CN105329661A - Conveying mechanism with mechanical arms - Google Patents
Conveying mechanism with mechanical arms Download PDFInfo
- Publication number
- CN105329661A CN105329661A CN201410404160.2A CN201410404160A CN105329661A CN 105329661 A CN105329661 A CN 105329661A CN 201410404160 A CN201410404160 A CN 201410404160A CN 105329661 A CN105329661 A CN 105329661A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- plume
- belt conveyor
- conveying
- delivery system
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 5
- 235000019504 cigarettes Nutrition 0.000 abstract description 14
- 230000006698 induction Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a conveying system for automatically grabbing and placing cigarette cartons through mechanical arms. The conveying system comprises a conveyor belt 1, a conveyor belt 2 and a mechanical arm detecting and grabbing device. Most cigarette production lines are low in cigarette carton conveying speed, and therefore the production efficiency of the whole production lines is influenced. By means of the conveying system used in cooperation with the mechanical arms for conducting conveying, through the grabbing and reversing of the mechanical arms between the conveyor belts, transverse conveying of the cigarette cartons can be changed into longitudinal conveying, the conveying speed is greatly increased, and therefore the cigarette carton congestion situation generated when intersected convergence between the conveyor belts happens is eliminated. Direction-changing conveying is achieved through the combination of the mechanical arms and an induction device, and the conveying system is convenient to control, high in automation degree, high in speed and high in accuracy.
Description
Technical field
The present invention relates to industrial robot field, by the commutation transmission of manipulator between belt conveyor, speed is fast, efficiency is high, and run and control conveniently, degree of automation is higher.
Background technology
Along with the development of machinery industry grows, mechanical equipment is more and more advanced, and people towards future development that is efficient, energy-saving and environmental protection, continue to bring out out multi-form automatic machinery, manipulator is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, manipulator is applied in automatic production line widely, the research and production of robot has become in hightech neighborhood, one that develops rapidly emerging technology, it facilitates the development of manipulator more, makes the combination that manipulator can realize with mechanization and automation better.
Cigarette production line upper conveyor is more now, and transmission lines is longer, and the assemblying part that intersects there will be jam, and is difficult to realize commutation transmission, and labour power drops into many, and degree of automation is lower, affects production efficiency.Therefore, an interpolation supermatic manipulator improves transmission efficiency betwixt becomes necessity, and efficient production of cigarettes also needs an efficient transmission system to coordinate and could conscientiously enhance productivity.
Summary of the invention
The technical matters that the present invention solves is coordinating to come automatic capturing and accurately placing plume by manipulator and photographic means, realizes the quick commutation transmission of plume, controls simply efficiently.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is as follows.
Robotic transfer system forms primarily of belt conveyor 1, photographic camera 4, manipulator 3 and belt conveyor 2.
Belt conveyor 1 is the plastic cement chain horizontal conveyor device driven by motor 7, has and transmits slowly, run the features such as more steady.It mainly sends packaged for slivering in cigarette machine equipment plume 5, obtain plume information by photographic camera 4 and receive signal transmission to manipulator 3.
Photographic camera 4 is arranged on manipulator 3 bottom, for taking plume information and signal transmission to manipulator, manipulator quick action performs follow-up crawl and placement work.Had coordinating of photographic camera and manipulator, make whole process more accurately fast, degree of automation and efficiency also improve greatly.
The actuating unit of manipulator is divided into hand, arm and trunk.The effect of arm guides finger to catch plume exactly, and be transported on desired position.In order to enable manipulator correctly work, 3 degree of freedom of arm all will accurately be located.Hand is arranged on the front end of arm, in the endoporus of arm, transmission shaft is housed, and utilization can be passed to wrist, to rotate, to stretch bent wrist, opening and closing finger.Trunk is the support installing arm, propulsion source and various actuating unit.During running, manipulator finger captures on plume and lifts, and is accurately transported to above belt conveyor 2 by the rotation of arm, and the finger after placing plume that declines unclamps and rises to applicable position.
