CN105752677B - A kind of toothbrush scissors manipulator and its working method - Google Patents
A kind of toothbrush scissors manipulator and its working method Download PDFInfo
- Publication number
- CN105752677B CN105752677B CN201610262313.3A CN201610262313A CN105752677B CN 105752677 B CN105752677 B CN 105752677B CN 201610262313 A CN201610262313 A CN 201610262313A CN 105752677 B CN105752677 B CN 105752677B
- Authority
- CN
- China
- Prior art keywords
- conveyer belt
- toothbrush
- toothbrush handle
- scissors
- belt
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
- B26D7/0625—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts
- B26D7/0633—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form by endless conveyors, e.g. belts by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Manipulator (AREA)
Abstract
A kind of toothbrush scissors manipulator and its working method.It is related to a kind of mechanical device and its working method, the automatic clipping apparatus in the especially a kind of toothbrush handle mouth of a river and its working method.Provide it is a kind of have a shield can be from placing toothbrush handle on trend conveyer belt and toothbrush scissors manipulator and its working method that toothbrush handle position can be automatically corrected.Conveyor front end has one piece of tilted-putted partition；Catching robot is placed in above the conveyer belt；Horizontal mechanical hand is placed in conveyer belt lower end；Level(l)ing device is placed in horizontal transmission and takes；Catching robot, horizontal mechanical hand, level(l)ing device, pneumatic scissors are connected with intelligent control module respectively.Conveyer belt includes active roll tube and driven roller；Active roll tube and driven roller are placed in the both ends of conveyer belt；Conveyer belt is supported by bracket；Bracket is equipped with conveyor belt speed controller, belt-driven motor；The present invention is realized that whole process is intelligent, has saved manpower, reduced production cost using intelligent mould control.
Description
Technical field
The present invention relates to a kind of mechanical device and its working method, the automatic clipping apparatus in the especially a kind of toothbrush handle mouth of a river and
Its working method.
Background technique
State Intellectual Property Office 2014-11-5 discloses a utility model patent（Application number：201420335711X
Claim：A kind of universal air-cooled automatic clipping apparatus in the toothbrush handle mouth of a river）Disclose the universal air-cooled toothbrush handle mouth of a river of one kind certainly
Dynamic clipping apparatus, this device can be realized the automatic cooling and cutting at the toothbrush handle mouth of a river.But this device need manually to
Placing toothbrush handle on conveyer belt, significant wastage manpower；The position of artificial placing toothbrush handle cannot be guaranteed, have led to being cut
The fracture at the toothbrush handle mouth of a river is inconsistent when disconnected, and does not have shield on conveyer belt, and the impurity such as flying dust easily fall to and do not have in workshop
In protection and the toothbrush handle not solidified completely, the rejection rate of product is improved；Toothbrush handle temperature is high, and artificial place easily leads to worker
Scald.
Summary of the invention
For the previous automatic clipping apparatus problem, providing a kind of has capable of putting from trend conveyer belt for shield
It sets toothbrush handle and the toothbrush scissors manipulator and its working method of toothbrush handle position can be automatically corrected.
The technical scheme is that：
Including catching robot, conveyer belt, horizontal mechanical hand, level(l)ing device, pneumatic scissors and intelligent control module；
Conveyor front end has one piece of tilted-putted partition；Catching robot is placed in above the conveyer belt；Horizontal mechanical hand is placed in biography
Send band lower end；Level(l)ing device is placed in horizontal transmission and takes；It is catching robot, horizontal mechanical hand, level(l)ing device, pneumatic
Scissors is connected with intelligent control module respectively.
Conveyer belt includes active roll tube and driven roller；Active roll tube and driven roller are placed in the both ends of conveyer belt；It passes
Band is sent to be supported by bracket；Bracket is equipped with conveyor belt speed controller, belt-driven motor；And height adjustment device；Transmission
Tape speed controller is connected with belt-driven motor；Belt-driven motor is connected with active roll tube；Active roll tube passes through skin
Band drives driven roller rotation.
