CN108974427A - A kind of Bao Xiangji perfume (or spice) beam catching robot - Google Patents
A kind of Bao Xiangji perfume (or spice) beam catching robot Download PDFInfo
- Publication number
- CN108974427A CN108974427A CN201811110588.0A CN201811110588A CN108974427A CN 108974427 A CN108974427 A CN 108974427A CN 201811110588 A CN201811110588 A CN 201811110588A CN 108974427 A CN108974427 A CN 108974427A
- Authority
- CN
- China
- Prior art keywords
- crossbeam
- guide post
- guide
- electromagnet
- connection frame
- 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
- B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
- B65B19/34—Packaging other rod-shaped articles, e.g. sausages, macaroni, spaghetti, drinking straws, welding electrodes
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Bao Xiangji perfume (or spice) beam catching robot, structure includes pedestal, guide post, driving mechanism, crossbeam and grasping mechanism；The guide post is vertically arranged on the base, the crossbeam, which is worn, to be connect on the guide post, and driving it to slide up and down along the guide post by the driving mechanism, the grasping mechanism is mounted on the crossbeam, and fragrant beam is grabbed and put down by the opening and closing of the grasping mechanism；It is provided with guide groove on the side wall of the guide post, pin is provided on the crossbeam, the pin passes through the guide groove, and when crossbeam moves up and down, the pin slides in the guide groove, turns to crossbeam while moving up and down around the guide post.The present invention can be such that fragrant beam turns to while moving up and down around guide post, realize that production line is gone to temple to pray the transfer of beam.And structure of the invention is simple, it is at low cost.
Description
Technical field
The present invention relates to a kind of manipulator, specifically a kind of Bao Xiangji perfume (or spice) beam catching robot.
Background technique
The fragrant beam that both ends on pipeline have been twined to paper crawl is needed to send to pipeline side during automatic Bao Xiang
Paper wrapping device need to rotate fragrant beam while moving up centainly since the paper wrapping device is located at the top of pipeline side
Angle, can extend into fragrant beam in paper wrapping device.If packaging line efficiency can be made to reduce using manual operation, and one
As can be realized and move up and down and the robot manipulator structure that can be rotated simultaneously is all sufficiently complex, higher cost is not suitable for Bao Xiang
Assembly line.
Summary of the invention
It is an object of the invention to provide a kind of Bao Xiangji perfume (or spice) beam catching robots, to solve perfume during Bao Xiangji Bao Xiang
The problem of beam needs turn an angle while moving up and down.
The present invention is implemented as follows: a kind of Bao Xiangji perfume (or spice) beam catching robot, including pedestal, guide post, driving mechanism, cross
Beam and grasping mechanism；The guide post is vertically arranged on the base, and the crossbeam, which is worn, to be connect on the guide post, and by described
Driving mechanism drives it to slide up and down along the guide post, and the grasping mechanism is mounted on the crossbeam, passes through the gripper
The opening and closing of structure grab and put down fragrant beam；It is provided with guide groove on the side wall of the guide post, pin, institute are provided on the crossbeam
Pin is stated across the guide groove, when crossbeam moves up and down, the pin slides in the guide groove, is moving up and down crossbeam
While turned to around the guide post.
The guide groove is divided into upper, middle and lower segment, and the upper section and lower section of the guide groove set up the both direction in the guide post separately
On, and it is parallel with the axial line of guide post, the middle section of the guide groove is the transition connectivity slot for being connected to guide groove upper section and lower section.
The driving mechanism includes motor, rack gear and thrust bearing, and the rack gear is set to inside the guide post, institute
Motor to be stated to be mounted on the base, the motor drives the rack gear to move up and down by the gear of its roller end,
The thrust bearing is mounted on the top of the rack gear, and the upper bearing (metal) plate connect in the thrust bearing is worn in the end of the pin
On.
The grasping mechanism includes connection frame, guide rod, gripper and electromagnet, and the company is fixed in the lower end of the guide rod
It connects on frame, the upper end of the guide rod is connected on the crossbeam, and the connection frame can be moved up and down with the guide rod；The hand
Pawl includes two groups of opposite link rod parts and clamping part, is articulated on the connection frame in the middle part of the clamping part, the link rod part
Upper end be hinged on the crossbeam, lower end is hinged on the upper end of the clamping part, and the connection frame is relative on the crossbeam
When lower mobile, the gripper is clamped or is opened；The electromagnet includes the first electromagnet and the second electromagnet, first electromagnetism
Iron is mounted on the bottom of the crossbeam, second electromagnet be mounted on the top of the connection frame and with first electromagnet
Corresponding, two electromagnet make gripper maintain clamped condition by mutually absorption.
