CN108569431A - A kind of vanning handgrip - Google Patents
A kind of vanning handgrip Download PDFInfo
- Publication number
- CN108569431A CN108569431A CN201810584379.3A CN201810584379A CN108569431A CN 108569431 A CN108569431 A CN 108569431A CN 201810584379 A CN201810584379 A CN 201810584379A CN 108569431 A CN108569431 A CN 108569431A
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- sliding
- sliding slot
- column
- segment
- placement unit
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- 239000012636 effector Substances 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 21
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- 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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of vanning handgrip,Belong to boxing apparatus technical field,It include the handgrip mounting plate of the end effector mechanism mounted on transfer robot,Coulisse is arranged in parallel with handgrip mounting plate,Electric rotating machine is for driving coulisse vertical and straight movement,Odd number sliding slot is symmetrically provided in the perpendicular of coulisse,Sliding slot is arranged at sector,Mounting base is horizontally arranged at the lower face of handgrip mounting plate,It is provided with through-hole in the middle part of the horizontal plane of mounting base,The through-hole both sides of mounting base are provided with symmetrical floor chute,Floor chute includes sliding slot first segment and sliding slot second segment,Sliding slot first segment and sliding slot second segment seamlessly transit in obtuse angle and between sliding slot first segment and sliding slot second segment,Sliding slot first segment is conllinear with through-hole,Placement unit is equal with the quantity of sliding slot,Placement unit is mounted in corresponding sliding slot,Placement unit vertical and straight movement and can slide in the sliding slot of bottom along floor chute,The vanning handgrip can be carried out at the same time babinet odd column and staggeredly case simultaneously with even column.
Description
Technical field
The invention belongs to boxing apparatus technical fields, and in particular to a kind of vanning handgrip.
Background technology
For the end handgrip used in current automation binning process for single-row handgrip, this kind of handgrip has multiple crawls single
Member, the equal distance in supplied materials interval carry out material with supplied materials pipeline, between the centre distance and supplied materials between placement unit
Apart from equal, disposably crawl is equal to the supplied materials of its placement unit quantity from supplied materials pipeline for handgrip, placement unit in handgrip
Between it is close to each other material is placed into the babinet of expansion, this kind of vanning handgrip once can be only done single-row vanning action.
It is circular object, such as table tennis, apple etc. for rank street face, the count column and even column of supplied materials need wrong
Arrangement, this kind of cloth placement location can make vanning be more prone to make full use of the space of babinet simultaneously, and the gap between material is reduced
Carrying can be reduced to damage to material with transportational process.In the case of above-mentioned single handgrip, system needs to set handgrip
Either the different manner of execution of even column or two sets handgrips are used in count column, there is that control is inconvenient to ask with complicated
Topic.
Invention content
For the above technical issues, the present invention provides a kind of vanning handgrip, babinet can be carried out at the same time odd column with
Even column is staggeredly cased simultaneously, especially adapts to rank street face be circular object.
The technical solution adopted by the present invention is as follows：A kind of vanning handgrip, including handgrip mounting plate, handgrip mounting plate are mounted on
On the end effector mechanism of transfer robot, two the first sliding-rail sliding components are vertically arranged in the two of handgrip mounting plate respectively
Side, the sliding rail in the first sliding-rail sliding component are vertically installed at the both sides of handgrip mounting plate, the cunning in the first sliding-rail sliding component
Block is fixedly connected with coulisse, and coulisse is arranged in parallel with handgrip mounting plate, and electric rotating machine is mounted on handgrip mounting plate, rotation
Motor is for driving coulisse vertical and straight movement, and the second sliding-rail sliding component is spaced apart is set in parallel in handgrip for several
On mounting plate, sliding rail is mounted on handgrip mounting plate in the second sliding-rail sliding component, is symmetrically provided in the perpendicular of coulisse
Odd number sliding slot, sliding slot are arranged at sector, and mounting base is horizontally arranged at the lower face of handgrip mounting plate, the level of mounting base
Through-hole is provided in the middle part of plane, the through-hole both sides of mounting base are provided with symmetrical floor chute, and floor chute includes sliding slot first
Section and sliding slot second segment, sliding slot first segment and sliding slot second segment are in obtuse angle and smoothed between sliding slot first segment and sliding slot second segment
It crossing, sliding slot first segment is conllinear with through-hole, and placement unit is equal with the quantity of sliding slot, and placement unit is mounted in corresponding sliding slot,
Placement unit includes 2N-1 placement unit or the 2N placement unit, N expression positive integers, the 2N-1 placement unit, the
2N placement unit indicates odd number placement unit and even number placement unit respectively.
