CN109911635A - A kind of de-stacking grabbing device being matched in robot - Google Patents
A kind of de-stacking grabbing device being matched in robot Download PDFInfo
- Publication number
- CN109911635A CN109911635A CN201910241695.5A CN201910241695A CN109911635A CN 109911635 A CN109911635 A CN 109911635A CN 201910241695 A CN201910241695 A CN 201910241695A CN 109911635 A CN109911635 A CN 109911635A
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- pressing plate
- vacuum chuck
- mounting rack
- pumping board
- baffle
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- 238000003825 pressing Methods 0.000 claims abstract description 49
- 239000000463 material Substances 0.000 claims abstract description 43
- 238000005086 pumping Methods 0.000 claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 12
- 239000013013 elastic material Substances 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 235000013361 beverage Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Abstract
The invention discloses a kind of de-stacking grabbing devices for being matched in robot, it include: mounting rack, the side of mounting rack is provided with vacuum chuck component and sucker lift drive mechanism, sucker lift drive mechanism is for driving vacuum chuck component, lower lifting, vacuum chuck in vacuum chuck component can be securely adsorbed on into pile material on the side of single packet material, pressing plate is provided with above vacuum chuck component, pressing plate is driven by pressing plate lift drive mechanism, pressing plate can move downwardly to pressure gear at the top of the single packet material adsorbed by vacuum chuck, the two sides of mounting rack lower end are respectively arranged with sliding rail, sliding block is provided on the sliding rail of every side, the bottom of mounting rack is provided with pumping board, pumping board is fixedly connected with a slide block, pumping board driving mechanism is additionally provided on mounting rack.The present invention has the advantages that robot can be cooperated to realize that the crawl to single packet material saves a large amount of manpowers to carry out de-stacking, and substantially increase the efficiency of de-stacking.
Description
Technical field
The present invention relates to beverage packaging production equipment technologies, and in particular to de-stacking grabbing device.
Background technique
With the continuous development of beverage industry, the kind and specification of beverage are also more and more.For the ease of distinguishing, stored in a warehouse
Beverage would generally carry out stacking stacking by kind and specification in journey.Beverage bottle would generally be packaged into single packet material, single packet object
Material is stacked to whole pile material again.
The good beverage of stacking is usually all by manually carrying out de-stacking, the mode of this de-stacking is not only worked in entrucking
Intensity is big, while de-stacking inefficiency, so that people leads to entrucking inefficiency.
Summary of the invention
The technical problem to be solved in the invention is: providing a kind of de-stacking grabbing device for being matched in robot, can have
Effect improves de-stacking efficiency.
To solve the above problems, the technical solution adopted by the present invention is that: a kind of de-stacking grabbing device being matched in robot,
It include: mounting rack, the side of mounting rack is provided with vacuum chuck component and sucker lift drive mechanism, sucker lift drive mechanism
For driving vacuum chuck component to go up and down above and below, the vacuum chuck in vacuum chuck component can be securely adsorbed on into pile material
On the side of single packet material, pressing plate is provided with above vacuum chuck component, pressing plate is driven by pressing plate lift drive mechanism, pressing plate
Driving mechanism can drive pressing plate to go up and down above and below, and pressing plate can move downwardly to pressure gear in the single packet material adsorbed by vacuum chuck
Top, the two sides of mounting rack lower end are respectively arranged with sliding rail, and sliding block is provided on the sliding rail of every side, and the bottom of mounting rack is set
It is equipped with pumping board, pumping board is fixedly connected with a slide block, and pumping board driving mechanism is additionally provided on mounting rack, and pumping board driving mechanism can drive pumping
Plate slides in and out from the bottom of mounting rack and is located at and is withdrawn by the lower section for single packet material that vacuum chuck adsorbs or slid inward
To the bottom of mounting rack.
Further, a kind of de-stacking grabbing device being matched in robot above-mentioned, wherein vacuum chuck component includes:
Sucker mounting plate and several vacuum chucks, vacuum chuck are mounted on sucker mounting plate；Sucker lift drive mechanism includes: up and down
Two installation axles being arranged are respectively provided in every installation axle there are two synchronous pulley, and synchronous pulley corresponds up and down, every correspondence
It is provided with synchronous belt on a pair of of synchronous pulley, the installation axle being located above is driven by motor, and the synchronous belt is and sucker
Mounting plate is fixedly connected, and synchronous belt can drive sucker mounting plate to move up and down under the drive of the motor.
