CN105692263A - Robot fixture - Google Patents
Robot fixture Download PDFInfo
- Publication number
- CN105692263A CN105692263A CN201610177324.1A CN201610177324A CN105692263A CN 105692263 A CN105692263 A CN 105692263A CN 201610177324 A CN201610177324 A CN 201610177324A CN 105692263 A CN105692263 A CN 105692263A
- Authority
- CN
- China
- Prior art keywords
- paper
- lower installation
- robot
- installation board
- installation plate
- 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.)
- Granted
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0816—Suction grippers separating from the top of pile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/26—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles
- B65H29/32—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles from pneumatic, e.g. suction, carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/10—Selective handling processes
- B65H2301/15—Selective handling processes of sheets in pile or in shingled formation
- B65H2301/152—Selective handling processes of sheets in pile or in shingled formation of sheets piled horizontally or vertically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2801/00—Application field
- B65H2801/81—Packaging machines
Abstract
The invention discloses a robot fixture. The robot fixture comprises an upper installation plate (1), a lower installation plate (4), connection blocks (3) connected between the upper installation plate and the lower installation plate, packaging paper suction discs (7) arranged at the middle of the bottom of the lower installation plate (4), and a partition paperboard suction disc (9) arranged at one side of the bottom of the lower installation plate (4), wherein a laser range finder (2) is arranged between the upper installation plate and the lower installation plate; paper pressing cylinders (5) are arranged at the bottom of the lower installation plate (4) and located at the two sides of the packaging paper suction discs (7); and the laser range finder (2) translates through a translation cylinder (6), and the like. The robot fixture disclosed by the invention has the following beneficial effects: through use of the fixture, the functions of fully automatic unpacking, carrying and packaging paper recovery for accessories packages can be realized, thus the labour intensity of personnel is greatly reduced, and the level of industrial automation is increased. A fixture suitable for carrying and unpacking for square accessories is designed with regard to the current situation of materials. The fixture is reasonable in structural dimensions and convenient to maintain.
Description
Technical field
The invention belongs to robot clamp, particularly relate to a kind of robot clamp for carrying, unpack square adjuvant。
Background technology
At present, packer is widely used in the wraparound workshop of each cigarette factory of the whole nation, the accessory package of packer by manually unpacking, unpacking carry in entering on material conveyer, four bag accessory packages are loaded in a plastic bag, and plastic bag reinstalls in a carton。
The packaging efficiency of packer is 400/minute, but needs before packer to carry out to unpack owing to its accessory package enters, unpacking, the hard work such as carrying are accomplished manually。The on-the-spot single adjuvant of project is surrounded by wrapping paper 625, total wrapping paper 2500 in one packing crates, these basic conditions mean that workman has needed the unpacking of 10 casees accessory packages, unpacking per hour, simultaneously completing the carrying of 40 bag accessory packages, therefore packer pan feeding part being optimized just has its necessity。If full automatic pan feeding mode can be adopted, can largely alleviate the labor intensity of personnel。
Summary of the invention
It is an object of the invention to provide a kind of robot clamp for carrying, unpack material。
It is an object of the invention to be achieved through the following technical solutions。
A kind of robot clamp, present invention is characterized in that it includes upper mounting plate, lower installation board, is connected to the contiguous block between lower installation board, is arranged on the wrapping paper sucker in the middle of bottom lower installation board, is arranged on the separation cardboard sucker of lower installation board bottom side；Being provided with laser range finder between upper lower installation board, be positioned at wrapping paper sucker both sides and be provided with paper pressing jar bottom lower installation board, laser range finder is by translating cylinder translation；It is additionally provided with bottom lower installation board and rotary cuts mechanism of paper, be connected to blade of cutting a sheet of paper cut mechanism of paper separating cardboard suction cup lateral face, upper mounting plate is separately installed with electromagnetism valve island, vacuum generator；Wherein, upper mounting plate is fixed on mounting flange place of robot by screw thus being connected with robot by whole fixture；Lower installation board is connected with upper mounting plate by contiguous block。
