CN101628629B - Grabbing robot device used in grabbing container loader - Google Patents
Grabbing robot device used in grabbing container loader Download PDFInfo
- Publication number
- CN101628629B CN101628629B CN2009100635850A CN200910063585A CN101628629B CN 101628629 B CN101628629 B CN 101628629B CN 2009100635850 A CN2009100635850 A CN 2009100635850A CN 200910063585 A CN200910063585 A CN 200910063585A CN 101628629 B CN101628629 B CN 101628629B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- crossbeam
- slide block
- line slideway
- handgrip
- 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.)
- Expired - Fee Related
Links
- 238000012856 packing Methods 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 239000004831 Hot glue Substances 0.000 description 1
- 235000013405 beer Nutrition 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Abstract
The invention relates to a grabbing robot device used in a grabbing container loader, comprising a hand grab bracket, a link mechanism, a driving hand grab bracket mechanism and a cross beam, wherein, the driving hand grab bracket mechanism is connected with the hand grab bracket through the link mechanism; the link mechanism is connected with the hand grab bracket and the cross beam respectively; a mechanism used for adjusting the height of the hand grab bracket is connected with the hand grab mechanism through the cross beam. The invention has the advantages of low cost, stable operation and delicate structure. A grabbing container loader equipped with the grabbing robot device can complete a material grabbing packing operation within 2-4 seconds. The grabbing robot device is suitable for quickly packing most of regularly and irregularly shaped materials.
Description
Technical field
The invention belongs to the package packing machine field, be specifically related to the extracting robot device in the extracting formula packing machine of various materials vanning.
Background technology
In drop type, side-push, extracting formula and collapsible (being the bonding formula carton of hot melt adhesive of beer industry) packing machine the inside, the field of application of extracting formula packing machine is the widest, and can substitute other three kinds of packing machines to a certain extent, therefore for adapt to market development satisfy that client's multiple vanning requires just must exploitation extracting formula packing machine.And grasp the most crucial part of formula packing machine is exactly to grasp the robot device.
Summary of the invention
The purpose of this invention is to provide the extracting robot in a kind of extracting formula packing machine of delicate structure.The extracting formula packing machine of being furnished with this invention can alleviate working strength of workers and minimizing production operation personnel in packaging industry, realizes the automation that the various materials vanning is produced, and packing machine can't satisfy the vacancy that multiple different material is cased in the additional packaging industry.
Technical solution of the present invention is:
Extracting robot device in the extracting formula packing machine, comprise handgrip support, connecting rod mechanism, driving handgrip bracket institution, crossbeam, it is characterized in that: drive the handgrip bracket institution and link to each other with the handgrip support by connecting rod mechanism, connecting rod mechanism links to each other with crossbeam with the handgrip support respectively, and the mechanism that regulates the handgrip support height links to each other with the handgrip support by crossbeam.
Described connecting rod mechanism is made up of two tensioner block sets, two rocking arms, rotating shaft, imput shaft, moving mass, connecting rod base, connecting rod, two rocking arms, one end is enclosed within on the imput shaft by two tensioner block sets respectively, imput shaft is installed on the crossbeam, the two rocking arm other ends link together by rotating shaft respectively and are fixed on the moving mass, moving mass is fixed on the handgrip support, moving mass links to each other with connecting rod one end by connecting rod base and with pin, and the connecting rod other end is fixed on the crossbeam by pin.
Described driving handgrip bracket institution is made up of servo worm decelerating machine, servomotor, imput shaft, and servomotor links to each other with imput shaft by servo worm decelerating machine, and servo worm decelerating machine is installed on the crossbeam, and servomotor is installed in the crossbeam.
The mechanism of described adjusting handgrip support height is by frame, electric machine casing, servomotor, slide block, detect piece, the line slideway slide block, ball nut, line slideway, sensor, ball-screw, coupler, top board, a top board is installed on the frame top, electric machine casing is installed on the top board, servomotor is installed on the electric machine casing, coupler is installed in the electric machine casing, servomotor links to each other with ball-screw by coupler, ball nut is installed on the ball-screw, the line slideway slide block is fixed on the ball nut, be provided with line slideway in the frame, the line slideway slide block slides in line slideway, slide block is fixed together with crossbeam and line slideway slide block respectively, detect piece and be installed on the slide block, sensor is installed on the top board.
