CN109094870A - A kind of boxing manipulator and packaging system - Google Patents
A kind of boxing manipulator and packaging system Download PDFInfo
- Publication number
- CN109094870A CN109094870A CN201811186493.7A CN201811186493A CN109094870A CN 109094870 A CN109094870 A CN 109094870A CN 201811186493 A CN201811186493 A CN 201811186493A CN 109094870 A CN109094870 A CN 109094870A
- Authority
- CN
- China
- Prior art keywords
- glass tube
- driving
- conveyer belt
- rack
- roller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 12
- 239000011521 glass Substances 0.000 claims abstract description 101
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 16
- 230000000007 visual effect Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 239000002699 waste material Substances 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
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a kind of boxing manipulator and packaging systems, are related to automation equipment field, and boxing manipulator includes rack, the first conveying device, driving means and gripping device.First conveying device is set to rack, and the first conveying device is used to glass tube being delivered to position to be pushed.Driving means includes bracket, adjustable shelf, first driving device and the second driving device, bracket, which is movably arranged at, states adjustable shelf, adjustable shelf is movably arranged at rack, first driving device is for driving bracket to move along the vertical direction, the glass tube for being located at position to be pushed is pushed to position to be grasped for driving adjustable shelf to move along first level direction by the second driving device.Gripping device is used to grasp the glass tube positioned at position to be grasped.Entire grasping process is carried out continuously and does not need manually to participate in, and saves production cost and improves production efficiency.
Description
Technical field
The present invention relates to automation equipment fields, in particular to a kind of boxing manipulator machine packaging system.
Background technique
Currently, Production of Glass completion is when need to be cased, usually by manually by be carried out from production line come
Glass tube is put into carton, at least needs two workers to operate at the both ends of glass tube during being put into, in this way
The human cost in production is increased, and not only efficiency is lower for manual operation, reduces production efficiency, also be easy to cause glass
Pipe damage.
Summary of the invention
The purpose of the present invention is to provide a kind of boxing manipulators, raw caused by manually being cased glass tube with improvement
The problem of producing low efficiency and increasing human cost.
The purpose of the present invention is to provide a kind of packaging systems, to improve in glass tube manufacturing caused by man power encasement
Production efficiency is low, waste of human resource and glass tube problem easy to damage.
The present invention is implemented as follows:
Based on above-mentioned first purpose, the present invention provides a kind of boxing manipulator, including rack, the first conveying device, push
Device and gripping device；First conveying device is set to the rack, and first conveying device is used for glass tube is defeated
It send to position to be pushed；The driving means includes bracket, adjustable shelf, first driving device and the second driving device, the support
Frame is movably arranged at the adjustable shelf, and the adjustable shelf is movably arranged at the rack, the first driving device
For driving the bracket to move along the vertical direction, second driving device is for driving the adjustable shelf along first level side
To movement, the glass tube for being located at the position to be pushed is pushed into position to be grasped；The gripping device is for grabbing
Hold the glass tube for being located at the position to be grasped.
Further, the bracket includes the first support frame and the second support frame for being used to support the glass tube, described
It is provided with the first card slot being caught in for the glass tube on first support frame, is provided on second support frame for the glass
The second card slot that pipe clamp enters.
Further, the gripping device includes third driving device and grasping piece, and the grasping piece is movably disposed
In the rack, the third driving device is for driving the grasping piece vertically moving, so that the grasping piece energy
Enough graspings are located at the glass tube of the position to be grasped.
Further, the grasping piece includes movable part and multiple suckers for being set on the movable part, the activity
Part is movably arranged at the rack.
Further, the rack is equipped with locating part, and the locating part is for limiting the glass tube along described first
The conveying direction of conveying device is mobile；
When the locating part and the glass tube contact, the first driving device drives the bracket along the vertical direction
Movement can be such that the glass tube is detached from first conveying device.