Further, a kind of de-stacking grabbing device being matched in robot above-mentioned, wherein sucker mounting plate two sides
A directive slide track is also vertically arranged on mounting rack respectively, guide runner, each guiding are provided on every directive slide track
Sliding block is fixedly connected with sucker mounting plate, the sucker mounting plate vertical upper and lower movement under the guiding of directive slide track.
Further, a kind of de-stacking grabbing device being matched in robot above-mentioned, wherein pressing plate lift drive mechanism packet
Include: the lead screw being movably arranged on mounting rack is provided with nut on lead screw, and the nut is fixedly connected with the pressing plate, described
Lead screw is driven by rotary drive motor, rotary drive motor drive lead screw, back rotation, so as to drive nut band dynamic pressure plate
Upper and lower movement.
Further, a kind of de-stacking grabbing device being matched in robot above-mentioned, wherein gear is provided on the outside of pressing plate
Plate, baffle include baffle interconnecting piece and baffle guard block portion, are provided with top slide rail and push-and-pull cylinder, top slide rail at the top of pressing plate
On be provided with top slide, baffle interconnecting piece is fixedly connected with top slide, and push-and-pull cylinder is connected with baffle, in push-and-pull cylinder
Under driving, baffle guard block portion can move back and forth to far from pressing plate direction or close to pressing plate direction, when baffle guard block portion is close to pressing plate
When direction moves, baffle guard block portion can close guard block in the outside in the single packet material adsorbed by vacuum chuck.
Still further, a kind of de-stacking grabbing device for being matched in robot above-mentioned, wherein the bottom of pressing plate and baffle
Guard block is provided with the protection board made of elastic material on the inside of portion.
Still further, a kind of de-stacking grabbing device for being matched in robot above-mentioned, wherein pumping board driving mechanism is to take out
Plate drives cylinder, and the piston rod of pumping board driving cylinder is connected with pumping board.
The present invention has the advantages that one, structure is simple, production and installation are very convenient.Two, robot can be cooperated real
Now to the crawl of single packet material, to carry out de-stacking, a large amount of manpowers are saved, and substantially increase the efficiency of de-stacking.Three, in list
The inside of packet material, bottom, top outer carry out comprehensive clamping, so that crawl is firm, de-stacking efficiency is further mentioned
It is high.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of de-stacking grabbing device for being matched in robot of the present invention.
Fig. 2 is the structural schematic diagram that the de-stacking grabbing device of robot is matched in shown in Fig. 1 right view direction.
Fig. 3 is structural schematic diagram shown in A-A section view direction in Fig. 2.
Structural schematic diagram shown in B-B section view direction in Fig. 4 Fig. 3.
Fig. 5 is whole pile material schematic diagram.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and preferred embodiments.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of de-stacking grabbing device being matched in robot, comprising: be used for and machine
The mounting rack 1 that people is connected, the side of mounting rack 1 are provided with vacuum chuck component 2 and sucker lift drive mechanism, sucker lifting
For driving vacuum chuck component 2 to go up and down above and below, the vacuum chuck 21 in vacuum chuck component 2 can be adsorbed securely driving mechanism
In whole pile material 30 on the side of single packet material 3.The top of vacuum chuck component 2 is provided with pressing plate 4, and pressing plate 4 is by pressing plate liter
Driving mechanism driving is dropped, and pressing plate driving mechanism can drive pressing plate 4 to go up and down above and below, and pressing plate 4 can move downwardly to pressure gear by vacuum
The top for single packet material 3 that sucker 21 adsorbs.The two sides of 1 lower end of mounting rack are respectively arranged with sliding rail 52, the sliding rail 52 of every side
On be provided with sliding block 51, the bottom of mounting rack 1 is provided with pumping board 5, and pumping board 5 is fixedly connected with sliding block 51, also sets on mounting rack 1
It is equipped with pumping board driving mechanism, pumping board driving mechanism can drive pumping board 5 to slide in and out from the bottom of mounting rack 1 and be located at and inhaled by vacuum
The lower section for single packet material 3 that disk 21 adsorbs or slid inward are retracted to the bottom of mounting rack 1.In institute's the present embodiment, pumping board driving
Mechanism is that pumping board drives cylinder 53, and the piston rod of pumping board driving cylinder 53 is connected with pumping board 5.The piston of pumping board driving cylinder 53
Bar is protruding, and pumping board 5 is driven to move out, and the piston rod of pumping board driving cylinder 53 inwardly retracts, then pumping board 5 is driven to withdraw
To the bottom of mounting rack 1.
In the present embodiment, vacuum chuck component 2 includes: sucker mounting plate 22 and several vacuum chucks 21, vacuum chuck 21
It is mounted on sucker mounting plate 22.Sucker lift drive mechanism includes: two installation axles 23 setting up and down, every installation axle 23
On be respectively provided with there are two synchronous pulley, synchronous pulley corresponds up and down, is provided with synchronization on every corresponding a pair of of synchronous pulley
Band 24, the installation axle 23 being located above are driven by motor 25, and the synchronous belt 24 is connected with sucker mounting plate 22, in electricity
Synchronous belt 24 can drive sucker mounting plate 22 to move up and down under the driving of machine 25.The absorption principle of vacuum chuck 21 is simple, vacuum
Sucker 21 is adsorbed using the principle of negative pressure of vacuum, and vacuum chuck is connected to vacuum generating device, when the sky in vacuum chuck
Negative pressure can be generated in vacuum chuck when gas is sucked away, to can adsorb to material.
A directive slide track 26 is also vertically arranged on the mounting rack 1 of 22 two sides of sucker mounting plate respectively, every guiding is slided
Guide runner 27 is provided on rail 26, each guide runner 27 is fixedly connected with sucker mounting plate 22, the sucker peace
The vertical upper and lower movement under the guiding of directive slide track 26 of loading board 22.
In the present embodiment, pressing plate lift drive mechanism includes: the lead screw 41 being movably arranged on mounting rack 1, on lead screw 41
It is provided with nut 42, the nut 42 is fixedly connected with pressing plate 4, and the lead screw 41 is driven by rotary drive motor 43, rotation
Turn driving motor 43 drive lead screw 41, back rotation, so as to drive nut 42 with dynamic pressure plate 4 above and below move.
The outside of pressing plate 4 is provided with baffle 6, and baffle 6 includes baffle interconnecting piece 61 and baffle guard block portion 62, the top of pressing plate 4
Portion is provided with top slide rail 63 and push-and-pull cylinder 65, and top slide 64, baffle interconnecting piece 61 and top are provided in top slide rail 63
Portion's sliding block 64 is fixedly connected, and push-and-pull cylinder 65 is connected with baffle, and under the driving of push-and-pull cylinder 65, baffle guard block portion 62 can Xiang Yuan
4 direction of tripping plate moves back and forth close to 4 direction of pressing plate, when baffle guard block portion 62 is moved close to 4 direction of pressing plate, baffle guard block
62 energy guard block of portion is in the outside of the single packet material 3 adsorbed by vacuum chuck 21.In order to improve guard block effect, pressing plate in the present embodiment
4 bottom is provided with the pressing plate protection board 44 made of elastic material, and the inside in baffle guard block portion 62 is provided with by elastic material
Manufactured baffle protection board 621.
