CN105129138B - A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function - Google Patents
A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function Download PDFInfo
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- CN105129138B CN105129138B CN201510585093.3A CN201510585093A CN105129138B CN 105129138 B CN105129138 B CN 105129138B CN 201510585093 A CN201510585093 A CN 201510585093A CN 105129138 B CN105129138 B CN 105129138B
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- jaw
- module
- cylinder
- support
- jaw support
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Classifications
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function, it is related to a kind of carton Kai Ye mechanisms.The present invention needs to be captured using the mechanical paw of different shape or size to solve existing robot hand when the material for different shape or size is picked and placeed, and increases cost, reduces the problem of production efficiency.The module (3) of the present invention is on crossbeam 1, upper end of the servomotor (4) installed in module (3), gripper jaw passes through lower end of the jaw support (5) installed in module (3), gripper jaw realizes horizontal movement under the drive of module (3), Rodless cylinder (2) is installed in the bottom of module (3) and drives module (3), jaw support (5) and gripper jaw to realize elevating movement, and absorbent module (6) is on gripper jaw.The present invention opens page for vertical carton.
Description
Technical field
The present invention relates to a kind of vertical carton Kai Ye mechanisms, and in particular to a kind of vertical carton with servo-actuated transfer function
Kai Ye mechanisms.
Background technology
Carton Kai Ye mechanisms refer to and are automatically performed unpacking, shaping, and the boxboard that will build up cardboard is opened, be high-volume carton from
The pipelining equipment unpacked is moved, machine is all controlled using PLC+ display screens, significantly facilitates operation, be that automation size production must
Indispensable equipment.This device can be carried out to the boxboard that case mouth placement direction is different, specification is different using servo-actuated transfer function
Automatically unpacking, shaping, transfer, automation degree of equipment are high, and speed of unpacking is fast.
The casing that unpacking mechanism can only be in specific direction to case mouth before the invention of this device is unpacked, and a kind of equipment is only
Work of unpacking can be carried out to one or more casings.
The content of the invention
The invention aims to solve existing robot hand pick and place in the material for different shape or size
When, need to be captured using the mechanical paw of different shape or size, increase cost, reduce the problem of production efficiency.Further
A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function are provided.
The technical scheme is that：A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function, it include crossbeam,
Rodless cylinder, module, servomotor, jaw support, gripper jaw and absorbent module, module are arranged on crossbeam, servomotor peace
The upper end of module is mounted in, gripper jaw is arranged on the lower end of module by jaw support, and gripper jaw realizes water under the drive of module
Flat motion, Rodless cylinder are arranged on the bottom of module and drive module, jaw support and gripper jaw to realize elevating movement, absorption group
Part is arranged on jaw support.
Gripper jaw includes left jaw, left cylinder, right jaw and right cylinder, and the upper articulation of left jaw is the one of jaw support
End, one end of left cylinder are connected with the upper end of left jaw, and the other end of left cylinder is connected with the side of jaw support, right jaw
The other end of the upper articulation in jaw support, one end of right cylinder are connected with the upper end of right jaw, the other end and the folder of right cylinder
The opposite side connection of pawl support.
Gripper jaw also includes double rotational directions leading screw and two connectors, and double rotational directions leading screw is arranged on jaw support, left cylinder
The other end and the other end of right cylinder be connected with double rotational directions leading screw by a connector respectively, adjusted by double rotational directions leading screw
The distance between left cylinder and right cylinder.
The present invention is had the effect that compared with prior art：
When boxboard is delivered to A points by conveying mechanism, the sensor positioned at A points understands holding for automatic identification boxboard to the present invention
Mouth direction and chest specification, by control system by signal transmission to servomotor 4, servomotor 4 is opened after receiving signal
It is dynamic to drive whole system to move to A points along crossbeam 1 by module 3, gripper jaw is adjusted according to the opening direction of boxboard then
Opening direction, is adjusted the A/F of gripper jaw previously according to boxboard size, is adjusted to correct position, absorbent module by leading screw
Boxboard is held by 6, and boxboard is clamped by gripper jaw, and when casing is rectangular, two jaw relative distances keep constant, and casing is defeated
B points are sent to into next station.Thus complete to open page to boxboard, existing robot hand is effectively prevent for difference
When the material of shape or size is picked and placeed, need to be captured using the mechanical paw of different shape or size, increase cost, reduce
The problem of production efficiency.
