CN107640363B - Industrial robot uncaps boxing system - Google Patents
Industrial robot uncaps boxing system Download PDFInfo
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- CN107640363B CN107640363B CN201710941189.8A CN201710941189A CN107640363B CN 107640363 B CN107640363 B CN 107640363B CN 201710941189 A CN201710941189 A CN 201710941189A CN 107640363 B CN107640363 B CN 107640363B
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Abstract
The invention discloses an industrial robot uncapping and boxing system which comprises a frame, a box conveying mechanism arranged on the frame, an uncapping mechanism arranged on the box conveying mechanism, a box grabbing mechanism arranged above the box conveying mechanism and a detection mechanism arranged below the box conveying mechanism, wherein the box conveying mechanism is arranged on the frame; the cartoning machine is used for placing the cartoning gift boxes at the front end of the cartoning machine through the cartoning machine, and taking the cartoning gift boxes away from the tail end of the cartoning machine; detecting that the gift box is fed when reaching the front end of the box feeding mechanism by the detection mechanism, and stopping feeding the gift box when reaching the tail end of the box feeding mechanism; and taking the gift box cover on the gift box through the cover opening mechanism to carry out boxing, and closing the cover after the boxing is completed. The invention realizes the liberation of labor force of workers, improves the efficiency of uncapping and boxing, ensures the stable uncapping and complete uncapping.
Description
Technical Field
The invention relates to the technical field of robot box clamping, uncapping and boxing, in particular to an industrial robot box opening and boxing system.
Background
With the development of society and the continuous progress of science and technology, robots gradually replace many manual working procedures, such as general procedures required by factory operations of carrying, stacking and the like, and effectively liberate many labours. However, the equipment for boxing the cover in the prior art generally adopts a conveyor to match with manual operation, and although the transportation function of goods is solved, the manual labor force is reduced, the situations of manual detection, manual sorting, manual assembly and manual boxing still exist, the fundamental problem is not solved, a worker is still required to wait to uncap beside the machine for boxing the cover, a large amount of labor force is consumed, and meanwhile, the manual mode is adopted for boxing the cover, when the working time is too long, the phenomenon that the efficiency of boxing the cover becomes low is caused by fatigue of the worker, and the cover is easy to make mistakes when the cover is opened.
Disclosure of Invention
Aiming at the defects, the invention aims to provide an industrial robot uncapping and boxing system which can relieve labor force of workers, improve uncapping and boxing efficiency, ensure stable uncapping and complete uncapping.
To achieve the purpose, the invention adopts the following technical scheme:
an industrial robot uncapping and boxing system comprises a frame, a box conveying mechanism arranged on the frame, an uncapping mechanism arranged on the box conveying mechanism, a box grabbing mechanism arranged above the box conveying mechanism and a detection mechanism arranged below the box conveying mechanism;
the box feeding mechanism comprises a conveyor belt, a conveyor motor for driving the conveyor belt, a fixed baffle and a fixed cylinder; the conveyor belt is arranged on two sides of the frame, and the tail end of the conveyor belt is fixedly provided with a fixed baffle plate; the fixed air cylinders are fixedly arranged at the tail ends of the two sides of the frame and are positioned in front of the fixed baffle plate and used for fixedly clamping the gift boxes;
the cover opening mechanism comprises a cover clamping cylinder, a cover turning cylinder, a cover clamping cylinder fixing plate, a connecting plate and a cover clamping baffle; a clamping cover cylinder fixing plate is arranged among the connecting plates and is horizontally positioned above the tail end of the conveyor belt; the clamping cover cylinder is arranged above two ends of the clamping cover cylinder fixing plate; the clamping cover baffle is fixedly connected with the clamping cover air cylinder and is positioned below two ends of the clamping cover air cylinder fixing plate; the flip cylinder is connected with one end of the connecting plate; the cover clamping cylinder drives the cover clamping baffle plate to prop against the edge of the gift box cover protruding out of the gift box; the cover-turning cylinder drives the cover-clamping baffle to turn outwards to take off the gift box cover, and the gift box is packaged by the packaging robot;
the box grabbing mechanism is used for placing the cartoons which are not boxed at the front end of the conveyor belt and taking the cartoons which are boxed away from the tail end of the conveyor belt;
the detection mechanism comprises a first sensor, a second sensor and a control device; the first sensor is arranged below the front end of the conveyor belt; the second sensor is arranged below the tail end of the conveyor belt; the control device starts the transmission motor through the signal of the first sensor; the control device stops transmitting the motor through the signal of the second sensor.
