CN109434868B - Fully-enclosed boxing robot end effector and boxing method thereof - Google Patents
Fully-enclosed boxing robot end effector and boxing method thereof Download PDFInfo
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- CN109434868B CN109434868B CN201811637882.7A CN201811637882A CN109434868B CN 109434868 B CN109434868 B CN 109434868B CN 201811637882 A CN201811637882 A CN 201811637882A CN 109434868 B CN109434868 B CN 109434868B
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- 238000000034 method Methods 0.000 title claims description 11
- 230000000903 blocking effect Effects 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 239000003814 drug Substances 0.000 claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 20
- 238000000429 assembly Methods 0.000 claims abstract description 20
- 238000012856 packing Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 description 6
- 239000007788 liquid Substances 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 229920006280 packaging film Polymers 0.000 description 2
- 239000012785 packaging film Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- 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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
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- Robotics (AREA)
- Container Filling Or Packaging Operations (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention discloses a fully-enclosed type boxing robot end effector which comprises a flange, two groups of first clamping plate assemblies, two groups of second clamping plate assemblies and a tray assembly, wherein the two groups of first clamping plate assemblies are arranged on the flange; the flanges are horizontally arranged on the fixed plate, the two groups of first clamping assemblies are symmetrically arranged on two opposite sides of the fixed plate in the width direction, and the two groups of second clamping assemblies are symmetrically arranged on two opposite sides of the fixed plate in the length direction; the first clamping plate assembly comprises a connecting plate, a first guide shaft, a first hinge plate, a first clamping plate and a first air cylinder; the second clamping assembly comprises a second hinge plate, a second guide shaft, a second cylinder, a connecting rod and a pocket bottom plate, and the first clamping plate assembly is linked with the second clamping plate assembly. The tray assembly comprises a tray, a blocking mechanism and third cylinders, the tray is arranged on the bracket, the blocking mechanisms are arranged at two ends of the bracket, the two third cylinders are arranged in the middle of the bracket, and telescopic rods of the two third cylinders are connected with the blocking mechanisms through swing mechanisms; the invention greatly improves the boxing efficiency of the medicine bags.
Description
Technical Field
The invention belongs to the technical field of flexible package liquid, and particularly relates to a fully-enclosed boxing robot end effector and a boxing method thereof.
Background
At present, in the production of liquid medicine preparations in recent years, a non-PVC multi-layer co-extrusion film packaging mode is adopted more and more, the mode is low in cost, and the filling automation is easy to realize. But because the texture is soft, a series of problems are brought to the next packing. The current automatic box filling machine mainly has the following problems:
(1) when the existing automatic boxing machine grabs the medicine bag, the grabbing position is above the outer packaging film of the medicine bag, and the packaging film is soft and easy to deform, so that the grabbing cannot be carried out unstably, the bag falling risk exists, and the bag falling rate is up to 20%.
(2) The existing boxing robot end effector lacks a mechanism for extruding the medicine bag, the medicine bag is in an upright state in the boxing process, and the medicine liquid is concentrated below due to the action of gravity, so that the whole width is increased. Further causing difficult and irregular box entry. After the medicine bags are placed in the paper box, the gaps between the medicine bags are large, and the space of the paper box is wasted.