Level(l)ing device includes two blocks, guide rail, adjusting bracket and jettron；Adjusting bracket is perpendicularly fixed at biography
Send band top；Block is placed on conveyer belt, and direction of action is vertical with conveyer belt；The movement of block is controlled by jettron；Guide rail
It is constituted by one group in splay two gib blocks；Jettron is connected with intelligent control module；The osculum of guide rail is right against gas
Dynamic scissors.
Catching robot includes machine driving arm and fixture；Fixture is placed in the end of machine driving arm, for picking up toothbrush
The handle mouth of a river.
Intelligent control module uses programmable logic controller (PLC).
Shield is equipped with above the conveyer belt；The shield two sides are provided at least three pairs of air outlets.
The transmission end of tape has one block of supporting plate；Described supporting plate one end is connected with transmission end of tape, the other end and bracket phase
Even.
It works according to the following steps：
1）Catching robot grabs one group of six toothbrush handle and is placed on conveyer belt；
2）Toothbrush handle from catching robot fall to conveyer belt during due to tilted-putted partition effect always
The state for keeping mouth of a river cap upward；
3）Toothbrush handle transmits on a moving belt, while air-cooled by the air outlet of shield two sides, cooling；
4）Toothbrush handle reaches level(l)ing device, is adjusted to horizontality through level(l)ing device；
5）Horizontal mechanical hand grabs the toothbrush handle after level(l)ing device is adjusted；
6）Toothbrush handle is placed on pneumatic scissors by horizontal mechanical hand；
7）Pneumatic scissors cut the toothbrush handle being connected, and the mouth of a river and mouth of a river cap are fallen.
Catching robot is used in the present invention, is overcome and is needed on artificial placing toothbrush handle to conveyer belt in the prior art
The drawbacks of, it is controlled using intelligent mould, realizes whole intelligence, saved manpower, reduce production cost；It does not need manually to place
The generation for avoiding the industrial accidents such as scald, ensures the health of employee；Using level(l)ing device, guarantee toothbrush handle position
Correctly, conveyer belt is equipped with shield, effectively the impurity such as dust is prevented to be sticked in toothbrush handle, reduces production rejection rate；It is transmitting
End of tape be equipped with supporting plate, avoid because horizontal mechanical hand grab it is insecure caused by toothbrush handle fall the case where.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention,
Fig. 2 is the structural schematic diagram of level(l)ing device in the present invention,
Fig. 3 is the structural schematic diagram of toothbrush handle group,
Fig. 4 is the top view of Fig. 3；
1 is bracket in figure, and 2 be height adjustment device, and 3 be conveyor belt speed controller, and 4 be active roll tube, and 5 be partition, 6
It is catching robot, 7 be conveyer belt, and 8 be shield, and 9 be air outlet, and 10 be level(l)ing device, and 11 be driven roller, and 12 are
Horizontal mechanical hand, 13 be pneumatic scissors, and 14 be intelligent control module, and 15 be supporting plate, and 16 be belt-driven motor, and 17 be toothbrush
Handle, 18 be the mouth of a river, and 19 be mouth of a river cap, and 101 be adjusting bracket, and 102 be guide rail, and 103 be block, and 104 be jettron, and 601 are
Machine driving arm, 602 be fixture.
Specific embodiment
The present invention is as shown in Figs. 1-2, including catching robot 6, conveyer belt 7, horizontal mechanical hand 12, level(l)ing device
10, pneumatic scissors 13 and intelligent control module 14, conveyor front end place one piece of tilted-putted partition 5, enable to grab
Manipulator guarantees that the mouth of a river is upward when grabbing toothbrush handle.