Preferably, the box feeding mechanism further comprises a motor belt wheel, a driving wheel, a driven wheel and a main shaft;
the driving wheels are arranged at the tail ends of two sides of the frame, and the driving wheels synchronously rotate through a main shaft; the driven wheels are arranged at the front ends of two sides of the frame, and the driven wheels and the driving wheels are wound with conveying belts; the motor belt pulley comprises a lower motor belt pulley, an upper motor belt pulley and a synchronous belt; the synchronous belt is simultaneously connected with the lower motor belt pulley and the upper motor belt pulley; the conveying motor is arranged below the frame, the lower motor belt wheel is connected with the conveying motor, and the lower motor belt wheel and the upper motor belt wheel synchronously rotate through a synchronous belt; the main shaft is simultaneously connected with the upper motor belt wheel and the driving wheel, and the driving wheel synchronously rotates with the upper motor belt wheel through the main shaft.
Preferably, the box grabbing mechanism comprises a robot arm and a robot clamp; the robot clamp is arranged at the front end of the robot arm; the robot clamp comprises a bottom plate, a fixed box clamping plate, a movable box clamping plate, a first fixed small plate, a second fixed small plate, a box grabbing cylinder, a guide rail and a sliding block;
the bottom plate is arranged at the front end of the robot arm; the first fixed small plates are fixedly arranged below two sides of one end of the bottom plate; the guide rail is arranged below two sides of the other end of the bottom plate; the sliding block is movably arranged on the guide rail; the second fixed small plate is fixedly arranged on the sliding block; the fixing clamp box plate is fixed on the bottom plate through a first fixing small plate; the movable box clamping plate is fixed on the sliding block through a second fixed small plate; the box grabbing cylinder is arranged below the bottom plate, and drives the sliding block to move towards the fixed box clamping plate on the guide rail by driving the box grabbing cylinder, so that the fixed box clamping plate and the movable box clamping plate are matched with each other to grab the gift box.
Preferably, the box feeding mechanism further comprises a guardrail plate; the guardrail plates are fixedly arranged on two sides of the frame through screws and are vertically arranged on two outer sides of the conveyor belt.
Preferably, the cover opening mechanism further comprises a base and a cover-turning cylinder fixing plate; the base is arranged on two sides of the frame, the lower end of the base is fixedly connected with the frame, and the upper end of the base is movably connected with the connecting plate; the flip cylinder fixing plate is arranged below one side of the frame, the lower end of the flip cylinder is connected with the flip cylinder fixing plate, and the upper end of the flip cylinder is connected with one end of the connecting plate; the connecting plates comprise a left connecting plate and a right connecting plate; the joint of the right connecting plate and the base is a rotating point, and the front end of the flip cylinder is connected with one end of the right connecting plate; the right connecting plate is driven to turn outwards by driving the flip cylinder by taking the rotating point as the center; an optical axis is arranged between the right connecting plate and the left connecting plate, and the left connecting plate and the right connecting plate are synchronously turned over through the optical axis.
Preferably, the detection mechanism further comprises an electric box and a refrigerator door; the electric box is arranged below the frame, and the control device is fixedly arranged in the electric box; the electric box is characterized in that a refrigerator door is further arranged outside the electric box, and the refrigerator door is connected with the electric box through a hinge.
Preferably, a chain cover is arranged outside the motor belt wheel, and the chain cover simultaneously wraps the lower motor belt wheel, the upper motor belt wheel and the synchronous belt.
Preferably, the cover opening mechanism is further provided with a protective cover; the protective cover simultaneously covers the connecting plate, the optical axis, the clamping cover cylinder fixing plate, the clamping cover baffle plate and the clamping cover cylinder.
Preferably, one end of the connecting plate is fixedly connected with the base, and a limiting base is arranged below the other end of the connecting plate; the limiting bases are fixedly arranged on two sides of the frame.
Preferably, an anti-collision block is arranged at the upper end of the limiting base.
The invention has the technical effects that: this system has avoided needing manual detection, manual sorting, manual assembly, the condition of manual boxing through the setting of full automatization, liberation workman's labour, and systematic course of working has also improved product boxing efficiency simultaneously, and this system is through pressing from both sides the gift box lid border that stands out on the gift box of lid baffle, presss from both sides the gift box through fixed cylinder clamp simultaneously, realizes flip dress box, guarantees that the process of uncapping is more stable, can not appear that the gift box is crooked even by pressing from both sides the lid baffle phenomenon of walking, in addition through flip cylinder power-off shrink, has guaranteed to press from both sides the lid baffle and has returned original position, has guaranteed to close the lid completion.