The present invention is rotary cut mechanism of paper by guiding bar, be located at the tool rest guided on bar, circular shear blade that tool rest telescoping cylinder, fractional motor couple with fractional motor and motor fixed plate form；Rotarily drive circular shear blade by fractional motor to rotate。
The present invention cut a sheet of paper blade cut mechanism of paper by installing plate, the pressing plate being positioned on installing plate, the cutter knife mechanism installing plate being connected to installing plate back, the tool rest telescoping cylinder being connected on cutter knife mechanism installing plate, set blade on a mounting board, the wrapping paper guided plate that is connected to installing plate back forms。
The present invention is rotary cuts mechanism of paper and blade of cutting a sheet of paper is cut mechanism of paper and adopted the attachment structure that can exchange。
The present invention is provided with buffer head on the head of paper pressing jar cylinder rod, and the material of buffer head is silicone rubber。
Tool rest telescoping cylinder of the present invention is carried in the process of material at fixture and is in retracted mode all the time, stretches out when cutting mechanism of paper and starting, cuts after paper has worked and retract。
The present invention when its cut mechanism of paper be rotary cut mechanism of paper time, its workflow is: after robot starts, driving fixture to move above material, vacuum generator starts so that wrapping paper sucker produces negative pressure with separating cardboard sucker, robot drives fixture to move downward afterwards, making wrapping paper sucker hold separation cardboard with separating cardboard sucker, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone。Robot drives fixture to move above material again, and after utilizing laser range finder to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker is started working, make wrapping paper sucker produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while promoting, two paper pressing jars stretch out, it is prevented that material rocks in handling process, then robot continues to move to, and material is positioned over appointed place。After material puts in place, cutting mechanism of paper and start, the tool rest telescoping cylinder first cut in mechanism of paper stretches out, and fractional motor starts to rotate, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always。After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket。
The present invention when its cut mechanism of paper cut mechanism of paper for blade of cutting a sheet of paper time, its workflow is: after robot starts, driving fixture to move above material, vacuum generator starts so that wrapping paper sucker produces negative pressure with separating cardboard sucker, robot drives fixture to move downward afterwards, making wrapping paper sucker hold separation cardboard with separating cardboard sucker, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone。Robot drives fixture to move above material again, and after utilizing laser range finder to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker is started working, make wrapping paper sucker produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while promoting, two paper pressing jars stretch out, it is prevented that material rocks in handling process, then robot continues to move to, and material is positioned over appointed place。After material puts in place, the tool rest telescoping cylinder first cut in mechanism of paper stretches out, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always。After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket。
The invention has the beneficial effects as follows: by the use of this fixture, it is possible to realize automatically the unpacking of accessory package, carry, the function of the paper that is recycled and packaged, greatly reduce the labor intensity of personnel, and improve the level of industrial automation。For the present situation of material, a kind of fixture carried suitable in square adjuvant, unpack designed。This clamp structure Sizes, easy to maintenance。
Present disclosure is expanded on further below in conjunction with Figure of description。
Accompanying drawing explanation
Fig. 1 is that the present invention installs the rotary front view cutting mechanism of paper；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is that the present invention installs blade of cutting a sheet of paper and cuts the front view of mechanism of paper；
Fig. 5 is the left view of Fig. 4；
Fig. 6 is the rotary front view cutting mechanism of paper of the present invention；
Fig. 7 is the left view of Fig. 6；
Fig. 8 is that present invention blade of cutting a sheet of paper cuts the front view of mechanism of paper；
Fig. 9 is the left view of Fig. 8。
Detailed description of the invention