The present invention is with low cost, stable, delicate structure.Disposed extracting formula packing machine of the present invention and finished a material extracting vanning job in second at 3-5.Be applicable to that most of rules, fitfull material case fast.
Description of drawings
Fig. 1, Fig. 2 are structural representation of the present invention.
The specific embodiment
The invention will be further described in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention includes handgrip support 1, connecting rod mechanism, driving handgrip bracket institution, crossbeam 11, driving the handgrip bracket institution links to each other with the handgrip support by connecting rod mechanism, connecting rod mechanism links to each other with crossbeam 11 with the handgrip support respectively, and the mechanism that regulates the handgrip support height links to each other with the handgrip support by crossbeam 11; Described connecting rod mechanism is by two tensioner block sets 3, two rocking arms (4,5), rotating shaft 6, imput shaft 27, moving mass 7, connecting rod base 8, connecting rod 9 are formed, two rocking arms (4,5) end is enclosed within on the imput shaft 27 by two tensioner block sets 3 respectively, imput shaft 27 is installed on the crossbeam 11, two rocking arms (4,5) other end links together by rotating shaft 6 respectively and is fixed on the moving mass 7, moving mass 7 is fixed on the handgrip support 1, moving mass 7 links to each other with connecting rod 9 one ends by connecting rod base 8 and with a pin 10, and connecting rod 9 other ends are sold 26 by another and are fixed on the crossbeam 11; Described driving handgrip bracket institution is made up of servo worm decelerating machine 2, servomotor 17, imput shaft 27, servomotor 15 links to each other with imput shaft 25 by servo worm decelerating machine 2, servo worm decelerating machine 2 is installed on the crossbeam 11, and servomotor 15 is installed in the crossbeam 11; The mechanism of described adjusting handgrip support height is by frame 13, electric machine casing 12, servomotor 23, slide block 16, detect piece 17, line slideway slide block 18, ball nut 19, line slideway 11, sensor 21, ball-screw 22, coupler 24, top board 25, a top board 25 is installed on frame 13 tops, electric machine casing 12 is installed on the top board 25, servomotor 23 is installed on the electric machine casing 12, coupler 24 is installed in the electric machine casing 12, servomotor 23 links to each other with ball-screw 22 by coupler 24, ball nut 19 is installed on the ball-screw 22, line slideway slide block 18 is fixed on the ball nut 19, be provided with line slideway 20 in the frame 13, line slideway slide block 18 slides in line slideway 20, slide block 16 is fixed together with crossbeam 11 and line slideway slide block 18 respectively, detect piece 17 and be installed on the slide block 16, sensor 21 is installed on the top board 25.
At first a servomotor 15 drives Rocker arm 4, the Rocker arm 5 rotation that is fixed on the imput shaft 27 with the servo worm decelerating machine 2 that is fixed on the crossbeam 11, and the handgrip support 1 that Rocker arm 4, Rocker arm 5 drive around rotating shaft 6 motions carries out grasping movement.Another servomotor 23 drives the ball-screw 22 that links to each other with coupler 24 and rotates, ball-screw 22 drives the line slideway slide block 18 that is fixed on the ball nut 19 and moves up and down along line slideway 20, with this height of regulating handgrip support 1, be convenient to the handgrip support and on differing heights, carry out grasping movement.