The 2N-1 placement unit includes column, and column is fixedly connected with sliding block in the second sliding-rail sliding component, cam peace
Mounted in the upper end of column, cam is nested in the sliding slot of coulisse, and cam can slide in sliding slot, and sucker is mounted on column
Output end, the lower end of column be nested in sliding slot first segment column in either through-hole can be slided in sliding slot first segment or
It is slided in through-hole；The 2N placement unit includes upper semisection column and lower semisection column, upper semisection column and the second sliding-rail sliding
Sliding block is fixedly connected in group, and upper semisection column is fixedly connected with cam, passes through third between upper semisection column and lower semisection column
Sliding block slide rail group is connected, and sucker is mounted on the output end of lower semisection column, and lower semisection column is nested in sliding slot first end or cunning
In slot second segment, lower semisection column can be slided in sliding slot first segment with sliding slot second segment.
Further, the quantity of sliding slot is preferably five in coulisse, and the quantity of placement unit is 5.
Further, column, upper semisection column are fixedly connected with two sliding blocks of several the second sliding-rail sliding groups respectively.
Further, upper semisection column is in inverted T-type, lower end and the third sliding rail of upper pillar stand in the 2N placement unit
Sliding rail is fixedly connected in sliding block group, and lower semisection column is fixedly connected with sliding block in third sliding-rail sliding, in third sliding-rail sliding group
One end of sliding rail is fixed on the lower end of handgrip mounting plate.
Further, sliding slot first segment and the angle of sliding slot second segment are preferably 135 degree.
Further, balance weight is installed in the lower end of the rear end face of handgrip mounting plate.
Further, placement unit further includes vertical cylinder, one end installation of vertical cylinder in the 2N-1 placement unit
In one end of column, the output end that sucker is mounted on vertical cylinder is installed；One end peace of vertical cylinder in the 2N placement unit
Mounted in one end of lower semisection column, sucker is mounted on the output end of vertical cylinder.
Beneficial effects of the present invention：Odd number placement unit is arranged in the present invention, and the 2N-1 placement unit is grabbed with 2N
It takes unit can capture once staggeredly respectively two to equip case, in addition also sets up vertical cylinder, utilize the flexible of vertical cylinder, energy
The 2N-1 placement unit is used separately by enough realize with the 2N placement unit, to adapt to the material diameter of bigger, or
The carton of built-in grid.
Description of the drawings
Fig. 1 is the dimensional structure diagram of apparatus of the present invention initial position.
Fig. 2 is the dimensional structure diagram of apparatus of the present invention seized condition.
Fig. 3 is the structural schematic diagram of 2N-1 placement unit and the 2N placement unit in apparatus of the present invention.
Fig. 4 is mounting base in apparatus of the present invention and the structural schematic diagram at third sliding-rail sliding component cooperation.
Fig. 5 is the overlooking structure diagram of mounting base in apparatus of the present invention.
Fig. 6 is the left view structural representation of apparatus of the present invention seized condition.
In figure：1. handgrip mounting plate；2. coulisse；21. sliding slot；3. the first sliding-rail sliding component；4. the second sliding-rail sliding
Component；5. electric rotating machine；6. placement unit；61. cam；62. column；63. vertical cylinder；64. suction nozzle；7. mounting base；71.