Further, first conveying device includes fourth drive device and arranged for interval in first in the rack
Conveyer belt and the second conveyer belt, the fourth drive device is for driving the first conveyer belt and second conveyer belt to transport
It is dynamic；
The first conveyer belt is equipped with multiple first protrusions, is formed between two neighboring first protrusion and supplies the glass
The first limiting slot that glass pipe clamp enters；
Second conveyer belt is equipped with multiple second protrusions, is formed between two neighboring second protrusion and supplies the glass
The second limiting slot that glass pipe clamp enters.
Further, first protrusion is configured as the first idler wheel, and first idler wheel is rotatablely arranged at described
In first conveyer belt；Second protrusion is configured as the second idler wheel, and second idler wheel is rotatablely arranged at described second
On conveyer belt.
Further, first idler wheel is arranged in a one-to-one correspondence with second idler wheel；First idler wheel with it is corresponding
Second idler wheel it is coaxially arranged.
Further, the first roller, second tin roller, third roller and the 4th rolling can be rotatably set in the rack
Cylinder, the first conveyer belt are arranged on first roller and the second tin roller, and second conveyer belt is arranged in described
On third roller and the 4th roller；
The fourth drive device includes actuator and drive shaft, and first roller and the third roller pass through described
Axis connection, the actuator and the driving axis connection are driven, the actuator is for driving the drive shaft turns, so that institute
Stating drive shaft drives the first conveyer belt and second conveyer belt to move.
Based on above-mentioned second purpose, the present invention provides a kind of packaging system, including the second defeated device and above-mentioned vanning machinery
Hand, second conveying device is for conveying cabinet along the second horizontal direction, and the boxing manipulator is for grasping the glass
Glass pipe, and the glass tube is placed in the cabinet.
The beneficial effect comprise that
The present invention provides a kind of boxing manipulator, including rack, the first conveying device, driving means and gripping device, pushes away
Sending device includes bracket, adjustable shelf, first driving device and the second driving device；First conveying device can convey glass tube
To position to be pushed, first driving device drives bracket mobile in vertical direction, lifts glass tube in position to be pushed, so that
Glass tube is detached from the first conveying device, and the second driving device driving adjustable shelf is moved along first level direction, will be on bracket
Glass tube is transported to position to be grasped, and gripping device can grasp glass tube in position to be grasped, and entire grasping process does not need
It is artificial to participate in, human cost is saved, the whole process from conveying glass tube to grasping glass tube is continuously that production efficiency obtains
To improve.
The present invention provides a kind of packaging system, including the second defeated device and above-mentioned boxing manipulator, has above-mentioned recrater
All advantages of tool hand, glass tube are put into cabinet by gripping device, and the second conveying device is used for cabinet along the second level
Glass tube, is placed in cabinet by boxing manipulator, can reduce in man power encasement and make a fault, lead to glass by direction conveying
The case where glass pipe damages, and the process of the cabinet of the cabinet and conveying of the second conveying device conveying sky is also continuous, then
Once improve production efficiency.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the boxing manipulator that the embodiment of the present invention 1 provides；
Fig. 2 is structural schematic diagram of the first conveying device shown in FIG. 1 at the first visual angle；
Fig. 3 is structural schematic diagram of the first conveying device shown in FIG. 1 at the second visual angle；
Fig. 4 is structural schematic diagram of the driving means shown in FIG. 1 at the first visual angle；
Fig. 5 is structural schematic diagram of the driving means shown in FIG. 1 at the second visual angle；
Fig. 6 is the structural schematic diagram of gripping device shown in FIG. 1；
Fig. 7 is the structural schematic diagram for the boxing manipulator that driving means reaches position to be grasped；
Fig. 8 is the structural schematic diagram for the packaging system that the embodiment of the present invention 2 provides.
Icon: 100- boxing manipulator；10- rack；11- locating part；The first conveying device of 20-；The driving dress of 21- the 4th
It sets；211- actuator；212- drive shaft；22- first conveyer belt；The first protrusion of 221-；The first limiting slot of 222-；23- second is defeated
Send band；The second protrusion of 231-；The second limiting slot of 232-；30- driving means；31- bracket；The first support frame of 311-；3111- first
Card slot；The second support frame of 312-；The second card slot of 3121-；The first guide rod of 313-；The second guide rod of 314-；32- adjustable shelf；33- first
Driving device；The second driving device of 34-；40- gripping device；41- third driving device；42- grasping piece；421- movable part；
4211- bar portion；4212- plate portion；422- sucker；423- connecting rod；1000- packaging system；The second conveying device of 200-；210- is passed
Send band.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that indicating position or positional relationship is based on shown in attached drawings
The orientation or positional relationship invention product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or the invention product using when the orientation usually put or position close
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be and be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in the present invention is understood with concrete condition.
Embodiment 1
Fig. 1 is the structural schematic diagram of the boxing manipulator 100 in the present embodiment.As described in Figure 1, the present embodiment provides one kind
Boxing manipulator 100, including rack 10, the first conveying device 20, driving means 30 and gripping device 40；First conveying device
20, driving means 30 and gripping device 40 are all set in rack 10；First conveying device 20 is for conveying glass tube to wait push away
Send position；Driving means 30 is used to the glass tube for being located at position to be pushed pushing to position to be grasped；Gripping device 40 is used for
Grasping is located at the glass tube of position to be grasped.
Rack 10 plays the role of connection and each component of support, and specific structure is unrestricted.
Fig. 2 is structural schematic diagram of the first conveying device 20 shown in FIG. 1 at the first visual angle.As shown in Fig. 2, the first conveying
Device 20 includes fourth drive device 21 and conveyer belt, and fourth drive device 21 can drive conveyer belt to move.
Fig. 3 is structural schematic diagram of the first conveying device 20 shown in FIG. 1 at the second visual angle.As shown in figure 3, conveyer belt packet
Spaced apart first conveyer belt 22 and the second conveyer belt 23 are included, rack 10 is equipped with the first roller, second tin roller, third roller
With the 4th roller, the first roller, second tin roller, third roller and the 4th roller are rotatably set in rack 10.In addition, the
One conveyer belt 22 is arranged on the first roller and second tin roller, and the second conveyer belt 23 is arranged on third roller and the 4th roller,
First roller and the coaxial arrangement of third roller, second tin roller and the coaxial arrangement of the 4th roller.In the present embodiment, first conveyer belt
22 and second conveyer belt 23 sustained height position be arranged in parallel.
Wherein, the first protrusion 221 is provided in first conveyer belt 22, the first protrusion 221 is set as multiple, and adjacent two
The first limiting slot 222 is formed between a first protrusion 221, the first limiting slot 222 is caught in for glass tube；On second conveyer belt 23
It is provided with the second protrusion 231, the second protrusion 231 is likewise provided as multiple, the second limit of formation between two neighboring second protrusion 231
Position slot 232, the second limiting slot 232 are also caught in for glass tube；In the present embodiment, the first protrusion 221 is configured as the first rolling
Wheel, the first idler wheel are rotatablely arranged in first conveyer belt 22, and the second protrusion 231 is configured as the second idler wheel, the second idler wheel
It is rotatablely arranged on the second conveyer belt 23, and the first idler wheel is arranged in a one-to-one correspondence with the second idler wheel, while the first idler wheel
It is coaxially arranged with the second idler wheel corresponding to it.