Disclosure of Invention
The invention aims to provide a fully-enclosed boxing robot end effector, which is realized by the following technical scheme:
1. a fully-enclosed boxing robot end effector comprises a flange 1, two groups of first clamping plate assemblies 3, two groups of second clamping plate assemblies 5 and a tray assembly 4;
the flange 1 is horizontally arranged on the fixed plate 2, the two groups of first clamping plate assemblies are symmetrically arranged on two opposite sides of the fixed plate 2 in the width direction, and the two groups of second clamping plate assemblies 5 are symmetrically arranged on two opposite sides of the fixed plate 2 in the length direction;
the first clamping plate assembly 3 comprises a connecting plate 31, a first guide shaft 36, a first hinge plate 32, a first clamping plate 37 and a first air cylinder 33;
the connecting plate 31 is longitudinally and fixedly connected to the bottom surface of one end of the fixing plate 2, through holes are distributed on the connecting plate 31, and a first guide shaft 36 is transversely and movably arranged in each through hole in a penetrating manner; the first hinge plate 32 is longitudinally arranged at the outer side of the connecting plate 31, guide holes which are in one-to-one correspondence with the first guide shafts 36 are distributed on the first hinge plate 32, and the outer end parts of the first guide shafts 36 penetrate through the corresponding guide holes; the first clamping plate 37 is longitudinally arranged on the inner side of the connecting plate 31, and the first clamping plate 37 is fixedly connected with the inner end of each first guide shaft; the first cylinder 33 is fixedly connected to the outer end face of the first hinge plate 32, and the telescopic rod of the first cylinder 33 sequentially and movably penetrates through the first hinge plate 32 and the connecting plate 31 to be fixedly connected with the first clamping plate 37;
the second splint assembly 5 comprises a second hinge plate 51, second guide shafts 52, a second air cylinder 54, a connecting rod 55 and a bottom pocket plate 56, wherein both ends of the second hinge plate 51 are hinged with the end parts of the first hinge plates 32 in the two groups of first splint assemblies 3 through hinges 6, a plurality of second guide shafts 52 are transversely inserted in the second hinge plate 51 in a sliding manner, and the inner ends of the second guide shafts 52 are fixedly connected to the fixing plate 2; the middle part of the inner wall of the second hinge plate 51 is provided with the second cylinder 54; one end of the connecting rod 55 is hinged with the telescopic rod of the second cylinder 54; a second clamping plate is arranged at the bottom of the second hinge plate 51, a pocket bottom plate 56 is hinged to the bottom of the second clamping plate, and the other end of the connecting rod 55 is hinged to the pocket bottom plate 56;
the tray assembly 4 comprises a tray 43, a blocking mechanism 41 and a third air cylinder 42, wherein the tray 43 is a U-shaped plate, and the tray 43 is arranged on a bracket; the two ends of the bracket are respectively provided with the blocking mechanism, the middle part of the bracket is oppositely provided with two third air cylinders 42, and the telescopic rods of the two third air cylinders 42 are respectively connected with the blocking mechanism 41 through a slewing mechanism;
when the flange type automatic welding machine works, the bracket is fixed on the workbench, and the flange 1 is connected with an industrial robot; the medicine bag 7 is conveyed to the tray 43; the blocking device is turned to a vertical state; the industrial robot moves the end effector to move to the U-shaped tray; the first clamping plate component 3 and the second clamping plate component 5 are used for clamping and surrounding the medicine bag 7, the bag bottom plate 56 horizontally extends to support the tray 43, and the blocking mechanism is switched to the horizontal state; the industrial robot moves the end effector to feed the medicine bags into the packing box.
Further, the rotary structure comprises a fixed connection plate, a first blocking connection rod 46, a second blocking connection rod 45 and a rotary frame 44, wherein the fixed connection plate is an L-shaped plate, a transverse plate of the fixed connection plate is fixedly connected to the bottom surface of the tray 43, the third cylinder 42 is fixedly connected to a longitudinal plate of the fixed connection plate, two support plates are longitudinally arranged on the outer end surface of the longitudinal plate, and a rotary shaft is transversely movably arranged between the two support plates;
one end of the first blocking connecting rod 46 is hinged with the telescopic rod of the third air cylinder 42, one end of the second blocking connecting rod 45 is hinged with the other end of the first blocking connecting rod 46, and the other end of the second blocking connecting rod is fixedly connected to the rotating shaft;
a U-shaped rotary frame 44 is longitudinally fixedly connected with two sides of the rotary shaft, and the blocking mechanism 41 is fixedly connected with the top surface of the rotary frame 44; the blocking mechanisms 41 at both ends are respectively positioned at the openings at both sides of the tray 43.
Further, the blocking mechanism 41 is a blocking plate longitudinally arranged on the top surface of the revolving frame 44, a U-shaped notch is arranged in the middle of the blocking plate, connecting bolts are movably distributed on the bottom surface of the U-shaped notch, and the bottom section of each connecting bolt is in threaded connection with the revolving frame 44.
Furthermore, a first sliding sleeve 34 is arranged in each through hole of the connecting plate 31 in a matching manner, a second through hole corresponding to each first guide shaft is arranged on the first hinge plate 32, and a second sliding sleeve 35 is arranged in each second through hole in a matching manner; the first guide shaft is slidably arranged in the circular holes of the first sliding sleeve 34 and the second sliding sleeve 35.
Further, a plurality of third through holes are distributed on the second hinge plate 51, a third sliding sleeve 53 is sleeved in each through hole in a matched manner, and a plurality of second guide shafts are matched with each other to be arranged in round holes corresponding to the third sliding sleeves 53 in a sliding manner.
The invention also provides a boxing method of the fully-enclosed boxing robot end effector, which is characterized by comprising the following steps of:
the method comprises the following steps: the end controller is connected with the industrial robot through a flange, the medicine bags 7 are orderly and vertically arranged and conveyed to the tray 43, and the third air cylinder 42 acts to rotate the blocking mechanism to be in a vertical state;
step two: the end effector moves to the position above the tray 43 under the driving of the industrial robot, the first air cylinder 33 is started to push the first clamping plate component and the second clamping plate component to be opened in a linkage manner, and the second air cylinder 54 acts on the pocket bottom plate 56 to be in a vertical state;
step three: the end effector is driven to move downwards, and when the bottom end of the second clamping plate exceeds the bottom surface of the tray 43, the end effector stops moving; the first clamping plates 37 on both sides are inserted into the inner side of the blocking mechanism;
step four: the first air cylinder 33 acts on the first clamping plate 37 to extend out, and the second clamping plate component is driven to move through the first hinge plate 32 and the hinge 6, so that the first clamping plate 37 and the second clamping plate are linked to clamp the medicine bag 7;
step five: the second air cylinder 54 acts on the connecting rod 55 to drive the pocket bottom plate 56 to rotate to a horizontal state, the third air cylinder 42 acts on the blocking mechanism 41 to rotate to a horizontal state, the end effector moves out along the direction of the tray 43 to move the medicine bag 7 into the packaging box, the pocket bottom plate 56 rotates to a vertical state, and the end effector moves upwards to separate from the packaging box; and continuing to operate until the boxing operation is finished, and closing the actuator.
The invention has the beneficial effects that:
(1) the full surrounding of the medicine bags during boxing can be realized, the first clamping plate assembly and the second clamping plate assembly can be clamped in a linkage manner, the stability of the medicine bags in the conveying process is greatly guaranteed, the medicine bags are prevented from falling off, the automation degree is high, and the boxing efficiency is greatly improved.
(2) The pressing bags are placed neatly and uniformly by the extrusion of the clamping plates in the clamping plate assembly, so that the size of the carton is reduced, the space utilization rate of the carton is improved, and the cost is saved.
(3) Compared with the existing box filling machine, the size of the executor is greatly reduced, the weight is reduced, the action is light and fast after the executor is connected with an industrial robot, and the box filling efficiency is further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first cleat assembly of the present invention;
FIG. 3 is a schematic view of a second cleat assembly of the present invention;
FIG. 4 is a schematic view of a tray assembly according to the present invention;
FIG. 5 is a schematic view of a rotating assembly according to the present invention.