Working principle is as follows: installation frame 1 is mounted in robot.Crawl station is transported to whole pile material 30
Afterwards, start to grab single packet material 3, usually be grabbed since top.Specific crawl step is as follows: firstly, robot motion allows suction
Disk mounting plate 22 leans on close-target list packet material 3, and synchronous belt 24 drives sucker mounting plate 22 to move above and below under the driving of motor 25
Dynamic, to make 21 accurate motion of vacuum chuck to the outside of target list packet material 3, vacuum chuck 21 is securely adsorbed on single packet material
On 3 lateral wall.Then, under the driving of motor 25, vacuum chuck 21 is moved upwards, to make the single packet material 3 being adsorbed
Bottom be detached from whole pile material.Then, pumping board driving cylinder 53 drives pumping board 5 protruding, is adsorbed until pumping board 5 is located at
The driving synchronous belt 24 of the lower section of single packet material 3, motor 25 drives sucker mounting plate 22 to move down, and makes the single packet object being adsorbed
The bottom of material 3 drops down on pumping board 5, and vacuum chuck 21 is maintained at the adsorbed state to single packet material 3 at this time.Followed by rotation is driven
Dynamic motor 43 acts, and driving lead screw 41 rotates so that pressing plate 4 moves downward, until the pressing plate protection board 44 of 4 bottom of pressing plate compresses
At the top of single packet material 3；The movement of push-and-pull cylinder 65 simultaneously drives baffle 6 to act, until the baffle of 62 inside of baffle guard block portion
Protection board 621 is pressed on the outside of single packet material, and this completes the crawls of single packet material 3.Finally, robot motion, it will
Single packet material 3 of crawl is sent out, and the de-stacking work of whole pile material 30 can thus be rapidly completed.
The present invention has the advantages that one, structure is simple, production and installation are very convenient.Two, robot can be cooperated real
Now to the crawl of single packet material 3, to carry out de-stacking, a large amount of manpowers are saved, and substantially increase the efficiency of de-stacking.Three, exist
Inside, the bottom, top outer of single packet material 3, carry out comprehensive clamping, so that crawl is firm, de-stacking efficiency is into one
Step improves.
Claims (7)
1. a kind of de-stacking grabbing device for being matched in robot, comprising: mounting rack, it is characterised in that: the side of mounting rack is arranged
There are vacuum chuck component and sucker lift drive mechanism, sucker lift drive mechanism is for driving vacuum chuck component to rise above and below
It drops, the vacuum chuck in vacuum chuck component can be securely adsorbed on into pile material on the side of single packet material, vacuum chuck group
Pressing plate is provided with above part, pressing plate is driven by pressing plate lift drive mechanism, and pressing plate driving mechanism can drive pressing plate to rise above and below
Drop, pressing plate can move downwardly to pressure gear in the top of the single packet material adsorbed by vacuum chuck, the two sides point of mounting rack lower end
It is not provided with sliding rail, sliding block is provided on the sliding rail of every side, the bottom of mounting rack is provided with pumping board, pumping board and the fixed company of sliding block
It connects, pumping board driving mechanism is additionally provided on mounting rack, pumping board driving mechanism can drive pumping board to slide in and out from the bottom of mounting rack
And it is located at the bottom that mounting rack is retracted to by the lower section for single packet material that vacuum chuck adsorbs or slid inward.
2. a kind of de-stacking grabbing device for being matched in robot according to claim 1, it is characterised in that: vacuum chuck group
Part includes: sucker mounting plate and several vacuum chucks, and vacuum chuck is mounted on sucker mounting plate；Sucker lift drive mechanism packet
Include: two installation axles setting up and down are respectively provided in every installation axle there are two synchronous pulley, and synchronous pulley is one a pair of up and down
It answers, is provided with synchronous belt on every corresponding a pair of of synchronous pulley, the installation axle being located above is driven by motor, the synchronous belt
It is fixedly connected with sucker mounting plate, synchronous belt can drive sucker mounting plate to move up and down under the drive of the motor.
3. a kind of de-stacking grabbing device for being matched in robot according to claim 2, it is characterised in that: sucker mounting plate
A directive slide track is also vertically arranged on the mounting rack of two sides respectively, is provided with guide runner on every directive slide track, often
A guide runner is fixedly connected with sucker mounting plate, and the sucker mounting plate is vertical upper and lower under the guiding of directive slide track
Movement.
4. a kind of de-stacking grabbing device for being matched in robot according to claim 1 or 2 or 3, it is characterised in that: pressing plate
Lift drive mechanism includes: the lead screw being movably arranged on mounting rack, and nut is provided on lead screw, and the nut and pressing plate are solid
Fixed connection, the lead screw are driven by rotary drive motor, rotary drive motor drive lead screw, back rotation, so as to drive
Nut band dynamic pressure plate moves above and below.
5. a kind of de-stacking grabbing device for being matched in robot according to claim 1 or 2 or 3, it is characterised in that: pressing plate
Outside be provided with baffle, baffle includes baffle interconnecting piece and baffle guard block portion, and top slide rail is provided at the top of pressing plate and is pushed away
Cylinder is drawn, is provided with top slide in top slide rail, baffle interconnecting piece is fixedly connected with top slide, push-and-pull cylinder and baffle phase
Even, under the driving of push-and-pull cylinder, baffle guard block portion can move back and forth to far from pressing plate direction or close to pressing plate direction, work as baffle
When guard block portion is moved close to pressing plate direction, baffle guard block portion can close guard block in the outer of the single packet material adsorbed by vacuum chuck
Side.
6. a kind of de-stacking grabbing device for being matched in robot according to claim 5, it is characterised in that: the bottom of pressing plate
The protection board made of elastic material is provided with on the inside of baffle guard block portion.
7. a kind of de-stacking grabbing device for being matched in robot according to claim 1 or 2 or 3, it is characterised in that: pumping board
Driving mechanism is that pumping board drives cylinder, and the piston rod of pumping board driving cylinder is connected with pumping board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241695.5A CN109911635B (en) | 2019-03-28 | Unstacking and grabbing device matched with robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241695.5A CN109911635B (en) | 2019-03-28 | Unstacking and grabbing device matched with robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109911635A true CN109911635A (en) | 2019-06-21 |
| CN109911635B CN109911635B (en) | 2024-07-02 |
Family
ID=
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114074848A (en) * | 2021-11-17 | 2022-02-22 | 上海智能制造功能平台有限公司 | Full-automatic unstacking device capable of preventing falling |
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|---|---|---|---|---|
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| CN201634241U (en) * | 2010-03-18 | 2010-11-17 | 贵阳普天物流技术股份有限公司 | Clamp for stacking standard boxes |
| CN204149166U (en) * | 2014-07-09 | 2015-02-11 | 合肥奥博特自动化设备有限公司 | Stack robot manipulator special on a kind of pipeline |
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| CN106429413A (en) * | 2016-10-31 | 2017-02-22 | 上海佳万智能科技有限公司 | Mechanical device and method for disassembly and carrying for flat-shaped products |
| CN108609391A (en) * | 2018-07-25 | 2018-10-02 | 张彦晓 | One kind tearing stacking vacuum fixture, robot and de-stacking, palletizing method open |
| CN208516524U (en) * | 2018-07-23 | 2019-02-19 | 合肥泰禾光电科技股份有限公司 | Side-suction type takes case apparatus and de-stacking device |
| CN210480210U (en) * | 2019-03-28 | 2020-05-08 | 江苏新美星包装机械股份有限公司 | Unstacking and grabbing device matched with robot |
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2405499A1 (en) * | 1977-10-07 | 1979-05-04 | Radiologie Cie Gle | Different format radiography precut film changer - has holder which rotates film through 90 degrees to obtain two exposures from one film |
| JP2003182846A (en) * | 2001-12-18 | 2003-07-03 | Asahi Kasei Corp | Transfer device and transfer method of stacked board |
| CN201634241U (en) * | 2010-03-18 | 2010-11-17 | 贵阳普天物流技术股份有限公司 | Clamp for stacking standard boxes |
| CN204149166U (en) * | 2014-07-09 | 2015-02-11 | 合肥奥博特自动化设备有限公司 | Stack robot manipulator special on a kind of pipeline |
| CN205087599U (en) * | 2015-11-06 | 2016-03-16 | 贵州诺义达智能科技有限公司 | Box tongs of pile up neatly machine people |
| CN205852819U (en) * | 2016-06-24 | 2017-01-04 | 徐州中新机械科技有限公司 | A kind of mechanical arm |
| CN106429413A (en) * | 2016-10-31 | 2017-02-22 | 上海佳万智能科技有限公司 | Mechanical device and method for disassembly and carrying for flat-shaped products |
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| CN108609391A (en) * | 2018-07-25 | 2018-10-02 | 张彦晓 | One kind tearing stacking vacuum fixture, robot and de-stacking, palletizing method open |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114074848A (en) * | 2021-11-17 | 2022-02-22 | 上海智能制造功能平台有限公司 | Full-automatic unstacking device capable of preventing falling |
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