CN107651238A - Rotation boxing device for cylindric material - Google Patents
Rotation boxing device for cylindric material Download PDFInfo
- Publication number
- CN107651238A CN107651238A CN201711005489.1A CN201711005489A CN107651238A CN 107651238 A CN107651238 A CN 107651238A CN 201711005489 A CN201711005489 A CN 201711005489A CN 107651238 A CN107651238 A CN 107651238A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- connecting plate
- supply unit
- packing box
- angle adjustment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 title claims abstract description 57
- 238000012856 packing Methods 0.000 claims abstract description 29
- 230000000694 effects Effects 0.000 claims abstract description 5
- 239000012636 effector Substances 0.000 claims abstract description 4
- 239000007937 lozenge Substances 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- CZMRCDWAGMRECN-UGDNZRGBSA-N Sucrose Chemical compound O[C@H]1[C@H](O)[C@@H](CO)O[C@@]1(CO)O[C@@H]1[C@H](O)[C@@H](O)[C@H](O)[C@@H](CO)O1 CZMRCDWAGMRECN-UGDNZRGBSA-N 0.000 description 2
- 229930006000 Sucrose Natural products 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 229960004793 sucrose Drugs 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
- B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
Abstract
The invention discloses a kind of rotation boxing device for cylindric material, belong to industrial robot applied technical field.The device includes four shaft industrial robots, end handgrip and angle adjustment block, end handgrip includes the first connecting plate, rotary cylinder and catching unit, first connecting plate is fixed on the end effector of four shaft industrial robots, second connecting plate is fixed on the side of the first connecting plate, rotary cylinder is arranged on the second connecting plate, the output shaft of rotary cylinder is fixedly connected with the 3rd connecting plate, cylinder mounting plate is arranged on the 3rd connecting plate, catching unit includes straight trip cylinder and finger cylinder, straight trip cylinder is fixed on cylinder mounting plate, finger cylinder is fixed on the piston rod of straight trip cylinder, two clamping jaws are relatively fixed in the activity gripping finger of finger cylinder, clamping jaw is provided with V-groove, angle adjustment block is arranged on the side of packing box supply unit, the upper surface of angle adjustment block is smooth surface.Apparatus of the present invention are simple in construction, stability is high.
Description
Technical field
The invention belongs to industrial robot applied technical field, and in particular to a kind of rotation mounted box for cylindric material
Device.
Background technology
It is fitted into industrial packaging, it is necessary to be rotated a certain angle to the material to lie low in the packing box with grid, grid
Lattice separate material the extruding that can be reduced between material, and material is played a protective role.Advocating, protection material is not compact
On the premise of, set the suitable anglec of rotation to increase the receiving number of floor space identical packing box according to the shape of material
Amount.
For the material to lie low in supply, posture is incomplete same, causes to be difficult to design the appropriate anglec of rotation.
The content of the invention
The present invention in view of the shortcomings of the prior art, designs a kind of rotation boxing device for cylindric material.
The technical solution adopted by the present invention is as follows：A kind of rotation boxing device for cylindric material, the device include
Four shaft industrial robots 1, end handgrip 2, material supply unit 3, packing box supply unit 5 and several angle adjustment blocks 6；Material supplies
The homonymy of four shaft industrial robots 1 is arranged on to platform 3 and packing box supply unit 5, packing box supply unit 5 is used for placing packing box 4,
It is provided with grid in packing box 4, end handgrip 2 includes the first connecting plate 2-10, rotary cylinder 2-2, cylinder mounting plate 2-8 and some
Individual structure identical catching unit, the first connecting plate 2-10 are fixed on the end effector of four shaft industrial robots 1, rotary pneumatic
Cylinder 2-2 output shaft around horizontal axis rotate, rotary cylinder 2-2 be arranged on the second connecting plate 2-1 on, the second connecting plate 2-1 with
First connecting plate 2-10 is fixedly connected, and rotary cylinder 2-2 output shaft is fixedly connected with the 3rd connecting plate 2-9, cylinder mounting plate
2-8 is arranged on the 3rd connecting plate 2-9；Catching unit is symmetricly set on cylinder mounting plate 2-8, and angle adjustment block 6 is arranged on
The side of packing box supply unit 5, material supply unit 3 are arranged on the opposite side of packing box supply unit 5, the upper end of angle adjustment block 6
Face is smooth surface.
