CN108792055A - It is a kind of can dynamic regulation packaging robot handgrip - Google Patents
It is a kind of can dynamic regulation packaging robot handgrip Download PDFInfo
- Publication number
- CN108792055A CN108792055A CN201810863468.1A CN201810863468A CN108792055A CN 108792055 A CN108792055 A CN 108792055A CN 201810863468 A CN201810863468 A CN 201810863468A CN 108792055 A CN108792055 A CN 108792055A
- Authority
- CN
- China
- Prior art keywords
- side plate
- frame
- plate
- help
- servo motor
- 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
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
-
- 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
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides it is a kind of can dynamic regulation packaging robot handgrip, including frame, set on the hook component of the side of frame and set on the other side of frame help board group part；Board group part is helped to include induction electric eye, the first sliding rail, the second sliding rail, help plate angle seat, help side plate, servo motor, ball screw, feed screw nut and nut seat；It includes at least three to incude electric eye, and is equably set to the bottom of frame respectively along straight line；It helps plate angle seat to be movably connected in the bottom of frame by the first sliding rail and the second sliding rail of the direction setting along straight line, and provides and side plate is helped to be fixedly connected；Servo motor is set on frame, and the direction activity for helping plate angle seat along straight line of nut seat is fixedly connected with by the driving of ball screw, feed screw nut and nut seat；Wherein, the rotating speed of servo motor is according to induction electric eye to helping the position detection result of side plate to adjust, and when helping side plate closer to hook component, the rotating speed of servo motor is smaller.
Description
Technical field
The present invention relates to packing case carry technical field, more particularly to it is a kind of can dynamic regulation packaging robot handgrip.
Background technology
Currently, many robot grippers on the market are all used for packaging industry.In this industry, packing case is rapid wear product.
And robot gripper will but squeeze packing case from both sides during capturing packing case.When the excessive velocities of extruding
When, just it is more prone to damage packing case.
Invention content
In order to solve the above technical problems, the present invention propose it is a kind of can dynamic regulation packaging robot handgrip, can subtract
The extruding that few robot gripper generates packing case.
To achieve the above object, the present invention provides following technical solutions：
It is a kind of can dynamic regulation packaging robot handgrip, including frame, set on the side of the frame hook component and
Board group part is helped set on the other side of the frame；
It is described that board group part is helped to include induction electric eye, the first sliding rail, the second sliding rail, help plate angle seat, help side plate, servo motor, ball
Lead screw, feed screw nut and nut seat；
The induction electric eye includes at least three, and is equably set to the bottom of the frame respectively along straight line；
It is described that plate angle seat is helped to connect by first sliding rail and the second sliding rail activity of the direction setting along the straight line
It is connected on the bottom of the frame, and helps side plate to be fixedly connected described in offer；
The servo motor is set on the frame, and passes through the ball screw, the feed screw nut and the nut
Seat driving is fixedly connected with the direction activity for helping plate angle seat along the straight line of the nut seat；
Wherein, the rotating speed of the servo motor is adjusted the position detection result for helping side plate according to the induction electric eye, and
And when it is described help side plate closer to the hook component when, the rotating speed of the servo motor is smaller.
As a kind of embodiment, described to help board group part further include rolling bearing units；
It is installed on said frame by the rolling bearing units respectively at the both ends of the ball screw.
Further include robot connecting plate, the first connecting plate casing and the second connecting plate as a kind of embodiment
Casing；
The robot connecting plate connects the frame by the first connecting plate casing with the second connecting plate casing
Frame.
As a kind of embodiment, the hook component includes determining side angle seat, determining side plate, connection hinge, hook installation
Plate, backing hook, first connection ear mount, the second connection ear mount and cylinder；
Described to determine side plate and determine side angle seat by described and be fixedly connected with the frame, the hook mounting plate passes through the connection hinge
Be flexibly connected it is described determine side plate, the backing, which hooks, to be set on the hook mounting plate；
The first connection ear mount is determined set on described on side plate, and the second connection ear mount is set on the hook mounting plate, institute
The cylinder body for stating cylinder is hinged in the first connection ear mount, and the piston rod of the cylinder is hinged on the second connection ear mount
On.
As a kind of embodiment, described to determine side plate include that vertical two row first dissipate stress hole.
As a kind of embodiment, described to help side plate include that vertical two row second dissipate stress hole；
The second scattered stress hole and the first scattered stress hole are opposite.
As a kind of embodiment, the hook component further includes side plate reinforcing rib；
The side plate reinforcing rib is set to the both sides for determining side plate.
The advantageous effect of the present invention compared with the prior art is：
The present invention provides it is a kind of can dynamic regulation packaging robot handgrip, by multiple（At least three）Incude electric eye to carry out
The position of side plate is helped in detection, and the movable speed of side plate is helped to adjust.Specifically, the rotating speed of servo motor according to induction electric eye to helping
The position detection result of side plate is adjusted, and when helping side plate closer to hook component, the rotating speed of servo motor is smaller.In this way,
The extruding that robot gripper generates packing case can be reduced.
Description of the drawings
Fig. 1 be it is provided in an embodiment of the present invention can dynamic regulation packaging robot handgrip stereogram；
Fig. 2 be it is provided in an embodiment of the present invention can dynamic regulation packaging robot handgrip the first plan view；
Fig. 3 be it is provided in an embodiment of the present invention can dynamic regulation packaging robot handgrip the second plan view；
Fig. 4 be it is provided in an embodiment of the present invention can dynamic regulation packaging robot handgrip third plan view.
In figure：1, frame；2, hook component；21, determine side angle seat；22, determine side plate；221, the first scattered stress hole；23, it connects
Hinge；24, hook mounting plate；25, backing hooks；26, first connection ear mount；27, the second connection ear mount；28, multirow stroke cylinder；
29, side plate reinforcing rib；3, board group part is helped；30, incude electric eye；31, the first sliding rail；32, the second sliding rail；33, plate angle seat is helped；34,
Help side plate；341, the second scattered stress hole；35, servo motor；36, ball screw；37, feed screw nut；38, nut seat；39, it ushers to seat
Bearing；4, robot connecting plate；5, the first connecting plate casing；6, the second connecting plate casing.
Specific implementation mode
Below in conjunction with attached drawing, the technical characteristic and advantage above-mentioned and other to the present invention are clearly and completely described,
Obviously, described embodiment is only the section Example of the present invention, rather than whole embodiments.
In one embodiment, as shown in Figures 1 to 4.
It is provided in this embodiment can dynamic regulation packaging robot handgrip, including frame 1, set on the side of frame 1
Hook component 2 and help board group part 3 set on the other side of frame 1；Help board group part 3 can be close or far from hook component
2.Wherein, the structure of hook component 2 is as shown in Figure 1.Hook component 2 include determine side angle seat 21, determine side plate 22, connect hinge 23,
Hook mounting plate 24, backing hook 25, first connection ear mount 26, second and connect ear mount 27 and multirow stroke cylinder 28.Determine side angle seat
21, determine side plate 22, connection hinge 23, hook mounting plate 24, backing hook 25, first connection ear mount 26, second connect ear mount 27, with
And 28 specific connection relation of multirow stroke cylinder is as follows：Determine side plate 22 and is fixedly connected with frame 1, hook installation by determining side angle seat 21
Plate 24 determines side plate 22 by connecting the flexible connection of hinge 23, and backing hooks 25 and is set on hook mounting plate 24.Here, hook mounting plate
24 can determine side plate 22 relatively around connection hinge 23 stirs；And hinge here is 360 degree of hinges.So that backing hook 25 exists
Under hook mounting plate 24 drives, it can be stirred to both sides.Determine on side plate 22 in addition, first connection ear mount 26 is set to, the second connection
Ear mount 27 is set on hook mounting plate 24, and the cylinder body of multirow stroke cylinder 28 is hinged in first connection ear mount 26, multirow stroke cylinder
28 piston rod is hinged in the second connection ear mount 27.Therefore, when multirow stroke cylinder 28 is in not output state, hook installation
Plate 24 and backing hook 25 and are located at the side for determining side plate 22, as shown in Figure 2.I.e. backing hooks 25 under the drive of hook mounting plate 24, can
It is stirred with side thereto.In use, when robot gripper is close to packing case, the state of robot gripper is as Fig. 2 institutes
Show.When multirow stroke cylinder 28 is in the first output state, hook mounting plate 24 is located at the plane determined where side plate 22, such as Fig. 3
It is shown.In use, when robot gripper captures the conventional packing case of height, the state of robot gripper is with regard to as shown in Figure 3.
Also, by helping board group part 3 close to hook component 2, packing case is clipped in and is helped between board group part 3 and hook component 2.Work as multiple-pass
When cylinder 28 is in the second output state, hook mounting plate 24 and backing hook 25 and are located at the other side for determining side plate 22, such as Fig. 4 institutes
Show.I.e. backing hooks 25 under the drive of hook mounting plate 24, can stir the other side thereto.When robot gripper crawl height compared with
When small packing case, the state of robot gripper is with regard to as shown in Figure 3.In this way, can be by the whole top upwards of packing case, thus by it
Capture more firm.
In one embodiment, as shown in Figure 1.
It is provided in this embodiment can dynamic regulation packaging robot handgrip, further include robot connecting plate 4, first connect
Fishplate bar casing 5 and the second connecting plate casing 6；Robot connecting plate 4 is connected by the first connecting plate casing 5 and second
6 connection framework 1 of fishplate bar casing.In the present embodiment, robot gripper can be connected to by machine by robot connecting plate 4
On the lever arm of people.Also, it can also reinforce robot by the first connecting plate casing 5 and the second connecting plate casing 6 to connect
Bonding strength between fishplate bar 4 and frame 1.
In one embodiment, as shown in Figure 1.
It is provided in this embodiment to help board group part 3 comprising the first sliding rail 31, helps plate angle seat 33, Yi Jifu at second sliding rail 32
Side plate 34；Plate angle seat 33 is helped to be flexibly connected frame 1 by the first sliding rail 31 and the second sliding rail 32；It helps side plate 34 to be fixedly connected and helps plate
Angled seat 33；Wherein, help side plate 34 can be close to or far from determining side plate 22 along the first sliding rail 31 and the second sliding rail 32.In this reality
It applies in example, plate angle seat 33 is helped by the first sliding rail 31 and the offer of the second sliding rail 32 and helps 34 movable track of side plate.Make to help plate angle
Seat 33 and side plate 34 is helped to be slided along the first sliding rail 31 and the second sliding rail 32 is crossed, determines side plate 22 to close to or far from.
In one embodiment, as shown in Figure 1.
It is provided in this embodiment to help board group part 3, further include servo motor 35, ball screw 36, feed screw nut 37 and
Nut seat 38；Servo motor 35 is set on frame 1；Ball screw 36 is set on frame 1, and is driven by servo motor 35；Silk
Stem nut 37 is sleeved on ball screw 36；Nut seat 38 provides feed screw nut 37 and installs, and is fixedly connected and helps plate angle seat 33.?
In the present embodiment, ball wire can be driven by synchronous band connection, servo motor 35 between servo motor 35 and ball screw 36
Bar 36 rotates, to drive feed screw nut 37 on ball screw 36, nut seat 38 to move back and forth.Final drive is fixed on nut
Help plate angle seat 33 to move back and forth on seat 38, to close to or far from determining side plate 22.
In one embodiment, as shown in Figure 1.
It is provided in this embodiment can dynamic regulation packaging robot handgrip, determine two row first that side plate 22 includes vertical
Dissipate stress hole 221.It includes that vertical two row second dissipate stress hole 341 that it, which helps side plate 34,；Second scattered stress hole 341 and first, which dissipates, answers
Power hole 221 is opposite.It in the present embodiment, can be with by the opposite 221 and second scattered stress hole 341 of the first scattered stress hole in both sides
Make to determine side plate 22 and side plate 34 is helped to capture more firm to packing case.
In one embodiment, as shown in Figure 1.
It is provided in this embodiment can dynamic regulation packaging robot handgrip comprising frame 1, set on the side of frame 1
Hook component 2 and help board group part 3 set on the other side of frame 1；It includes induction electric eye 30, the first sliding rail to help board group part 3
31, the second sliding rail 32, help plate angle seat 33, help side plate 34, servo motor 35, ball screw 36, feed screw nut 37 and nut seat
38；It includes at least three to incude electric eye 30, and is equably set to the bottom of frame 1 respectively along straight line；Plate angle seat 33 is helped to pass through
The first sliding rail 31 and the second sliding rail 32 being arranged along the direction of straight line are movably connected in the bottom of frame 1, and provide and help side
Plate 34 is fixedly connected；Servo motor 35 is set on frame 1, and passes through ball screw 36, feed screw nut 37 and nut seat 38
Driving is fixedly connected with the direction activity for helping plate angle seat 33 along straight line of nut seat 38；Wherein, the rotating speed of servo motor 35 according to
Electric eye 30 is incuded to helping the position detection result of side plate 34 to adjust, and when helping side plate 34 closer to hook component 2, and servo is electric
The rotating speed of machine 35 is smaller.In the present embodiment, help side plate 34 that can be dynamically adjusted close to the speed of hook component 2.Tool
Body is, due to being equably provided with three induction electric eyes 30 in the bottom of frame 1（With shown in Fig. 1 induction electric eye quantity into
Row explanation）, the position for helping side plate 34 can be detected in real time.Since when robot gripper captures packing case, hook component 2
Main body it is relatively motionless, help the main body of board group part 3 close to or far from hook component 2 main body.So when helping side plate 34 more to lean on
When nearly hook component 2, the rotating speed of servo motor 35 is smaller, it is possible to reduce the extruding generated to packing case.Also, early period is being turned up
In the case of rotating speed, the grasp speed of robot gripper can also be improved.