Drawings
FIG. 1 is a schematic overall construction of one embodiment of the present invention;
FIG. 2 is a side view of a box feeding mechanism and an uncapping mechanism of one embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the box feeding mechanism and the cover opening mechanism according to one embodiment of the present invention;
FIG. 4 is a second schematic structural view of the box feeding mechanism and the cover opening mechanism according to one embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a cartridge feeding mechanism according to one embodiment of the present invention;
FIG. 6 is a side view of a cartridge feed mechanism according to one embodiment of the present invention;
FIG. 7 is a schematic view of the structure of a robotic clamp of one embodiment of the invention;
fig. 8 is a schematic structural view of an opening mechanism of one embodiment of the present invention;
fig. 9 is a schematic diagram of a cover opening mechanism according to a second embodiment of the present invention;
fig. 10 is a schematic view of a gift box of one embodiment of the present invention.
Wherein: the device comprises a frame 1, a box feeding mechanism 2, a cover opening mechanism 3, a box grabbing mechanism 4, a detection mechanism 5, a protective cover 6, a conveyor belt 20, a conveying motor 21, a motor pulley 22, a fixed baffle 23, a fixed cylinder 24, a driving wheel 25, a driven wheel 26, a main shaft 27, a guardrail plate 28, a chain cover 29, a base 30, a cover clamping cylinder 31, a cover clamping cylinder 32, a cover clamping cylinder fixing plate 33, a cover clamping cylinder fixing plate 34, a connecting plate 35, a cover clamping baffle 36, an optical axis 37, a limit base 38, an anti-collision block 39, a robot arm 40, a robot clamp 41, a first sensor 50, a second sensor 51, a control device 52, an electric box 53, a motor box door 54, a lower motor pulley 220, an upper motor pulley 221, a synchronous belt 222, a left connecting plate 350, a right connecting plate 351, a rotating point 352, a bottom plate 410, a fixed box clamping plate 411, a movable box clamping plate 412, a first fixed small plate 413, a second fixed small plate 414, a box grabbing cylinder 415, a guide rail 416 and a sliding block 417.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
An industrial robot uncapping and boxing system, as shown in fig. 1-10, comprises a frame 1, a box feeding mechanism 2 arranged on the frame 1, an uncapping mechanism 3 arranged on the box feeding mechanism 2, a box grabbing mechanism 4 arranged above the box feeding mechanism 2 and a detection mechanism 5 arranged below the box feeding mechanism 2;
the box feeding mechanism 2 comprises a conveyor belt 20, a conveyor motor 21 for driving the conveyor belt 20, a fixed baffle 23 and a fixed cylinder 24; the conveyor belt 20 is arranged on two sides of the frame 1, and a fixed baffle 23 is fixedly arranged at the tail end of the conveyor belt 20; the fixed air cylinders 24 are fixedly arranged at the tail ends of the two sides of the frame 1 and are positioned in front of the fixed baffle plates 23 and used for fixedly clamping the gift boxes;
the cover opening mechanism 3 comprises a cover clamping cylinder 31, a cover turning cylinder 32, a cover clamping cylinder fixing plate 33, a connecting plate 35 and a cover clamping baffle 36; a cover clamping cylinder fixing plate 33 is arranged among the connecting plates 35, and the cover clamping cylinder fixing plate 33 is horizontally arranged above the tail end of the conveyor belt 20; the clamping cover air cylinders 31 are arranged above two ends of the clamping cover air cylinder fixing plates 33; the cover baffle 36 is fixedly connected with the cover cylinder 31 and is positioned below two ends of the cover cylinder fixing plate 33; the flip cylinder 32 is connected with one end of the connecting plate 35; the cover clamping cylinder 31 drives the cover clamping baffle 36 to abut against the edge of the gift box cover protruding out of the gift box; the cover-turning cylinder 32 drives the cover-clamping baffle 36 to turn outwards to take off the gift box cover, and the gift box is boxed by the boxing robot;
the box grabbing mechanism 4 is used for placing the cartoons at the front end of the conveyor belt 20 and taking the cartoons out of the tail end of the conveyor belt 20;
the detection mechanism 5 comprises a first sensor 50, a second sensor 51 and a control device 52; the first sensor 50 is disposed below the front end of the conveyor belt 20; the second sensor 51 is disposed below the end of the conveyor belt 20; the control device 52 turns on the conveyor motor 21 by the signal of the first sensor 50; the control device 52 stops the conveyance motor 21 by the signal of the second sensor 51.