Fourth drive device 21 includes actuator 211 and drive shaft 212, and the output end and drive shaft 212 of actuator 211 connect
It connects, the first roller is connect with third roller by drive shaft 212；Actuator 211 can drive drive shaft 212 to rotate, and then make
Drive shaft 212 drives first conveyer belt 22 and the second conveyer belt 23 to move.In the present embodiment, actuator 211 is stepper motor,
Drive shaft 212 is connect with the output end of stepper motor, and stepper motor drives drive shaft 212 to rotate, and drive shaft 212 drives first again
Roller and the rotation of third roller, to drive first conveyer belt 22 and the movement of the second conveyer belt 23 and second tin roller and the 4th roller
Rotation.
Fig. 4 is that structural schematic diagram, the Fig. 5 of driving means 30 shown in FIG. 1 at the first visual angle are driving means shown in FIG. 1
30 the first visual angle structural schematic diagram.In the present embodiment, as shown in Figure 4, Figure 5, driving means 30 includes bracket 31, activity
Frame 32, first driving device 33 and the second driving device 34.Adjustable shelf 32 is movably arranged in rack 10, the second driving dress
34 are set for driving adjustable shelf 32 to move along first level direction；Bracket 31 is movably arranged on adjustable shelf 32, and first drives
Dynamic device 33 is for driving bracket 31 mobile in vertical direction relative to adjustable shelf 32.
Wherein, rack 10 is equipped with the first guide rail moved for adjustable shelf 32 along first level direction, in the present embodiment,
Second driving device 34 is cylinder, and the cylinder body of cylinder is connected to rack 10, and the piston rod of cylinder is connect with adjustable shelf 32, works as cylinder
When work, piston rod can drive adjustable shelf 32 to move along the first guide rail.Adjustable shelf 32 is equipped with the first movable span and second and lives
Dynamic hole.
In addition, bracket 31 includes the first support frame 311 and the second support frame 312, the first support frame 311 and adjustable shelf 32 it
Between be equipped with the first guide rod 313, one end of the first guide rod 313 is fixedly connected with the first support frame 311, the first guide rod 313 it is another
End is inserted in the first movable span of adjustable shelf 32, and the first guide rod 313 is movably attached to adjustable shelf 32, in this implementation
The first guide rod 313 is two in example；The second guide rod 314, the second guide rod 314 are equipped between second support frame 312 and adjustable shelf 32
One end be fixedly connected with the second support frame 312, the other end of the second guide rod 314 is inserted in the second movable span of adjustable shelf 32
It is interior, and the second guide rod 314 is movably attached to adjustable shelf 32, and the second guide rod 314 is arranged as two；When the first support frame
311 by the first guide rod 313 connect with adjustable shelf 32 and the second support frame 312 pass through the second guide rod 314 connect with adjustable shelf 32
After the completion, the first support frame 311 and the second support frame 312 are parallel arrangement.In the present embodiment, first driving device 33 is gas
Cylinder, first driving device 33 are two, and two first driving devices 33 are vertically arranged.Wherein, a first driving device 33
Cylinder body be connected to rack 10, piston rod is connected to the first support frame 311；The cylinder body of another first driving device 33 connects
In rack 10, piston rod is connected to the second support frame 312.In actual operation, two first driving devices 33 work at the same time, gas
The piston rod of cylinder pushes the first support frame 311 and the second support frame 312 mobile to vertical direction simultaneously.
First support frame 311 be equipped with the first card slot 3111, the second support frame 312 be equipped with the second card slot 3121, first
Card slot 3111 and the second card slot 3121 are able to be caught in for the both ends of glass tube, and the first card slot 3111 and the second card slot
3121 correspond.In the present embodiment, the first card slot 3111 and the second card slot 3121 are arc neck, and the first card slot
3111 with its corresponding to the axis of the second card slot 3121 be overlapped.
Fig. 6 is the structural schematic diagram of gripping device 40 shown in FIG. 1.As shown in fig. 6, in the present embodiment, gripping device
40 include third driving device 41 and grasping piece 42, and grasping piece 42 is movably arranged in rack 10, third driving device 41
It is connect with grasping piece 42, and third driving device 41 is for driving grasping piece 42 to move along the vertical direction.
Wherein, grasping piece 42 includes movable part 421 and sucker 422, and movable part 421 includes bar portion 4211 and plate portion 4212.
The bar portion 4211 of movable part 421 is movably arranged in rack 10；The section in the plate portion 4212 of movable part 421 is rectangle, plate
Portion 4212 has and the first surface and second surface that are oppositely arranged, 4211 one end of bar portion of movable part 421 in its thickness direction
It is connected to the first surface in 421 plate portion 4212 of movable part, and the plate portion of the bar portion 4211 of movable part 421 and movable part 421
4212 first surface is vertical；Sucker 422 is connected to the plate portion 4212 of adjustable shelf 32, and 422, sucker by connecting rod 423
In the lower section of the second surface in plate portion 4212.In the present embodiment, sucker 422 is set as multiple, and 422 uniform intervals of sucker
It is arranged in the lower section of the second surface in the plate portion 4212 of movable part 421, in the lower section of second surface, sucker 422 is along plate portion 4212
Width direction be arranged to it is multiple rows of so that the sucker 422 on each row can grab a glass tube jointly.
Rack 10 is equipped with second guide rail mobile for 4211 vertical direction of bar portion, so that the movable part 421 of grasping piece 42
Bar portion 4211 can be moved along the second guide rail relative to rack 10.In the present embodiment, third driving device 41 includes servo electricity
Machine and screw rod, screw rod are rotatablely arranged in rack 10, the output end connection of screw rod and servo motor, and bar portion 4211 is removable
Ground is set on screw rod, when servo motor work, screw rod rotation will be driven, so that bar portion 4211 be driven to move along the vertical direction
It is dynamic.
In actual use, the both ends of glass tube are fastened in the first limiting slot 222 of the first conveying device 20 respectively
In the second limiting slot 232, fourth drive device 21 drives first conveyer belt 22 and the movement of the second conveyer belt 23, the first conveying dress
Glass tube is transported to position to be pushed by the first conveyer belt 22 and the second conveyer belt 23 for setting 20, at this point, glass tube and rack 10
On locating part 11 contact, first driving device 33 drive bracket 31 move up along the vertical direction, make be located at position to be pushed
The glass tube at place is caught in the second card on the first card slot 3111 and the second support frame 312 on the first support frame 311 of bracket 31
In slot 3121, and then bracket 31 lifts glass tube, and then the second driving device 34 drives adjustable shelf 32 along first level direction
It moves, so that bracket 31 is also moved along first level direction, mobile general of the bracket 31 on vertical direction and first level direction
The glass tube of position to be pushed is pushed to position to be grasped, and the glass tube on bracket 31 is located at the sucker 422 of gripping device 40
Underface.Fig. 7 is the structural schematic diagram for the boxing manipulator 100 that driving means 30 reaches position to be grasped；When glass tube is pushed away
It is sent to after grasping position, third driving device 41 drives grasping piece 42 to be moved to position to be grasped vertically downwards, grabs
Gripping member 42 reaches position posterior sucker 422 to be grasped and grasps glass tube；After glass tube on bracket 31 is grasped by sucker 422, second
Driving device 34 drive adjustable shelf 32 along first level direction retract, first driving device 33 drive bracket 31 along the vertical direction to
Lower movement, i.e. driving means 30 return to initial state, are ready for glass tube push next time；When sucker 422 has grabbed glass
After glass pipe, third driving device 41 will drive grasping piece 42 to move further downward along the vertical direction, so that grasping piece 42 is by glass
Glass pipe is put into cabinet, and after glass tube is placed into cabinet, third actuator 211 drives grasping piece 42 to transport upwards along the vertical direction
Dynamic, i.e., gripping device 40 returns to initial state, is ready for grabbing glass tube next time.