Angle adjustment block 6 is equal with the quantity of catching unit.
Catching unit includes straight trip cylinder 2-7 and finger cylinder 2-6, and straight trip cylinder 2-7 is fixed on cylinder mounting plate 2-8
On, finger cylinder 2-6 is fixed on straight trip cylinder 2-7 piston rod, the first wedge-shaped wedge-shaped contiguous block 2- of contiguous block 2-4 and second
5 are mounted opposite in the activity gripping finger of the finger cylinder 2-6, and the first wedge-shaped contiguous block 2-4 lozenges and the second wedge shape are even
It is identical to connect the incline direction of block 2-5 lozenges, the first clamping jaw 2-3A, the second clamping jaw 2-3B are separately mounted to the first wedge shape connection
On block 2-4, the second wedge-shaped contiguous block 2-5.
The beneficial effect of apparatus of the present invention：
Using the design of angle adjustment block and end handgrip, the motion of end handgrip is driven using four shaft industrial robots, material with
Angle adjustment block is in contact, and material rotates around own axes, and the upper surface shape of angle adjustment block determines the final carriage of material,
It is thus possible to which the different cylindric material of posture is adjusted into unified posture, simple in construction, manufacturing cost is low, and stability is high.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of apparatus of the present invention.
Fig. 2 is the dimensional structure diagram of the end handgrip in apparatus of the present invention.
Fig. 3 is the partial structural diagram of the packing box supply unit in apparatus of the present invention.
In figure：1：Four shaft industrial robots；2：End handgrip；2-1：Second connecting plate；2-2：Rotary cylinder；2-3A:The
One clamping jaw；2-3B:Second clamping jaw；2-4：First wedge-shaped contiguous block；The second wedge-shaped contiguous blocks of 2-5.；2-6：Finger cylinder；2-7：
Straight trip cylinder；2-8：Cylinder mounting plate；2-9：3rd connecting plate；2-10：First connecting plate；3：Material supply unit；4：Packing box；
5：Packing box supply unit；6：Angle adjustment block.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings：
As Figure 1-Figure 2, a kind of rotation boxing device for cylindric material, the device include four shaft industrial robots 1,
2, two angle adjustment blocks 6 of end handgrip, material supply unit 2 and packing box supply unit 5, four shaft industrial robots 1 are fixed on peace
Fill on table, material supply unit 2 and packing box supply unit 5 are arranged on the homonymy of four shaft industrial robots 1, and this kind of arrangement can be with
The single motion distance of four shaft industrial robots 1 is reduced, accelerates productive temp, material supply unit 2 and packing box supply unit 5 are fixed
On installation frame, packing box supply unit 5 is used for placing packing box 4, and packing box supply unit 5 is made up of four pieces of clamping plates, four pieces of folders
Plate is provided for locating packaging box 4 in quadrangle, and grid is provided with packing box 4, and grid is used for isolating material so as to reduce material
Between extruding, play a part of protecting material, material is cane sugar in the present embodiment, and the outer surface of cane sugar is cylindric.