The robot arm 40 drives the robot clamp 41 to be above the gift box to clamp the gift box, then the robot arm 40 drives the robot clamp 41 to be above the front end of the conveyor belt 20, the robot clamp 41 releases the gift box to place the gift box at the front end of the conveyor belt 20, and then the robot arm 40 drives the robot clamp 41 to ascend;
the first sensor 50 receives a signal that the gift box reaches the front end of the conveyor belt 20 and sends the signal to the control center of the electric box 53, the control center of the electric box 53 starts the motor to operate, the motor drives the motor belt pulley 22 to rotate so as to drive the conveyor belt 20 to move, when the conveyor belt 20 conveys the gift box to the tail end of the conveyor belt 20, the second sensor 51 senses the signal that the gift box reaches the tail end of the conveyor belt 20 and sends the signal to the control center of the electric box 53, the control center of the electric box 53 stops the motor to operate so as to control the conveyor belt 20 to stop moving, the fixed baffle 23 is arranged at the tail end of the conveyor belt 20 and used for blocking the gift box from continuing to move forwards, the fixed cylinder 24 is powered on and moves towards the middle so as to fix and clamp the gift box;
meanwhile, after the second sensor 51 senses the signal that the gift box arrives, the cover clamping air cylinder 31 is powered on, and moves towards the middle to drive the cover clamping baffle 36 to move towards the middle, the cover clamping baffle 36 contacts the gift box and props against the edge of the gift box cover protruding out of the gift box, after the cover turning air cylinder 32 is powered on, the cover clamping air cylinder fixing plate 33 is driven by the connecting plate 35 to perform outward turning movement, the cover clamping baffle 36 clamps the gift box cover to perform outward turning movement to open the gift box cover, after the box is completely packaged, the cover turning air cylinder 32 is powered off, and the cover clamping air cylinder fixing plate 33 is driven by the connecting plate 35 to perform inward turning movement to drive the cover clamping single plate to perform inward movement, so that the gift box cover is closed; then, the cover clamping cylinder 31 is powered off and moves towards the two sides of the cover clamping cylinder fixing plate 33, and simultaneously drives the cover clamping baffle 36 to move towards the two sides of the cover clamping cylinder fixing plate 33, so that the cover of the gift box is loosened, meanwhile, the fixing cylinder 24 is powered off and moves outwards, so that the gift box is loosened, at the moment, the cover turning cylinder 32 is powered on, the cover clamping cylinder 31 fixing baffle 23 is driven to turn outwards through the connecting plate 35, and then the robot arm 40 drives the robot clamp 41 to move to the upper side of the gift box, so that the gift box is clamped and placed in a placement area; this system has avoided needing manual detection, manual sorting, manual assembly, the condition of manual boxing, liberation workman's labour, and systematic course of working has also improved product boxing efficiency simultaneously, and this system is through pressing from both sides the gift box lid border that stands out on the gift box of lid baffle 36 in addition, presss from both sides tight gift box through fixed cylinder 24 simultaneously, realizes flip boxing, guarantees that the process of uncapping is more stable, can not appear that the gift box is crooked even by the phenomenon that presss from both sides lid baffle 36 to press from both sides away, in addition through flip cylinder 32 power-off shrink, guaranteed to press from both sides lid baffle 36 to return original position, guaranteed to close the lid and be complete.
To illustrate further, as shown in fig. 5, the box feeding mechanism 2 further includes a motor pulley 22, a driving wheel 25, a driven wheel 26 and a main shaft 27;
the driving wheels 25 are arranged at the tail ends of two sides of the frame 1, and the driving wheels 25 synchronously rotate through a main shaft 27; the driven wheel 26 is arranged at the front ends of the two sides of the frame 1, and the driven wheel 26 and the driving wheel 25 are wound with the conveyor belt 20; the motor pulley 22 includes a lower motor pulley 220, an upper motor pulley 221, and a timing belt 222; the timing belt 222 is connected to both the lower motor pulley 220 and the upper motor pulley 221; the conveying motor 21 is arranged below the frame 1, the lower motor belt pulley 220 is connected with the conveying motor 21, and the lower motor belt pulley 220 and the upper motor belt pulley 221 synchronously rotate through a synchronous belt 222; the main shaft 27 is connected to the upper motor pulley 221 and the driving wheel 25 at the same time, and the driving wheel 25 rotates synchronously with the upper motor pulley 221 through the main shaft 27.