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of robot clamp, present invention is characterized in that it includes upper mounting plate 1, lower installation board 4, is connected to the contiguous block 3 between lower installation board, it is arranged on the wrapping paper sucker 7 in the middle of bottom lower installation board 4, is arranged on the separation cardboard sucker 9 of lower installation board 4 bottom side；Being provided with laser range finder 2 between upper lower installation board, be positioned at wrapping paper sucker 7 both sides and be provided with paper pressing jar 5 bottom lower installation board 4, laser range finder 2 translates by translating cylinder 6；It is additionally provided with bottom lower installation board 4 and rotary cuts mechanism of paper 8, be connected to blade of cutting a sheet of paper cut mechanism of paper 12 separating cardboard sucker 9 side, upper mounting plate 1 is separately installed with electromagnetism valve island 10, vacuum generator 11；Wherein, upper mounting plate 1 is fixed on mounting flange place of robot by screw thus being connected with robot by whole fixture；Lower installation board 4 is connected with upper mounting plate 1 by contiguous block 3。
See Fig. 7, Fig. 8, the present invention is rotary cut mechanism of paper 8 by guiding bar 19, be located at the tool rest guided on bar 19, circular shear blade 21 that tool rest telescoping cylinder 15, fractional motor 22 couple with fractional motor 22 and motor fixed plate 20 form；Rotarily drive circular shear blade by fractional motor to rotate。
Present invention blade of cutting a sheet of paper is cut mechanism of paper 12 and is made up of installing plate 13, the pressing plate 14 being positioned on installing plate 13, the cutter knife mechanism installing plate 17 being connected to installing plate 13 back, the tool rest telescoping cylinder 15 being connected on cutter knife mechanism installing plate 17, the blade 16 being located on installing plate 13, the wrapping paper guided plate 18 that is connected to installing plate 13 back。
The present invention is rotary cuts mechanism of paper 8 and blade of cutting a sheet of paper is cut mechanism of paper 12 and adopted the attachment structure that can exchange。
The present invention is provided with buffer head on the head of paper pressing jar 5 cylinder rod, and the material of buffer head is silicone rubber。
Tool rest telescoping cylinder 15 of the present invention is carried in the process of material at fixture and is in retracted mode all the time, stretches out when cutting mechanism of paper and starting, cuts after paper has worked and retract。
The present invention when its cut mechanism of paper be rotary cut mechanism of paper 8 time, its workflow is: after robot starts, fixture is driven to move above material, vacuum generator 11 starts, wrapping paper sucker 7 is made to produce negative pressure with separating cardboard sucker 9, robot drives fixture to move downward afterwards, wrapping paper sucker 7 is made to hold separation cardboard with separating cardboard sucker 9, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone。Robot drives fixture to move above material again, and after utilizing laser range finder 2 to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker 9 is started working, make wrapping paper sucker 9 produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while promoting, two paper pressing jars 5 stretch out, it is prevented that material rocks in handling process, then robot continues to move to, and material is positioned over appointed place。After material puts in place, cutting mechanism of paper and start, the tool rest telescoping cylinder 15 first cut in mechanism of paper stretches out, and fractional motor 22 starts to rotate, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always。After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket。
The present invention when its cut mechanism of paper cut mechanism of paper 12 for blade of cutting a sheet of paper time, its workflow is: after robot starts, fixture is driven to move above material, vacuum generator 11 starts, wrapping paper sucker 7 is made to produce negative pressure with separating cardboard sucker 9, robot drives fixture to move downward afterwards, wrapping paper sucker 7 is made to hold separation cardboard with separating cardboard sucker 9, then robot drives and moves on fixture, after cardboard is put into appointment recovery zone, vacuum generator quits work, and separates cardboard and falls in recovery zone。Robot drives fixture to move above material again, and after utilizing laser range finder 2 to find the center of material, robot drives fixture to begin to decline, the vacuum generator now controlling wrapping paper sucker 9 is started working, make wrapping paper sucker 9 produce negative pressure, hold the wrapping paper of material, after robot obtains vacuum signal, it is lifted up material, while promoting, two paper pressing jars 5 stretch out, it is prevented that material rocks in handling process, then robot continues to move to, and material is positioned over appointed place。After material puts in place, the tool rest telescoping cylinder 15 first cut in mechanism of paper stretches out, and then translation cylinder starts mobile, band cutting blade cutting wrapping paper, now wrapping paper sucker sorption wrapping paper always。After having cut, robot drives fixture to move, and when arriving above recovery basket, vacuum generator quits work, and wrapping paper completes to separate with material, is put into by wrapping paper in recovery basket。