Four shaft industrial robots 4 are SCARA robots, end handgrip 2 include the first connecting plate 2-10, rotary cylinder 2-2,
Cylinder mounting plate 2-8 and two catching units, the first connecting plate 2-10 are fixed on the end effector of four shaft industrial robots 4
On, the second connecting plate 2-1 is fixed on the first connecting plate 2-1 left side, and rotary cylinder 2-2 is arranged on the second connecting plate 2-1, rotation
Rotaring cylinder 2-2 output shaft is rotated around horizontal axis, and rotary cylinder 2-2 output shaft is fixedly connected with the 3rd connecting plate 2-9, rotation
Rotaring cylinder 2-10 drives the 3rd connecting plate 2-9 to be swung in perpendicular, and cylinder mounting plate 2-8 is arranged on the 3rd connecting plate 2-9
On, two catching units are symmetrical arranged, and each catching unit includes straight trip cylinder 2-7 and finger cylinder 2-6, straight trip cylinder 2-
7 are fixed on cylinder mounting plate 2-8, and straight trip cylinder 2-7 piston piston rod moves up and down, and finger cylinder 2-6 is fixed on straight trip
On cylinder 2-7 piston rod, the first wedge-shaped wedge-shaped contiguous block 2-5 of contiguous block 2-4 and second are mounted opposite finger cylinder 2-6's
In activity gripping finger, the first clamping jaw 2-3A, the second clamping jaw 2-3B are tiltedly mounted on the first wedge-shaped contiguous block 2-4, the second wedge shape respectively
On contiguous block 2-5, the incline direction phase of the first wedge-shaped contiguous block 2-3 lozenges and the second wedge-shaped contiguous block 2-4 lozenges
Together, so as to which both sides clamping jaw 2-5 opening degree is different, and when the spacing between material is smaller, material has been grabbed in material supply unit
The side taken, clamping jaw opening degree is big, and the side that material has captured in material supply unit 3, clamping jaw 2-5 opening degrees are big, so that, can
To ensure that clamping jaw 2-5 does not contact with the material not captured, finger cylinder 2-6 drives clamping jaw 2-5 to capture thing from material supply unit 3
Material, material 2-5 contacts with clamping jaw 2-5 produces interaction force, and material can rotate under clamping jaw 2-5 effects along own axes.
Angle adjustment block 6 is arranged on the side of packing box supply unit 5, and angle adjustment block 6 is fixed on erecting bed, two angles
The upper surface of degree adjustment block 6 is shaped as smooth surface, and the upper surface of angle adjustment block 6 is working face.
As shown in figure 3, unpackaged material before is placed in material supply unit 3, the posture of material is different, the industry of four axles
Robot 1 drives end handgrip 2 to move to predeterminated position, and straight trip cylinder 2-7 is descending, and finger cylinder 2-6 drives clamping jaw 2-5 crawls
Material, when clamping jaw 2-5 captures material, material rotates around vertical axis, and material posture is unified, and two catching units successively capture things
Material, four shaft industrial robots 1 drive the direction motion where end handgrip 2 toward angle adjustment block 6, the He of four shaft industrial robot 1
Rotary cylinder 2-2 drives material to be contacted with the upper surface of angle adjustment block 6, and material contacts with angle adjustment block 6 produces phase interaction
Firmly, material rotates around own axes, and the structure of two pieces of angle adjustment blocks 6 is identical, and the posture of two materials is identical, four axles
Industrial robot 1 drives end handgrip 2 that material is put into packing box 4, and the material after adjustment is as shown in Figure 3.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without creatively designing and the technical scheme
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (3)
1. a kind of rotation boxing device for cylindric material, it is characterised in that the device includes four shaft industrial robots（1）、
End handgrip（2）, material supply unit（3）, packing box supply unit（5）And several angle adjustment blocks（6）；The material supply unit
（3）With the packing box supply unit（5）It is arranged on four shaft industrial robot（1）Homonymy, the packing box supply unit（5）
For placing packing box（4）, the packing box（4）In be provided with grid, the end handgrip（2）Including the first connecting plate（2-
10）, rotary cylinder（2-2）, cylinder mounting plate（2-8）And several catching units, first connecting plate（2-10）It is fixed on
Four shaft industrial robot（1）End effector on, the rotary cylinder（2-2）Output shaft around horizontal axis rotate,
The rotary cylinder（2-2）Installed in the second connecting plate（2-1）On, second connecting plate（2-1）With first connecting plate
（2-10）It is fixedly connected, the rotary cylinder（2-2）Output shaft and the 3rd connecting plate（2-9）It is fixedly connected, the cylinder peace
Loading board（2-8）Installed in the 3rd connecting plate（2-9）On, the catching unit is symmetricly set on the cylinder mounting plate（2-
8）On, the angle adjustment block（6）It is arranged on the packing box supply unit（5）Side, the material supply unit（3）It is arranged on
The packing box supply unit（5）Opposite side, the angle adjustment block（6）Upper surface be smooth surface.
