CN107827061A - A kind of feeding manipulator of chemical product automation and intelligent positioning crawl - Google Patents
A kind of feeding manipulator of chemical product automation and intelligent positioning crawl Download PDFInfo
- Publication number
- CN107827061A CN107827061A CN201711259897.XA CN201711259897A CN107827061A CN 107827061 A CN107827061 A CN 107827061A CN 201711259897 A CN201711259897 A CN 201711259897A CN 107827061 A CN107827061 A CN 107827061A
- Authority
- CN
- China
- Prior art keywords
- positioning
- conveyer
- manipulator
- crawl
- feeding
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/24—Devices for supporting or handling bottles
-
- 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
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- 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
- B65G47/905—Control arrangements
-
- 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
- B65G2201/0235—Containers
- B65G2201/0252—Cans
Abstract
The present invention discloses a kind of feeding manipulator of chemical product automation and intelligent positioning crawl, and a kind of feeding manipulator of chemical product automation and intelligent positioning crawl includes positioning case, feeding platform, conveyer, mechanical arm assembly, vision positioning device and controller；The side wall of positioning case is transparent plate body；Feeding platform is installed in positioning case；Conveyer is installed in positioning case and is located at feeding platform side and extends to outside positioning case；Mechanical arm assembly is installed in positioning case；Mechanical arm assembly includes the first driving means of transmission track, the manipulator being slidably mounted on transmission track and driving manipulator motion；A part for transmission track is located above feeding platform, and another part is located above conveyer；Manipulator includes the arm body extended downwardly, the crawl section being movably installed in below arm body；Vision positioning device is installed on arm body；Controller electrically connects with conveyer, mechanical arm assembly and vision positioning device.Technical solution of the present invention realizes the transfer packing jar oriented in order.
Description
Technical field
The present invention relates to automatic producing technology field, more particularly to a kind of chemical product automation and intelligent positioning crawl
Feeding manipulator.
Background technology
Manipulator is usually used in automated production equipment, for shifting product or workpiece.
When chemical product produces, packing jar is in transfer process, it is necessary to which the sequence oriented in order, convenient follow-up filling
Product, the function of existing manipulator grabbing device is limited, the transfer packing jar that can not be oriented in order.
The content of the invention
The main object of the present invention is to provide a kind of feeding manipulator of chemical product automation and intelligent positioning crawl, it is intended to
Realize the transfer packing jar oriented in order.
To achieve the above object, the feeding manipulator of a kind of chemical product automation and intelligent positioning crawl proposed by the present invention
Including positioning case, feeding platform, conveyer, mechanical arm assembly, vision positioning device and controller；The side wall of the positioning case
For transparent plate body；The feeding platform is installed in the positioning case, for carrier package tank；The conveyer is installed on positioning
In case and positioned at the feeding platform side and extend to outside the positioning case, for transmitting packing jar；The mechanical arm assembly
Be installed in the positioning case, for by packing jar it is orderly be transferred to conveyer from feeding platform；The mechanical arm assembly
Include the first driving of transmission track, the manipulator being slidably mounted on the transmission track and the driving robot movement
Device；A part for the transmission track is located above the feeding platform, and another part is located above the conveyer；It is described
Manipulator includes the arm body extended downwardly, the crawl section being movably installed in below arm body；The vision positioning device is installed on institute
State on arm body, for detecting position and the placement state of the packing jar on the feeding platform；The controller fills with the transmission
Put, the electrical connection of mechanical arm assembly and the vision positioning device, for the detection structure control according to the vision positioning device
Make the mechanical arm assembly and conveyer work.
Preferably, connected between the crawl section and arm body by ball adapter；The manipulator also includes multiple companies
Connect the adjustment portion of the crawl section；Each adjustment portion includes a pair of adjusting ropes and second drive device, and described second
Drive device is installed on the upper end of the arm body and is connected with the upper end of the pair of adjusting rope, under the pair of adjusting rope
End is connected with the crawl section；The controller electrically connects with second drive device, for controlling second driving
Device works.
Preferably, the conveyer includes the 3rd driving of the first conveyer belt and driving the first conveyer belt motion
Device, the side wall of the positioning case offer what is passed through for the packing jar above first conveyer belt and first conveyer belt
Opening；The controller electrically connects with the 3rd drive device, for controlling the 3rd drive device to work.
Preferably, the feeding platform includes the 4th driving dress that the second conveyer belt and driving second conveyer belt rotate
Put；The position that the top surface of the positioning case corresponds to the feeding platform offers the feeding mouth to be dropped for packing jar；The controller
Electrically connected with the four-drive device, for controlling the four-drive device to work.
Preferably, second conveyer belt is provided with foamed buffer layer.