In the present embodiment, a kind of boxing manipulator 100 is provided, is transported to glass tube by the first conveying device 20
Position to be pushed, then lifted glass tube by the bracket 31 of driving means 30, driving means 30 is by bracket 31 in vertical direction
Mobile and adjustable shelf 32 moves on first level direction glass tube being transported to position to be grasped, then is grabbed by gripping device 40
Glass tube, entire grasping process are carried out continuously and do not need manually to participate in, not only save human cost, still improve life
Produce efficiency.
In the present embodiment, bracket 31 has the first support frame 311 and the second support frame 312 for being used to support glass tube,
The first card slot 3111 and the second card slot being caught in for glass tube are respectively equipped on first support frame 311 and the second support frame 312
3121.Due to the sShape features of glass tube itself, glass tube is caught in the first card slot 3111 and the second card slot 3121, can be guaranteed
Glass tube during pushing glass tube of driving means 30 is unlikely to fall, and the first card slot 3111 and the second card slot 3121
Glass tube can be made neatly to levy arrangement, gripping device 40 is facilitated to grab and case.
In the present embodiment, the multiple of uniform intervals arrangement are respectively arranged on first conveyer belt 22 and the second conveyer belt 23
First protrusion 221 and multiple second protrusions 231 forms the first limit being caught in for glass tube between two neighboring first protrusion 221
Position slot 222；The second limiting slot 232 being caught in for glass tube, the first limiting slot 222 are formed between two neighboring second protrusion 231
It can guarantee with the second limiting slot 232, first conveyer belt 22 and the second conveyer belt 23 are adjacent two during conveying glass tube
Constant spacing is able to maintain between root glass tube by stable conveying.
Embodiment 2
Fig. 8 is the structural schematic diagram of packaging system 1000 provided in this embodiment.As shown in figure 8, in the present embodiment, mentioning
For a kind of packaging system 1000, including the boxing manipulator 100 in the second conveying device 200 and above-described embodiment.
Second conveying device 200 includes conveyer belt 210, and conveyer belt 210 is for placing cabinet, and conveyer belt 210 can
Transporting box body.
In the present embodiment, the conveying direction of the second conveying device 200 is the second horizontal direction, the second horizontal direction and the
One horizontal direction is vertical；For conveying cabinet along the second horizontal direction, boxing manipulator 100 is used for second conveying device 200
Glass tube is grasped, and glass tube is placed in cabinet.
In practical work process, empty cabinet is transported to the sucker of boxing manipulator 100 by the second conveying device 200
422 underface, after the sucker 422 of boxing manipulator 100 has grabbed glass tube, third driving device 41 will drive grasping piece
42 move further downward along the vertical direction, so that glass tube is put into cabinet by grasping piece 42, when glass tube is placed into cabinet
Afterwards, third actuator 211 drives grasping piece 42 to move upwards along the vertical direction, i.e., gripping device 40 returns to initial state, quasi-
It is standby to be grabbed the glass tube that position to be grasped is pushed to by driving means 30 next time, repeat the above glass tube push and crawl
Process, after the completion of the cabinet vanning immediately below sucker 422, which is transported to down by the second conveying device 200
One process station, and the cabinet of next sky is transported to the underface of the sucker 422 of boxing manipulator 100, it cases.
In the present embodiment, push, crawl and the vanning that glass tube is carried out by boxing manipulator 100, can reduce people
The case where making a fault in tooling case, lead to glass tube breaks；The process of push, crawl and the vanning of glass tube and the second conveying
The process of the cabinet of the conveying of device 200 fully loaded cabinet and hole is that continuously, production can be made to be greatly improved.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of boxing manipulator, which is characterized in that including rack, the first conveying device, driving means and gripping device；
First conveying device is set to the rack, and first conveying device is used to glass tube being delivered to position to be pushed
It sets；
The driving means includes bracket, adjustable shelf, first driving device and the second driving device, and the bracket is movably set
It is placed in the adjustable shelf, the adjustable shelf is movably arranged at the rack, and the first driving device is described for driving
Bracket moves along the vertical direction, and second driving device, will for driving the adjustable shelf to move along first level direction
The glass tube positioned at the position to be pushed pushes to position to be grasped；
The gripping device is used to grasp the glass tube for being located at the position to be grasped.
