CN110076800A - A kind of gripper of industrial robot of lunch box for environment protection production - Google Patents
A kind of gripper of industrial robot of lunch box for environment protection production Download PDFInfo
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- CN110076800A CN110076800A CN201910441513.9A CN201910441513A CN110076800A CN 110076800 A CN110076800 A CN 110076800A CN 201910441513 A CN201910441513 A CN 201910441513A CN 110076800 A CN110076800 A CN 110076800A
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- sucking pump
- rotation motor
- marking
- transmission frame
- rotation
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 188
- 230000005540 biological transmission Effects 0.000 claims abstract description 173
- 230000003028 elevating effect Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 15
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 3
- 230000007423 decrease Effects 0.000 abstract description 2
- 235000012054 meals Nutrition 0.000 description 5
- 230000032258 transport Effects 0.000 description 4
- 238000003854 Surface Print Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
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Abstract
The invention discloses a kind of gripper of industrial robot of lunch box for environment protection production, including bracket, control mechanism, marking mechanism, transmission track, several first transmission frames, several second transmission frames, the first sucking pump, the second sucking pump, the first rotation motor, the second rotation motor and third rotation motor, transmission track is equipped on the two sides of bracket；The first sucking pump and the second rotation motor are provided on each first transmission frame；The second sucking pump and third rotation motor are equipped on each second transmission frame.By that cutlery box can be sucked to the second sucking pump being transmitted on the second transmission frame in the first sucking pump on the first transmission frame that transmission track is rotated in, it adjusts again and the third rotation motor on the second sucking pump, adjust the position of cutlery box, control mechanism controls elevating mechanism and drives the decline of marking mechanism, finally complete the marking process of cutlery box, two or more transmission routes can be corresponded to by realizing a marking mechanism, also cutlery box original road foldback can be arranged the position of cutlery box in an orderly manner after marking.
Description
Technical field
The present invention relates to industrial technical fields, and in particular to a kind of gripper of industrial robot of lunch box for environment protection production.
Background technique
Lunch box for environment protection is forming full page mess-tin product after heating mechanism, shaping mechanism, punching mechanism, and factory is most
Latter step is exactly to need to print off label in the bottom of cutlery box, and the marking machine of the prior art is transmitted in the form of conveyer belt, often
Platform marking machine can only correspond to an assembly line, and efficiency is lower.And cutlery box conveys after the completion of marking and is also required to artificially collect, and it is no
It is in disorder it will cause the position of cutlery box or descend slowly and lightly.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is intended to provide an a kind of marking machine corresponds to a plurality of transmission route, energy
The gripper of industrial robot of the lunch box for environment protection production of cutlery box is collected in an orderly manner.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of gripper of industrial robot of lunch box for environment protection production, including bracket, control mechanism, marking mechanism, transmission track,
Several first transmission frames, several second transmission frames, the first sucking pump, the second sucking pump, the first rotation motor, the second rotation motor and the
Three rotation motors are equipped with transmission track on the two sides of bracket, and marking mechanism and elevating mechanism are arranged at the top of bracket, print
Mark mechanism and elevating mechanism can move up and down connection；It is respectively connected with fixing layer and the first rotating layer on each transmission track, first
Rotating layer includes two front and back settings and the first contrary transmission frame, one end of the first transmission frame pass through the first rotation motor
It is hinged on transmission track, is provided with the first sucking pump and the second rotation motor, the second rotation motor on each first transmission frame
It is connect with the first sucking pump；The top of the first rotating layer is arranged in fixing layer, and fixing layer includes the second transmission frame, the second transmission frame point
Front and back on transmission track on the two sides of bracket is not set, be equipped on each second transmission frame the second sucking pump and
The lower section of marking mechanism is arranged in third rotation motor, the second sucking pump, and the second sucking pump is connect with third rotation motor；First transmission
The largest motion distance of frame is equal to the distance between adjacent fixing layer and the first rotating layer；Control mechanism is rotated with first respectively
Motor, the second rotation motor, third rotation motor, the first sucking pump, the second sucking pump, marking mechanism are connected with elevating mechanism.