Floor chute；711. sliding slot second segments；712. sliding slot first segments；72. through-hole；8. third sliding-rail sliding component, 9. balance weights.
Specific implementation mode
In the present embodiment, the material for handgrip of casing is preferably apple, and the cross section of apple is substantially circular, while apple
Fruit it is of different sizes, the material in the present embodiment is not limited by apple, and other cross sections can be selected for circular material,
Such as table tennis, orange etc..
As Figure 1-Figure 5, a kind of vanning handgrip, including handgrip mounting plate 1, handgrip mounting plate 1 are mounted on conveying robot
On the end effector mechanism of people, two the first sliding-rail sliding components 3 are vertically arranged in the both sides of handgrip mounting plate 1 respectively, and first
Sliding rail in sliding-rail sliding component 3 is vertically installed at the both sides of handgrip mounting plate, the sliding block in the first sliding-rail sliding component 3 and cunning
Frid 2 is fixedly connected, and coulisse 2 is arranged in parallel with handgrip mounting plate 1, and electric rotating machine 5 is mounted on handgrip mounting plate 1, rotation
The power of motor 5 is transferred power to by toothed belt transmission, ball-screw on coulisse 2, and electric rotating machine 5 is for driving sliding slot
2 vertical and straight movement of plate, the second sliding-rail sliding component 4 is spaced apart is set in parallel on handgrip mounting plate 1 for several, this reality
It applies in example, sliding rail is mounted on handgrip mounting plate 1 in the second sliding-rail sliding group 4, is symmetrically provided in the perpendicular of coulisse 2 strange
Several straights 21, in the present embodiment, the quantity of preferred straight is 5, correspondingly, every number of columns of apple vanning
For 3 and 2 interlaced arrangements, odd number straight 21 is arranged in fan-shaped, and mounting base 7 is horizontally arranged at handgrip mounting plate 1
Lower face, be provided with through-hole 72 in the middle part of the horizontal plane of mounting base 7,72 both sides of through-hole of mounting base 7 are provided with symmetrically
Floor chute 71, floor chute 71 include sliding slot first segment 712 and sliding slot second segment 711, sliding slot first segment 711 and sliding slot second
Section 712 seamlessly transits in obtuse angle and between sliding slot first segment 712 and sliding slot second segment 711, and sliding slot first segment 712 is total with through-hole 72
Line, placement unit 6 is equal with the quantity of sliding slot 21, and placement unit 6 includes 2N-1 placement unit or the 2N placement unit,
Placement unit 6 be from left to right followed successively by the first placement unit, the second placement unit, third placement unit, the 4th placement unit and
5th placement unit, in coulisse sliding slot be from left to right followed successively by the first sliding groove, second sliding slot, third sliding slot, the 4th sliding slot and
In 5th sliding slot,
The 2N-1 placement unit includes column 62, and column 62 is fixedly connected with sliding block in the second sliding-rail sliding component 4, cam 61
Mounted on the upper end of column, cam 61 is nested in the sliding slot 21 of coulisse 2, and cam 61 can slide in sliding slot 21, suction nozzle
64 are mounted on the output end of column 62, and the lower end of column 62 is nested in sliding slot first segment 712 or in through-hole 72,62 energy of column
It is enough slided in sliding slot first segment 712 or through-hole 72 in slide, i.e. the first placement unit, third placement unit, the 5th crawl
The structure of unit is as described above, the first placement unit, the 5th placement unit are respectively nested in the sliding slot of two floor chutes 71
One section 712, third placement unit is nested in through-hole 72.
