the materials through the crosspiece module, and prevents the materials from tilting, thereby effectively avoiding deformation during tracking feeding, reducing system blocking and reducing damage to the materials;
(5) The invention reduces the number of manpower, reduces the whole time consumption and ensures the whole efficiency reliably.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a schematic diagram of an automatic tracking feeding system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an automatic tracking feeding system according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of electrical connection of an automatic tracking feeding system according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of an automatic tracking feeding method according to an embodiment of the present invention;
FIG. 5 is a flow chart diagram of an automatic tracking feeding method according to an embodiment of the present invention;
In the figure, the material clamping mechanism is 1, the material is 2, the material conveying belt is 3, the feeding loading unit is 5, the front clamping tooth is 11, the rear clamping tooth is 12, the first detection module is 41, the second detection module is 42, the in-place detection module is 43, the material feeding detection module is 44, the front lifting cylinder is 51, the rear lifting cylinder is 52, the front clamping cylinder is 61, the rear clamping cylinder is 62, the feeding driving module is 7, and the long pushing cylinder is 8.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
The invention relates to an automatic tracking feeding system, which is an independent operation system carried on a high-speed boxing machine, as shown in fig. 1 and 2, and comprises a feeding loading unit 5 for enabling a material 2 to enter a material taking point, a material clamping mechanism 1 which is used for clamping the material 2 at the material taking point and is arranged on one side of a material conveying belt 3, wherein the material clamping mechanism comprises a front clamping tooth 11 and a rear clamping tooth 12 which can move back and forth along the conveying direction and move up and down, the front clamping tooth 11 is provided with a first detection module 41 and a second detection module 42 along the conveying direction of the material, and is used for detecting the conveying position of the material 2 on the material conveying belt 3, a first in-place detection module 43 for detecting whether the material 2 reaches the material taking point, a second driving module for driving the front clamping tooth 11 and the rear clamping tooth 12 to move back and forth along the conveying direction and move up and down, and the feeding loading unit 5 comprises a material to be loaded in-place detection module 44 for detecting whether the material 2 is ready to be loaded in the feeding loading area and a material loading module 7 for pushing the material to the material taking point;
In this embodiment, the distance between the first detection module 41 and the second detection module 42 in the conveying direction may be adjusted, and the first detection module 41 is located in front of the second detection module 42, so as to adjust the horizontal movement speed of the clamping mechanism 1 by searching for the conveying position of the detected material 2, so that the material 2 clamped by the clamping mechanism 1 quickly tracks the material 2 conveyed on, and then slows down, more gently tracks the material 2 on, and avoids deformation of the specification due to extrusion force generated during feeding.
In this embodiment, the system further includes a crosspiece module on the material conveyor 3 for applying a pushing force to the rear of the material 2 to perform a fixing function, and a driving module for controlling the crosspiece module to push and return, where the crosspiece module is used for preventing the material 2 from tilting from the bin to perform a fixing function, applying a pushing force to the rear of the material 2, and effectively avoiding deformation caused by tilting of the specification during feeding.
As a preferred embodiment, each driving module comprises, but not limited to, a cylinder type, wherein the driving module one comprises a servo driver and a servo motor, the driving module two comprises a front clamping cylinder 61 for controlling the front clamping teeth 11 to move forwards or backwards along the conveying direction, a front lifting cylinder 51 for lifting or descending, a rear clamping cylinder 62 for controlling the rear clamping teeth 12 to move forwards or backwards along the conveying direction and a rear lifting cylinder 52 for lifting or descending, the driving module three comprises a crosspiece cylinder for applying thrust to the crosspiece module, a long pushing cylinder 8 for returning the crosspiece module to the position of the rear clamping teeth 12 again, and the feeding driving module 7 comprises a transverse pushing cylinder for pushing the tray filled with the loaded materials 2 to a material taking point.
The first detection module 41, the second detection module 42, the in-place detection module 43 and the material feeding detection module 44 are all but not limited to photoelectric detection modules.
In this embodiment, as shown in fig. 3, the system further includes a control unit, where the control unit includes, but is not limited to, a PLC, the first detection module 41, the second detection module 42, the in-place detection module 43, and the feed material detection module 44 are respectively connected to the network port of the control unit through IO input/output modules, the first driving module, the second driving module, the third driving module, and the feed driving module 7 are respectively and electrically connected to the control unit, and the servo motor is connected to the network port of the PLC through a servo driver. The control unit generates control instructions according to detection signals of the detection modules and sends the control instructions to the driving modules so as to realize the tracking and feeding functions of the system.
Fig. 4 is a preferred automatic tracking loading method of the present invention, comprising the steps of:
S1, determining initial state positions of all modules of the automatic tracking feeding system, and calibrating zero coordinate points and maximum travel positions of the clamping mechanism 1; the material conveyor belt 3 starts to run, and the control unit calculates the following speed and the following range of the material clamping mechanism 1 according to the calibrated zero coordinate point and the calibrated maximum travel position;
S2, starting feeding, namely after the feeding and discharging device is started, when the feeding material detection module 44 detects the material 2 to be loaded in the feeding and loading area, the feeding driving module 7 enables the material 2 to reach a material taking point, and when the in-place detection module 43 detects that the material 2 is in place at the material taking point, the control unit gives a material clamping preparation signal, gives a position of the material 2 through calculation and gives a following feeding instruction;
in this embodiment, the material 2 to be loaded is loaded by a tray, and the tray containing the material 2 to be loaded is pushed to the material taking point by the feeding driving module 7.
S3, automatic tracking, namely clamping the material 2 by the material clamping mechanism 1 according to the position of the material 2, lifting and maintaining a clamping state, so that the material 2 horizontally moves above the conveyor belt along the material conveying direction, and the first detection module 41 and the second detection module 42 find the current conveying position of the material 2, wherein the method comprises the following steps:
S3.1, fast tracking, namely, the clamping mechanism 1 clamps the material 2 to move horizontally along the material conveying direction at the first speed, and the first detection module 41 searches for the real-time conveying position of the material 2;
In this embodiment, after the material clamping mechanism clamps the material 2, the servo motor returns to the zero material clamping position, the front clamping cylinder 61 and the rear clamping cylinder 62 are opened, the front lifting cylinder 51 and the rear lifting cylinder 52 are in the retracted position, so that the front clamping teeth and the rear clamping teeth are put down and opened, the crosspiece module extends to prevent the instruction book from tilting, after receiving the ready-in-place material clamping permission signal, the front lifting cylinder 51 and the rear lifting cylinder 52 extend, the front clamping cylinder 61 and the rear clamping cylinder 62 are closed, so that the front clamping teeth 11 and the rear clamping teeth 12 clamp the material 2 and lift up, the crosspiece module retracts, the material clamping mechanism 1 clamps the material 2 to rapidly move along the material conveying direction, and meanwhile, the first detection module 41 always acts to search the current conveying position of the material 2;
S3.2, slow tracking, namely when the first detection module 41 detects the material 2 for the first time, reducing the speed of the material clamping mechanism 1, horizontally moving along the material conveying direction at the second speed, and searching the real-time conveying position of the material 2 by the second detection module 42;
s3.3, calibrating and tracking, namely after the second detection module 42 detects the real-time transmission position of the material 2, determining the speed required by tracking the material clamping mechanism 1 through calculation, and calibrating the displacement tracked by the material clamping mechanism 1 through a preset material thickness parameter.
S4, following charging, namely driving the clamping mechanism 1 by the driving device to execute following charging action, and reading the real-time transmission position of the operation material 2 by the second detection module 42 at any time to judge whether the clamping mechanism 1 reaches the following range, if not, continuing to follow, and in the process of not reaching, putting down the front clamping teeth 11, and if so, putting down the front clamping teeth 11 and the rear clamping teeth 12 of the clamping mechanism 1, returning the clamping mechanism 1 to a material taking point, and returning to the step S2.
In the embodiment, when the clamping mechanism 1 does not reach the following range and continues to follow, the front lifting cylinder 51 retracts, the crosspiece module retracts, the long pushing cylinder 8 stretches out after the front lifting cylinder and the crosspiece module retract after the crosspiece module extend out, the long pushing cylinder 8 stretches out after the crosspiece module stretches out to block behind the materials 2 again to provide a stable thrust for the specification, and after the clamping mechanism 1 reaches the following range, the rear lifting cylinder 52 retracts, the clamping mechanism 1 returns to a material taking point, and starting feeding is restarted from the step S2.
The automatic tracking feeding method is shown in fig. 5, the stage T1 is the starting feeding of the material 2 in the step S2, the stage T2 is the automatic tracking of the transmission position of the material 2 in the step S3, and the stage T3 is the following feeding before reaching the following range in the step S4.
In summary, the automatic tracking feeding system and the method thereof have the following advantages:
(1) According to the invention, the clamping mechanism is used for clamping the material to track the material being conveyed, so that full-automatic tracking feeding is realized, feeding can be realized no matter the material moves along with the conveyor belt at a low speed or a high speed, stable feeding is kept, the speed is uniform, and the feeding efficiency is improved;
(2) According to the invention, materials on the conveyor belt are searched through the first detection module and the second detection module, the tracking speed of the clamping mechanism is adjusted twice, the tracking displacement of the clamping mechanism is calibrated according to the thickness parameters of the materials, so that the accurate tracking feeding of the materials is controlled, the extrusion force on the materials is consistent, the deformation caused by the extrusion force is avoided, and the system clamping machine is effectively reduced;
(3) The invention also calibrates the displacement tracked by the clamping mechanism according to the thickness parameter of the material, is also beneficial to controlling the accurate tracking feeding of the material, ensures that the extrusion force generated on the material is consistent, avoids the deformation generated by the extrusion force, and effectively reduces the system card machine;
(4) The invention also provides stable thrust for the materials through the crosspiece module, and prevents the materials from tilting, thereby effectively avoiding deformation during tracking feeding, reducing system blocking and reducing damage to the materials;
(5) The invention reduces the number of manpower, reduces the whole time consumption and ensures the whole efficiency reliably.
It should be finally noted that the above-mentioned embodiments illustrate rather than limit the invention, and that while the embodiments of the invention have been described in connection with the accompanying drawings, those skilled in the art will be capable of making various modifications and changes without departing from the spirit and scope of the invention, which is defined by the appended claims.
Claims (8)
1. An automatic tracking feeding system is characterized by comprising a feeding loading unit (5) for enabling a material (2) to enter a material taking point, a clamping mechanism (1) for clamping the material (2) at the material taking point and arranged on one side of a material conveying belt (3), wherein the clamping mechanism (1) comprises a front clamping tooth (11) and a rear clamping tooth (12) which can move back and forth along a conveying direction and move up and down, the front clamping tooth (11) is provided with a first detection module (41) and a second detection module (42) along the material conveying direction, the first detection module (41) and the second detection module (42) are used for detecting the conveying position of the material (2) on the material conveying belt (3), the first detection module (41) is used for searching for the real-time conveying position of the material (2) moving at a speed, the clamping mechanism (1) is used for clamping the position of the material (2) according to the conveying direction, the clamping position of the material (2) is maintained, and the clamping mechanism (2) is moved up along the conveying direction in the first conveying direction when the material (2) is lifted up and the material (2) is moved along the conveying direction (41) in the horizontal conveying direction, and the second detection module (42) detects the real-time conveying position of the material (2) after horizontally moving along the material conveying direction at the second speed, the required speed of tracking the material clamping mechanism (1) is determined through calculation, and the tracked displacement of the material clamping mechanism (1) is calibrated through a preset material thickness parameter.
2. An automatic tracking feeding system according to claim 1, characterized in that the first detection module (41) and the second detection module (42) are pitch-adjustable in the conveying direction.
3. An automatic tracking feeding system according to claim 1, characterized in that it further comprises a crosspiece module on the material conveyor (3) for exerting thrust behind the material (2) for a fixed effect.
4. An automatic tracking feeding system according to claim 3, characterized in that the system further comprises an in-place detection module (43) for detecting whether the material (2) has reached the take-off point, the feed loading unit (5) comprising a feed material detection module (44) for detecting whether the feed loading zone has material (2) to be loaded, and a feed drive module (7) for pushing the material (2) to be loaded to the take-off point.
5. The automatic tracking feeding system according to claim 4, further comprising a driving module and a control unit for controlling the driving module, wherein the driving module comprises a first driving module for driving the clamping mechanism (1) to horizontally move, a second driving module for driving the front clamping teeth (11) and the rear clamping teeth (12) to move back and forth along the conveying direction and lift, and a third driving module for controlling the pushing and homing of the crosspiece module, and the control unit is electrically connected with the first detection module (41), the second detection module (42), the in-place detection module (43), the feeding material detection module (44), the driving module and the feeding driving module (7) respectively.
6. An automatic tracking and feeding system according to claim 5, characterized in that the first driving module comprises a servo driver and a servo motor, the second driving module comprises a front clamping cylinder (61) for controlling the front clamping tooth (11) to move forwards or backwards along the conveying direction, a front lifting cylinder (51) for lifting or descending, a rear clamping cylinder (62) for controlling the rear clamping tooth (12) to move forwards or backwards along the conveying direction, and a rear lifting cylinder (52) for lifting or descending, and the third driving module comprises a crosspiece cylinder for applying thrust to the crosspiece module and a long pushing cylinder (8) for enabling the crosspiece module to return to the position of the rear clamping tooth (12) again.
7. An auto-tracking feeding method for automatically tracking the operation of a feeding system according to any one of claims 5 to 6, characterized in that the method comprises the steps of:
s1, in an initial state, calibrating a zero coordinate point and a maximum travel position of the material clamping mechanism (1), and calculating a following speed and a following range of the material clamping mechanism (1) by the control unit according to the zero coordinate point and the maximum travel position;
S2, starting feeding, namely after the feeding is started, when the feeding material detection module (44) detects a material (2) to be loaded in a feeding loading area, enabling the material (2) to reach a material taking point by a feeding driving module (7), and when the in-place detection module (43) detects that the material (2) is in place at the material taking point, giving a material clamping preparation signal by the control unit, and giving a material (2) following feeding instruction by calculating the position;
S3, automatically tracking, namely clamping the material (2) by the material clamping mechanism (1) according to the position of the material (2), lifting and maintaining a clamping state, so that the material (2) horizontally moves above the material conveying belt (3) along the material conveying direction, and searching the current conveying position of the material (2) by the first detection module (41) and the second detection module (42);
s3.1, fast tracking, namely, the clamping mechanism (1) clamps the material (2) and moves horizontally along the material conveying direction at the first speed, and the first detection module (41) searches for the real-time conveying position of the material (2);
S3.2, tracking at a low speed, namely reducing the speed of the material clamping mechanism (1) when the first detection module (41) detects the material (2) for the first time, horizontally moving along the material conveying direction at a second speed, and searching a real-time conveying position of the material (2) by the second detection module (42);
S3.3, calibrating and tracking, namely after the second detection module (42) detects the real-time conveying position of the material (2), determining the speed required by tracking the clamping mechanism (1) through calculation, and calibrating the displacement tracked by the clamping mechanism (1) through a preset material thickness parameter;
S4, following feeding, namely reading the real-time conveying position of the operation material (2) by the second detection module (42) in real time to judge whether the material clamping mechanism (1) reaches the following range, if not, continuing to follow, and if so, completely putting down the material (2) by the material clamping mechanism (1), returning the material clamping mechanism (1) to the material taking point, and returning to the step S2.
8. An automatic tracking feeding method according to claim 7, characterized in that in step S4, the front gripper (11) is lowered and the crosspiece module gives a stable pushing force to the rear of the material (2) during the process that the gripper (1) does not reach said trackable range, and the rear gripper (12) of said gripper (1) is lowered when the gripper (1) reaches said trackable range.
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| CN105947534A (en) * | 2016-06-28 | 2016-09-21 | 柏伟伟 | Brick conveying device with counting function |
| CN110498269A (en) * | 2019-08-21 | 2019-11-26 | 深圳市贵峰精密有限公司 | A feeding mechanism with tracking and synchronizing function and its feeding method |
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| CN214493613U (en) * | 2020-12-31 | 2021-10-26 | 楚天科技股份有限公司 | Automatic tracking feeding system |
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| DK2693362T3 (en) * | 2012-07-31 | 2015-07-27 | Sick Ag | Detection system for mounting on a conveyor belt |
| EP2942291B1 (en) * | 2014-05-05 | 2016-12-28 | M.C. AUTOMATIONS S.r.l. | Feeding device for wrapping machines for confectionery products |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947534A (en) * | 2016-06-28 | 2016-09-21 | 柏伟伟 | Brick conveying device with counting function |
| CN110498269A (en) * | 2019-08-21 | 2019-11-26 | 深圳市贵峰精密有限公司 | A feeding mechanism with tracking and synchronizing function and its feeding method |
| CN110562528A (en) * | 2019-09-30 | 2019-12-13 | 浙江杭加泽通建筑节能新材料有限公司 | A packing system and packing method for aerated concrete slabs |
| CN214493613U (en) * | 2020-12-31 | 2021-10-26 | 楚天科技股份有限公司 | Automatic tracking feeding system |
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