Need further to remark additionally, be arranged in same lateral conveyor track first transmission frame and first transmission frame it
Between and the positional relationship between the second transmission frame and the second transmission frame be it is parallel, due to being equipped with biography on every side of bracket
Send track, on each transmission track again setting there are two the first transmission frame of front and back setting, i.e., set altogether on bracket there are four
First transmission frame, each first transmission frame can correspond to a transmission branch line.It is provided between the transmission track of the two sides of bracket
Second transmission frame has the second transmission frame there are two setting altogether that is, on bracket.Particularly, it is arranged in two on transmission track the same side
First transmission frame be with it is same second transmission frame match, and due to it is each first transmit frame be provided only with first sucking pump,
Each second transmission frame is equipped with second sucking pump, that is, be arranged in two the first sucking pumps on transmission track the same side with it is adjacent
Second transmission frame on the second sucking pump matching.The quantity of fixing layer and the first rotating layer is adjustable.Since the setting of marking mechanism exists
Between two second transmission frames, thus the same marking mechanism can correspond to two transmission lines, substantially increase cutlery box
Marking efficiency.And cutlery box can be with backtracking to specified region, so can be whole in an orderly manner after the completion of marking after marking
Manage cutlery box.
A kind of working method of the gripper of industrial robot of lunch box for environment protection production, steps are as follows:
S1 needs the cutlery box of marking to be placed on the bottom of bracket bottom-uply, and the on control mechanism starting the first transmission frame
One rotation motor drives the first transmission frame to move downward and touches the cutlery box for needing marking, and restart the first sucking pump needs to print by cutlery box
Target cutlery box picks up；
The first rotation motor that S2 control mechanism controls on the first transmission frame simultaneously is rotated to opposite direction and control first is inhaled
The second rotation motor rotation on pump, the first rotation motor drive the first transmission frame to move upwards close to the second adjacent transmission frame
On the second sucking pump, the second rotation motor drive the first sucking pump rotation；
The third rotation motor that S3 control mechanism controls on the second sucking pump turns to the second sucking pump and touches the meal for needing marking
After box, control mechanism stops the second rotation motor, third rotation motor and the first sucking pump, while starting the second sucking pump, needs marking
Cutlery box be sucked by the second sucking pump；
S4 control mechanism starts elevating mechanism, and elevating mechanism drives marking mechanism to the cutlery box for needing marking down toward contact, control
Mechanism processed starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box；
Particularly, the bottom surface print target area of cutlery box is adjustable, and control mechanism can arrange according to actual needs, only need to adjust
The placement position of cutlery box, the rotation direction of the first rotation motor, the rotation direction of the second rotation motor and third rotation before marking
The rotation direction of motor.
For S5 after cutlery box carries out the work of marking marking, control mechanism starts the first rotation motor, and the first rotation motor drives
First transmission frame moves up to the first sucking pump and touches cutlery box, and control mechanism starts the second rotation motor and third rotates horse
It reaches, so that the second rotation motor is driven the rotation of the first sucking pump, third rotation motor drives the rotation of the second sucking pump, when the first sucking pump and the
Two sucking pumps towards it is opposite when, control mechanism closes the second rotation motor, third rotation motor and the second sucking pump, while controlling machine
Structure starts the first sucking pump, and cutlery box is sucked by the first sucking pump；
S6 control mechanism starts the first rotation motor, makes the first rotation motor that the first transmission frame be driven to move downwardly to touching
After frame bottom, control mechanism closes the first rotation motor and the first sucking pump.Particularly, in practical applications, the meal of marking is needed
The placement area of the cutlery box of box and marking should separate, and when transmitting branch line is to drive cutlery box marking, the first sucking pump, which should be sucked, to be needed
Cutlery box in the region of marking cutlery box.And after cutlery box completes marking, the first transmission frame should drive cutlery box to the cutlery box of marking
Region.The rotation direction of first rotation motor control the first transmission frame, third rotation motor control the rotation side of the first sucking pump
To, it is only necessary to the rotation direction of rotation direction and the second rotation motor by control mechanism the first rotation motor of adjustment can be complete
At the cutlery box for needing marking and the classification of marking cutlery box, cutlery box can be arranged more in an orderly manner.
Further, further include the second rotating layer, the second rotating layer is provided on each transmission track, the second rotating layer is set
It sets between the first rotating layer and fixing layer, the second rotating layer includes two front and back settings and the 4th contrary transmission frame,
One end of 4th transmission frame is hinged on transmission track by the 5th rotation motor, is provided with the 4th on each 4th transmission frame
Sucking pump and the 6th rotation motor, the 6th rotation motor are connect with the 4th sucking pump；Between first rotating layer and the second rotating layer and
The distance between second rotating layer and fixing layer are equal；The fixing layer further includes third transmission frame, third sucking pump and the 4th rotation
Turn motor, third transmits frame and is fixedly connected with one end of the second transmission frame, the direction between two thirds transmission frame of same layer
On the contrary.