In technical solution of the present invention, positioning case limits the range of movement of packing jar, avoids packing jar from falling in transfer process
Fall on outside opereating specification；Feeding platform carrier package tank, facilitates the crawl of mechanical arm assembly；Vision positioning device can be with packaging orientation
The position of tank and placement state, controller is according to the work of the detection case control machinery hand component of vision positioning device, control
The transfer of first driving means driving manipulator, control crawl section clamp and loosened, and realize the crawl, positioning and transfer of packing jar
Operation, ensure that the transfer that packing jar orients in order.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the invention
Fig. 2 is the functional block diagram shown in Fig. 1.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality instruction (such as up, down, left, right, before and after ...),
Then directionality instruction be only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, " first ", " second " etc. are somebody's turn to do
Description be only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating indicated skill
The quantity of art feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes at least one spy
Sign.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, the knot of this technical scheme is will be understood that when the combination appearance of technical scheme is conflicting or can not realize
Conjunction is not present, also not within the protection domain of application claims.
The present invention proposes a kind of feeding manipulator of chemical product automation and intelligent positioning crawl.
Fig. 1 and Fig. 2 are referred to, in embodiments of the present invention, a kind of feeding of chemical product automation and intelligent positioning crawl
Manipulator includes positioning case 100, feeding platform 200, conveyer 300, mechanical arm assembly 400, vision positioning device 500 and control
Device 600 processed；The side wall of the positioning case 100 is transparent plate body；The feeding platform 200 is installed in the positioning case 100, is used for
Carrier package tank；The conveyer 300 is installed in positioning case 100 and is located at the side of feeding platform 200 and extends to institute
State outside positioning case 100, for transmitting packing jar；The mechanical arm assembly 400 is installed in the positioning case 100, for inciting somebody to action
Packing jar is orderly to be transferred on conveyer 300 from feeding platform 200；The mechanical arm assembly 400 include transmission track 410,
The first driving means that the manipulator 420 and the driving manipulator 420 being slidably mounted on the transmission track 410 move
(not shown)；A part for the transmission track 410 fills positioned at the top of feeding platform 200, another part positioned at the transmission
Put 300 tops；The manipulator 420 includes the arm body 421 extended downwardly, the crawl section being movably installed in below arm body 421
422；The vision positioning device 500 is installed on the arm body 421, for detecting the packing jar on the feeding platform 200
Position and placement state；The controller 600 fills with the conveyer 300, mechanical arm assembly 400 and the vision positioning
500 electrical connections are put, for mechanical arm assembly 400 described in the detection structure control according to the vision positioning device 500 and described
Conveyer 300 works.
In technical solution of the present invention, positioning case 100 limits the range of movement of packing jar, avoids packing jar in transfer process
Drop to outside opereating specification；The carrier package tank of feeding platform 200, facilitates the crawl of mechanical arm assembly 400；Vision positioning device 500
Can be with the position of packaging orientation tank and placement state, controller 600 is according to the detection case control machinery of vision positioning device 500
The work of hand component 400, the transfer of control first driving means driving manipulator 420, control crawl section 422 clamp and loosened,
The operation of crawl, positioning and the transfer of packing jar is realized, ensure that the transfer that packing jar orients in order.
In order to smoothly overturn packing jar, referring to Fig. 1, in the present invention, between the crawl section 422 and arm body 421
Connected by ball adapter, so that crawl section 422 has the larger free degree.The manipulator 420 also includes multiple
Connect the adjustment portion 423 of the crawl section 422；Each adjustment portion 423 includes a pair of adjusting ropes 424 and one second driving
Device 425, second drive device 425 be installed on the upper end of the arm body 421 and with the upper end of the pair of adjusting rope 424
It is connected, the lower end of the pair of adjusting rope 424 is connected with the crawl section 422；The controller 600 drives with described second
Dynamic device 425 electrically connects, for controlling second drive device 425 to work.Second drive device 425 can be tensed or loosened
Adjusting rope 424, adjusting rope 424 drives crawl section 422 to deflect, so as to realize the upset of tank body so that each tank body can be suitable
Profit turns to the state of tank mouth upward, facilitates filling.
Conveyer 300 can be in track and delivery platform component or transfer tape assemble, in the present embodiment
In, the conveyer 300 includes the 3rd drive device of the first conveyer belt and driving the first conveyer belt motion, described
The side wall of positioning case 100 offers the opening passed through for the packing jar above first conveyer belt and first conveyer belt；
The controller 600 electrically connects with the 3rd drive device, for controlling the 3rd drive device to work.
In order to facilitate the grasping manipulation of mechanical arm assembly 400, referring to Fig. 1, in the present embodiment, setting the feeding platform
200 include the four-drive device 220 of 210 and driving 210 rotation；The top surface of the positioning case 100 is corresponded on described
The position of material platform 200 offers the feeding mouth to be dropped for packing jar；The controller 600 is electrically connected with the four-drive device
Connect, for controlling the four-drive device to work.Packing jar enters in positioning case 100 from feeding mouth, drops to feeding platform 200
Feeding, in order to protective packaging tank, foamed buffer layer 230 can be set on described 210.
It should be noted that the technical scheme of each embodiment of the present invention can be combined with each other, but must be with this
The technical staff in field can be implemented as basis, when the combination of technical scheme occur it is conflicting or when can not realize should people recognize
Combination for this technical scheme is not present, also not within the protection domain of application claims.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure transformation that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other related technology necks
Domain, it is included within the scope of the present invention.
Claims (5)
1. a kind of chemical product automation and the feeding manipulator of intelligent positioning crawl, for capturing and shifting packing jar, its feature
It is, including positioning case, feeding platform, conveyer, mechanical arm assembly, vision positioning device and controller；
The side wall of the positioning case is transparent plate body；
The feeding platform is installed in the positioning case, for carrier package tank；
The conveyer is installed in positioning case and is located at the feeding platform side and extends to outside the positioning case, is used for
Transmit packing jar；
The mechanical arm assembly is installed in the positioning case, for by packing jar it is orderly be transferred to conveyer from feeding platform
On；The mechanical arm assembly includes transmission track, the manipulator being slidably mounted on the transmission track and the driving machine
The first driving means of tool hands movement；A part for the transmission track is located above the feeding platform, and another part is located at institute
State above conveyer；The manipulator includes the arm body extended downwardly, the crawl section being movably installed in below arm body；
The vision positioning device is installed on the arm body, for detecting the position of the packing jar on the feeding platform and putting
State；
The controller electrically connects with the conveyer, mechanical arm assembly and the vision positioning device, for according to institute
State mechanical arm assembly described in the detection structure control of vision positioning device and conveyer work.
2. a kind of chemical product automation as claimed in claim 1 and the feeding manipulator of intelligent positioning crawl, it is characterised in that
Connected between the crawl section and arm body by ball adapter；
The manipulator also includes the adjustment portion of multiple connection crawl sections；Each adjustment portion include a pair of adjusting ropes and
One the second drive device, second drive device be installed on the upper end of the arm body and with the upper end of the pair of adjusting rope
It is connected, the lower end of the pair of adjusting rope is connected with the crawl section；The controller and second drive device electricity
Connection, for controlling second drive device to work.
3. a kind of chemical product automation as claimed in claim 1 and the feeding manipulator of intelligent positioning crawl, it is characterised in that
The conveyer includes the 3rd drive device of the first conveyer belt and driving the first conveyer belt motion, the positioning case
Side wall offer the opening passed through for the packing jar above first conveyer belt and first conveyer belt；The controller
Electrically connected with the 3rd drive device, for controlling the 3rd drive device to work.
4. a kind of chemical product automation as claimed in claim 1 and the feeding manipulator of intelligent positioning crawl, it is characterised in that
The feeding platform includes the four-drive device that the second conveyer belt and driving second conveyer belt rotate；The positioning case
The position that top surface corresponds to the feeding platform offers the feeding mouth to be dropped for packing jar；The controller fills with the described 4th driving
Electrical connection is put, for controlling the four-drive device to work.
5. a kind of chemical product automation as claimed in claim 3 and the feeding manipulator of intelligent positioning crawl, it is characterised in that
Second conveyer belt is provided with foamed buffer layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711259897.XA CN107827061A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711259897.XA CN107827061A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107827061A true CN107827061A (en) | 2018-03-23 |
Family
ID=61641437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711259897.XA Pending CN107827061A (en) | 2017-12-04 | 2017-12-04 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107827061A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592378A (en) * | 2018-11-15 | 2019-04-09 | 华南智能机器人创新研究院 | A kind of vision material conveying line |
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| CN106429430A (en) * | 2016-10-12 | 2017-02-22 | 颐中(青岛)烟草机械有限公司 | Special-shaped cigarette stacking device |
| CN206139519U (en) * | 2016-10-21 | 2017-05-03 | 广州铁路职业技术学院 | Parallelly connected machine sorting machine |
| CN208429845U (en) * | 2017-12-04 | 2019-01-25 | 广州雍远溯智能装备科技有限公司 | A kind of feeding manipulator of chemical product automation and intelligent positioning crawl |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0687537A (en) * | 1992-09-09 | 1994-03-29 | Honda Motor Co Ltd | Automatic workpiece takeout device |
| EP1754549A2 (en) * | 2005-08-17 | 2007-02-21 | EISENMANN Anlagenbau GmbH & Co. KG | Method and apparatus for sorting bottles |
| CN102837308A (en) * | 2012-09-26 | 2012-12-26 | 广州达意隆包装机械股份有限公司 | Robot |
| CN204528621U (en) * | 2015-01-29 | 2015-08-05 | 东莞市李群自动化技术有限公司 | A kind of connecting gear adopting parallel robot to carry out collaborative work |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592378A (en) * | 2018-11-15 | 2019-04-09 | 华南智能机器人创新研究院 | A kind of vision material conveying line |
| CN109592378B (en) * | 2018-11-15 | 2021-03-16 | 华南智能机器人创新研究院 | Visual material conveying line |
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