The gripper jaw of the present invention is provided with double rotational directions leading screw 11, need to adjust the rotation direction for manually adjusting double rotational directions leading screw 11, this
When to enable to the distance between left jaw 7 and right jaw 9 big or while diminish with time-varying, adapt to the thing of different shape or size
The demand that material is picked and placeed, use range are wider.
With the maturation of package packing machine technology, full-automatic punch-out equipment is commercially generally recognized by numerous clients now
Can.With the continuous adjustment of global automatic mechanism, full-automatic punch-out equipment industry also accelerates the paces of industry restructuring.That
A little process is simples, make coarse, and the big case unpacker of energy input gradually will be eliminated by market.This device adopts servo antrol
System can be in the boxboard of different directions to case mouth carries out full automatic opening, and system stability is good, high degree of automation, production effect
Rate improves 50-60%, and unpacking quality reaches 99.86%.
Description of the drawings
Fig. 1 is the front view of the present invention；Fig. 2 is the side view of Fig. 1；Fig. 3 is the top view of Fig. 1；Fig. 4 is the office of gripper jaw
Portion's cross-sectional schematic.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1 to Fig. 4, one kind of present embodiment has servo-actuated shifting
The vertical carton Kai Ye mechanisms of function are carried, it includes crossbeam 1, Rodless cylinder 2, module 3, servomotor 4, jaw support 5, clamping
Pawl and absorbent module 6, module 3 are arranged on crossbeam 1, and servomotor 4 is arranged on the upper end of module 3, and gripper jaw is by jaw
Frame 5 is arranged on the lower end of module 3, and gripper jaw realizes horizontal movement under the drive of module 3, and Rodless cylinder 2 is arranged on module 3
Bottom simultaneously drives module 3, jaw support 5 and gripper jaw to realize elevating movement, and absorbent module 6 is arranged on jaw support 5.
The module 3 of present embodiment can drive gripper jaw to realize horizontal movement, and Rodless cylinder 2 drives gripper jaw and module
3 realize elevating movement, it is ensured that the transport of boxboard and open page work.
Specific embodiment two：With reference to Fig. 1 and Fig. 4 explanation present embodiments, the gripper jaw of present embodiment includes left folder
Pawl 7, left cylinder 8, right jaw 9 and right cylinder 10, the upper articulation of left jaw 7 in one end of jaw support 5, the one of left cylinder 8
End is connected with the upper end of left jaw 7, and the other end of left cylinder 8 is connected with the side of jaw support 5, the upper articulation of right jaw 9
In the other end of jaw support 5, one end of right cylinder 10 is connected with the upper end of right jaw 9, the other end and jaw of right cylinder 10
The opposite side connection of support 5.It is arranged such, clamping process is more flexible.Other compositions and annexation and specific embodiment
One is identical.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 4, the gripper jaw of present embodiment also includes double rotational directions silk
Thick stick 11 and two connectors 12, double rotational directions leading screw 11 are arranged on jaw support 5, the other end and right cylinder 10 of left cylinder 8
The other end is connected with double rotational directions leading screw 11 by a connector 12 respectively, adjusts left cylinder 8 and the right side by double rotational directions leading screw 11
The distance between cylinder 10.It is arranged such, the rotation direction for manually adjusting double rotational directions leading screw 11 need to be adjusted, now enables to left jaw
The distance between 7 and right jaw 9 are big or while diminish with time-varying, adapt to the demand that the material of different shape or size is picked and placeed, make
It is wider with scope.Other compositions and annexation are identical with specific embodiment two.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 4, the gripper jaw of present embodiment also includes two clamping plates
13, the left side of the right side of left jaw 7 and right jaw 9 is separately installed with a clamping plate 13.Be arranged such, foot is provided to clamp boxboard
Enough frictional force, prevents boxboard from dropping during page is opened, and is sucker provided auxiliary Anti-fall frictional force.Other compositions and connection
Relation is identical with specific embodiment three.