Claims (1)
1. grasp the extracting robot device in the formula packing machine, the mechanism that comprises handgrip support, connecting rod mechanism, driving handgrip bracket institution, crossbeam, adjusting handgrip support height, it is characterized in that: drive the handgrip bracket institution and link to each other with the handgrip support by connecting rod mechanism, connecting rod mechanism links to each other with crossbeam with the handgrip support respectively, and the mechanism that regulates the handgrip support height links to each other with the handgrip support by crossbeam; Described connecting rod mechanism is made up of two tensioner block sets, two rocking arms, rotating shaft, imput shaft, moving mass, connecting rod base, connecting rod, two rocking arms, one end is enclosed within on the imput shaft by two tensioner block sets respectively, imput shaft is installed on the crossbeam, the two rocking arm other ends link together by rotating shaft respectively and are fixed on the moving mass, moving mass is fixed on the handgrip support, moving mass links to each other with connecting rod one end by connecting rod base and with pin, and the connecting rod other end is fixed on the crossbeam by pin; Described driving handgrip bracket institution is made up of servo worm decelerating machine, servomotor, imput shaft, and servomotor links to each other with imput shaft by servo worm decelerating machine, and servo worm decelerating machine is installed on the crossbeam, and servomotor is installed in the crossbeam; The mechanism of described adjusting handgrip support height is by frame, electric machine casing, servomotor, slide block, detect piece, the line slideway slide block, ball nut, line slideway, sensor, ball-screw, coupler, top board is formed, a described top board is installed on the frame top, on the described top board electric machine casing is installed, servomotor is installed on the electric machine casing, coupler is installed in the electric machine casing, servomotor links to each other with ball-screw by coupler, ball nut is installed on the ball-screw, the line slideway slide block is fixed on the ball nut, be provided with line slideway in the frame, the line slideway slide block slides in line slideway, slide block is fixed together with crossbeam and line slideway slide block respectively, detect piece and be installed on the slide block, sensor is installed on the described top board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100635850A CN101628629B (en) | 2009-08-11 | 2009-08-11 | Grabbing robot device used in grabbing container loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100635850A CN101628629B (en) | 2009-08-11 | 2009-08-11 | Grabbing robot device used in grabbing container loader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101628629A CN101628629A (en) | 2010-01-20 |
| CN101628629B true CN101628629B (en) | 2011-01-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100635850A Expired - Fee Related CN101628629B (en) | 2009-08-11 | 2009-08-11 | Grabbing robot device used in grabbing container loader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101628629B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240736B (en) * | 2013-05-22 | 2016-04-20 | 西南交通大学 | The control method of the robotic gripping device of not slowing down |
| CN111071572A (en) * | 2019-11-14 | 2020-04-28 | 华南智能机器人创新研究院 | Package shaping machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201220417Y (en) * | 2008-05-28 | 2009-04-15 | 长春艾希技术有限公司 | Pneumatic balance transfer manipulator |
| CN201224102Y (en) * | 2008-07-01 | 2009-04-22 | 武汉人天包装技术有限公司 | Gripping device |
| CN201457754U (en) * | 2009-06-29 | 2010-05-12 | 武汉人天包装技术有限公司 | Grabbing robot device in grabbing type case packer |
-
2009
- 2009-08-11 CN CN2009100635850A patent/CN101628629B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201220417Y (en) * | 2008-05-28 | 2009-04-15 | 长春艾希技术有限公司 | Pneumatic balance transfer manipulator |
| CN201224102Y (en) * | 2008-07-01 | 2009-04-22 | 武汉人天包装技术有限公司 | Gripping device |
| CN201457754U (en) * | 2009-06-29 | 2010-05-12 | 武汉人天包装技术有限公司 | Grabbing robot device in grabbing type case packer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101628629A (en) | 2010-01-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: WUHAN RENTIAN ROBOT TECHNOLOGY SERVICES CO., LTD. Free format text: FORMER OWNER: RENTIAN PACKING TECH. CO., LTD. WUHAN Effective date: 20150713 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150713 Address after: 430205 Hubei city of Wuhan province Jiangxia East Lake New Technology Development Zone, Hidden Dragon Island Science and Technology Park Patentee after: Wuhan Rentian Robots Technical Service Co., Ltd. Address before: 430205 Hubei city of Wuhan province Jiangxia East Lake New Technology Development Zone, Hidden Dragon Island Science and Technology Park Patentee before: Rentian Packing Tech. Co., Ltd. Wuhan |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160811 Address after: 430205 Hubei city of Wuhan province Jiangxia East Lake New Technology Development Zone, Hidden Dragon Island Science and Technology Park Patentee after: WUHAN RENTIAN PACKAGING TECHNOLOGY CO., LTD. Address before: 430205 Hubei city of Wuhan province Jiangxia East Lake New Technology Development Zone, Hidden Dragon Island Science and Technology Park Patentee before: Wuhan Rentian Robots Technical Service Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110105 Termination date: 20170811 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |