CN108569431B - Boxing tongs - Google Patents
Boxing tongs Download PDFInfo
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- CN108569431B CN108569431B CN201810584379.3A CN201810584379A CN108569431B CN 108569431 B CN108569431 B CN 108569431B CN 201810584379 A CN201810584379 A CN 201810584379A CN 108569431 B CN108569431 B CN 108569431B
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- sliding groove
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- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 abstract description 5
- 241000220225 Malus Species 0.000 description 11
- 239000000463 material Substances 0.000 description 11
- 239000013072 incoming material Substances 0.000 description 10
- 235000021016 apples Nutrition 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The utility model provides a vanning tongs, belong to vanning equipment technical field, including installing the tongs mounting panel at transfer robot's end actuating mechanism, sliding tray board and tongs mounting panel parallel arrangement, rotating electrical machines are used for driving the vertical motion of sliding tray board, the symmetry is opened in the vertical plane of sliding tray board has odd number spout, the spout becomes fan-shaped setting, mounting plate horizontal mount is at the lower terminal surface of tongs mounting panel, the through-hole has been opened at mounting plate's horizontal plane's middle part, mounting plate's through-hole both sides are opened there is symmetrical bottom plate spout, the bottom plate spout includes spout first section and spout second section, spout first section is obtuse angle and smooth transition between spout first section and the spout second section, spout first section and through-hole collineation, the quantity of grabbing unit and spout equals, grabbing unit installs in the spout that corresponds, grabbing unit can vertical motion and can follow bottom plate spout slip in the spout, this vanning tongs can carry out odd number row simultaneously and even number row simultaneously crisscross vanning to the box.
Description
Technical Field
The invention belongs to the technical field of boxing equipment, and particularly relates to a boxing gripper.
Background
The terminal tongs that present automation vanning in-process adopted are single row tongs, and this kind of tongs have a plurality of snatchs the unit, and the distance that the incoming material interval equals carries out the material along with the incoming material transfer chain, and the center distance between snatchs the unit is equal with the distance between the incoming material, and the tongs snatchs the incoming material that equals its snatchs unit quantity from the incoming material transfer chain once only, snatchs in the tongs and is close to each other and place the material in the box of expansion, and this kind of vanning tongs can only accomplish single row vanning action once.
For objects with round cross street surfaces, such as table tennis balls, apples and the like, the counting rows and even rows of incoming materials need to be connected in a staggered manner, the arrangement and placement can enable boxing to be easier, the space of the box body is fully utilized, and the gap between materials is reduced, so that the damage to the materials in the carrying and transporting processes can be reduced. Under the condition of the single gripper, the system needs to set different action modes of the grippers in the counting rows or even rows, or adopts two sets of grippers, so that the problems of inconvenient control and complex structure exist.
Disclosure of Invention
The invention provides a boxing gripper which can simultaneously carry out staggered boxing on odd columns and even columns on a box body, and is particularly suitable for objects with round cross streets.
The technical scheme adopted by the invention is as follows: the utility model provides a vanning tongs, including the tongs mounting panel, the tongs mounting panel is installed on the terminal actuating mechanism of transfer robot, two first slide rail slider assemblies are vertical setting respectively in the both sides of tongs mounting panel, slide rail in the first slide rail slider assemblies is vertical to be installed in the both sides of tongs mounting panel, slider and slide groove board fixed connection in the first slide rail slider assemblies, slide groove board and tongs mounting panel parallel arrangement, the rotating electrical machines is installed on the tongs mounting panel, the rotating electrical machines is used for driving slide groove board vertical motion, a plurality of second slide rail slider assemblies interval certain distance parallel arrangement is on the tongs mounting panel, slide rail installs on the tongs mounting panel in the second slide rail slider assemblies, the symmetry is opened in the vertical plane of slide groove board has odd number spout, the spout becomes fan-shaped setting, mounting plate horizontal installation is at the lower terminal surface of tongs mounting plate, open at the horizontal plane's of mounting plate middle part has the through-hole, the through-hole both sides of mounting plate open has symmetrical bottom plate spout, the bottom plate spout includes spout first section of spout and spout second section, spout first section and spout second section and spout transition between first section and spout second section, first section and spout section are parallel arrangement, first section and N2 take the unit and the corresponding unit that grasp the unit number is equal to the unit number 2-N, the unit that the unit is 1-N2, the unit is grasped in the unit is grasped with the first unit and the unit is grasped in the unit number of unit is the unit is grasped in the unit of the number 1-and is 2.
