CN107627318B - Automatic box sealing gripper for robot - Google Patents
Automatic box sealing gripper for robot Download PDFInfo
- Publication number
- CN107627318B CN107627318B CN201610564938.5A CN201610564938A CN107627318B CN 107627318 B CN107627318 B CN 107627318B CN 201610564938 A CN201610564938 A CN 201610564938A CN 107627318 B CN107627318 B CN 107627318B
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- Prior art keywords
- box sealing
- gripper
- box
- connecting frame
- pressing plate
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- 238000007789 sealing Methods 0.000 title claims abstract description 71
- 238000003825 pressing Methods 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000003292 glue Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 235000013361 beverage Nutrition 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention relates to an automatic box sealing gripper for a robot, which is arranged at the end part of a robot arm and comprises a gripper connecting frame arranged at the end part of the robot arm and four-side box sealing units arranged at the bottom of the gripper connecting frame, wherein the four-side box sealing units simultaneously seal the front, back, left and right sides of a paper box. Compared with the prior art, the four-side box sealing unit has the advantages that 8 cylinders are used simultaneously, two paper boxes can be sealed at one time, the box sealing time is greatly shortened, the production efficiency is improved, the quick box sealing is realized, the space occupied by the device is saved, and the production cost is reduced.
Description
Technical Field
The invention belongs to the technical field of mechanical grippers, and relates to an automatic box sealing gripper for a robot.
Background
Industrial robots are increasingly being used in various carton packages, such as wine, food, beverage, etc. The paper box consists of a single paper sheet or an upper paper box and a lower paper box, wherein the single Zhang Zhihe can be used for containing wine, food, beverage and the like after glue is sprayed on the single paper box and the paper box is formed, and the paper box forming refers to the process of sealing the periphery of the paper box after glue is sprayed on the single paper box. The existing box sealing mechanism generally seals a box of a single paper box: the front and back or left and right side cartons are closed by the grippers, and then the other side cartons are closed by other mechanisms. Because a single paper box needs two or more actions to realize the sealing of the paper box, and the glue spraying time is added for two times, the time for sealing the paper box generally needs more than 6 seconds, and two mechanisms are adopted, so that the sealing of the paper box is finished through the glue spraying time for two times. Therefore, this approach has the following problems: firstly, the time from the beginning of the sealing box to the completion is long; secondly, the whole system is complex, and a certain distance is reserved between the two mechanisms, so that the occupied space is large; thirdly, the cost is high because two mechanisms are needed; fourth, only one paper box can be closed at a time, and the working efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the automatic box sealing gripper for the robot, which has high working efficiency.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides an automatic box-sealing tongs for robot, this tongs setting is at the tip of robot arm, the tongs including setting up the tongs link and setting up the four sides box-sealing unit in tongs link bottom at the robot arm tip, this four sides box-sealing unit seals the front, back, left and right four sides of carton simultaneously.
Preferably, the four-side box sealing units are provided with 2 box sealing units and are symmetrically arranged at two ends of the bottom of the gripper connecting frame.
The four-side box sealing unit comprises a pressing plate arranged at the bottom of the gripper connecting frame and 4 air cylinder box sealing mechanisms uniformly distributed around the pressing plate.
The cylinder box sealing mechanism comprises a bracket arranged at the bottom of the gripper connecting frame, a cylinder arranged at the top of the bracket and a box sealing plate which is arranged at the bottom of the bracket and hinged with the bracket, and the box sealing plate is connected with a piston of the cylinder in a transmission way.
A connecting rod is arranged between the box sealing plate and the air cylinder, and is in transmission connection with a piston of the air cylinder through the connecting rod.
The cylinder is hinged with the bracket.
And a pressing plate supporting rod is arranged between the pressing plate and the gripper connecting frame.
A spring and a guide post and guide sleeve matched with the spring are arranged between the pressing plate and the gripper connecting frame.
When the paper box is actually applied, after the paper box is conveyed below the pressing plate, the pressing plate presses the top end of the paper box, and pistons in the 4 air cylinders extend outwards to drive the box sealing plate to swing inwards to press the paper box, and simultaneously seal the front, back, left and right sides of the paper box.
In the working process, two four-side box sealing units work simultaneously, and each box is sealed; the spring and the guide post and guide sleeve can play a certain buffering role, and the pressing plate is prevented from crushing the paper box.
Compared with the prior art, the invention has the following characteristics:
1) The two four-side box sealing units work simultaneously with 8 cylinders, so that two paper boxes can be sealed at one time, the production efficiency is greatly improved, and the quick box sealing is realized;
2) One four-side box sealing unit can seal the box in place once, compared with the traditional two-time box sealing, the box sealing time is shortened, the space occupied by the device is saved, and the production cost is reduced;
3) Simple structure, easy and simple to handle, the flexibility is good.
Drawings
Fig. 1 is a schematic view of the overall structure of the automatic box-sealing gripper in embodiment 1 before box sealing;
fig. 2 is a schematic diagram of the overall structure of the automatic box-sealing gripper in embodiment 1 after box sealing;
the figure indicates:
1-cylinder, 2-connecting rod, 3-box sealing plate, 4-robot arm, 5-pressing plate, 6-gripper connecting frame and 7-bracket.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Example 1:
1-2, the automatic box sealing gripper for the robot is arranged at the end part of the robot arm 4, and comprises a gripper connecting frame 6 arranged at the end part of the robot arm 4 and four-side box sealing units symmetrically arranged at two ends of the bottom of the gripper connecting frame 6, wherein the four-side box sealing units simultaneously seal the front, back, left and right sides of the paper box. The four-side box sealing unit comprises a pressing plate 5 arranged at one end of the bottom of the gripper connecting frame 6 and 4 air cylinder box sealing mechanisms uniformly distributed around the pressing plate 5. The cylinder box sealing mechanism comprises a bracket 7 arranged at the bottom of the gripper connecting frame 6, a cylinder 1 arranged at the top of the bracket 7 and a box sealing plate 3 arranged at the bottom of the bracket 7 and hinged with the bracket 7, wherein the box sealing plate 3 is in transmission connection with a piston of the cylinder 1. A connecting rod 2 is arranged between the box sealing plate 3 and the cylinder 1, and is in transmission connection with the piston of the cylinder 1 through the connecting rod 2. A spring and a guide post and guide sleeve matched with the spring are arranged between the pressing plate 5 and the gripper connecting frame 6.
When the automatic box sealing gripper is in practical application, after the paper box is conveyed to the lower part of the pressing plate 5, the pressing plate 5 presses the top end of the paper box, and meanwhile, pistons in the 4 cylinders 1 extend outwards to drive the box sealing plate 3 to swing inwards to press the paper box, and simultaneously, the front, rear, left and right sides of the paper box are sealed.
In the working process of the automatic box sealing gripper, two four-side box sealing units work simultaneously, and each box sealing unit seals one paper box; the spring and the guide post and guide sleeve can play a certain buffering role, and the pressing plate 5 is prevented from crushing the paper box.
Example 2:
the utility model provides an automatic box-sealing tongs for robot, this tongs setting is at the tip of robot arm 4, and the tongs is including setting up at the tongs link 6 of robot arm 4 tip and setting up the four sides box-sealing unit in the 6 bottoms of tongs link, and four sides box-sealing unit seals the front, back, left and right four sides of carton simultaneously. The four-side box sealing unit comprises a pressing plate 5 arranged at the bottom of the gripper connecting frame 6 and 4 air cylinder box sealing mechanisms uniformly distributed around the pressing plate 5. The cylinder box sealing mechanism comprises a bracket 7 arranged at the bottom of the gripper connecting frame 6, a cylinder 1 arranged at the top of the bracket 7 and a box sealing plate 3 arranged at the bottom of the bracket 7 and hinged with the bracket 7, wherein the box sealing plate 3 is in transmission connection with a piston of the cylinder 1. The cylinder 1 is hinged with a bracket 7. A pressing plate supporting rod is arranged between the pressing plate 5 and the gripper connecting frame 6.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.
Claims (5)
1. The automatic box sealing gripper for the robot is arranged at the end part of the robot arm (4), and is characterized by comprising a gripper connecting frame (6) arranged at the end part of the robot arm (4) and four-side box sealing units symmetrically arranged at the bottom of the gripper connecting frame (6), wherein the four-side box sealing units simultaneously seal the front, back, left and right sides of a paper box;
the four-side box sealing unit comprises a pressing plate (5) arranged at the bottom of the gripper connecting frame (6), and 4 cylinder box sealing mechanisms uniformly distributed around the pressing plate (5);
the cylinder seal box mechanism comprises a support (7) arranged at the bottom of the gripper connecting frame (6), a cylinder (1) arranged at the top of the support (7) and a seal box plate (3) arranged at the bottom of the support (7) and hinged with the support (7), wherein the seal box plate (3) is connected with a piston of the cylinder (1) in a transmission manner.
2. The automatic box sealing gripper for the robot according to claim 1, wherein a connecting rod (2) is arranged between the box sealing plate (3) and the air cylinder (1), and is in transmission connection with a piston of the air cylinder (1) through the connecting rod (2).
3. The automatic box sealing gripper for the robot according to claim 1, wherein the air cylinder (1) is hinged with the bracket (7).
4. The automatic box sealing gripper for the robot according to claim 1, wherein a pressing plate supporting rod is arranged between the pressing plate (5) and the gripper connecting frame (6).
5. The automatic box sealing gripper for the robot according to claim 1, wherein a spring and a guide post and guide sleeve matched with the spring are arranged between the pressing plate (5) and the gripper connecting frame (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564938.5A CN107627318B (en) | 2016-07-18 | 2016-07-18 | Automatic box sealing gripper for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564938.5A CN107627318B (en) | 2016-07-18 | 2016-07-18 | Automatic box sealing gripper for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107627318A CN107627318A (en) | 2018-01-26 |
| CN107627318B true CN107627318B (en) | 2024-04-02 |
Family
ID=61112732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610564938.5A Active CN107627318B (en) | 2016-07-18 | 2016-07-18 | Automatic box sealing gripper for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107627318B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109879095A (en) * | 2019-04-01 | 2019-06-14 | 佛山市南海区德昌誉机械制造有限公司 | High speed is without glue tail sealing device and its working method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200806529A (en) * | 2006-07-17 | 2008-02-01 | Logo Tzer Automation Machinery Corp | Gland mold set of a sealing machine |
| CN201598041U (en) * | 2009-12-31 | 2010-10-06 | 广东鼎湖山泉有限公司 | Packing-box stacking robot |
| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN103128742A (en) * | 2013-02-22 | 2013-06-05 | 青岛宝佳自动化设备有限公司 | Hand grab device capable of simultaneously grabbing two material bags |
| CN203344061U (en) * | 2013-06-27 | 2013-12-18 | 青岛中科旭阳建材科技有限公司 | Brick gripper |
| CN205111865U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Pile up neatly robot clamp |
| CN205363912U (en) * | 2015-12-28 | 2016-07-06 | 广州中设机器人科技有限公司 | Smallclothes machinery tongs of multipurpose |
| CN205870573U (en) * | 2016-07-18 | 2017-01-11 | 上海沃迪自动化装备股份有限公司 | Robot is with automatic box tongs that seals |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7153085B2 (en) * | 2004-12-22 | 2006-12-26 | Aidco International, Inc. | Multi-modal package handling tool and system |
-
2016
- 2016-07-18 CN CN201610564938.5A patent/CN107627318B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200806529A (en) * | 2006-07-17 | 2008-02-01 | Logo Tzer Automation Machinery Corp | Gland mold set of a sealing machine |
| CN201598041U (en) * | 2009-12-31 | 2010-10-06 | 广东鼎湖山泉有限公司 | Packing-box stacking robot |
| CN102729242A (en) * | 2012-06-26 | 2012-10-17 | 江苏牧羊集团有限公司 | Stacking robot gripper |
| CN103128742A (en) * | 2013-02-22 | 2013-06-05 | 青岛宝佳自动化设备有限公司 | Hand grab device capable of simultaneously grabbing two material bags |
| CN203344061U (en) * | 2013-06-27 | 2013-12-18 | 青岛中科旭阳建材科技有限公司 | Brick gripper |
| CN205111865U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Pile up neatly robot clamp |
| CN205363912U (en) * | 2015-12-28 | 2016-07-06 | 广州中设机器人科技有限公司 | Smallclothes machinery tongs of multipurpose |
| CN205870573U (en) * | 2016-07-18 | 2017-01-11 | 上海沃迪自动化装备股份有限公司 | Robot is with automatic box tongs that seals |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107627318A (en) | 2018-01-26 |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cheng Guiping Inventor after: Wang Jingang Inventor after: Li Wenyi Inventor before: Cheng Guiping Inventor before: Wang Jingang Inventor before: Li Wenyi |
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