Specific embodiment five：Present embodiment, 9 structure of left jaw 7 and right jaw of present embodiment are illustrated with reference to Fig. 2
Identical, left jaw 7 includes clamp 7-1 and connecting rod 7-2, and connecting rod 7-2 is fixedly connected on a side of clamp 7-1, and
Connecting rod 7-2 is positioned at the upper end of clamp 7-1.It is arranged such, simple structure, facilitates implementation crawl and open a page action.Other composition and
Annexation and specific embodiment one, two, three or four are identical.
Specific embodiment six：With reference to Fig. 1 and Fig. 4 explanation present embodiments, the absorbent module 6 of present embodiment includes inhaling
Attached installing plate 14 and multiple suckers 15, adsorb installing plate 14 and are arranged on the lower surface of jaw support 5 and are located at jaw support 5
Middle part, multiple suckers 15 are distributed on absorption installing plate 14.It is arranged such, is easy to accurately firmly adsorb boxboard.Other groups
Into identical with annexation and specific embodiment one, two, three or four.
Specific embodiment seven：Present embodiment is illustrated with reference to Fig. 1, the quantity of multiple suckers 15 of present embodiment is 2
It is individual, 4,6 or 8.Multiple suckers 15 are in a ring or the mode of rectangular array is arranged.It is arranged such, is easy to absorption more firm
Gu.Other compositions and annexation and specific embodiment one, two, three or four are identical.
Claims (2)
1. a kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function, it is characterised in that：It includes crossbeam (1), without bar gas
Cylinder (2), module (3), servomotor (4), jaw support (5), gripper jaw and absorbent module (6), module (3) is installed in crossbeam
(1), on, installed in the upper end of module (3), gripper jaw is by jaw support (5) under module (3) for servomotor (4)
Horizontal movement is realized at end, gripper jaw under the drive of module (3), and Rodless cylinder (2) is installed in the bottom of module (3) and with dynamic model
Group (3), jaw support (5) and gripper jaw realize elevating movement, absorbent module (6) on jaw support (5), gripper jaw bag
Left jaw (7), left cylinder (8), right jaw (9) and right cylinder (10) are included, the upper articulation of left jaw (7) is in jaw support (5)
One end, one end of left cylinder (8) is connected with the upper end of left jaw (7), the other end and the jaw support (5) of left cylinder (8)
Side connects, the other end of the upper articulation of right jaw (9) in jaw support (5), one end and right jaw (9) of right cylinder (10)
Upper end connection, the other end of right cylinder (10) is connected with the opposite side of jaw support (5), and gripper jaw is also including double rotational directions leading screw
(11) and two connectors (12), double rotational directions leading screw (11) on jaw support (5), the other end of left cylinder (8) and the right side
The other end of cylinder (10) is connected with double rotational directions leading screw (11) by a connector (12) respectively, by double rotational directions leading screw (11)
The distance between adjustment left cylinder (8) and right cylinder (10), gripper jaw also include two clamping plates (13), the right side of left jaw (7)
Be separately installed with a clamping plate (13) on the left of right jaw (9), absorbent module (6) includes absorption installing plate (14) and multiple suctions
Disk (15), adsorbs installing plate (14) on the lower surface of jaw support (5) and is located at the middle part of jaw support (5), multiple
Sucker (15) is distributed in absorption installing plate (14).