The 2N-1 grabbing unit comprises a stand column, the stand column is fixedly connected with a slide block in the second slide rail and slide block assembly, a cam is arranged at the upper end of the stand column and is nested in a slide groove of a slide groove plate, the cam can slide in the slide groove, a sucker is arranged at the output end of the stand column, the lower end of the stand column is nested in a first section of the slide groove or a through hole, and the stand column can slide in the first section of the slide groove or the through hole; the 2N grabbing units comprise an upper half section upright post and a lower half section upright post, the upper half section upright post is fixedly connected with a sliding block in the second sliding rail sliding block set, the upper half section upright post is fixedly connected with a cam, the upper half section upright post is connected with the lower half section upright post through a third sliding block sliding rail set, a sucker is arranged at the output end of the lower half section upright post, the lower half section upright post is nested in the first end of a sliding groove or the second section of the sliding groove, and the lower half section upright post can slide in the first section of the sliding groove and the second section of the sliding groove.
Further, the number of the sliding grooves in the sliding groove plate is preferably five, and the number of the grabbing units is 5.
Further, the upright post and the upper half section upright post are respectively and fixedly connected with two sliding blocks of the second sliding rail and sliding block groups.
Further, the upper half section stand column in the 2N grabbing units is in an inverted T shape, the lower end of the upper stand column is fixedly connected with the slide rail in the third slide rail slide block group, the lower half section stand column is fixedly connected with the slide block in the third slide rail slide block, and one end of the slide rail in the third slide rail slide block group is fixed at the lower end of the gripper mounting plate.
Further, the included angle between the first section of the chute and the second section of the chute is preferably 135 degrees.
Further, a balancing weight is arranged at the lower end of the rear end face of the gripper mounting plate.
Further, the grabbing unit further comprises a vertical cylinder, one end of the vertical cylinder in the 2N-1 grabbing unit is arranged at one end of the upright post, and the sucker is arranged at the output end of the vertical cylinder; one end of the vertical cylinder in the 2N grabbing unit is arranged at one end of the lower section of upright post, and the sucker is arranged at the output end of the vertical cylinder.
The invention has the beneficial effects that: according to the invention, the odd number of grabbing units are arranged, the 2N-1 grabbing units and the 2N grabbing units can grab two staggered rows of boxes at one time respectively, and the vertical air cylinders are additionally arranged, so that the 2N-1 grabbing units and the 2N grabbing units can be separated for use by utilizing the expansion and contraction of the vertical air cylinders, and the carton box with the built-in grids or larger material diameter is adapted.
Drawings
Fig. 1 is a schematic perspective view of the initial position of the device of the present invention.
Fig. 2 is a schematic perspective view showing a grasping state of the device according to the present invention.
Fig. 3 is a schematic structural diagram of the 2N-1 th grabbing unit and the 2N-th grabbing unit in the device of the present invention.
Fig. 4 is a schematic structural view of the fitting part of the mounting base plate and the third sliding rail and sliding block assembly in the device of the invention.
Fig. 5 is a schematic top view of a mounting base plate of the apparatus of the present invention.
Fig. 6 is a schematic left-view of the device of the present invention in a grasping state.
In the figure: 1. a gripper mounting plate; 2. a chute plate; 21. a chute; 3. a first slide rail and block assembly; 4. a second slide rail and block assembly; 5. a rotating electric machine; 6. a grabbing unit; 61. a cam; 62. a column; 63. a vertical cylinder; 64. a suction nozzle; 7. a mounting base plate; 71. a bottom plate chute; 711. a second section of the chute; 712. a first section of the chute; 72. a through hole; 8. and 9. A third sliding rail and sliding block assembly and a balancing block.
Detailed Description
In this embodiment, the materials of the boxing handle are preferably apples, the cross sections of the apples are basically round, meanwhile, the apples are different in size, the materials in this embodiment are not limited by the apples, and other materials with round cross sections, such as table tennis balls, oranges and the like, can be selected.
As shown in fig. 1-5, a boxing gripper comprises a gripper mounting plate 1, wherein the gripper mounting plate 1 is mounted on an end actuating mechanism of a transfer robot, two first sliding rail and sliding block assemblies 3 are respectively vertically arranged on two sides of the gripper mounting plate 1, sliding rails in the first sliding rail and sliding block assemblies 3 are vertically mounted on two sides of the gripper mounting plate, sliding blocks in the first sliding rail and sliding block assemblies 3 are fixedly connected with a sliding groove plate 2, the sliding groove plate 2 is arranged in parallel with the gripper mounting plate 1, a rotating motor 5 is mounted on the gripper mounting plate 1, power of the rotating motor 5 is transmitted to the sliding groove plate 2 through synchronous belt transmission and a ball screw, the rotating motor 5 is used for driving the sliding groove plate 2 to vertically move, a plurality of second sliding rail and sliding block assemblies 4 are arranged on the gripper mounting plate 1 in parallel at intervals, an odd number of straight slide grooves 21 are symmetrically arranged in the vertical plane of the slide groove plate 2, in this embodiment, the number of preferable straight slide grooves is 5, correspondingly, each row of apple cases is 3 and 2 in staggered arrangement, the odd number of straight slide grooves 21 are in fan-shaped arrangement, the mounting bottom plate 7 is horizontally arranged on the lower end face of the gripper mounting plate 1, a through hole 72 is arranged in the middle of the horizontal plane of the mounting bottom plate 7, symmetrical bottom plate slide grooves 71 are arranged on two sides of the through hole 72 of the mounting bottom plate 7, the bottom plate slide grooves 71 comprise a slide groove first section 712 and a slide groove second section 711, the slide groove first section 711 and the slide groove second section 712 form an obtuse angle, smooth transition is realized between the slide groove first section 712 and the slide groove second section 711, the slide groove first section 712 is collinear with the through hole 72, the number of the gripping units 6 and the slide groove 21 is equal, the gripping units 6 comprise 2N-1 gripping units or 2N gripping units, the grabbing unit 6 is sequentially provided with a first grabbing unit, a second grabbing unit, a third grabbing unit, a fourth grabbing unit and a fifth grabbing unit from left to right, the sliding grooves in the sliding groove plate are sequentially provided with a first sliding groove, a second sliding groove, a third sliding groove, a fourth sliding groove and a fifth sliding groove from left to right,
the 2N-1 grabbing unit comprises a stand column 62, the stand column 62 is fixedly connected with the sliding blocks in the second sliding rail sliding block assembly 4, the cam 61 is installed at the upper end of the stand column, the cam 61 is nested in the sliding groove 21 of the sliding groove plate 2, the cam 61 can slide in the sliding groove 21, the suction nozzle 64 is installed at the output end of the stand column 62, the lower end of the stand column 62 is nested in the first section 712 or the through hole 72 of the sliding groove, the stand column 62 can slide in the first section 712 of the sliding groove or the through hole 72, namely, the first grabbing unit, the third grabbing unit and the fifth grabbing unit are respectively nested in the first sections 712 of the sliding grooves of the two bottom plate sliding grooves 71, and the third grabbing unit is nested in the through hole 72.
During initial position, transfer robot drives vanning tongs and snatchs the apple from the incoming material transfer chain, the apple sets up at the incoming material transfer chain according to preset distance interval, rotating electrical machines 5 drive runner plate 2 upward movement, cam 61 slides to the bottom along spout 21 in the runner plate 2, the both sides slider atress in 4 in a plurality of second slider slide rail subassembly is drawn together along the slide rail to the centre, first snatch unit and fifth snatch the unit and drive the apple and draw together to the centre along the spout first section 712 of bottom plate spout 71, the relative through-hole 72 of third snatch unit moves down.
The 2N-th grabbing unit comprises an upper half section upright post and a lower half section upright post, wherein the upper half section upright post is fixedly connected with a sliding block in the second sliding rail sliding block set 4, the upper half section upright post is fixedly connected with a cam 61, the upper half section upright post is connected with the lower half section upright post through a third sliding block sliding rail set 4, a suction nozzle 64 is arranged at the output end of the lower half section upright post, the lower half section upright post is nested in the first end 712 or the second section 711 of the sliding groove, and the lower half section upright post can slide in the first section 712 of the sliding groove and the second section 711 of the sliding groove, namely the second grabbing unit and the fourth grabbing unit are structured as described above.
The upper half section stand column in the 2N grabbing units is of an inverted T shape, the lower end of the upper half section stand column is fixedly connected with a slide rail in the third slide rail slide block assembly 8, the lower half section stand column is fixedly connected with a slide block in the third slide rail slide block assembly 8, and one end of a slide rail in the third slide rail slide block assembly 8 is fixed at the lower end of the gripper mounting plate 1.
During initial position, transfer robot drives vanning tongs and snatchs the apple from the incoming material transfer chain, the apple sets up at the incoming material transfer chain according to preset distance interval, rotating electrical machines 5 drive runner plate 2 upward movement, cam 61 slides to the bottom along spout 21 in the runner plate 2, the both sides slider atress in 4 in a plurality of second slider slide rail subassembly is drawn close to the centre along the slide rail, second snatchs the lower half atress stand of unit and fourth snatch the unit and slides to spout second section 711 along spout first section 712.
In summary, when grabbing the state, the center of the 2N of grabbing the unit is collinear, and the center of the 2N-1 of grabbing the unit is collinear to once snatch can realize double-row staggered packing.
In order to ensure the stability of the grabbing unit 6 sliding along the sliding rail in the second sliding rail and sliding block assembly, the upright post 61 or the upper half section upright post is fixedly connected with two sliding blocks of a plurality of second sliding rail and sliding block sets respectively.
The angle between the first section 712 and the second section 711 is preferably 135 degrees, and the 2N-th gripping unit can be longitudinally deviated from the 2N-1-th gripping unit.
As shown in fig. 6, a counterweight 9 is mounted at the lower end of the rear end surface of the gripper mounting plate 1, and the counterweight 9 is used for balancing the mass distribution of the boxing grippers and plays a role in balancing the grippers.
The grabbing unit 6 further comprises a vertical cylinder, one end of a vertical cylinder 63 in the 2N-1 grabbing unit is arranged at one end of the upright post 61, and a suction nozzle 64 is arranged at the output end of the vertical cylinder 63; one end of the vertical cylinder 63 in the 2N-th grabbing unit is mounted at one end of the lower section of the upright column, and the suction nozzle 64 is mounted at the output end of the vertical cylinder.