As a preferred option, second rotating layer can be added between the first original rotating layer and fixing layer,
When the combination of the first rotating layer, the second rotating layer and fixing layer is greater than one, third transmission frame, third sucking pump and the can be introduced
Four rotation motors, by taking the group of the first rotating layer, the second rotating layer and fixing layer is combined into two as an example, for convenience of distinguishing, first
The group of first rotating layer, the second rotating layer and fixing layer is collectively referred to as the first combination, second the first rotating layer, the second rotating layer and
The group of fixing layer is collectively referred to as the second combination, and steps are as follows:
(1) cutlery box of marking is needed to be placed on the bottom of bracket bottom-uply, control mechanism starts the first of the first combination
The first rotation motor on frame is transmitted, drives first combination the first transmission frame to move downward and touches the cutlery box for needing marking, then open
Cutlery box is needed the cutlery box of marking to pick up by the first sucking pump of dynamic first combination；
Since the first transmission frame that two front and backs being arranged on the same side of transmission track are arranged is contrary, i.e., one
First transmission frame is directed towards the direction between two transmission tracks, has one first transmission frame to be directed towards between two transmission tracks
Opposite direction.The step of transmitting frame towards first of the direction between two transmission tracks connects step (1)-(12)；Towards two
The step of first transmission frame of opposite direction between a transmission track connect step (1)-(3), 4.-
(2) the second rotation motor rotation and the 4th of the first combination on the first sucking pump of the first combination of control mechanism control
The 6th rotation motor rotation on sucking pump, when the direction of the 4th sucking pump of the first sucking pump and the first combination of the first combination is opposite
When, control mechanism stops the second rotation motor of the first combination and the 6th rotation motor of the first combination；
(3) the first sucking pump that control mechanism closes the first combination starts the 4th sucking pump of the first combination simultaneously, needs marking
Cutlery box is sucked by the 4th sucking pump of the first combination；
(4) the 6th rotation motor and the first combined third rotation motor of the first combination of control mechanism starting, the 6th rotation
Turn the 4th sucking pump rotation that motor drives the first combination, third rotation motor drives the second sucking pump rotation of the first combination, to the
One combination the 4th sucking pump and first combination the second sucking pump towards it is opposite when, control mechanism starting first combination the 6th rotation
Turn motor and third rotation motor；
(5) control mechanism closes the 4th sucking pump of the first combination and opens the second sucking pump of the first combination simultaneously, needs marking
Cutlery box by first combination the second sucking pump be sucked；
(6) the first rotation motor of the second combination of control mechanism starting, the first rotation motor of the second combination drive second
First transmission frame of combination is rotated up until the 4th sucking pump of the second combination touches cutlery box, and control mechanism closes the second combination
The first rotation motor, control mechanism simultaneously start the first combined third rotation motor and second combination second rotate horse
It reaches, the first combined third rotation motor drives the second sucking pump rotation of the first combination, the first rotation motor band of the second combination
The direction of the first sucking pump rotation of dynamic second combination, the first sucking pump of the second sucking pump and the second combination to the first combination is opposite
When, control mechanism closes the second rotation motor of the first combined third rotation motor and the second combination；
(7) control mechanism closes the second sucking pump of the first combination and opens the first sucking pump of the second combination, cutlery box quilt simultaneously
First sucking pump of the second combination is sucked；
(8) the second rotation motor rotation and the 4th of the second combination on the first sucking pump of the second combination of control mechanism control
The 6th rotation motor rotation on sucking pump, when the direction of the 4th sucking pump of the first sucking pump and the second combination of the second combination is opposite
When, control mechanism stops the second rotation motor of the second combination and the 5th rotation motor of the second combination；
(9) the first sucking pump that control mechanism closes the second combination starts the 4th sucking pump of the second combination simultaneously, needs marking
Cutlery box is sucked by the 4th sucking pump of the second combination；
(10) the 5th rotation motor and the second combined third rotation motor of the second combination of control mechanism starting, the 5th rotation
Turn the 4th sucking pump rotation that motor drives the second combination, third rotation motor drives the second sucking pump rotation of the second combination, to the
Two combination the 4th sucking pumps and second combination the second sucking pump towards it is opposite when, control mechanism starting second combination the 5th rotation
Turn motor and third rotation motor；
(11) control mechanism closes the 4th sucking pump of the second combination and opens the second sucking pump of the second combination simultaneously, needs marking
Cutlery box by second combination the second sucking pump be sucked；
(12) control mechanism starts elevating mechanism, and elevating mechanism drives marking mechanism to need the cutlery box of marking to down toward contact,
Control mechanism starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box, and after completing marking process, cutlery box is from original
Road transport send return.
4. the 6th rotation motor of the first combination of control mechanism starting and the 4th rotation motor of the first combination, the 6th rotation
Motor drives the 4th sucking pump rotation of the first combination, and the 4th rotation motor drives the first combined third sucking pump rotation, to first
Combination the 4th sucking pump and first combination the second sucking pump towards it is opposite when, control mechanism starting first combination the 6th rotation
Motor and the 4th rotation motor；
5. control mechanism closes the 4th sucking pump of the first combination and opens the first combined third sucking pump simultaneously, marking is needed
Cutlery box is sucked by the first combined third sucking pump；
6. the 4th rotation motor of the first combination of control mechanism starting and the second rotation motor of the second combination, the second combination
The second rotation motor drive second combination the first sucking pump rotation, third sucking pump combined to first and second combine first
Sucking pump towards it is opposite when, control mechanism close first combination the 4th rotation motor and second combination the second rotation motor；
7. control mechanism closes the first sucking pump that the first combined third sucking pump opens the second combination simultaneously, cutlery box is by second
First sucking pump of combination is sucked；
8. the second rotation motor of the second combination of control mechanism starting and the 5th rotation motor of the second combination, the second combination
The second rotation motor drive second combination the first sucking pump rotation, second combination the 5th rotation motor drive second combination
4th sucking pump rotation, when second combination the first sucking pump and the 4th sucking pump towards it is opposite when, control mechanism close second combination
5th rotation motor of the second rotation motor and the second combination；
9. the first sucking pump that control mechanism closes the second combination starts the 4th sucking pump of the second combination simultaneously, the meal of marking is needed
Box is sucked by the 4th sucking pump of the second combination；
10. the 5th rotation motor and the second combined third rotation motor of the second combination of control mechanism starting, the 5th rotation
Motor drives the 4th sucking pump rotation of the second combination, and third rotation motor drives the second sucking pump rotation of the second combination, to second
Combination the 4th sucking pump and second combination the second sucking pump towards it is opposite when, control mechanism starting second combination the 5th rotation
Motor and third rotation motor；
Control mechanism closes the 4th sucking pump of the second combination and opens the second sucking pump of the second combination simultaneously, needs marking
Cutlery box is sucked by the second sucking pump of the second combination；
Control mechanism starts elevating mechanism, and elevating mechanism drives marking mechanism to the cutlery box for needing marking down toward contact, control
Mechanism processed starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box, and after completing marking process, cutlery box is from Yuan Lu
It transports and returns.
It further, further include pedestal, the bottom of bracket is arranged in bottom plate.
Further, the bracket uses titanium alloy material.Titanium alloy can extend service life of the invention.
Further, the total length of the second connection frame is equal to the length of width and the first connection frame between bracket.
Advantageous effects of the invention:
The second biography is transmitted to by that cutlery box can be sucked in the first sucking pump on the first transmission frame that transmission track is rotated in
Send the second sucking pump on frame, then adjust with the third rotation motor on the second sucking pump, adjust the position of cutlery box, control mechanism control
Elevating mechanism drives the decline of marking mechanism, finally completes the marking process of cutlery box, can be corresponded to by realizing a marking mechanism by two
Cutlery box original road foldback can also can be arranged in an orderly manner the position of cutlery box after marking by above transmission route.
Detailed description of the invention
Fig. 1 is the structure chart of embodiment 1；
Fig. 2 is the structure chart of embodiment 2.
Appended drawing reference:
Bracket 1；Transmission track 2；First transmission frame 3；Second transmission frame 4；Third transmits frame 5；4th transmission frame 6；Lifting
Mechanism 7；Pedestal 8；First sucking pump 31；Second rotation motor 32；Second sucking pump 41；Third rotation motor 42；Third sucking pump 51；The
Four rotation motors 52；4th sucking pump 61；6th rotation motor 62.
Specific embodiment
Below with reference to attached drawing, the invention will be further described, it should be noted that following embodiment is with this technology
Premised on scheme, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to this
Embodiment.