2. a kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function according to claim 1, it is characterised in that：It is many
The quantity of individual sucker (15) is 2,4,6 or 8, multiple suckers (15）In a ring or the mode of rectangular array is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510585093.3A CN105129138B (en) | 2015-09-14 | 2015-09-14 | A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510585093.3A CN105129138B (en) | 2015-09-14 | 2015-09-14 | A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105129138A CN105129138A (en) | 2015-12-09 |
| CN105129138B true CN105129138B (en) | 2017-03-29 |
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| CN201510585093.3A Active CN105129138B (en) | 2015-09-14 | 2015-09-14 | A kind of vertical carton Kai Ye mechanisms with servo-actuated transfer function |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105414600B (en) * | 2015-12-16 | 2019-08-27 | 嵊州市北宇玲电机厂 | It is a kind of for producing the processing equipment of stator of air conditioner motor |
| CN105501541B (en) * | 2015-12-26 | 2018-01-26 | 苏州博众精工科技有限公司 | Unpacking clamping jaw |
| CN106743568A (en) * | 2016-12-29 | 2017-05-31 | 广东恒鑫智能装备股份有限公司 | A kind of television set carries switching mechanism |
| CN108527149A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of metal plate power control cabinet polishing transfer robot paw |
| CN110723532A (en) * | 2019-09-27 | 2020-01-24 | 苏州精濑光电有限公司 | Display panel and automatic separation device for spacer paper |
| CN111470093A (en) * | 2020-05-26 | 2020-07-31 | 山东新华医疗器械股份有限公司 | Vertical placing type boxing system for soft infusion bag |
| CN113211315B (en) * | 2021-05-29 | 2023-01-10 | 宝鸡山崎精工智能装备有限公司 | Measuring manipulator for numerical control machining |
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| CN1675104A (en) * | 2002-08-05 | 2005-09-28 | G.D有限公司 | Method and machine for packing a product in a flat tubular package |
| CN101348177A (en) * | 2008-08-15 | 2009-01-21 | 河南新平科烟草机械有限公司 | Manipulator system for automatically supplying packing cardboard box |
| CN204453064U (en) * | 2015-03-06 | 2015-07-08 | 珠海市边锋自动化技术有限公司 | Unpacking casing robot |
| CN104828299A (en) * | 2015-04-30 | 2015-08-12 | 苏州澳昆智能机器人技术有限公司 | Rotor container-opening mechanism |
| CN204895979U (en) * | 2015-09-14 | 2015-12-23 | 哈尔滨展达机器人自动化有限责任公司 | Page or leaf mechanism is opened to vertical carton with follow -up moves carries function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITBO20080194A1 (en) * | 2008-03-27 | 2009-09-28 | Marchesini Group Spa | DEVICE FOR THE VOLUME OF TUBULAR CUTTERS IN FULL FORM |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1675104A (en) * | 2002-08-05 | 2005-09-28 | G.D有限公司 | Method and machine for packing a product in a flat tubular package |
| CN101348177A (en) * | 2008-08-15 | 2009-01-21 | 河南新平科烟草机械有限公司 | Manipulator system for automatically supplying packing cardboard box |
| CN204453064U (en) * | 2015-03-06 | 2015-07-08 | 珠海市边锋自动化技术有限公司 | Unpacking casing robot |
| CN104828299A (en) * | 2015-04-30 | 2015-08-12 | 苏州澳昆智能机器人技术有限公司 | Rotor container-opening mechanism |
| CN204895979U (en) * | 2015-09-14 | 2015-12-23 | 哈尔滨展达机器人自动化有限责任公司 | Page or leaf mechanism is opened to vertical carton with follow -up moves carries function |
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| Publication number | Publication date |
|---|---|
| CN105129138A (en) | 2015-12-09 |
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Effective date of registration: 20210121 Address after: 362200 building 16, sanchuangyuan design and R & D Center (area), 3001, south section of Shiji Avenue, Luoshan street, Jinjiang City, Quanzhou City, Fujian Province Patentee after: Jinjiang hachuang Investment Co.,Ltd. Address before: 150060 6th floor, R & D building, No.9 Songhua Road, Harbin Economic Development Zone, Harbin City, Heilongjiang Province Patentee before: HARBIN ZHANDA ROBOT AUTOMATION Co.,Ltd. |
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| TR01 | Transfer of patent right |