When the maximum diameter of the cross section of the grabbed material is larger, the boxing gripper can also realize one-time single-column grabbing boxing, the vertical cylinder in the 2N-1 grabbing unit extends out, the material is grabbed only by the 2N-1 grabbing unit, and the maximum diameter of the material cannot be larger than the center distance between the 2N-1 grabbing units in the grabbing state.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (7)
1. The boxing gripper is characterized by comprising a gripper mounting plate, wherein the gripper mounting plate is mounted on an end actuating mechanism of a transfer robot, two first sliding rail sliding block assemblies are respectively and vertically arranged on two sides of the gripper mounting plate, sliding rails in the first sliding rail sliding block assemblies are vertically mounted on two sides of the gripper mounting plate, sliding blocks in the first sliding rail sliding block assemblies are fixedly connected with a sliding groove plate, the sliding groove plate is arranged in parallel with the gripper mounting plate, a rotating motor is mounted on the gripper mounting plate and used for driving the sliding groove plate to vertically move,
the plurality of second sliding rail sliding block assemblies are arranged on the gripper mounting plate in parallel at a certain distance, sliding rails in the second sliding rail sliding block assemblies are arranged on the gripper mounting plate, odd number sliding grooves are symmetrically formed in the vertical plane of the sliding groove plate, the sliding grooves are arranged in a fan shape, the mounting baseplate is horizontally arranged on the lower end face of the gripper mounting plate, a through hole is formed in the middle of the horizontal plane of the mounting baseplate, symmetrical baseplate sliding grooves are formed in two sides of the through hole of the mounting baseplate, each baseplate sliding groove comprises a sliding groove first section and a sliding groove second section, the sliding groove first section and the sliding groove second section form an obtuse angle, the sliding groove first section and the sliding groove second section are in smooth transition, the sliding groove first section and the through hole are collinear, the number of the grabbing units is equal to the number of the sliding grooves, the grabbing units are arranged in the corresponding sliding grooves, each grabbing unit comprises a 2N-1 grabbing unit or a 2N grabbing unit, N is a positive integer, and each grabbing unit is a 2N-1 grabbing unit and each grabbing unit is an odd number and an even number of grabbing unit;
the 2N-1 grabbing unit comprises an upright post, the upright post is fixedly connected with a sliding block in the second sliding rail and sliding block assembly, a cam is arranged at the upper end of the upright post and is nested in a sliding groove of a sliding groove plate, the cam can slide in the sliding groove, a sucker is arranged at the output end of the upright post, the lower end of the upright post is nested in a first section of the sliding groove or a through hole, and the upright post can slide in the first section of the sliding groove or the through hole;
the 2N grabbing units comprise an upper half section upright post and a lower half section upright post, the upper half section upright post is fixedly connected with a sliding block in the second sliding rail sliding block set, the upper half section upright post is fixedly connected with a cam, the upper half section upright post is connected with the lower half section upright post through a third sliding block sliding rail set, the sucker is arranged at the output end of the lower half section upright post, the lower half section upright post is nested in the first end of the sliding groove or the second section of the sliding groove, and the lower half section upright post can slide in the first section of the sliding groove and the second section of the sliding groove.
2. The boxing grip of claim 1, wherein the number of runners in the runner plate is five and the number of gripping units is 5.
3. The boxing tongs of claim 1, wherein the upright post and the upper half upright post are respectively fixedly connected with two sliding blocks of a plurality of second sliding rail sliding block groups.
4. The boxing tongs of claim 1, wherein the upper section upright post of the 2N grabbing units is in an inverted T shape, the lower end of the upper upright post is fixedly connected with the slide rail in the third slide rail slide block group, the lower section upright post is fixedly connected with the slide block in the third slide rail slide block, and one end of the slide rail in the third slide rail slide block group is fixed at the lower end of the tongs mounting plate.
5. The boxing glove according to claim 1, wherein the angle between the first section of the chute and the second section of the chute is 135 degrees.
6. The boxing glove according to claim 1, wherein a weight is mounted to a lower end of the rear end surface of the glove mounting plate.
7. The boxing tongs of claim 1, wherein the grabbing unit further comprises a vertical cylinder, one end of the vertical cylinder in the 2N-1 grabbing unit is arranged at one end of the upright post, and the sucker is arranged at the output end of the vertical cylinder; one end of the vertical cylinder in the 2N grabbing unit is arranged at one end of the lower section of upright post, and the sucker is arranged at the output end of the vertical cylinder.
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 CN108569431A (en) | 2018-09-25 |
| CN108569431B true CN108569431B (en) | 2024-01-16 |
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