2. boxing device is overturn according to claim 1, it is characterised in that the angle adjustment block（6）With the number of catching unit
Measure equal.
3. boxing device is overturn according to claim 1, it is characterised in that the catching unit includes straight trip cylinder（2-7）And
Finger cylinder（2-6）, the straight trip cylinder（2-7）It is fixed on the cylinder mounting plate（2-8）On, the finger cylinder（2-6）
It is fixed on the straight trip cylinder（2-7）Piston rod on, the first wedge-shaped contiguous block（2-4）With the second wedge-shaped contiguous block（2-
5）It is mounted opposite in the finger cylinder（2-6）Activity gripping finger on, the first wedge-shaped contiguous block（2-4）Lozenges and institute
State the second wedge-shaped contiguous block（2-5）Lozenges incline direction it is identical, the first clamping jaw（2-3A）, the second clamping jaw（2-3B）Respectively
Installed in the first wedge-shaped contiguous block（2-4）, the second wedge-shaped contiguous block（2-5）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711005489.1A CN107651238A (en) | 2017-10-25 | 2017-10-25 | Rotation boxing device for cylindric material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711005489.1A CN107651238A (en) | 2017-10-25 | 2017-10-25 | Rotation boxing device for cylindric material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107651238A true CN107651238A (en) | 2018-02-02 |
Family
ID=61119650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711005489.1A Pending CN107651238A (en) | 2017-10-25 | 2017-10-25 | Rotation boxing device for cylindric material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651238A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792118A (en) * | 2018-08-01 | 2018-11-13 | 成都普什医药塑料包装有限公司 | A kind of conveying mechanism and heparin tube device for labeling |
| CN116652860A (en) * | 2023-07-27 | 2023-08-29 | 华翔(洪洞)智能科技有限公司 | Compressor cylinder processing attitude adjusting device and adjusting method thereof |
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| CN207595359U (en) * | 2017-10-25 | 2018-07-10 | 安徽海思达机器人有限公司 | For the rotation boxing device of cylindric material |
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| US20020088687A1 (en) * | 2001-01-11 | 2002-07-11 | Matthias Hofmann | Device for grouping of articles |
| US20100135760A1 (en) * | 2007-04-26 | 2010-06-03 | Pace Innovations, L.C. | Vacuum gripping apparatus |
| CN101700814A (en) * | 2009-11-03 | 2010-05-05 | 广东一鼎科技有限公司 | Production line for automatic boxing of wall and floor tiles |
| US20120061210A1 (en) * | 2010-09-13 | 2012-03-15 | Seiko Epson Corporation | Loading member and sorting device |
| JP2012218790A (en) * | 2011-04-12 | 2012-11-12 | Kureha Corp | Conveying apparatus, cartoning machine and method for manufacturing carton containing object |
| CN202668233U (en) * | 2012-05-17 | 2013-01-16 | 马丁路德机器人（上海）有限公司 | Three-coordinate combined type portal robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108792118A (en) * | 2018-08-01 | 2018-11-13 | 成都普什医药塑料包装有限公司 | A kind of conveying mechanism and heparin tube device for labeling |
| CN116652860A (en) * | 2023-07-27 | 2023-08-29 | 华翔(洪洞)智能科技有限公司 | Compressor cylinder processing attitude adjusting device and adjusting method thereof |
| CN116652860B (en) * | 2023-07-27 | 2023-09-26 | 华翔(洪洞)智能科技有限公司 | Compressor cylinder processing attitude adjusting device and adjusting method thereof |
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