Claims (5)
1. a robot clamp, it is characterized in that: it includes upper mounting plate (1), lower installation board (4), it is connected to the contiguous block (3) between lower installation board, it is arranged on the wrapping paper sucker (7) in the middle of lower installation board (4) bottom, is arranged on separation cardboard sucker (9) of lower installation board (4) bottom side；Laser range finder (2) it is provided with between upper lower installation board, being positioned at wrapping paper sucker (7) both sides in lower installation board (4) bottom and be provided with paper pressing jar (5), laser range finder (2) is by translating cylinder (6) translation；It is additionally provided with in lower installation board (4) bottom and rotary cuts mechanism of paper (8), it is connected to, in separation cardboard sucker (9) side, blade of cutting a sheet of paper and cuts mechanism of paper (12), upper mounting plate (1) is separately installed with electromagnetism valve island (10), vacuum generator (11)；Wherein, upper mounting plate (1) is fixed on mounting flange place of robot by screw thus being connected with robot by whole fixture；Lower installation board (4) is connected with upper mounting plate (1) by contiguous block (3)。
2. robot clamp as claimed in claim 1 a kind of, it is characterised in that: rotary cut mechanism of paper (8) by guiding bar (19), be located at the tool rest guided on bar (19), circular shear blade (21) that tool rest telescoping cylinder (15), fractional motor (22) couple with fractional motor (22) and motor fixed plate (20) form；Rotarily drive circular shear blade by fractional motor to rotate。
3. a kind of robot clamp as claimed in claim 1, it is characterised in that: blade of cutting a sheet of paper is cut mechanism of paper (12) and is made up of installing plate (13), the pressing plate (14) being positioned on installing plate (13), the cutter knife mechanism installing plate (17) being connected to installing plate (13) back, the tool rest telescoping cylinder (15) being connected on cutter knife mechanism installing plate (17), the blade (16) being located on installing plate (13), the wrapping paper guided plate (18) that is connected to installing plate (13) back。
4. a kind of robot clamp as claimed in claim 1, it is characterised in that: the rotary mechanism of paper (8) that cuts cuts, with blade of cutting a sheet of paper, the attachment structure that mechanism of paper (12) employing can be exchanged。
5. a kind of robot clamp as claimed in claim 1, it is characterised in that: being provided with buffer head on the head of paper pressing jar (5) cylinder rod, the material of buffer head is silicone rubber。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177324.1A CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177324.1A CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105692263A true CN105692263A (en) | 2016-06-22 |
| CN105692263B CN105692263B (en) | 2018-05-18 |
Family
ID=56232826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610177324.1A Active CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105692263B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144592A (en) * | 2016-08-25 | 2016-11-23 | 云南昆船电子设备有限公司 | A kind of packer brand paper robot automatic charging fixture |
| CN107814229A (en) * | 2017-11-30 | 2018-03-20 | 云南昆船电子设备有限公司 | A kind of piece cigarette film, cardboard remove fixture automatically |
| CN108773545A (en) * | 2018-05-09 | 2018-11-09 | 晋江凯燕新材料科技有限公司 | Automatic device and method of unpacking |
| CN110407010A (en) * | 2019-06-25 | 2019-11-05 | 安吉八塔机器人有限公司 | A kind of carrying suitable for elastic material and deviation-rectifying system and its method |
| CN108773545B (en) * | 2018-05-09 | 2024-04-26 | 晋江凯燕新材料科技有限公司 | Automatic unpacking device and method |
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| CN205471779U (en) * | 2016-03-25 | 2016-08-17 | 云南昆船电子设备有限公司 | Robot clamp |
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| WO2000048932A2 (en) * | 1999-02-19 | 2000-08-24 | Elpatronic Ag | Method for cutting sheet-metal plates into sheet-metal strips and a cutting device for carrying out the same |
| CN2590878Y (en) * | 2002-12-24 | 2003-12-10 | 上海大学 | Automatic opening box device of jointed cigarette packages |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144592A (en) * | 2016-08-25 | 2016-11-23 | 云南昆船电子设备有限公司 | A kind of packer brand paper robot automatic charging fixture |
| CN106144592B (en) * | 2016-08-25 | 2019-04-23 | 云南昆船电子设备有限公司 | A kind of packer brand paper robot automatic charging fixture |
| CN107814229A (en) * | 2017-11-30 | 2018-03-20 | 云南昆船电子设备有限公司 | A kind of piece cigarette film, cardboard remove fixture automatically |
| CN108773545A (en) * | 2018-05-09 | 2018-11-09 | 晋江凯燕新材料科技有限公司 | Automatic device and method of unpacking |
| CN108773545B (en) * | 2018-05-09 | 2024-04-26 | 晋江凯燕新材料科技有限公司 | Automatic unpacking device and method |
| CN110407010A (en) * | 2019-06-25 | 2019-11-05 | 安吉八塔机器人有限公司 | A kind of carrying suitable for elastic material and deviation-rectifying system and its method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105692263B (en) | 2018-05-18 |
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