Guide sleeve is equipped on the crossbeam, the crossbeam is socketed on the guide post by the guide sleeve, and the pin is worn
It connects on the guide sleeve.
The guide rod shares two, and is distributed in the two sides of the connection frame.
There are two the gripper is total, and it is distributed in the two sides of the connection frame.
The bottom of the connection frame is equipped with baffle.
The present invention is moved up and down by gear-rack drive crossbeam, and guide groove is provided on guide post, is equipped in upper end of the rack
Thrust bearing, being slided in guide groove by pin makes crossbeam steering while moving up and down, and is equipped on crossbeam and connection frame
Electromagnet, when grabbing fragrant beam, fragrant beam pushes baffle to move up with respect to crossbeam, because the distance between connection frame and crossbeam reduce,
Link rod part and the clamping part linkage of gripper clamp gripper, while two blocks of electromagnet mutually adsorb, and gripper is made to keep clamped condition,
When only powering off electromagnet, two pieces of electromagnet separation, the distance between connection frame and crossbeam become larger, the link rod part and folder of gripper
Holding portion's linkage opens gripper, and fragrant beam is put down.The present invention can be such that fragrant beam turns to while moving up and down around guide post,
Realize that production line is gone to temple to pray the transfer of beam, improves the working efficiency for wrapping fragrant equipment, and structure of the invention is simple, it is at low cost.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the partial enlarged view of Fig. 1.
Fig. 4 is the schematic diagram that the present invention grabs fragrant beam.
In figure: 1, pedestal；2, guide post；3, crossbeam；4, rack gear；5, motor；6, sliding sleeve；7, guide rod；8, guide sleeve；9, first
Electromagnet；10, the second electromagnet；11, link rod part；12, clamping part；13, spring；14, connection frame；15, baffle；16, thrust shaft
It holds；17, pin；18, guide groove.
Specific embodiment
As shown in Figure 1, Figure 2 and shown in Fig. 3, the present invention includes pedestal 1, guide post 2, driving mechanism, crossbeam 3 and gripper
Structure is vertically installed with guide post 2 on pedestal 1, and guide post 2 is hollow circular-tube, and guide groove 18 is also provided on the side wall of guide post 2.It is leading
The inside of column 2 is equipped with rack gear 4, and the lower end of rack gear 4 is pierced by from 2 lower end of guide post, is fixed with motor 5 in the upper surface of pedestal 1,
It is provided with notch on the corresponding position of 2 side wall of guide post, is mounted at the notch in the gear in 5 shaft of motor and guide post 2
Rack gear 4 engage, pass through rotation the moving up and down come drive rack 4 of motor 5.Thrust shaft is installed at the top of rack gear 4
Hold 16 or other be able to bear the bearing of axial force, thrust bearing 16 has two shaft bearing plates up and down, and wherein lower axle board is fixed on
On rack gear 4, upper bearing (metal) plate is connect by pin 17 with crossbeam 3.Pin 17 passes through the guide groove 18 on 2 side wall of guide post, when 4 band of rack gear
When dynamic thrust bearing 16 moves up and down, the pin 17 on thrust bearing 16 is also moved up and down, but simultaneously because pin 17 is connected to
In guide groove 18, pin 17 can also be moved along guide groove 18, and when guide groove 18 is not vertical, pin 17 just will drive thrust bearing 16
Upper bearing (metal) plate is rotated around the center of bearing, simultaneously because pin 17 is also connect with crossbeam 3, crossbeam 3 also can be in the drive of pin 17
Under around bearing center rotate.
Crossbeam 3 is horizontal strip plate, is fixed with sliding sleeve 6 in one end lower part of crossbeam 3, crossbeam 3 and sliding sleeve 6 are socketed on
On guide post 2, it can be moved up and down along guide post 2 and around 2 axis rotation of guide post.It is provided on 6 side wall of sliding sleeve and is connect for wearing
Pin 17 is connected to the through-hole by the through-hole of pin 17, and pin 17 is made to pass through the guide groove 18 on guide post 2, is then attached to only
On the upper bearing (metal) plate of thrust bearing 16, since pin 17 is moved up and down along guide groove 18, guide groove 18 is designed as corresponding shape i.e.
The rotation for carrying out certain rule while pin 17 moves up and down around 2 axis of guide post can be achieved, to enable crossbeam 3 upper and lower
It is rotated while mobile around 2 axis of guide post.It is three sections that the guide groove 18, which divides, and the upper section and lower section of guide groove 18 set up two in guide post separately
On direction, and it is parallel with the axial line of guide post, it is connected between upper and lower two sections of guide grooves 18 by inclined middle section guide groove 18, when
When pin 17 slides in guide groove 18, it can be made to be turned to while moving up and down around guide post 2, if the upper section of guide groove 18
It is 90 ° with middle section direction angle, also crossbeam 3 can be made to be rotated by 90 ° while moving up and down around guide post 2.