2. boxing manipulator according to claim 1, which is characterized in that the bracket includes being used to support the glass tube
The first support frame and the second support frame, the first card slot being caught in for the glass tube, institute are provided on first support frame
State the second card slot for being provided on the second support frame and being caught in for the glass tube.
3. boxing manipulator according to claim 1, which is characterized in that the gripping device include third driving device and
Grasping piece, the grasping piece are movably arranged at the rack, and the third driving device is for driving the grasping piece edge
Vertical direction movement, so that the grasping piece can grasp the glass tube for being located at the position to be grasped.
4. boxing manipulator according to claim 3, which is characterized in that the grasping piece includes movable part and is set to institute
Multiple suckers on movable part are stated, the movable part is movably arranged at the rack.
5. boxing manipulator according to claim 1, which is characterized in that the rack is equipped with locating part, the limit
Part is moved for limiting the glass tube along the conveying direction of first conveying device；
When the locating part and the glass tube contact, the first driving device drives the bracket to move along the vertical direction
The glass tube can be made to be detached from first conveying device.
6. boxing manipulator according to claim 1, which is characterized in that first conveying device includes the 4th driving dress
It sets with arranged for interval in first conveyer belt and the second conveyer belt in the rack, the fourth drive device is described for driving
First conveyer belt and second conveyer belt movement；
The first conveyer belt is equipped with multiple first protrusions, is formed between two neighboring first protrusion and supplies the glass tube
The first limiting slot being caught in；
Second conveyer belt is equipped with multiple second protrusions, is formed between two neighboring second protrusion and supplies the glass tube
The second limiting slot being caught in.
7. boxing manipulator according to claim 6, which is characterized in that first protrusion is configured as the first idler wheel,
First idler wheel is rotatablely arranged in the first conveyer belt；Second protrusion is configured as the second idler wheel, described
Second idler wheel is rotatablely arranged on second conveyer belt.
8. boxing manipulator according to claim 7, which is characterized in that first idler wheel and second idler wheel are one by one
It is correspondingly arranged；First idler wheel and corresponding second idler wheel are coaxially arranged.
9. boxing manipulator according to claim 6, which is characterized in that can be rotatably set the first rolling in the rack
Cylinder, second tin roller, third roller and the 4th roller, the first conveyer belt are arranged in first roller and the second tin roller
On, second conveyer belt is arranged on the third roller and the 4th roller；
The fourth drive device includes actuator and drive shaft, and first roller and the third roller pass through the driving
Axis connection, the actuator and the driving axis connection, the actuator is for driving the drive shaft turns, so that the drive
Moving axis drives the first conveyer belt and second conveyer belt to move.