Number in the figure: the medicine bag packaging machine comprises a flange 1, a fixing plate 2, a first clamping plate component 3, a connecting plate 31, a first hinge plate 32, a first air cylinder 33, a first sliding sleeve 34, a second sliding sleeve 35, a first guide shaft 36, a first clamping plate 37, a tray component 4, a blocking mechanism 41, a third air cylinder 42, a tray 43, a revolving frame 44, a second blocking connecting rod 45, a first blocking connecting rod 46, a second clamping plate component 5, a second hinge plate 51, a second guide shaft 52, a third sliding sleeve 53, a second air cylinder 54, a connecting rod 55, a bag bottom plate 56, a hinge 6 and a medicine bag 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, 2, 3, 4 and 5, a fully enclosed encasement robot end effector, includes a flange 1, two sets of first cleat assemblies 3, two sets of second cleat assemblies 5, and a tray assembly 4;
the flange 1 is horizontally arranged on the fixed plate 2, the two groups of first clamping plate assemblies are symmetrically arranged on two opposite sides of the fixed plate 2 in the width direction, and the two groups of second clamping plate assemblies 5 are symmetrically arranged on two opposite sides of the fixed plate 2 in the length direction;
the first clamping plate assembly 3 comprises a connecting plate 31, a first guide shaft 36, a first hinge plate 32, a first clamping plate 37 and a first air cylinder 33;
the connecting plate 31 is longitudinally and fixedly connected to the bottom surface of one end of the fixing plate 2, through holes are distributed on the connecting plate 31, and a first guide shaft 36 is transversely and movably arranged in each through hole in a penetrating manner; the first hinge plate 32 is longitudinally arranged at the outer side of the connecting plate 31, guide holes which are in one-to-one correspondence with the first guide shafts 36 are distributed on the first hinge plate 32, and the outer end parts of the first guide shafts 36 penetrate through the corresponding guide holes; the first clamping plate 37 is longitudinally arranged on the inner side of the connecting plate 31, and the first clamping plate 37 is fixedly connected with the inner end of each first guide shaft; the first cylinder 33 is fixedly connected to the outer end face of the first hinge plate 32, and the telescopic rod of the first cylinder 33 sequentially and movably penetrates through the first hinge plate 32 and the connecting plate 31 to be fixedly connected with the first clamping plate 37;
the second splint assembly 5 comprises a second hinge plate 51, second guide shafts 52, a second air cylinder 54, a connecting rod 55 and a bottom pocket plate 56, wherein both ends of the second hinge plate 51 are hinged with the end parts of the first hinge plates 32 in the two groups of first splint assemblies 3 through hinges 6, a plurality of second guide shafts 52 are transversely inserted in the second hinge plate 51 in a sliding manner, and the inner ends of the second guide shafts 52 are fixedly connected to the fixing plate 2; the middle part of the inner wall of the second hinge plate 51 is provided with the second cylinder 54; one end of the connecting rod 55 is hinged with the telescopic rod of the second cylinder 54; a second clamping plate is arranged at the bottom of the second hinge plate 51, a pocket bottom plate 56 is hinged to the bottom of the second clamping plate, and the other end of the connecting rod 55 is hinged to the pocket bottom plate 56;
the tray assembly 4 comprises a tray 43, a blocking mechanism 41 and a third air cylinder 42, wherein the tray 43 is a U-shaped plate, and the tray 43 is arranged on a bracket; the two ends of the bracket are respectively provided with the blocking mechanism, the middle part of the bracket is oppositely provided with two third air cylinders 42, and the telescopic rods of the two third air cylinders 42 are respectively connected with the blocking mechanism 41 through a slewing mechanism;
when the flange type automatic welding machine works, the bracket is fixed on the workbench, and the flange 1 is connected with an industrial robot; the medicine bag 7 is conveyed to the tray 43; the blocking device is turned to a vertical state; the industrial robot moves the end effector to move to the U-shaped tray; the first clamping plate component 3 and the second clamping plate component 5 are used for clamping and surrounding the medicine bag 7, the bag bottom plate 56 horizontally extends to support the tray 43, and the blocking mechanism is switched to the horizontal state; the industrial robot moves the end effector to feed the medicine bags into the packing box.
Further, the rotary structure comprises a fixed connection plate, a first blocking connection rod 46, a second blocking connection rod 45 and a rotary frame 44, wherein the fixed connection plate is an L-shaped plate, a transverse plate of the fixed connection plate is fixedly connected to the bottom surface of the tray 43, the third cylinder 42 is fixedly connected to a longitudinal plate of the fixed connection plate, two support plates are longitudinally arranged on the outer end surface of the longitudinal plate, and a rotary shaft is transversely movably arranged between the two support plates;
one end of the first blocking connecting rod 46 is hinged with the telescopic rod of the third air cylinder 42, one end of the second blocking connecting rod 45 is hinged with the other end of the first blocking connecting rod 46, and the other end of the second blocking connecting rod is fixedly connected to the rotating shaft;
a U-shaped rotary frame 44 is longitudinally fixedly connected with two sides of the rotary shaft, and the blocking mechanism 41 is fixedly connected with the top surface of the rotary frame 44; the blocking mechanisms 41 at both ends are respectively positioned at the openings at both sides of the tray 43.
Further, the blocking mechanism 41 is a blocking plate longitudinally arranged on the top surface of the revolving frame 44, a U-shaped notch is arranged in the middle of the blocking plate, connecting bolts are movably distributed on the bottom surface of the U-shaped notch, and the bottom section of each connecting bolt is in threaded connection with the revolving frame 44.
Furthermore, a first sliding sleeve 34 is arranged in each through hole of the connecting plate 31 in a matching manner, a second through hole corresponding to each first guide shaft is arranged on the first hinge plate 32, and a second sliding sleeve 35 is arranged in each second through hole in a matching manner; the first guide shaft is slidably arranged in the circular holes of the first sliding sleeve 34 and the second sliding sleeve 35.
Further, a plurality of third through holes are distributed on the second hinge plate 51, a third sliding sleeve 53 is sleeved in each through hole in a matched manner, and a plurality of second guide shafts are matched with each other to be arranged in round holes corresponding to the third sliding sleeves 53 in a sliding manner.
The invention also provides a boxing method of the fully-enclosed boxing robot end effector, which is characterized by comprising the following steps of:
the method comprises the following steps: the end controller is connected with the industrial robot through a flange, the medicine bags 7 are orderly and vertically arranged and conveyed to the tray 43, and the third air cylinder 42 acts to rotate the blocking mechanism to be in a vertical state;
step two: the end effector moves to the position above the tray 43 under the driving of the industrial robot, the first air cylinder 33 is started to push the first clamping plate component and the second clamping plate component to be opened in a linkage manner, and the second air cylinder 54 acts on the pocket bottom plate 56 to be in a vertical state;
step three: the end effector is driven to move downwards, and when the bottom end of the second clamping plate exceeds the bottom surface of the tray 43, the end effector stops moving; the first clamping plates 37 on both sides are inserted into the inner side of the blocking mechanism;
step four: the first air cylinder 33 acts on the first clamping plate 37 to extend out, and the second clamping plate component is driven to move through the first hinge plate 32 and the hinge 6, so that the first clamping plate 37 and the second clamping plate are linked to clamp the medicine bag 7;
step five: the second air cylinder 54 acts on the connecting rod 55 to drive the pocket bottom plate 56 to rotate to a horizontal state, the third air cylinder 42 acts on the blocking mechanism 41 to rotate to a horizontal state, the end effector moves out along the direction of the tray 43 to move the medicine bag 7 into the packaging box, the pocket bottom plate 56 rotates to a vertical state, and the end effector moves upwards to separate from the packaging box; and continuing to operate until the boxing operation is finished, and closing the actuator.
Further, the first air cylinder 33, the second air cylinder 54 and the third air cylinder 42 are air cylinders with magnet on piston parts, and magnetic induction switches are mounted on the walls of the air cylinders; after each action is in place, a signal in place can be fed back, so that the next action is triggered.
Further, the first clamping plate 37 is made of high-strength materials such as steel and the like and is used for bearing clamping force, and the clamping force can enable liquid medicine in the bag to be distributed uniformly, so that the size of the box is reduced; the second hinge plate 51 is made of aluminum, and the lower portion thereof is made of thin-walled material having a certain elasticity such as stainless steel, which assists in clamping the tray and reduces the extrusion of the tray 43.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a full enclosed boxing robot end effector which characterized in that: comprises a flange (1), two groups of first clamping plate assemblies (3), two groups of second clamping plate assemblies (5) and a tray assembly (4);
the flange (1) is horizontally arranged on the fixed plate (2), the two groups of first clamping plate assemblies are symmetrically arranged on two opposite sides of the fixed plate (2) in the width direction, and the two groups of second clamping plate assemblies (5) are symmetrically arranged on two opposite sides of the fixed plate (2) in the length direction;
the first clamping plate assembly (3) comprises a connecting plate (31), a first guide shaft (36), a first hinge plate (32), a first clamping plate (37) and a first air cylinder (33);