Grasping mechanism is installed in the cantilever end of crossbeam 3, grasping mechanism includes connection frame 14, guide rod 7, gripper and electromagnetism
Iron.Guide sleeve 8 is equipped on crossbeam 3, guide rod 7 passes through crossbeam 3 and the guide sleeve 8, and guide rod 7 can move up and down in guide sleeve 8,
The lower end of guide rod 7 is fixed with connection frame 14, and connection frame 14 is moved up and down with guide rod 7, and spring 13 is also socketed on guide rod,.Hand
Pawl includes two groups of opposite link rod parts 11 and clamping part 12, and the middle part of clamping part 12 is articulated on connection frame 14, link rod part 11
Upper end is articulated on crossbeam 3, or is articulated on the transverse slat being fixed on crossbeam, and the lower end of link rod part 11 is articulated with clamping part 12
Upper end, when connection frame 14 is moved up and down relative to crossbeam 3, gripper clamp or open.Wherein electromagnet includes the first electromagnet 9
With the second electromagnet 10, the first electromagnet 9 is mounted on the bottom of crossbeam 3, and the second electromagnet 10 is mounted on the top of connection frame 14
And it is corresponding with the first electromagnet, the first electromagnet 9 and the second electromagnet 10, which are attached together, can make gripper keep clamped condition.
Guide rod 7 shares two, and is distributed in the two sides of connection frame 14, at the same also gripper altogether there are two, and be distributed in the two of connection frame 14
Side.Splay baffle 15 is also equipped in the bottom of connection frame 14.In order to make gripper will not be because of local pressure when clamping fragrant beam
It is excessive that fragrant item is caused to damage, it is further fixed on thickening layer in the lower half portion of clamping part 12, the area for contacting clamping 12 with fragrant beam
Become larger, reduce the pressure of unit area, to reduce the damage of fragrant item.
As shown in figure 4, the baffle 15 of grasping mechanism bottom touches on pipeline when crossbeam 3 is moved down into bottom
Fragrant beam after connection frame 14 and guide rod 7 connected to it will not move down, and crossbeam 3 continues to move down, be fixed on crossbeam 3
One electromagnet 9 is gradually reduced with 10 distance of the second electromagnet being fixed on connection frame 14, the power supply energy of starting control electromagnet
Two blocks of electromagnet are enough made to be attached together.The clamping part 12 of gripper is not moving down, but the crossbeam 3 for being connected with link rod part 11 will continue to
A distance is moved down, crawl section can be made around the articulated shaft of itself and connection frame 14 in the link mechanism that link rod part 11 and crawl section are formed
Rotation, so that gripper be made to clamp.Since two pieces of electromagnet energizations are attached together at this time, gripper retaining clip is tight after crossbeam 3 rises
State also has rotated 90 ° around the axle center of guide post 2 simultaneously when crossbeam 3 rises to extreme higher position, after reaching predetermined position, etc.
Fragrant Shu Jinhang paper wrapping grabbed is operated to the paper wrapping device at this, electromagnet powers off after paper wrapping, 14 He of connection frame
Guide posts 2 etc. move down under fragrant beam and the gravity of itself and under the elastic force effect of spring 13, and gripper is with connection frame
14 move down gradually is opened, and the fragrant beam for having twined paper is put down, and is then moved down in the driving lower beam 3 of driving mechanism, simultaneously
Crossbeam 3 turns round 90 °.The present invention is constantly sent fragrant beam to paper wrapping mechanism by constantly recycling above-mentioned steps, and after paper wrapping
The fragrant beam of completion of processing is put down.
Claims (8)
1. a kind of Bao Xiangji perfume (or spice) beam catching robot, which is characterized in that including pedestal, guide post, driving mechanism, crossbeam and crawl
Mechanism；The guide post is vertically arranged on the base, and the crossbeam, which is worn, to be connect on the guide post, and is driven by the driving mechanism
It is moved to slide up and down along the guide post, the grasping mechanism is mounted on the crossbeam, by the opening and closing of the grasping mechanism come
Grab and put down fragrant beam；It is provided with guide groove on the side wall of the guide post, pin is provided on the crossbeam, the pin passes through
The guide groove, when crossbeam moves up and down, the pin slides in the guide groove, makes crossbeam while moving up and down around institute
Guide post is stated to be turned to.