The box feeding mechanism 2 comprises a driving wheel 25, a driven wheel 26, a main shaft 27, a conveyor belt 20, a conveying motor 21 and a motor belt wheel 22, when the first sensor 50 senses that a gift box reaches the signal of the front end of the conveyor belt 20, the signal is transmitted to a control center in the electric box 53, then the control center in the electric box 53 starts the conveying motor 21, the conveying motor 21 drives the lower motor belt wheel 220 to start rotating, and because the synchronous belt 222 is connected with the lower motor belt wheel 220 and the upper motor belt wheel 221 at the same time, the upper motor belt wheel 221 rotates synchronously with the lower motor belt wheel 220, and the main shaft 27 is connected with the driving wheel 25 and the upper motor belt wheel 221 at the same time; the driving wheel 25 and the upper motor belt wheel 221 rotate synchronously, the driving wheel 25 is arranged at the tail ends of two sides of the frame 1, the driven wheel 26 is arranged at the front ends of two sides of the frame 1, and the driving wheel 26 and the driving wheel 25 are wound with the conveying belt 20; when the driving wheel 25 rotates, the driven wheel 26 also synchronously rotates through the conveyor belt 20, and it is also supposed that the conveyor belt 20 stops when the second sensor 51 senses the signal of the gift box arrival;
the progressive conveying device ensures the stability in the conveying process, the sensor, the conveying motor 21 and the electric box 53 are arranged below the frame 1, the motor belt wheel 22 is arranged on the side of the frame 1, and only the driving wheel 25, the driven wheel 26 and the conveying belt 20 are arranged above the frame 1, so that the occupied space of equipment is reduced, and meanwhile, the equipment is more standardized and attractive.
To illustrate further, as shown in fig. 1 and 7, the box grabbing mechanism 4 includes a robot arm 40 and a robot clamp 41; the robot clamp 41 is mounted at the front end of the robot arm 40; the robot clamp 41 comprises a bottom plate 410, a fixed box clamping plate 411, a movable box clamping plate 412, a first fixed small plate 413, a second fixed small plate 414, a box grabbing cylinder 415, a guide rail 416 and a sliding block 417;
the base plate 410 is mounted on the front end of the robot arm 40; the first fixing small plates 413 are fixedly arranged below two sides of one end of the bottom plate 410; the guide rail 416 is installed below two sides of the other end of the bottom plate 410; the slider 417 is movably mounted to the guide rail 416; the second fixed small plate 414 is fixedly installed on the slider 417; the fixing clip box 411 is fixed to the bottom plate 410 through a first fixing small plate 413; the movable clamping box plate 412 is fixed to the slider 417 through a second fixed small plate 414; the box grabbing cylinder 415 is installed below the bottom plate 410, and the box grabbing cylinder 415 is driven to drive the sliding block 417 to move on the guide rail 416 towards the fixed box clamping plate 411, so that the fixed box clamping plate 411 and the movable box clamping plate 412 are matched with each other to grab the gift box.
The robot clamp 41 is composed of a bottom plate 410, a fixed box clamping plate 411, a movable box clamping plate 412, a first fixed small plate 413, a second fixed small plate 414, a box grabbing cylinder 415, a guide rail 416 and a sliding block 417, when the robot clamp 41 is arranged above a gift box, the fixed box clamping plate 411 and the movable box clamping plate 412 are positioned on two sides of the gift box, the box grabbing cylinder 415 is powered, and then the sliding block 417 is driven to move on the guide rail 416 towards the direction of the fixed box clamping plate 411, so that the movable box clamping plate 412 moves towards the direction of the fixed box clamping plate 411 through the synchronous movement of the second fixed small plate 414 and the sliding block 417, and the fixed box clamping plate 411 and the movable box clamping plate 412 are mutually abutted and clamped with each other to clamp the gift box, thereby clamping the gift box.
To illustrate further, as shown in fig. 3, the box feeding mechanism 2 further includes a guardrail plate 28; the guard rail plates 28 are fixedly mounted on both sides of the frame 1 by screws, and are vertically disposed on both outer sides of the conveyor belt 20.
The two sides of the frame 1 are also provided with the guardrail plates 28, and the guardrails are fixedly installed and vertically arranged on the outer side edges of the conveyor belt 20 through screws, so that the gift box is prevented from deviating from the original track in the transportation process under the condition of ensuring that the gift box transportation is not influenced, the phenomenon that the gift box falls in the transportation process is avoided, and the normal operation of taking the cover box is ensured.
To illustrate further, as shown in fig. 9, the cover opening mechanism 3 further includes a base 30 and a cover-turned cylinder fixing plate 34; the base 30 is arranged on two sides of the frame 1, the lower end of the base 30 is fixedly connected with the frame 1, and the upper end is movably connected with the connecting plate 35; the flip cylinder fixing plate 34 is arranged below one side of the frame 1, the lower end of the flip cylinder 32 is connected with the flip cylinder fixing plate 34, and the upper end is connected with one end of the connecting plate 35; the connection plates 35 include a left connection plate 350 and a right connection plate 351; the connection between the right connection plate 351 and the base 30 is a rotation point 352, and the front end of the flip cylinder 32 is connected with one end of the right connection plate 351; the right connecting plate 351 is driven to turn outwards by driving the flip cylinder 32 with the rotation point 352 as the center; an optical axis is arranged between the right connecting plate 351 and the left connecting plate 350, and the left connecting plate 350 and the right connecting plate 351 turn synchronously through the optical axis.
The connecting plate 35 comprises a left connecting plate 350 and a right connecting plate 351, the connecting plate 35 is installed on two sides of the frame 1 through the base 30 and is positioned above two sides of the conveying belt 20, the joint of the right connecting plate 351 and the base 30 is used as a rotating point 352 when the cover is turned over, the cover turning cylinder 32 is connected with one section of the right connecting plate 351, when the cover turning cylinder 32 drives the connecting plate 35 to rotate outwards, the right connecting plate 351 is driven to turn outwards firstly, and because an optical axis is arranged between the right connecting plate 351 and the left connecting plate 350, the left connecting plate 350 and the right connecting plate 351 turn outwards by taking the rotating point 352 as the center, so that a cover clamping cylinder fixing plate 33 installed between the left connecting plate 350 and the right connecting plate 351 is driven to turn outwards, the stable turning over of the cover turning action is ensured, the cover taking can be realized by only one cover turning cylinder 32 through the arrangement of the optical axis, the cover turning cylinder 32 is not required to be arranged left and right, and machine cost is saved.
1-2, the detection mechanism 5 further includes an electric box 53 and a electric box door 54; the electric box 53 is arranged below the frame 1, and the control device 52 is fixedly arranged in the electric box 53; the electric box 53 is also provided with a refrigerator door 54, and the refrigerator door 54 is connected with the electric box 53 through a hinge.
The control device 52 is installed in the electric box 53, and is used for distinguishing control equipment from transmission equipment, and the control device 52 is protected by the electric box 53 and the electric box door 54, so that the control device 52 is prevented from being affected by the outside to cause error.
As shown in fig. 2-6, a chain cover 29 is disposed outside the motor pulley 22, and the chain cover 29 simultaneously encloses the lower motor pulley 220, the upper motor pulley 221, and the timing belt 222.
The chain cover 29 is further arranged outside the motor belt pulley 22, the chain cover 29 simultaneously wraps the lower motor belt pulley 220, the upper motor belt pulley 221 and the synchronous belt 222, the lower motor belt pulley 220, the upper motor belt pulley 221 and the synchronous belt 222 are protected through the chain cover 29, the phenomenon that when the lower motor belt pulley 220 drives the upper motor belt pulley 221 to synchronously rotate through the synchronous belt 222, when foreign matters touch the lower motor belt pulley 220, the lower motor belt pulley 220 is damaged and stuck, the synchronous belt 222 cannot move, the upper motor belt pulley 221 stops rotating, the conveyor belt 20 stops moving along with the lower motor belt pulley, finally, the transportation process cannot be carried out, or the phenomenon that the foreign matters touch the synchronous belt 222 to skew the synchronous belt 222 and even fall off is avoided, the upper motor belt pulley 221 cannot rotate, therefore, the conveyor belt 20 cannot move, or the phenomenon that the foreign matters directly touch the upper motor belt pulley 221 to cause damage the upper motor belt pulley 221 is avoided, the conveyor belt 20 cannot move, normal transportation is ensured, and stable cover taking and boxing are ensured.
To illustrate further, as shown in fig. 1-9, the cover opening mechanism 3 is further provided with a protective cover 6; the shield 6 covers the connection plate 35, the optical axis, the head cylinder fixing plate 33, the head baffle 36, and the head cylinder 31 at the same time.
The cover opening mechanism 3 is further provided with the protective cover 6, and the protective cover 6 covers the connecting plate 35, the optical axis, the cover clamping cylinder fixing plate 33, the cover clamping baffle 36 and the cover clamping cylinder 31 at the same time, and the cover clamping is protected by the protective cover 6, so that the phenomenon that the robot clamp 41 directly contacts the cover opening mechanism 3 in the moving process is avoided, and the phenomenon that foreign objects fall onto the cover opening mechanism 3 is avoided, and the phenomenon that the foreign objects fall onto the moving direction position of the cover clamping cylinder 31 is avoided, so that the cover clamping is influenced, and the cover clamping or even the cover clamping problem is avoided.
Further describing, as shown in fig. 9, one end of the connecting plate 35 is fixedly connected to the base 30, and a limiting base 38 is disposed below the other end of the connecting plate 35; the limiting bases 38 are fixedly arranged on two sides of the frame 1.
One end of the left connecting plate 350 and one end of the right connecting plate 351 are connected with the base 30, and are installed above the conveyor belt 20 through the base 30, and a limiting base 38 is arranged below the other end of the left connecting plate 350 and the other end of the right connecting plate 351, the limiting base 38 is fixedly installed on the frame 1, the phenomenon that the left connecting plate 350 and the right connecting plate 351 are directly contacted with the conveyor belt 20 when swinging inwards is avoided through the limiting base 38, the cylinder fixing plate is always located above the conveyor belt 20, and stable cover taking is ensured.