the connecting plate (31) is longitudinally and fixedly connected to the bottom surface of one end of the fixing plate (2), through holes are distributed in the connecting plate (31), and a first guide shaft (36) is transversely and movably arranged in each through hole in a penetrating manner; the first hinge plate (32) is longitudinally arranged on the outer side of the connecting plate (31), guide holes which are in one-to-one correspondence with the first guide shafts (36) are distributed on the first hinge plate (32), and the outer end parts of the first guide shafts (36) penetrate through the corresponding guide holes; the first clamping plates (37) are longitudinally arranged on the inner side of the connecting plate (31), and the first clamping plates (37) are fixedly connected with the inner end of each first guide shaft; the first air cylinder (33) is fixedly connected to the outer end face of the first hinge plate (32), and the telescopic rod of the first air cylinder (33) sequentially and movably penetrates through the first hinge plate (32) and the connecting plate (31) to be fixedly connected with the first clamping plate (37);
the second clamping plate assembly (5) comprises second hinge plates (51), second guide shafts (52), second air cylinders (54), connecting rods (55) and bottom pocket plates (56), wherein two ends of each second hinge plate (51) are hinged to the end parts of the first hinge plates (32) in the two groups of first clamping plate assemblies 3 through hinges (6), the second hinge plates (51) are transversely inserted with the second guide shafts (52) in a sliding mode, and the inner ends of the second guide shafts (52) are fixedly connected to the fixing plate (2); the middle part of the inner wall of the second hinge plate (51) is provided with the second cylinder (54); one end of the connecting rod (55) is hinged with the telescopic rod of the second air cylinder (54); a second clamping plate is arranged at the bottom of the second hinge plate (51), a pocket bottom plate (56) is hinged to the bottom of the second clamping plate, and the other end of the connecting rod (55) is hinged to the pocket bottom plate (56);
the tray assembly (4) comprises a tray (43), a blocking mechanism (41) and a third air cylinder (42), the tray (43) is a U-shaped plate, and the tray (43) is arranged on the bracket; the two ends of the bracket are respectively provided with the blocking mechanism, the middle part of the bracket is oppositely provided with two third air cylinders (42), and telescopic rods of the two third air cylinders (42) are respectively connected with the blocking mechanism (41) through a rotary mechanism;
when the flange welding machine works, the bracket is fixed on the workbench, and the flange (1) is connected with an industrial robot; the medicine bag (7) is conveyed to the tray (43); the blocking device is turned to a vertical state; the industrial robot moves the end effector to move to the U-shaped tray; the first clamping plate component 3 and the second clamping plate component 5 are used for clamping and surrounding the medicine bag (7), the bag bottom plate (56) horizontally extends and supports the tray (43), and the blocking mechanism is switched to a horizontal state; the industrial robot moves the end effector to feed the medicine bags into the packing box.
2. The fully-enclosed boxing robot end effector as claimed in claim 1, wherein the rotary structure comprises a fixed connection plate, a first blocking connecting rod (46), a second blocking connecting rod (45) and a rotary frame (44), wherein the fixed connection plate is an L-shaped plate, a transverse plate of the fixed connection plate is fixedly connected to the bottom surface of a tray (43), a third cylinder (42) is fixedly connected to a longitudinal plate of the fixed connection plate, two support plates are longitudinally arranged on the outer end surface of the longitudinal plate, and a rotary shaft is transversely movably arranged between the two support plates;
one end of the first blocking connecting rod (46) is hinged with a telescopic rod of the third air cylinder (42), one end of the second blocking connecting rod (45) is hinged with the other end of the first blocking connecting rod (46), and the other end of the second blocking connecting rod is fixedly connected to the rotating shaft;
a U-shaped rotary frame (44) is fixedly connected to two sides of the rotary shaft in the longitudinal direction, and the blocking mechanism (41) is fixedly connected to the top surface of the rotary frame (44); the blocking mechanisms (41) at the two ends are respectively positioned at the openings at the two sides of the tray (43).
3. The fully-enclosed boxing robot end effector as claimed in claim 2, wherein the blocking mechanism (41) is a blocking plate longitudinally arranged on the top surface of the rotary frame (44), the middle part of the blocking plate is provided with a U-shaped notch, connecting bolts are movably distributed on the bottom surface of the U-shaped notch, and the bottom sections of the connecting bolts are in threaded and screwed connection with the rotary frame (44).
4. The fully-enclosed boxing robot end effector in accordance with claim 2, wherein a first sliding sleeve (34) is fitted in each through hole of the connecting plate (31), a second through hole corresponding to each first guide shaft is provided on the first hinge plate (32), and a second sliding sleeve (35) is fitted in the second through hole; the first guide shaft is slidably arranged in the round holes of the first sliding sleeve (34) and the second sliding sleeve (35).
5. The fully-enclosed boxing robot end effector as claimed in claim 2, wherein a plurality of third through holes are distributed on the second hinge plate (51), a third sliding sleeve (53) is sleeved in each through hole in a matching manner, and a plurality of second guide shafts are arranged in circular holes corresponding to the third sliding sleeves (53) in a matching and sliding manner.
6. A method of encasement of a fully enclosed encasement robot end effector, according to any of claims 1-5, comprising the steps of:
the method comprises the following steps: the tail end controller is connected with the industrial robot through a flange, the medicine bags (7) are orderly and vertically arranged and conveyed into a tray (43), and the third air cylinder (42) acts to rotate the blocking mechanism to be in a vertical state;
step two: the end effector is driven by the industrial robot to move to the position above the tray (43), the first air cylinder (33) is started to push the first clamping plate component and the second clamping plate component to be opened in a linkage manner, and the action pocket bottom plate (56) of the second air cylinder (54) is in a vertical state;
step three: the end effector is driven to move downwards, and when the bottom end of the second clamping plate exceeds the bottom surface of the tray (43), the end effector stops moving; the first clamping plates (37) on two sides are inserted into the inner side of the blocking mechanism;
step four: the first cylinder (33) acts on the first clamping plate (37) to extend out, and the second clamping plate component is driven to move through the first hinge plate (32) and the hinge (6), so that the first clamping plate (37) and the second clamping plate are linked to clamp the medicine bag (7);
step five: the second cylinder (54) acts on the connecting rod (55) to drive the pocket bottom plate (56) to rotate to a horizontal state, the third cylinder (42) acts on the blocking mechanism (41) to rotate to a horizontal state, the end effector moves out along the direction of the tray (43), the medicine bag (7) is moved into the packing box, the pocket bottom plate (56) rotates to a vertical state, and the end effector moves upwards to separate from the packing box; and continuing to operate until the boxing operation is finished, and closing the actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811637882.7A CN109434868B (en) | 2018-12-29 | 2018-12-29 | Fully-enclosed boxing robot end effector and boxing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811637882.7A CN109434868B (en) | 2018-12-29 | 2018-12-29 | Fully-enclosed boxing robot end effector and boxing method thereof |
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| CN103112608A (en) * | 2013-02-05 | 2013-05-22 | 江苏江鹤包装机械有限公司 | Small-bag packaged product collecting and quantitative filling system and packaging machinery including the same |
| CN203997030U (en) * | 2014-08-27 | 2014-12-10 | 上海肃质自动化设备有限公司 | A kind of blanking boxing mechanism |
| CN105539900A (en) * | 2016-02-04 | 2016-05-04 | 广东科捷龙机器人有限公司 | Automatic packing robot for flexible packing |
| CN207892286U (en) * | 2018-01-19 | 2018-09-21 | 北京集酷文化股份有限公司 | A kind of expanded type container |
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| US10392203B2 (en) * | 2015-12-31 | 2019-08-27 | ROI Industries Group, Inc. | Compact dual palletizer including a skeleton and a subassembly |
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| CN103112608A (en) * | 2013-02-05 | 2013-05-22 | 江苏江鹤包装机械有限公司 | Small-bag packaged product collecting and quantitative filling system and packaging machinery including the same |
| CN203997030U (en) * | 2014-08-27 | 2014-12-10 | 上海肃质自动化设备有限公司 | A kind of blanking boxing mechanism |
| CN105539900A (en) * | 2016-02-04 | 2016-05-04 | 广东科捷龙机器人有限公司 | Automatic packing robot for flexible packing |
| CN207892286U (en) * | 2018-01-19 | 2018-09-21 | 北京集酷文化股份有限公司 | A kind of expanded type container |
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Application publication date: 20190308 Assignee: Shandong Lingzhi Robot Automation Co.,Ltd. Assignor: SHANDONG INSTITUTE OF INTELLIGENT ROBOT & APPLIED TECHNOLOGY Contract record no.: X2023980046745 Denomination of invention: A fully enclosed boxing robot end effector and its boxing method Granted publication date: 20211130 License type: Common License Record date: 20231117 |
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