Catching robot 6 is placed in 7 top of conveyer belt, and horizontal mechanical hand 12 is placed in 7 lower end of conveyer belt, Level tune dress
10 are set to be placed on horizontal conveying belt 7；Catching robot 6, horizontal mechanical hand 12, level(l)ing device 10, pneumatic scissors 13 are distinguished
It is connected with intelligent control module 14.Conveyer belt 7 is supported by bracket 1, including active roll tube 4 and active roll tube 4 are driven by belt
Driven roller 11 rotates.
Conveyor belt speed controller 3 is fixed on bracket 1, is connected with belt-driven motor 16, by controlling conveyer belt
The revolving speed of driving motor 16 adjusts the transmission speed of conveyer belt 7.Belt-driven motor 16 and height are further fixed on bracket 1
Regulating device 2.Driving motor 16 is for driving the rotation of active roll tube 4 to drive conveyer belt 7 to work.Height adjustment device 2 is used
In the height for adjusting whole device, it is allowed to be suitable for different workplaces.
Level(l)ing device 10 is located at conveyer belt lower part, including two blocks 103, guide rail 102, adjusting bracket 101 are gentle
Dynamic switch 104.Adjusting bracket 102 is perpendicularly fixed at 7 top of conveyer belt.Block is placed on conveyer belt 7, direction of action and conveyer belt
7 is vertical；The movement of block 103 is controlled by jettron 104.When toothbrush handle reaches in front of block, it is straight that block blocks toothbrush handle
To toothbrush handle at horizontality, block is packed up.
Guide rail 102 is constituted by one group in splay two gib blocks.The toothbrush handle irregularly placed can be gathered to
Fixed position.
Jettron 104 is fixed in adjusting bracket 101, is connected with intelligent control module 14, is connected to intelligent control module
Control block movement after 14 instructions issued.
The osculum of guide rail 103 is right against pneumatic scissors 13.Toothbrush handle makes water after the adjustment of level(l)ing device 10
Flat manipulator 12 can accurately grab toothbrush handle.
Horizontal mechanical hand 12 is used to pick up the mouth of a river cap 19 of the toothbrush handle group at the osculum for reaching level(l)ing device 10.
Intelligent control module 14 use programmable logic controller (PLC), programmable logic controller (PLC) can overprogram, adapt to
Difference control requires.Position detecting device is set in the top of transmission end of tape, position detecting device is for detecting one group of toothbrush
The mouth of a river cap position of handle, if mouth of a river cap be not it is upright if pneumatic scissors be failure to actuate.Position detecting device can be using opposite
The infrared transmitting device and reception device of setting, when normal condition collector nozzle cap passes through, infrared ray is blocked, then to intelligent control
Molding block sends signal, and pneumatic scissors act when at the mouth of a river, cap reaches designated position, and mouth of a river cap is cut.
If mouth of a river cap is not upright state, infrared ray will not be blocked, and pneumatic scissors are failure to actuate at this time, this
Group toothbrush handle is fallen naturally, increases the working efficiency that detection device guarantees pneumatic scissors,
Shield 8 is equipped with above conveyer belt 7, shield 8 can prevent flying dust from sticking in the toothbrush handle of high temperature, reduce tooth
Brush handle rejection rate.
8 two sides of shield are provided at least three pairs of air outlets 9, the mistake that air outlet 9 enables to toothbrush handle to transmit in conveyer belt 7
It is quickly cooled down in journey.
There is one block of supporting plate 15 in 7 end of conveyer belt；15 one end of supporting plate is connected with 7 end of conveyer belt, the other end and 1 phase of bracket
Even, it prevents from falling toothbrush handle because the crawl of horizontal mechanical hand is insecure.
As shown in Figure 3-4, six toothbrush handles 17 are connected by the mouth of a river 18, constitute one group.There is the mouth of a river cap of taper on the mouth of a river 18
19, facilitate catching robot 6 and horizontal mechanical hand 12 to grab.