10. a kind of packaging system, which is characterized in that including any one of the second conveying device and claim the 1-9 recrater
Tool hand, for second conveying device for conveying cabinet along the second horizontal direction, the boxing manipulator is described for grasping
Glass tube, and the glass tube is placed in the cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811186493.7A CN109094870A (en) | 2018-10-11 | 2018-10-11 | A kind of boxing manipulator and packaging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811186493.7A CN109094870A (en) | 2018-10-11 | 2018-10-11 | A kind of boxing manipulator and packaging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109094870A true CN109094870A (en) | 2018-12-28 |
Family
ID=64868625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811186493.7A Pending CN109094870A (en) | 2018-10-11 | 2018-10-11 | A kind of boxing manipulator and packaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109094870A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172799A (en) * | 2021-05-06 | 2021-07-27 | 上海和科设备制造有限公司 | Collecting pipe die carrying device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241280A (en) * | 2011-06-30 | 2011-11-16 | 佛山市海天调味食品股份有限公司 | Automatic cartoning machine |
| CN205311995U (en) * | 2016-01-11 | 2016-06-15 | 南安市智盛环保设备有限公司 | Packing machine |
| CN106184918A (en) * | 2016-08-19 | 2016-12-07 | 广东省自动化研究所 | A kind of air-conditioning internal machine boxing system |
| CN106927074A (en) * | 2017-03-27 | 2017-07-07 | 靖江市开发区康隆纸管机械厂 | A kind of intelligent paper tube recrater |
| CN206318092U (en) * | 2016-10-19 | 2017-07-11 | 珠海市精广包装机械设备有限公司 | Recrater |
| CN208855931U (en) * | 2018-10-11 | 2019-05-14 | 山东耀国光热科技股份有限公司 | A kind of boxing manipulator and packaging system |
-
2018
- 2018-10-11 CN CN201811186493.7A patent/CN109094870A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241280A (en) * | 2011-06-30 | 2011-11-16 | 佛山市海天调味食品股份有限公司 | Automatic cartoning machine |
| CN205311995U (en) * | 2016-01-11 | 2016-06-15 | 南安市智盛环保设备有限公司 | Packing machine |
| CN106184918A (en) * | 2016-08-19 | 2016-12-07 | 广东省自动化研究所 | A kind of air-conditioning internal machine boxing system |
| CN206318092U (en) * | 2016-10-19 | 2017-07-11 | 珠海市精广包装机械设备有限公司 | Recrater |
| CN106927074A (en) * | 2017-03-27 | 2017-07-07 | 靖江市开发区康隆纸管机械厂 | A kind of intelligent paper tube recrater |
| CN208855931U (en) * | 2018-10-11 | 2019-05-14 | 山东耀国光热科技股份有限公司 | A kind of boxing manipulator and packaging system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172799A (en) * | 2021-05-06 | 2021-07-27 | 上海和科设备制造有限公司 | Collecting pipe die carrying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103420085B (en) | A kind of conveyer line using double-speed chain | |
| CN108996233B (en) | Soft tray intelligent stacking system | |
| CN204223807U (en) | Pay-off and Fabricating machinery | |
| CN111646191B (en) | Feeding mechanism for roller transportation and using method thereof | |
| CN107161651B (en) | Multifunctional high-speed sheet placing machine | |
| CN104291117A (en) | Steel tube stacking machine | |
| CN109225928A (en) | A kind of battery automatic checkout equipment | |
| CN111276327A (en) | Automatic machine of stacking of silicon steel sheet iron core | |
| CN204110812U (en) | Skid conveying automatic turning-back type equipment | |
| CN211444139U (en) | Automatic sheet material stacking machine | |
| CN209522319U (en) | A kind of bagged material bidirectionally-loading system | |
| CN208855931U (en) | A kind of boxing manipulator and packaging system | |
| CN209427710U (en) | A kind of automation feeding device and storage battery production system | |
| CN208994642U (en) | Loading and unloading shipping line | |
| CN109094870A (en) | A kind of boxing manipulator and packaging system | |
| CN204624708U (en) | A kind of stacker | |
| CN106848001A (en) | A kind of full-automatic inserting piece device | |
| CN212625158U (en) | Automatic machine of stacking of silicon steel sheet iron core | |
| CN211162486U (en) | Automatic welding assembly line for reinforcing ribs of elevator door plate | |
| CN210456540U (en) | Battery cell turnover device | |
| CN202241288U (en) | Manipulator used in denitration honeycomb ceramic catalyst production | |
| CN208345291U (en) | Loading and unloading shipping line | |
| CN103112723A (en) | Automatic stacking device for wall bricks | |
| CN207434580U (en) | Stacking machine | |
| CN207536716U (en) | Turnover device and its convertible transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240419 |
|
| AD01 | Patent right deemed abandoned |