To further illustrate, as shown in fig. 9, an anti-collision block 39 is disposed at the upper end of the limiting base 38.
The upper end of the limit base 38 is provided with an anti-collision block 39, so that the phenomenon that equipment is damaged due to the fact that the connecting plate 35 directly touches the limit base 38 is avoided, and the connecting plate 35 and the limit base 38 are protected through the anti-collision block 39.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (9)
1. An industrial robot uncaps boxing system, its characterized in that: comprises a frame, a box feeding mechanism arranged on the frame, a cover opening mechanism arranged on the box feeding mechanism, a box grabbing mechanism arranged above the box feeding mechanism and a detection mechanism arranged below the box feeding mechanism;
the box feeding mechanism comprises a conveyor belt, a conveyor motor for driving the conveyor belt, a fixed baffle and a fixed cylinder; the conveyor belt is arranged on two sides of the frame, and the tail end of the conveyor belt is fixedly provided with a fixed baffle plate; the fixed air cylinders are fixedly arranged at the tail ends of the two sides of the frame and are positioned in front of the fixed baffle plate and used for fixedly clamping the gift boxes;
the cover opening mechanism comprises a cover clamping cylinder, a cover turning cylinder, a cover clamping cylinder fixing plate, a connecting plate and a cover clamping baffle; a clamping cover cylinder fixing plate is arranged among the connecting plates and is horizontally positioned above the tail end of the conveyor belt; the clamping cover cylinder is arranged above two ends of the clamping cover cylinder fixing plate; the clamping cover baffle is fixedly connected with the clamping cover air cylinder and is positioned below two ends of the clamping cover air cylinder fixing plate; the flip cylinder is connected with one end of the connecting plate; the cover clamping cylinder drives the cover clamping baffle plate to prop against the edge of the gift box cover protruding out of the gift box; the cover-turning cylinder drives the cover-clamping baffle to turn outwards to take off the gift box cover, and the gift box is packaged by the packaging robot;
the box grabbing mechanism is used for placing the cartoons which are not boxed at the front end of the conveyor belt and taking the cartoons which are boxed away from the tail end of the conveyor belt; the box grabbing mechanism comprises a robot arm and a robot clamp; the robot clamp is arranged at the front end of the robot arm; the robot clamp comprises a bottom plate, a fixed box clamping plate, a movable box clamping plate, a first fixed small plate, a second fixed small plate, a box grabbing cylinder, a guide rail and a sliding block;
the bottom plate is arranged at the front end of the robot arm; the first fixed small plates are fixedly arranged below two sides of one end of the bottom plate; the guide rail is arranged below two sides of the other end of the bottom plate; the sliding block is movably arranged on the guide rail; the second fixed small plate is fixedly arranged on the sliding block; the fixing clamp box plate is fixed on the bottom plate through a first fixing small plate; the movable box clamping plate is fixed on the sliding block through a second fixed small plate; the box grabbing cylinder is arranged below the bottom plate, and the box grabbing cylinder is driven to drive the sliding block to move on the guide rail to the fixed box clamping plate, so that the fixed box clamping plate and the movable box clamping plate are matched with each other to grab the gift box;
the detection mechanism comprises a first sensor, a second sensor and a control device; the first sensor is arranged below the front end of the conveyor belt; the second sensor is arranged below the tail end of the conveyor belt; the control device starts the transmission motor through the signal of the first sensor; the control device stops transmitting the motor through the signal of the second sensor.
2. An industrial robot lid opening and boxing system in accordance with claim 1, wherein: the box feeding mechanism further comprises a motor belt wheel, a driving wheel, a driven wheel and a main shaft;
the driving wheels are arranged at the tail ends of two sides of the frame, and the driving wheels synchronously rotate through a main shaft; the driven wheels are arranged at the front ends of two sides of the frame, and the driven wheels and the driving wheels are wound with conveying belts; the motor belt pulley comprises a lower motor belt pulley, an upper motor belt pulley and a synchronous belt; the synchronous belt is simultaneously connected with the lower motor belt pulley and the upper motor belt pulley; the conveying motor is arranged below the frame, the lower motor belt wheel is connected with the conveying motor, and the lower motor belt wheel and the upper motor belt wheel synchronously rotate through a synchronous belt; the main shaft is simultaneously connected with the upper motor belt wheel and the driving wheel, and the driving wheel synchronously rotates with the upper motor belt wheel through the main shaft.