It works according to the following steps：
1）Catching robot 6 grabs one group of six toothbrush handle 17 and is placed on conveyer belt 7；
2）Toothbrush handle 17 from catching robot 6 fall to conveyer belt 7 during due to tilted-putted partition 5 effect
Remain the upward state of mouth of a river cap 19；
3）Toothbrush handle 17 transmits on conveyor belt 7, while air-cooled by the air outlet 9 of 8 two sides of shield, cooling；
4）Toothbrush handle 17 reaches level(l)ing device 10, is adjusted to horizontality through level(l)ing device 10；
5）Toothbrush handle 17 of the crawl of horizontal mechanical hand 12 after the adjusting of level(l)ing device 10；
6）Toothbrush handle 17 is placed on pneumatic scissors 13 by horizontal mechanical hand 12；
7）Pneumatic scissors 13 cut the toothbrush handle 17 being connected, and the mouth of a river 18 and mouth of a river cap 19 are fallen.
Catching robot is used in the present invention, is overcome and is needed on artificial placing toothbrush handle to conveyer belt in the prior art
The drawbacks of, it is controlled using intelligent mould, realizes whole intelligence, saved manpower, reduce production cost；It does not need manually to place
The generation for avoiding the industrial accidents such as scald, ensures the health of employee；Using level(l)ing device, guarantee toothbrush handle position
Correctly, conveyer belt is equipped with shield, effectively the impurity such as dust is prevented to be sticked in toothbrush handle, reduces production rejection rate；It is transmitting
End of tape be equipped with supporting plate, avoid because horizontal mechanical hand grab it is insecure caused by toothbrush handle fall the case where.
Claims (8)
1. a kind of toothbrush scissors manipulator, including catching robot, conveyer belt, horizontal mechanical hand, level(l)ing device, pneumatic clipper
Knife and intelligent control module, which is characterized in that the conveyor front end has one piece of tilted-putted partition, guarantees catching robot
The mouth of a river is upward when grabbing toothbrush handle；
The catching robot is placed in above the conveyer belt；
The horizontal mechanical hand is placed in conveyer belt lower end；
The level(l)ing device is placed in horizontal transmission and takes；
The catching robot, horizontal mechanical hand, level(l)ing device, pneumatic scissors are connected with intelligent control module respectively, entirely
Journey intelligentized control method reduces production cost.
2. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that the conveyer belt includes active roll tube
With driven roller；
The active roll tube and driven roller are placed in the both ends of conveyer belt；
The conveyer belt is supported by bracket；
The bracket is equipped with conveyor belt speed controller, belt-driven motor；And height adjustment device；
The conveyor belt speed controller is connected with belt-driven motor；
The belt-driven motor is connected with active roll tube；
The active roll tube drives driven roller to rotate by belt.
3. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that the level(l)ing device includes two
A block, guide rail, adjusting bracket and jettron；
The adjusting bracket is perpendicularly fixed above conveyer belt；
The block is placed on conveyer belt, and direction of action is vertical with conveyer belt；
The movement of the block is controlled by jettron；
The guide rail is constituted by one group in splay two gib blocks；
The jettron is connected with intelligent control module；
The jettron is fixed in adjusting bracket；
The osculum of the guide rail is right against pneumatic scissors.
4. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that
The catching robot includes machine driving arm and fixture；
The fixture is placed in the end of machine driving arm, for picking up the toothbrush handle mouth of a river.
5. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that
The intelligent control module uses programmable logic controller (PLC).
6. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that
Shield is equipped with above the conveyer belt；
The shield two sides are provided at least three pairs of air outlets.
7. a kind of toothbrush scissors manipulator according to claim 1, which is characterized in that
The transmission end of tape has one block of supporting plate；
Described supporting plate one end is connected with transmission end of tape, and the other end is connected with bracket.
8. a kind of working method of toothbrush scissors manipulator according to claim 1, which is characterized in that
It works according to the following steps：
1）Catching robot grabs one group of six toothbrush handle and is placed on conveyer belt；
2）Toothbrush handle from catching robot fall to conveyer belt during since the effect of tilted-putted partition remains
The upward state of mouth of a river cap；
3）Toothbrush handle transmits on a moving belt, while air-cooled by the air outlet of shield two sides, cooling；
4）Toothbrush handle reaches level(l)ing device, is adjusted to horizontality through level(l)ing device；
5）Horizontal mechanical hand grabs the toothbrush handle after level(l)ing device is adjusted；
6）Toothbrush handle is placed on pneumatic scissors by horizontal mechanical hand；
7）Pneumatic scissors cut the toothbrush handle being connected, and the mouth of a river and mouth of a river cap are fallen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610262313.3A CN105752677B (en) | 2016-04-25 | 2016-04-25 | A kind of toothbrush scissors manipulator and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610262313.3A CN105752677B (en) | 2016-04-25 | 2016-04-25 | A kind of toothbrush scissors manipulator and its working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105752677A CN105752677A (en) | 2016-07-13 |
| CN105752677B true CN105752677B (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610262313.3A Expired - Fee Related CN105752677B (en) | 2016-04-25 | 2016-04-25 | A kind of toothbrush scissors manipulator and its working method |
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| Country | Link |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2650041A1 (en) * | 1976-10-30 | 1978-05-11 | Zahoransky Anton Fa | Fully automated tooth-brush mfg. machine - has conveyor system leading brushes from bristle tufting machine to finishing machine |
| CN102896722A (en) * | 2012-11-05 | 2013-01-30 | 艾尔发（苏州）自动化科技有限公司 | Automatic cropping equipment |
| CN103057056A (en) * | 2013-01-18 | 2013-04-24 | 曹兴旺 | Degating device |
| CN103934844A (en) * | 2014-05-07 | 2014-07-23 | 西南交通大学 | Automatic trimmer for outer plastic frame of car air filter |
| CN203919104U (en) * | 2014-06-23 | 2014-11-05 | 江苏优创数控设备有限公司 | The automatic clipping apparatus in a kind of universal air-cooled toothbrush handle mouth of a river |
| CN205555491U (en) * | 2016-04-25 | 2016-09-07 | 江苏艾萨克科技有限公司 | Toothbrush scissors manipulator |
-
2016
- 2016-04-25 CN CN201610262313.3A patent/CN105752677B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2650041A1 (en) * | 1976-10-30 | 1978-05-11 | Zahoransky Anton Fa | Fully automated tooth-brush mfg. machine - has conveyor system leading brushes from bristle tufting machine to finishing machine |
| CN102896722A (en) * | 2012-11-05 | 2013-01-30 | 艾尔发（苏州）自动化科技有限公司 | Automatic cropping equipment |
| CN103057056A (en) * | 2013-01-18 | 2013-04-24 | 曹兴旺 | Degating device |
| CN103934844A (en) * | 2014-05-07 | 2014-07-23 | 西南交通大学 | Automatic trimmer for outer plastic frame of car air filter |
| CN203919104U (en) * | 2014-06-23 | 2014-11-05 | 江苏优创数控设备有限公司 | The automatic clipping apparatus in a kind of universal air-cooled toothbrush handle mouth of a river |
| CN205555491U (en) * | 2016-04-25 | 2016-09-07 | 江苏艾萨克科技有限公司 | Toothbrush scissors manipulator |
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| Publication number | Publication date |
|---|---|
| CN105752677A (en) | 2016-07-13 |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 225000 hang Ji industrial park, Colgate Road, Guangling District, Yangzhou, Jiangsu Applicant after: Jiangsu Isaac robot Limited by Share Ltd Address before: 225000, 2 floor, building 10, information industry base, Guangling District, Yangzhou, Jiangsu. Applicant before: JIANGSU ASK TECHNOLOGY CO., LTD. |
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Granted publication date: 20181116 Termination date: 20210425 |