Belt conveyor 2 is also plastic cement Chain conveyer, and it forms primarily of two parts, a horizontal conveyor chain 9 and two S type messenger chains 10 arranged side by side, as shown in Figure 4.S type messenger chain both sides are with soft rubber sheet 8, and clasp and the soft rubber sheet of conveyer chain staple together, and play the effect of protection time plume presss from both sides transmission between them.End is equipped with motor 7 respectively, driven by motor two messenger chain synchronous axial system, makes plume can be clipped in stable conveying between soft rubber sheet.When manipulator to be placed on plume on horizontal conveyor chain after with horizontal conveyor chain movement one segment distance, just to snap on soft rubber sheet that two S types rotate conveyer chains and and then two bands synchronously transmit together, fall in cartoning sealing machine behind arrival desired location.
Below just complete the transfer process of a cigarette, when next cigarette front end arrives photographic camera, come again transfer process again, go down with this circulating motion.
Improvement of the present invention is: use photographic camera to receive plume information, can locate plume position fast and accurately and pass to manipulator and go to perform subsequent operation.Can fast accurate be accomplished, make production more intelligent.
Improvement of the present invention is also: adopt manipulator to perform crawl fast and rotate and place plume, run and control conveniently, greatly to accelerate transfer rate, make transmission more convenient, save labour power, also allow production become increasingly automated, improve production efficiency.
Improvement of the present invention is also: after the crawl of manipulator is placed; plume can be transported to inside cartoning sealing machine by pulsation-free on conveyor belt 2; because two the soft rubber sheet of S type belt conveyor can protect plume; and plume can directly be reduced to above cartoning sealing machine along with S is curved; fall into cartoning sealing machine gently, make whole conveying flow process convenient, steady, quick.Also because this reducing labour power, improve production efficiency.
Accompanying drawing explanation
Fig. 1 is prevailing transmission schematic diagram of the present invention.
Fig. 2 is the transmission schematic diagram of belt conveyor 1 of the present invention.
Fig. 3 is that manipulator of the present invention places the transmission diagram of plume to belt conveyor 2.
Fig. 4 is the transmission schematic diagram of belt conveyor 2 of the present invention.
Fig. 5 is 3 d effect graph and the schedule drawing of belt conveyor 2 of the present invention.
Fig. 6 is the partial enlarged drawing of belt conveyor 2 birds-eye view of the present invention.
Fig. 7 is manipulator schematic diagram of the present invention.
Wherein: 1. belt conveyor 1; 2. belt conveyor 2; 3. manipulator; 4. photographic camera; 5. plume; 6. runner; 7. electrical motor; 8. sheet rubber; 9. horizontal stripes: 10.S type band.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated.
A kind of robotic transfer system, comprises belt conveyor 1, belt conveyor 2, photographic camera 4 and manipulator 3 four part.
As shown in Figure 2, belt conveyor 1 is connected on cigarette machine, and for receiving and lateral transport slivering cigarette 5 one by one, plume is steadily carried on belt conveyor 1, and direction of transfer is consistent with the direction of arrow.
When Article 1 cigarette front end arrives photographic camera 4, photographic camera photographs plume information and the signal transmission received to manipulator 3.
Manipulator 3 captures and places plume 5 as shown in Figure 1.Receive the signal that photographic camera 4 passes over, above manipulator 3 twirl to plume 5, downwards capture plume and rotate to assigned address and be accurately placed on by plume on the horizontal conveyor chain 9 of belt conveyor 2, manipulator automatically unclamps and rises to certain altitude.Now under the rotation of mechanical arm, plume changes to belt conveyor 2 for longitudinally by transverse direction during belt conveyor 1, plume along with level with together with pulsation-free be transitioned into two S type belt conveyor 10.
Article two, the soft rubber sheet 8 of S type belt conveyor 10 both sides is clamped horizontal chain 9 gently and is passed the plume 5 of coming, and protect plume and be transported to together inside following ready cartoning sealing machine along with the clamping of two S type rotating bands, direction is consistent with Fig. 4 direction of arrow.In this process, soft rubber sheet serves the effect of protection plume, too increases the stability of transmission, and plume, along with the curved decline of S, reduces plume position, enables plume be delivered directly to cartoning sealing machine mouth, slips into cartoning sealing machine gently and is unlikely to damage plume.