3. An industrial robot lid opening and boxing system in accordance with claim 1, wherein: the box feeding mechanism further comprises a guardrail plate; the guardrail plates are fixedly arranged on two sides of the frame through screws and are vertically arranged on two outer sides of the conveyor belt.
4. An industrial robot lid opening and boxing system in accordance with claim 1, wherein: the cover opening mechanism further comprises a base and a cover-turning cylinder fixing plate; the base is arranged on two sides of the frame, the lower end of the base is fixedly connected with the frame, and the upper end of the base is movably connected with the connecting plate; the flip cylinder fixing plate is arranged below one side of the frame, the lower end of the flip cylinder is connected with the flip cylinder fixing plate, and the upper end of the flip cylinder is connected with one end of the connecting plate; the connecting plates comprise a left connecting plate and a right connecting plate; the joint of the right connecting plate and the base is a rotating point, and the front end of the flip cylinder is connected with one end of the right connecting plate; the right connecting plate is driven to turn outwards by driving the flip cylinder by taking the rotating point as the center; an optical axis is arranged between the right connecting plate and the left connecting plate, and the left connecting plate and the right connecting plate are synchronously turned over through the optical axis.
5. An industrial robot lid opening and boxing system in accordance with claim 1, wherein: the detection mechanism further comprises an electric box and a refrigerator door; the electric box is arranged below the frame, and the control device is fixedly arranged in the electric box; the electric box is characterized in that a refrigerator door is further arranged outside the electric box, and the refrigerator door is connected with the electric box through a hinge.
6. An industrial robot lid opening and boxing system in accordance with claim 2, wherein: the chain cover is arranged outside the motor belt wheel, and the lower motor belt wheel, the upper motor belt wheel and the synchronous belt are wrapped by the chain cover at the same time.
7. An industrial robot lid opening and boxing system in accordance with claim 1, wherein: the cover opening mechanism is also provided with a protective cover; the protective cover simultaneously covers the connecting plate, the optical axis, the clamping cover cylinder fixing plate, the clamping cover baffle plate and the clamping cover cylinder.
8. An industrial robot lid opening and boxing system in accordance with claim 4, wherein: one end of the connecting plate is fixedly connected with the base, and a limiting base is arranged below the other end of the connecting plate; the limiting bases are fixedly arranged on two sides of the frame.
9. An industrial robot lid opening and boxing system in accordance with claim 8, wherein: and an anti-collision block is arranged at the upper end of the limiting base.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941189.8A CN107640363B (en) | 2017-10-11 | 2017-10-11 | Industrial robot uncaps boxing system |
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| CN201710941189.8A CN107640363B (en) | 2017-10-11 | 2017-10-11 | Industrial robot uncaps boxing system |
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| CN107640363A CN107640363A (en) | 2018-01-30 |
| CN107640363B true CN107640363B (en) | 2023-06-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109592127B (en) * | 2018-12-07 | 2020-12-08 | 上海发那科机器人有限公司 | Method for packaging cup by using industrial robot |
| CN110654600B (en) * | 2019-09-29 | 2021-08-27 | 珠海格力智能装备有限公司 | Electric cooker packaging production line |
| CN111071970B (en) * | 2019-12-31 | 2021-10-15 | 武汉华中数控股份有限公司 | Automatic industrial robot platform that uncaps of easy open can |
| CN114684418B (en) * | 2022-03-18 | 2024-01-30 | 展一智能科技(东台)有限公司 | Packing box collator |
| CN114715480B (en) * | 2022-05-04 | 2024-05-28 | 展一智能科技(苏州)有限公司 | Method for opening packing box |
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| EP2287076A1 (en) * | 2010-05-21 | 2011-02-23 | CAMA 1 SpA | Machine for cartoning products |
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| JP2007176493A (en) * | 2005-12-26 | 2007-07-12 | Nikka Whisky Distilling Co Ltd | Flap opening device |
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| CN204776186U (en) * | 2015-06-26 | 2015-11-18 | 吕桂财 | Automatic dress box system of gift box -shaped white spirit |
| CN105438544B (en) * | 2015-12-28 | 2017-09-26 | 江苏锦明工业机器人自动化有限公司 | Road the Automation Bottle Packaging Line after Liquor |
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| EP2287076A1 (en) * | 2010-05-21 | 2011-02-23 | CAMA 1 SpA | Machine for cartoning products |
| CN103057164A (en) * | 2013-01-19 | 2013-04-24 | 东莞市鸿铭机械有限公司 | Gift box colored paper packaging equipment |
| WO2014110870A1 (en) * | 2013-01-19 | 2014-07-24 | 东莞市鸿铭机械有限公司 | Gift box colored paper packaging apparatus |
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