Particular embodiments described above has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. it is a kind of can dynamic regulation packaging robot handgrip, which is characterized in that including frame (1), be set to the frame (1)
The hook component (2) of side and help board group part (3) set on the other side of the frame (1)；
It is described that board group part (3) is helped to include induction electric eye (30), the first sliding rail (31), the second sliding rail (32), help plate angle seat (33), help
Side plate (34), servo motor (35), ball screw (36), feed screw nut (37) and nut seat (38)；
The induction electric eye (30) includes at least three, and is equably set to the bottom of the frame (1) respectively along straight line；
It is described that plate angle seat (33) is helped to be slided by first sliding rail (31) and described second of the direction setting along the straight line
Rail (32) is movably connected in the bottom of the frame (1), and helps side plate (34) to be fixedly connected described in offer；
The servo motor (35) is set on the frame (1), and passes through the ball screw (36), the feed screw nut
(37) and the nut seat (38) driving is fixedly connected with the described of the nut seat (38) and helps plate angle seat (33) along described straight
The direction activity of line；
Wherein, the rotating speed of the servo motor (35) according to the induction electric eye (30) to the position detection for helping side plate (34)
When as a result adjusting, and helping side plate (34) closer to hook component (2) described in, the rotating speed of the servo motor (35) is got over
It is small.
2. it is according to claim 1 can dynamic regulation packaging robot handgrip, which is characterized in that it is described to help board group part
(3) further include rolling bearing units (39)；
The both ends of the ball screw (36) are mounted on by the rolling bearing units (39) on the frame (1) respectively.
3. it is according to claim 1 can dynamic regulation packaging robot handgrip, which is characterized in that further include robot connect
Fishplate bar (4), the first connecting plate casing (5) and the second connecting plate casing (6)；
The robot connecting plate (4) is connected by the first connecting plate casing (5) and the second connecting plate casing (6)
Connect the frame (1).
4. it is according to claim 1 can dynamic regulation packaging robot handgrip, which is characterized in that the hook component
(2) include determining side angle seat (21), determining side plate (22), connection hinge (23), hook mounting plate (24), backing hook (25), the first company
Lug seat (26), the second connection ear mount (27) and cylinder (28)；
It is described to determine side plate (22) and determine side angle seat (21) by described and be fixedly connected with the frame (1), the hook mounting plate (24)
Determine side plate (22) by the way that the connection hinge (23) flexible connection is described, the backing hooks (25) and is set to the hook mounting plate
(24) on；
The first connection ear mount (26) is determined set on described on side plate (22), and the second connection ear mount (27) is set to the hook
On mounting plate (24), the cylinder body of the cylinder (28) is hinged in the first connection ear mount (26), the work of the cylinder (28)
Stopper rod is hinged in the second connection ear mount (27).
5. it is according to claim 4 can dynamic regulation packaging robot handgrip, which is characterized in that it is described to determine side plate (22)
Stress hole (221) is dissipated including vertical two row first.
6. it is according to claim 5 can dynamic regulation packaging robot handgrip, which is characterized in that it is described to help side plate (34)
Stress hole (341) is dissipated including vertical two row second；
The second scattered stress hole (341) and the first scattered stress hole (221) are opposite.
7. it is according to claim 4 can dynamic regulation packaging robot handgrip, which is characterized in that the hook component
(2) further include side plate reinforcing rib (29)；
The side plate reinforcing rib (29) is set to the both sides for determining side plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863468.1A CN108792055A (en) | 2018-08-01 | 2018-08-01 | It is a kind of can dynamic regulation packaging robot handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863468.1A CN108792055A (en) | 2018-08-01 | 2018-08-01 | It is a kind of can dynamic regulation packaging robot handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108792055A true CN108792055A (en) | 2018-11-13 |
Family
ID=64078827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810863468.1A Pending CN108792055A (en) | 2018-08-01 | 2018-08-01 | It is a kind of can dynamic regulation packaging robot handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108792055A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113745633A (en) * | 2021-09-13 | 2021-12-03 | 北京京东乾石科技有限公司 | Blade battery clamping device |
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| CN206750927U (en) * | 2017-05-16 | 2017-12-15 | 中国包装科研测试中心 | Carton clamping experimental provision range measurement mechanism |
| CN207290138U (en) * | 2017-06-28 | 2018-05-01 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
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|---|---|---|---|---|
| CN105398777A (en) * | 2014-09-01 | 2016-03-16 | 德阳市利通印刷机械有限公司 | Intelligent clamping-conveying mechanism |
| CN204308958U (en) * | 2014-12-02 | 2015-05-06 | 常州市常衡精工自动化设备有限公司 | A kind of dual-purpose stack robot manipulator assembly |
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| CN113745633A (en) * | 2021-09-13 | 2021-12-03 | 北京京东乾石科技有限公司 | Blade battery clamping device |
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Application publication date: 20181113 |
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| RJ01 | Rejection of invention patent application after publication |