2. Bao Xiangji perfume (or spice) beam catching robot according to claim 1, which is characterized in that the guide groove is divided into upper, middle and lower
Three sections, the upper section and lower section of the guide groove set up separately in the both direction of the guide post, and parallel with the axial line of guide post,
The middle section of the guide groove is the transition connectivity slot for being connected to guide groove upper section and lower section.
3. Bao Xiangji perfume (or spice) beam catching robot according to claim 1, which is characterized in that the driving mechanism includes electronic
Machine, rack gear and thrust bearing, the rack gear are set to inside the guide post, and the motor is mounted on the base, institute
It states motor and drives the rack gear to move up and down by the gear of its roller end, the thrust bearing is mounted on the rack gear
Top, the end of the pin, which is worn, to be connect on the upper bearing (metal) plate of the thrust bearing.
4. Bao Xiangji perfume (or spice) beam catching robot according to claim 1, which is characterized in that the grasping mechanism includes connection
Frame, guide rod, gripper and electromagnet, the lower end of the guide rod are fixed on the connection frame, and the upper end of the guide rod is connected to
On the crossbeam, the connection frame can be moved up and down with the guide rod；The gripper includes two groups of opposite link rod parts and folder
Portion is held, is articulated in the middle part of the clamping part on the connection frame, the upper end of the link rod part is hinged on the crossbeam, lower end
It is hinged on the upper end of the clamping part, when the connection frame is moved up and down relative to the crossbeam, the gripper is clamped or opened；
The electromagnet includes the first electromagnet and the second electromagnet, and first electromagnet is mounted on the bottom of the crossbeam, described
Second electromagnet is mounted on the top of the connection frame and corresponding with first electromagnet, and two electromagnet are by mutually inhaling
It is attached that gripper is made to maintain clamped condition.
5. Bao Xiangji perfume (or spice) beam catching robot according to claim 1, which is characterized in that be equipped with and lead on the crossbeam
Set, the crossbeam are socketed on the guide post by the guide sleeve, and the pin, which is worn, to be connect on the guide sleeve.
6. Bao Xiangji perfume (or spice) beam catching robot according to claim 4, which is characterized in that the guide rod shares two, and
It is distributed in the two sides of the connection frame.
7. Bao Xiangji perfume (or spice) beam catching robot according to claim 4, which is characterized in that there are two the gripper is total, and
It is distributed in the two sides of the connection frame.
8. Bao Xiangji perfume (or spice) beam catching robot according to claim 4, which is characterized in that install the bottom of the connection frame
There is baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811110588.0A CN108974427A (en) | 2018-09-21 | 2018-09-21 | A kind of Bao Xiangji perfume (or spice) beam catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811110588.0A CN108974427A (en) | 2018-09-21 | 2018-09-21 | A kind of Bao Xiangji perfume (or spice) beam catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108974427A true CN108974427A (en) | 2018-12-11 |
Family
ID=64546528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811110588.0A Pending CN108974427A (en) | 2018-09-21 | 2018-09-21 | A kind of Bao Xiangji perfume (or spice) beam catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108974427A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5570992A (en) * | 1954-07-28 | 1996-11-05 | Lemelson; Jerome H. | Free-traveling manipulator with optical feedback control and methods |
| US6227793B1 (en) * | 1999-05-25 | 2001-05-08 | Norfield Industries | Door transport system |
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN106182047A (en) * | 2015-04-30 | 2016-12-07 | 上海磐颖实业有限公司 | Non-servo motor drives Multi-freedom-degreemanipulator manipulator |
| CN107081789A (en) * | 2017-06-27 | 2017-08-22 | 歌尔科技有限公司 | A kind of robot steering wheel |
-
2018
- 2018-09-21 CN CN201811110588.0A patent/CN108974427A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5570992A (en) * | 1954-07-28 | 1996-11-05 | Lemelson; Jerome H. | Free-traveling manipulator with optical feedback control and methods |
| US6227793B1 (en) * | 1999-05-25 | 2001-05-08 | Norfield Industries | Door transport system |
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN106182047A (en) * | 2015-04-30 | 2016-12-07 | 上海磐颖实业有限公司 | Non-servo motor drives Multi-freedom-degreemanipulator manipulator |
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN107081789A (en) * | 2017-06-27 | 2017-08-22 | 歌尔科技有限公司 | A kind of robot steering wheel |
Non-Patent Citations (2)
| Title |
|---|
| 孙远敬等: "《机械制造装备设计》", 31 January 2017, 北京理工大学出版社 * |
| 牛鸣岐等: "《机械原理课程设计手册》", 30 November 2001, 重庆大学出版社 * |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |