CN109396782A - A kind of robot assembled for packing tank body - Google Patents
A kind of robot assembled for packing tank body Download PDFInfo
- Publication number
- CN109396782A CN109396782A CN201811304583.1A CN201811304583A CN109396782A CN 109396782 A CN109396782 A CN 109396782A CN 201811304583 A CN201811304583 A CN 201811304583A CN 109396782 A CN109396782 A CN 109396782A
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- China
- Prior art keywords
- tank body
- assembly
- driving
- driving motor
- slide unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
It discloses a kind of for packing the robot of tank body assembly, it solves the problems, such as that packaging tank body cannot be carried out to be inverted assembly, the robot for being used to pack tank body assembly includes load carrier and Zhuan Chi mechanism, pass through the cooperating of drive case, slide unit, clamping jaw, sliding block, driving gear etc., packaging tank body can be easily inverted very much and be assemblied on assembly fixture, it solves the problems, such as that packaging tank body can not be inverted assembly, greatly alleviates operating cost, reduce the harm to operator.The cooperation of whole device structure is close, and component is simple, at low cost, high-efficient, good to solve the problems, such as that packaging tank body be inverted assembly manipulation, has very high practicability and versatility.
Description
Technical field
The present invention relates to assembly fields, more particularly, are related to a kind of for packing the robot of tank body assembly.
Background technique
Packing jar (cylinder) refers to can body, and cross-sectional shape is roughly the same everywhere, and tank neck is short, and tank neck internal diameter is slightly than neck in can body
A kind of small or tank-less neck packing container.Packing jar has very extensive use in daily life and production practices, so
And for the overwhelming majority packs tank body, coding or indentation processing often are carried out in the bottom of tank body, is produced to indicate
Date or other information.Therefore in coding or scoring operation, operation for convenience inevitably will be to packing jar
Body carries out inversion processing, is all many times that operator holds tank body progress coding scoring operation, operates time-consuming and laborious,
And it can not be precisely accomplished positioning operation, operation deviation especially often occurs, the hand of operator is caused serious
Dangerous hidden danger, has seriously affected working efficiency.Therefore, for this status, there is an urgent need to develop one kind for packing tank body dress
The robot matched, to meet the needs of actual use.
Summary of the invention
Therefore, in view of the shortcomings of the prior art, providing example of the invention to substantially solve since correlation is led
One or more problems caused by the limitation and disadvantage in domain, safety and reliability increase substantially, and effectively play guarantor
Protect the effect of equipment.
According to technical solution provided by the invention, which includes that load carrier and dress are held
Mechanism, load carrier include chassis, microscope carrier are equipped at the medium position of chassis, it is flat that microscope carrier is equipped with packaging tank body storing transport
Platform, the middle part that packaging tank body puts shipping platform are equipped with conveying trough, are equipped with transport assembly in conveying trough, transport assembly passes through control
The control of component is for transportation and packing tank body, and the side of microscope carrier is equipped with mounting table, and putting on mounting table has assembly fixture, assembles
Uniform intervals are equipped with several fastener strips on frame, and the top of fastener strip and the upper surface of shipping platform are concordant, wherein on mounting table
It is respectively equipped with a card convex at the front-rear position of surface, card slot compatible with card convex is respectively equipped at assembly fixture front-rear position, blocks
Convex clip is connected in card slot, and Zhuan Chi mechanism includes the column positioned at chassis rear portion, and the top-down longitudinal direction of column is equipped with two
Parallel sliding rail is slidably matched on sliding rail equipped with slide unit, and the top of column is equipped with platform, and platform is equipped with driving motor, driving
The drive rod of motor passes through platform and is connected with slide unit, and the front of slide unit is connected at least 2 groups of travellers, and slide unit passes through traveller and driving
Cabinet connection, drive case inside are equipped with driving assembly, and the upper surface that drive shaft passes through drive case is set to be connected with driving gear,
Drive shaft is controlled by driving assembly, and the upper surface of drive case is equipped with sliding slot, separable in sliding slot to be equipped with sliding block, sliding block court
It is equipped with gear hobbing to the one side of driving gear, gear hobbing is engaged with driving gear, is connected at the lower surface of drive case by driving swivel
It is connected to the long case of rectangle, the long case of rectangle can be rotated under the control of driving swivel, and driving swivel is controlled by driving assembly, square
The both ends of the long case of shape are respectively equipped with a clamp assemblies, and clamp assemblies include openable and closable clamping jaw, and being equipped with inside the long case of rectangle can
The controller for controlling clamping jaw folding, the column below platform are equipped with fixed station, and fixed station is solid by fixing piece and sliding block
It is fixed to connect, the motor cabinet of fixed driving motor is additionally provided on platform.
Further, transport assembly is equipped with several equidistant setting circles, and packaging tank body is placed on setting circle.
Further, the middle part of mounting table is equipped with recess section, and the lower part of assembly fixture is equipped with pedestal, and pedestal is placed in recess
Section, pedestal two sides are connected with absorption button, and the distance between adjacent clasp item is greater than the width of microscope carrier.
Further, fixed station is located at the top of slide unit.
Further, clamp assemblies are equipped with detection sensor, and driving gear is equipped with graduation mark.
Further, microscope carrier includes the side plate for being rotatably coupled to chassis two sides, and the top of two side plates, which is connected with, sets
Plate is put, placement plate puts shipping platform for putting packaging tank body, and microscope carrier further includes the centre that one end is rotatably provided in chassis
Plate, between side plate, the other end of intermediate plate is connected in placement plate intermediate plate.
Further, it is rectangle that the lower part of fastener strip, which is trapezoidal upper, is additionally provided at trapezoidal and rectangular transition position convex
It rises.
Further, the fastener strip of the setting circle of right end and rearmost end is located in same horizontal line, and right end
The distance between two clamping jaw central points of the distance between the fastener strip top center point of the center of circle of setting circle and rearmost end phase
Deng.
Further, clamp assemblies include gripper cylinder, and cylinder controls the folding of clamping jaw, cylinder by the long case of rectangle inside
Controller control.
The present invention solves the problems, such as to carry out being inverted assembly to packaging tank body, this is used to pack the machine of tank body assembly
People includes that load carrier and Zhuan Chi mechanism can by the cooperating of drive case, slide unit, clamping jaw, sliding block, driving gear etc.
Will pack tank body, very easily inversion will be assemblied on assembly fixture, solve the problems, such as that packaging tank body can not be inverted assembly, greatly
The harm for alleviating operating cost, reducing to operator.The cooperation of whole device structure is close, and component is simple, at low cost,
It is high-efficient, it is good to solve the problems, such as that packaging tank body be inverted assembly manipulation, there is very high practicability and versatility.
Detailed description of the invention
Fig. 1 is the main schematic diagram of structure of the invention.
Fig. 2 is structure side schematic diagram of the invention.
Fig. 3 is that structure of the invention is bowed schematic diagram.
Fig. 4 is that dress of the invention holds structural scheme of mechanism.
Fig. 5 is assembly work schematic diagram of the invention.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.With reference to the accompanying drawing and specific embodiment to application principle of the invention make into
The description of one step.
The robot for being used to pack tank body assembly includes load carrier and Zhuan Chi mechanism.
Load carrier includes chassis 1, and microscope carrier 2 is equipped at the medium position of chassis 1, and microscope carrier 2 is equipped with packaging tank body and puts
Shipping platform 3, the middle part that packaging tank body puts shipping platform 3 are equipped with conveying trough, are equipped with transport assembly, transport assembly in conveying trough
It can be transmission belt, chain etc., transport assembly passes through the control of control assembly for transportation and packing tank body, for how to lead to
The process for crossing control assembly manipulation transport assembly is known content for the operator with relevant knowledge, then this is no longer superfluous
It states.Moreover, transport assembly is equipped with several equidistant setting circles, packaging tank body is placed on setting circle, can thus have
There is better reference, accuracy greatly improves.
The side of microscope carrier 2 is equipped with mounting table 4, and putting on mounting table 4 has assembly fixture 5, if uniform intervals are equipped on assembly fixture 5
Dry fastener strip, is no more than 4 in principle, excessively will lead to the excessive distance of drive case anterior displacement, the stabilization of whole device
Property, which must not obtain, to be guaranteed.
The top of fastener strip is concordant with the upper surface of shipping platform 3, ensures that clamping process will not touch in this way
It hits.
Wherein, it is respectively equipped with a card convex at 4 upper surface front-rear position of mounting table, is set respectively at 5 front-rear position of assembly fixture
There is card slot compatible with card convex, card convex is connected in card slot, and the middle part of mounting table 4 is equipped with recess section, the lower part of assembly fixture 5
Equipped with pedestal, pedestal is placed in recess section, and pedestal two sides are connected with absorption button, and the purpose of setting absorption button is to be further ensured that
The stabilization of assembly fixture prevents from shaking during assembly, and the distance between adjacent clasp item is greater than the width of microscope carrier 2, this
Sample would not make clamping jaw collide in assembling process with microscope carrier, reasonably avoid influence of the microscope carrier to clamping jaw.
Zhuan Chi mechanism includes the column 6 positioned at 1 rear portion of chassis, and the top-down longitudinal direction of column 6 is equipped with two in parallel
Sliding rail, be slidably matched on sliding rail equipped with slide unit 7, the top of column 6 is equipped with platform, and platform is equipped with driving motor, driving electricity
The drive rod of machine passes through platform and is connected with slide unit 7, and the front of slide unit 7 is connected at least 2 groups of travellers, and slide unit 7 is by traveller and drives
Dynamic cabinet 8 connects.
Driving assembly is equipped with inside drive case 8, the upper surface that drive shaft 9 passes through drive case 8 is set and driving gear 10
It is connected, drive shaft 9 is controlled by driving assembly, and the upper surface of drive case 8 is equipped with sliding slot, separable in sliding slot to be equipped with sliding block
11, the one side of sliding block 11 towards driving gear 10 is equipped with gear hobbing, and gear hobbing is engaged with driving gear 10, and driving gear 10, which is equipped with, to be carved
Line is spent, the distance of such drive case anterior displacement can intuitively be read by graduation mark, so that drive case is moved
The dynamic control apart from available high precision.
By driving swivel to be connected with the long case 12 of rectangle at the lower surface of drive case 8, the long case 12 of rectangle can driven
It is rotated under the control of swivel, driving swivel is controlled by driving assembly.
The both ends of the long case 12 of rectangle are respectively equipped with a clamp assemblies 13, and clamp assemblies 13 include openable and closable clamping jaw, square
The controller of controllable clamping jaw folding is equipped with inside the long case 12 of shape, clamp assemblies 13 are equipped with detection sensor, can visit in real time
The position of packaging tank body transport is surveyed, precision greatly improves.
Column 6 below platform is equipped with fixed station 13, and fixed station 13 is fixedly connected by fixing piece with sliding block 11,
Fixed station 13 is located at the top of slide unit 7, and the motor cabinet 14 of fixed driving motor 8 is additionally provided on platform.
Microscope carrier 2 includes being rotatably coupled to the side plates of 1 two sides of chassis as a preferred technical solution, two side plates
Top is connected with placement plate, and placement plate puts shipping platform 3 for putting packaging tank body, and microscope carrier 2 further includes that one end is rotatably set
The intermediate plate in chassis 1 is set, between side plate, the other end of intermediate plate is connected in placement plate intermediate plate, passes through microscope carrier
Rotation, adjustable packaging tank body put the location of shipping platform, and it is flat to put transport for the packaging tank body of larger size
For platform, microscope carrier can be made to drop to suitable height.
It is rectangle that the lower part of fastener strip, which is trapezoidal upper, as a preferred technical solution, can be very good to adapt to tank in this way
The shape of body is additionally provided with protrusion at trapezoidal and rectangular transition position, can be formed to inner tank wall surface and effectively rub and mention
High pushing force guarantees the stability entirely assembled.
As a preferred technical solution, on tank body transporting direction, the ladder of the fastener strip of the middle line and rearmost end of conveying trough
Shape and rectangle boundary line are located in same horizontal line, that is to say, that middle line and boundary line be it is conllinear, in this way, clamping jaw
Accurately carry out clamping and assembly manipulation, and the fastener strip top center point of the center of circle of the setting circle of right end and rearmost end it
Between distance and the distance between two clamping jaw central points it is equal, can guarantee that two clamping jaws precisely clamp.
Clamp assemblies 13 include gripper cylinder as a preferred technical solution, and cylinder controls the folding of clamping jaw, and cylinder is by square
Controller control inside the long case 12 of shape, naturally it is also possible to take other kinds of drive, then this is repeated no more.
As further embodiment, steps are as follows for the use of the people that puts together machines:
A. the packaging tank body assembled will be needed to be placed on the transport assembly in the conveying trough for putting shipping platform, and guaranteed every
A packaging tank body is seated on the setting circle of transport assembly,
B. assembly fixture is placed on mounting table, guarantees that the pedestal of assembly fixture is placed in the recess section of mounting table, guarantees simultaneously
The card slot of assembly fixture is connected in the card convex of mounting table, the absorption button of Manual press assembly fixture so that assembly fixture it is stable with put
Platform cooperation is set,
C. start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and slide unit drives driving
Cabinet suspends after being moved to designated position, it should be noted that since slide unit is to be connect by traveller with drive case, thus
Drive case is also moved together with slide unit, moreover, the sliding slot on the upper surface of drive case and sliding block are separable settings, and
And sliding block is to be fixedly installed with fixed station, therefore when drive case moves down, drive case is gradually disengaged with sliding block, certainly
The gear hobbing for driving gear and sliding block is also to be gradually disengaged.
D. start control assembly, under the control of control assembly, transport assembly transmits packaging tank body, when detection passes
When the packaging tank body that sensor detects most end is transmitted to the underface of clamping jaw, suspend control assembly, so that the fortune of transmission assembly
Defeated pause,
E. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and controller is opened
Beginning control clamping jaw carries out clamping operation to packaging tank body, after clamping, Reverse Turning Control driving motor, and the driving of driving motor
Bar drives slide unit to be moved upward to specified position along the sliding rail of column,
F. the intracorporal driving swivel of starting driving box, under the control of driving swivel, the long case of rectangle is rotated, when clamping is packed
When the clamping jaw of tank body is located at right above the fastener strip of rearmost end, stopping the operation of driving swivel, the long case of rectangle is no longer rotated,
G. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, controller pair
The clamping jaw of clamping packaging tank body is controlled, so that clamping jaw drives packaging tank body to be assemblied in the fastener strip of rearmost end,
H. after assembling, controller control is located at the clamping jaw above assembly fixture and unclamps, Reverse Turning Control driving motor, driving motor
Drive rod drive slide unit to move up along the sliding rail of column, the drive rod of driving motor drives slide unit upward along the sliding rail of column
It is moved to specified position,
I. it is again started up control assembly, under the control of control assembly, transport assembly transmits packaging tank body, when detection passes
When the packaging tank body that sensor detects most end is transmitted to the underface of clamping jaw, suspend control assembly, so that the fortune of transmission assembly
Defeated pause,
J. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and controller is opened
Beginning control clamping jaw carries out clamping operation to packaging tank body, after clamping, Reverse Turning Control driving motor, and the driving of driving motor
Bar drives slide unit to be moved upward to specified position along the sliding rail of column, until drive case and sliding block are fully mated,
K. the intracorporal driving assembly operating of manipulation driving box, driving assembly control drive shaft turns, and drive shaft then drives driving
Gear rotation, due to sliding block be it is fixed, under the driving of driving gear, driving gear is gradually along sliding block to Forward
It is dynamic, simultaneously as slide unit is to be connect by traveller with drive case, in drive case movement forward, in the work of traveller
Under, drive case is gradually separated with slide unit, after drive case is moved to designated position, specially packing jar body be located at it is non-most
Right above right end fastener strip, stop the driving of driving gear,
L. start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and slide unit drives driving
Cabinet suspends after being moved to designated position,
M. the intracorporal driving swivel of starting driving box, under the control of driving swivel, the long case of rectangle is rotated, when clamping is packed
When the clamping jaw of tank body is located at right above corresponding fastener strip, stopping the operation of driving swivel, the long case of rectangle is no longer rotated,
N. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, controller pair
The clamping jaw of clamping packaging tank body is controlled, so that clamping jaw drives packaging tank body to be assemblied in corresponding fastener strip.
For how to complete the assembly of packaging tank body and other fastener strips, can be operated with reference to above-mentioned steps, until
Fastener strip assembly on entire assembly fixture is finished, and then carries out next step coding or scoring operation.
For those skilled in the art, it is clear that invention is not limited to the details of the above exemplary embodiments, and is not carrying on the back
In the case where from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter from which
From the point of view of a bit, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is wanted by appended right
Ask rather than above description limit, it is intended that by all changes that come within the meaning and range of equivalency of the claims
It is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of for packing the robot of tank body assembly, the robot for packing tank body assembly includes load carrier
With Zhuan Chi mechanism, the load carrier includes chassis, microscope carrier is equipped at the medium position of the chassis, on the microscope carrier
Shipping platform is put equipped with packaging tank body, the middle part that the packaging tank body puts shipping platform is equipped with conveying trough, the fortune
Transport assembly is equipped in defeated slot, the transport assembly transports the packing jar by the control of control assembly
Body, the side of the microscope carrier are equipped with mounting table, and putting on the mounting table has assembly fixture, between uniform on the assembly fixture
Every being equipped with several fastener strips, the top of the fastener strip is concordant with the upper surface of the shipping platform, wherein described
A card convex is respectively equipped at the front-rear position of mounting table upper surface, be respectively equipped at the assembly fixture front-rear position with it is described
The compatible card slot of card convex, the card convex are connected in the card slot, which is characterized in that the Zhuan Chi mechanism includes position
Column in the chassis rear portion, the top-down longitudinal direction of the column is equipped with two parallel sliding rails, described
It is slidably matched on sliding rail equipped with slide unit, the top of the column is equipped with platform, and the platform is equipped with driving motor, described
Driving motor drive rod pass through the platform be connected with the slide unit, the front of the slide unit is connected at least 2
Group traveller, the slide unit are connect by the traveller with drive case, and driving assembly is equipped with inside the drive case,
The upper surface that drive shaft passes through the drive case is set to be connected with driving gear, and the drive shaft is by the driving assembly
Control, the upper surface of the drive case are equipped with sliding slot, separable in the sliding slot to be equipped with sliding block, the sliding block
It is equipped with gear hobbing towards the one side of the driving gear, the gear hobbing is engaged with the driving gear, the driving box
By driving swivel to be connected with the long case of rectangle at the lower surface of body, the long case of the rectangle can be in the control of the driving swivel
It is rotated under system, the driving swivel is controlled by the driving assembly, and the both ends of the long case of the rectangle are respectively equipped with
One clamp assemblies, the clamp assemblies include openable and closable clamping jaw, and controllable clamping jaw is equipped with inside the long case of the rectangle
The controller of folding, the column below the platform are equipped with fixed station, and the fixed station passes through fixing piece and institute
The sliding block stated is fixedly connected, and the motor cabinet of the fixed driving motor is additionally provided on the platform.
2. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the transport group
Part is equipped with several equidistant setting circles, and the packaging tank body is placed on the setting circle.
3. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the mounting table
Middle part be equipped with recess section, the lower part of the assembly fixture is equipped with pedestal, and the pedestal is placed in the recess section,
The pedestal two sides are connected with the absorption button, and the distance between described adjacent clasp item is greater than the width of the microscope carrier
Degree.
4. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the fixed station
Positioned at the top of the slide unit.
5. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the clamping group
Part is equipped with detection sensor, and the driving gear is equipped with graduation mark.
6. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the microscope carrier packet
The side plate for being rotatably coupled to the chassis two sides is included, the top of two side plates is connected with placement plate, the placement plate
Shipping platform is put for putting the packaging tank body, the microscope carrier further includes that one end is rotatably provided in the chassis
Intermediate plate, for the intermediate plate between the side plate, the other end of the intermediate plate is connected to the storing
On plate.
7. according to claim 4 a kind of for packing the robot of tank body assembly, which is characterized in that the fastener strip
Lower part be trapezoidal upper be rectangle, be additionally provided with protrusion at trapezoidal and rectangular transition position.
8. according to claim 1 a kind of for packing the robot of tank body assembly, wherein on tank body transporting direction,
The trapezoidal and rectangle boundary line of the fastener strip of the middle line and rearmost end of the conveying trough is located in same horizontal line, and most right
The distance between fastener strip top center point of the center of circle of the setting circle at end and rearmost end between two clamping jaw central points away from
From equal.
9. according to claim 1 a kind of for packing the robot of tank body assembly, which is characterized in that the clamping group
Part includes gripper cylinder, the folding of the described cylinder control clamping jaw, the cylinder by the long case of rectangle inside
Controller control.
10. a kind of application method for the people that puts together machines, described puts together machines described in any one of artificial claim 1-9
A kind of robot assembled for packing tank body, which is characterized in that steps are as follows for the use of the people that puts together machines:
A. the packaging tank body assembled will be needed to be placed on the transport assembly in the conveying trough for putting shipping platform, and guaranteed every
A packaging tank body is seated on the setting circle of transport assembly,
B. assembly fixture is placed on mounting table, guarantees that the pedestal of assembly fixture is placed in the recess section of mounting table, guarantees simultaneously
The card slot of assembly fixture is connected in the card convex of mounting table, the absorption button of Manual press assembly fixture so that assembly fixture it is stable with put
Platform cooperation is set,
C. start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and slide unit drives driving
Cabinet suspends after being moved to designated position,
D. start control assembly, under the control of control assembly, transport assembly transmits packaging tank body, works as detection sensor
When detecting the packaging tank body of most end and being transmitted to the underface of clamping jaw, suspend control assembly, so that the transport of transmission assembly is temporary
Stop,
E. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and controller is opened
Beginning control clamping jaw carries out clamping operation to packaging tank body, after clamping, Reverse Turning Control driving motor, and the driving of driving motor
Bar drives slide unit to be moved upward to specified position along the sliding rail of column,
F. the intracorporal driving swivel of starting driving box, under the control of driving swivel, the long case of rectangle is rotated, when clamping is packed
When the clamping jaw of tank body is located at right above the fastener strip of rearmost end, stopping the operation of driving swivel, the long case of rectangle is no longer rotated,
G. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, controller pair
The clamping jaw of clamping packaging tank body is controlled, so that clamping jaw drives packaging tank body to be assemblied in the fastener strip of rearmost end,
H. after assembling, controller control is located at the clamping jaw above assembly fixture and unclamps, Reverse Turning Control driving motor, driving motor
Drive rod drive slide unit to move up along the sliding rail of column, the drive rod of driving motor drives slide unit upward along the sliding rail of column
It is moved to specified position,
I. it is again started up control assembly, under the control of control assembly, transport assembly transmits packaging tank body, when detection passes
When the packaging tank body that sensor detects most end is transmitted to the underface of clamping jaw, suspend control assembly, so that the fortune of transmission assembly
Defeated pause,
J. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and controller is opened
Beginning control clamping jaw carries out clamping operation to packaging tank body, after clamping, Reverse Turning Control driving motor, and the driving of driving motor
Bar drives slide unit to be moved upward to specified position along the sliding rail of column, until drive case and sliding block are fully mated,
K. the intracorporal driving assembly operating of manipulation driving box, driving assembly control drive shaft turns, and drive shaft then drives driving
Gear rotation, under the driving of driving gear, driving gear is gradually moved forward along sliding block, meanwhile, drive case is to Forward
During dynamic, under the action of traveller, drive case is gradually separated with slide unit, after drive case is moved to designated position, is stopped
The driving of gear is only driven,
L. start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, and slide unit drives driving
Cabinet suspends after being moved to designated position,
M. the intracorporal driving swivel of starting driving box, under the control of driving swivel, the long case of rectangle is rotated, when clamping is packed
When the clamping jaw of tank body is located at right above corresponding fastener strip, stopping the operation of driving swivel, the long case of rectangle is no longer rotated,
N. continue to start driving motor, the drive rod of driving motor drives slide unit to move down along the sliding rail of column, controller pair
The clamping jaw of clamping packaging tank body is controlled, so that clamping jaw drives packaging tank body to be assemblied in corresponding fastener strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811304583.1A CN109396782B (en) | 2018-11-04 | 2018-11-04 | robot for assembling packaging tank and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811304583.1A CN109396782B (en) | 2018-11-04 | 2018-11-04 | robot for assembling packaging tank and using method thereof |
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| CN109396782A true CN109396782A (en) | 2019-03-01 |
| CN109396782B CN109396782B (en) | 2019-12-17 |
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| US20040050665A1 (en) * | 2002-09-04 | 2004-03-18 | Gerber Stephen M. | Method and apparatus for transferring articles in unison |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN106272379A (en) * | 2016-09-23 | 2017-01-04 | 羊丁 | A kind of intelligent wine brewing robot |
| CN206382926U (en) * | 2017-01-10 | 2017-08-08 | 上海大侨誉远精密机械有限公司 | A kind of flatly moving type tool-changing mechanical arm |
| CN106865163A (en) * | 2017-03-31 | 2017-06-20 | 浙江新博铝塑品有限公司 | A kind of bottle cap automatically dropping glue pad assembly machine |
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