Just complete to this and once carry flow process.
When Article 2 cigarette front end arrives photographic camera, repeat again above action, cycle operation like this.
Use manipulator to complete above infinite loop and hard work, significantly reduce the labour power of people, accelerate speed of transmission, thus reduce productive costs, improve production efficiency.
Claims (7)
1. a manipulator delivery system, is characterized in that: use manipulator 3 to perform crawl fast and rotate and place plume 5, run and control conveniently, greatly accelerate transfer rate, make transmission more convenient, save labour power, also allow production become increasingly automated, improve production efficiency.
2. the manipulator delivery system according to right 1, is characterized in that: whole system comprises belt conveyor 1, photographic camera 4, manipulator 3 and driving band 2.
3. the manipulator delivery system according to right 1, it is characterized in that: in described transmission system, manipulator has played bridge beam action, capture with manipulator and place speed, efficiency is higher, and what avoid that belt conveyor intersection goes out blocks up and be not easy to commutate.
4. the manipulator delivery system according to right 2, is characterized in that: photographic camera 4 for taking plume 5 information and the information received being passed to manipulator 3, then completes follow-up crawl and placement work by manipulator.
5. the manipulator delivery system according to right 3, it is characterized in that: manipulator 3 is quick executive command after receiving signal, when rotating to above plume 5 downwards and capture plume, then automatic lifting rotates to above the horizontal chain 9 of belt conveyor 2, automatically rises to certain altitude after accurately placing downwards.
6. the robotic transfer system according to right 5; it is characterized in that: plume 5 first moves after a segment distance with horizontal stripes 9 on conveyor belt 2 and enters S type rotating band 10; and be transported to inside ready cartoning sealing machine together under the clamping of two S type band 10 soft rubber sheets 8; protect plume 5 well, make it steadily carry.
7. the manipulator delivery system according to right 5, is characterized in that: manipulator has captured arm also automatic rotation after plume 5, makes original plume by transverse direction during belt conveyor 1 to longitudinal direction during belt conveyor 2, also serves and plume is commutated the effect transmitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410404160.2A CN105329661A (en) | 2014-08-11 | 2014-08-11 | Conveying mechanism with mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410404160.2A CN105329661A (en) | 2014-08-11 | 2014-08-11 | Conveying mechanism with mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105329661A true CN105329661A (en) | 2016-02-17 |
Family
ID=55280484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410404160.2A Pending CN105329661A (en) | 2014-08-11 | 2014-08-11 | Conveying mechanism with mechanical arms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105329661A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108516340A (en) * | 2018-04-16 | 2018-09-11 | 苏州阡晨金属包装设备有限公司 | A kind of pop can conveying carrying mechanism |
| CN109051757A (en) * | 2018-08-28 | 2018-12-21 | 重庆科光潼农种苗有限公司 | Potted plant transferring system |
| CN109335089A (en) * | 2018-10-17 | 2019-02-15 | 武汉心浩智能科技有限公司 | Filling device |
| CN109850240A (en) * | 2018-11-20 | 2019-06-07 | 安徽省华民食品有限公司 | A kind of rotation of rotary packaging assembly line is exchanged goods mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2661580Y (en) * | 2003-09-28 | 2004-12-08 | 陈志新 | Flexible holding, lifting and conveying device for cigarette bar and wrappage |
| CN201914702U (en) * | 2010-12-24 | 2011-08-03 | 常德瑞华制造有限公司 | Automatic waste cigarette sequencing machine |
| EP2524885A1 (en) * | 2011-05-20 | 2012-11-21 | Simon Möhringer Anlagenbau GmbH | Stacking device and method for primarily self-actuated stacking of trimmed timber |