When initial position, transfer robot drives vanning handgrip to capture apple from supplied materials pipeline, and apple is defeated in supplied materials
Line sending is arranged according to pre-determined distance interval, and electric rotating machine 5 drives coulisse 2 to move upwards, sliding slot of the cam 61 in coulisse 2
21 slide to bottom, and 4 two side slide stress are drawn close along sliding rail to centre in several the second sliding block slide track components, the first crawl
Unit and the 5th placement unit drive apple to be drawn close to centre along the sliding slot first segment 712 of floor chute 71, third placement unit
Opposing through-bores 72 move downward.
The 2N placement unit includes upper semisection column and lower semisection column, upper semisection column and the second sliding-rail sliding group 4
Middle sliding block is fixedly connected, and upper semisection column is fixedly connected with cam 61, passes through third between upper semisection column and lower semisection column
Sliding block slide track component 4 is connected, and suction nozzle 64 is mounted on the output end of lower semisection column, and lower semisection column is nested in sliding slot first end
712 or sliding slot second segment 711 in, lower semisection column can be slided in sliding slot first segment 712 with sliding slot second segment 711, i.e.,
Second placement unit, the structure of the 4th placement unit are as described above.
Upper semisection column is in inverted T-type, lower end and the third sliding-rail sliding of upper semisection column in 2N placement unit
Sliding rail is fixedly connected in component 8, and lower semisection column is fixedly connected with sliding block in third sliding-rail sliding component 8, third sliding-rail sliding
One end of sliding rail is fixed on the lower end of handgrip mounting plate 1 in component 8.
When initial position, transfer robot drives vanning handgrip to capture apple from supplied materials pipeline, and apple is defeated in supplied materials
Line sending is arranged according to pre-determined distance interval, and electric rotating machine 5 drives coulisse 2 to move upwards, sliding slot of the cam 61 in coulisse 2
21 slide to bottom, and 4 two side slide stress are drawn close along sliding rail to centre in several the second sliding block slide track components, the second crawl
The lower semisection stress column of unit and the 4th placement unit is slided along sliding slot first segment 712 to sliding slot second segment 711.
To sum up, when seized condition, the center of the 2N placement unit is conllinear in placement unit, the 2N-1 placement unit
Center is conllinear, to which once crawl can realize that biserial is staggeredly cased.
In order to ensure that the stabilization that sliding rail slides along the second sliding-rail sliding component of placement unit 6, column 61 or upper semisection are vertical
Column and two sliding blocks of several the second sliding-rail sliding groups are respectively fixedly connected with.
The angle of sliding slot first segment 712 and sliding slot second segment 711 is preferably 135 degree, and the 2N placement unit can be with the
2N-1 placement unit realizes longitudinal deviate.
As shown in fig. 6, balance weight 9 is installed in the lower end of the rear end face of handgrip mounting plate 1, balance weight 9 is grabbed for balancing vanning
Mass Distribution before and after hand plays the role of balancing handgrip.
Placement unit 6 further includes vertical cylinder, and one end of vertical cylinder 63 is mounted on column in the 2N-1 placement unit
61 one end, the output end that suction nozzle 64 is mounted on vertical cylinder 63 are installed；One end of vertical cylinder 63 in the 2N placement unit
Mounted on one end of lower semisection column, suction nozzle 64 is mounted on the output end of vertical cylinder.
When the maximum gauge of the cross section of the material of crawl is larger, which can also realize primary single-row crawl
Vertical cylinder in the 2N-1 placement unit is stretched out, only carries out crawl object using the 2N-1 placement unit at this time by vanning
Material, the maximum gauge of material cannot be more than the centre distance between the 2N-1 placement unit of seized condition.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (7)
1. a kind of vanning handgrip, it is characterised in that including handgrip mounting plate, handgrip mounting plate is mounted on the end of transfer robot
In executing agency, two the first sliding-rail sliding components are vertically arranged in the both sides of handgrip mounting plate, the first sliding-rail sliding group respectively
Sliding rail in part is vertically installed at the both sides of handgrip mounting plate, and the sliding block in the first sliding-rail sliding component is fixed with coulisse to be connected
It connects, coulisse is arranged in parallel with handgrip mounting plate, and electric rotating machine is mounted on handgrip mounting plate, and electric rotating machine is for driving sliding slot
Plate vertical and straight movement,
Multiple second sliding-rail sliding components are spaced apart to be set in parallel on handgrip mounting plate, the second sliding-rail sliding component
Middle sliding rail is mounted on handgrip mounting plate, and odd number sliding slot is symmetrically provided in the perpendicular of coulisse, and sliding slot is arranged at sector,
Mounting base is horizontally arranged at the lower face of handgrip mounting plate, and through-hole is provided in the middle part of the horizontal plane of mounting base, installs bottom
The through-hole both sides of plate are provided with symmetrical floor chute, and floor chute includes sliding slot first segment and sliding slot second segment, sliding slot first segment
It being seamlessly transitted in obtuse angle and between sliding slot first segment and sliding slot second segment with sliding slot second segment, sliding slot first segment is conllinear with through-hole,
Placement unit is equal with the quantity of sliding slot, and placement unit is mounted in corresponding sliding slot, and placement unit includes the 2N-1 crawl
Unit or the 2N placement unit, N indicate that positive integer, the 2N-1 placement unit, the 2N placement unit indicate the very respectively
Several placement units and even number placement unit；
The 2N-1 placement unit includes column, and column is fixedly connected with sliding block in the second sliding-rail sliding component, cam peace
Mounted in the upper end of column, cam is nested in the sliding slot of coulisse, and cam can slide in sliding slot, and sucker is mounted on column
Output end, the lower end of column be nested in sliding slot first segment column in either through-hole can be slided in sliding slot first segment or
It is slided in through-hole；
The 2N placement unit includes upper semisection column and lower semisection column, in upper semisection column and the second sliding-rail sliding group
Sliding block is fixedly connected, and upper semisection column is fixedly connected with cam, passes through third sliding block between upper semisection column and lower semisection column
Slide rail group is connected, and sucker is mounted on the output end of lower semisection column, and lower semisection column is nested in sliding slot first end or sliding slot the
In two sections, lower semisection column can be slided in sliding slot first segment with sliding slot second segment.
2. vanning handgrip according to claim 1, which is characterized in that the quantity of sliding slot is five in the coulisse, is grabbed
It is 5 to take the quantity of unit.
3. vanning handgrip according to claim 1, which is characterized in that the column, upper semisection column respectively with several
Two sliding blocks of the second sliding-rail sliding group are fixedly connected.
4. vanning handgrip according to claim 1, which is characterized in that upper semisection column is in the 2N placement unit
Inverted T-type, the lower end of upper pillar stand are fixedly connected with sliding rail in third sliding-rail sliding group, lower semisection column and third sliding-rail sliding
Middle sliding block is fixedly connected, and one end of sliding rail is fixed on the lower end of handgrip mounting plate in third sliding-rail sliding group.
5. vanning handgrip according to claim 1, which is characterized in that the angle of the sliding slot first segment and sliding slot second segment
It is 135 degree.
6. vanning handgrip according to claim 1, which is characterized in that install the lower end of the rear end face of the handgrip mounting plate
Balance weight.
7. vanning handgrip according to claim 1, which is characterized in that the placement unit further includes vertical cylinder, 2N-
One end of vertical cylinder is mounted on one end of column in 1 placement unit, and the output end that sucker is mounted on vertical cylinder is installed；The
One end of vertical cylinder is mounted on one end of lower semisection column in 2N placement unit, and sucker is mounted on the output of vertical cylinder
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810584379.3A CN108569431B (en) | 2018-06-08 | Boxing tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810584379.3A CN108569431B (en) | 2018-06-08 | Boxing tongs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108569431A true CN108569431A (en) | 2018-09-25 |
| CN108569431B CN108569431B (en) | 2024-01-16 |
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