| CN202670181U (en) * | 2012-05-22 | 2013-01-16 | 牟力 | Dynamic detection apparatus for detecting cigarette bar pack box lack |
| EP2456696B1 (en) * | 2009-07-22 | 2013-06-05 | TGW Mechanics GmbH | Method for loading a load carrier with loading units |
| CN203345774U (en) * | 2013-07-01 | 2013-12-18 | 山东兰剑物流科技股份有限公司 | Combining and separating device for cigarette packing boxes |
-
2014
- 2014-08-11 CN CN201410404160.2A patent/CN105329661A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2661580Y (en) * | 2003-09-28 | 2004-12-08 | 陈志新 | Flexible holding, lifting and conveying device for cigarette bar and wrappage |
| EP2456696B1 (en) * | 2009-07-22 | 2013-06-05 | TGW Mechanics GmbH | Method for loading a load carrier with loading units |
| CN201914702U (en) * | 2010-12-24 | 2011-08-03 | 常德瑞华制造有限公司 | Automatic waste cigarette sequencing machine |
| EP2524885A1 (en) * | 2011-05-20 | 2012-11-21 | Simon Möhringer Anlagenbau GmbH | Stacking device and method for primarily self-actuated stacking of trimmed timber |
| CN202670181U (en) * | 2012-05-22 | 2013-01-16 | 牟力 | Dynamic detection apparatus for detecting cigarette bar pack box lack |
| CN203345774U (en) * | 2013-07-01 | 2013-12-18 | 山东兰剑物流科技股份有限公司 | Combining and separating device for cigarette packing boxes |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108516340A (en) * | 2018-04-16 | 2018-09-11 | 苏州阡晨金属包装设备有限公司 | A kind of pop can conveying carrying mechanism |
| CN109051757A (en) * | 2018-08-28 | 2018-12-21 | 重庆科光潼农种苗有限公司 | Potted plant transferring system |
| CN109335089A (en) * | 2018-10-17 | 2019-02-15 | 武汉心浩智能科技有限公司 | Filling device |
| CN109850240A (en) * | 2018-11-20 | 2019-06-07 | 安徽省华民食品有限公司 | A kind of rotation of rotary packaging assembly line is exchanged goods mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102730369B (en) | Flexible working section of assembly line and working method thereof | |
| CN105329661A (en) | Conveying mechanism with mechanical arms | |
| CN208470289U (en) | A kind of carton unpacking machine suitable for different sizes | |
| CN108408398A (en) | Jig circular pipeline and jig reflux | |
| CN105858187A (en) | Multi-axis manipulator carrying mechanism | |
| MX2020009781A (en) | Machine and method for positioning objects. | |
| CN203779506U (en) | Sucking disc type manipulator | |
| CN208248689U (en) | A kind of cardboard box conveying belt that unpacking can be automatically adjusted according to carton size | |
| CN205855410U (en) | Dual channel machine people's Palletizer | |
| CN207684300U (en) | A kind of feeding system of ring gauge cleaning machine | |
| CN103757800A (en) | Conveying device used for towel machine | |
| CN109317420A (en) | Convey the control device of sorting automatically for courier packages | |
| CN203392036U (en) | Intelligent box filling machine | |
| CN206494485U (en) | A kind of automatic feeding | |
| CN204736215U (en) | Automatic stirring machinery hand | |
| CN209366677U (en) | A kind of High Speed Transfer band structure | |
| CN203332440U (en) | Separating device for bottled medicine | |
| CN109110512A (en) | A kind of the stacking unit and palletizing method of water-permeable brick | |
| CN208103244U (en) | The positive and negative stack device of assembly line | |
| CN202557847U (en) | Boxing machine of milk tea cup | |
| CN202765761U (en) | Flexible assembly line working section | |
| CN104828552A (en) | Machining equipment with positioning structures | |
| CN203726247U (en) | Automatic feeding device | |
| CN208732030U (en) | A kind of sorting and conveying device of blood packaging bag | |
| CN201910345U (en) | Intelligent type production line for automatically assembling keys |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160811 Address after: 653100, No. 8, purple art road, Hongta District, Yunnan, Yuxi Applicant after: Yuxi new special material Co., Ltd. Address before: 651300, No. 8, purple art road, Hongta District, Yunnan, Yuxi Applicant before: Li Xinliang |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160217 |