A kind of gripper of industrial robot of lunch box for environment protection production, as shown in Figure 1, including bracket 1, control mechanism, marking machine
Structure, transmission track 2, several first transmission frames 3, several second transmission frames 4, the first sucking pump 31, the second sucking pump 41, first rotate horse
It reaches, the second rotation motor 32 and third rotation motor 42, is equipped with transmission track 2, marking mechanism and lifting on the two sides of bracket 1
Mechanism 7 is arranged at the top of bracket 1, and marking mechanism and elevating mechanism 7 can move up and down connection；On each transmission track 2
It is connected with fixing layer and the first rotating layer, the first rotating layer includes two front and back settings and the first contrary transmission frame 3, the
One end of one transmission frame 3 is hinged on transmission track 2 by the first rotation motor, and each first transmits and be provided with the on frame 3
One sucking pump 31 and the second rotation motor 32, the second rotation motor 32 are connect with the first sucking pump 31；Fixing layer setting is in the first rotation
The top of layer, fixing layer include the second transmission frame 4, and the second transmission frame 4 is separately positioned on the transmission track 2 on the two sides of bracket 1
On front and back, it is each second transmission frame 4 on be equipped with the second sucking pump 41 and third rotation motor 42, the second sucking pump 41 is set
It sets in the lower section of marking mechanism, the second sucking pump 41 is connect with third rotation motor 42；The largest motion distance etc. of first transmission frame 3
In the distance between adjacent fixing layer and the first rotating layer；Control mechanism respectively with the first rotation motor, the second rotation motor
32, third rotation motor 42, the first sucking pump 31, the second sucking pump 41, marking mechanism and elevating mechanism 7 connect.
It needs further to remark additionally, the first transmission frame 3 and the first transmission frame of same lateral conveyor track 2 is set
Positional relationship between 3 and between the second transmission frame 4 and the second transmission frame 4 is in parallel, due to equal on every side of bracket 1
Equipped with transmission track 2, there are two the first transmission frames 3 of front and back setting for setting again on each transmission track 2, i.e., one on bracket 1
It is set altogether there are four the first transmission frame 3, each first transmission frame 3 can correspond to a transmission branch line.The transmission rail of the two sides of bracket 1
It is provided with the second transmission frame 4 between road 2, i.e., has the second transmission frame 4 there are two setting on bracket 1 altogether.Particularly, setting is in transmission rail
Two first transmission frames 3 on 2 the same side of road be with it is same second transmission frame 4 match, and due to it is each first transmit frame 3
It is provided only with first sucking pump 31, each second transmission frame 4 is equipped with second sucking pump 41, i.e. setting is same in transmission track 2
Two the first sucking pumps 31 on side are matched with the second sucking pump 41 on the second adjacent transmission frame 4.Fixing layer and the first rotation
The quantity of layer is adjustable.Since marking mechanism is arranged between two second transmission frames 4, thus the same marking mechanism can be right
Two transmission lines are answered, the marking efficiency of cutlery box is substantially increased.And cutlery box can be with backtracking to specified after marking
Region, so cutlery box can be arranged in an orderly manner after the completion of marking.
It further, further include pedestal 8, the bottom of bracket 1 is arranged in bottom plate 8.
Further, the bracket uses titanium alloy material.Titanium alloy can extend service life of the invention.
Further, the total length of the second connection frame 4 is equal to the length of width and the first connection frame 3 between bracket 1
Degree.
Embodiment 1
As shown in Figure 1, a kind of working method of the gripper of industrial robot of lunch box for environment protection production, steps are as follows:
S1 needs the cutlery box of marking to be placed on the bottom of bracket 1 bottom-uply, on control mechanism starting the first transmission frame 3
First rotation motor drives the first transmission frame 3 to move downward and touches the cutlery box for needing marking, restarts the first sucking pump 31 for cutlery box
The cutlery box of marking is needed to pick up；
The first rotation motor that S2 control mechanism controls on the first transmission frame 3 simultaneously is rotated to opposite direction and control first is inhaled
The second rotation motor 32 rotation on pump 31, the first rotation motor drive the first transmission frame 3 to move upwards close to adjacent second
The second sucking pump 41 on frame 4 is transmitted, the second rotation motor 32 drives the rotation of the first sucking pump 31；
The third rotation motor 42 that S3 control mechanism controls on the second sucking pump 41 turns to the second sucking pump 41 and touches and needs to print
After target cutlery box, control mechanism stops the second rotation motor 32, third rotation motor 42 and the first sucking pump 31, while starting second
Sucking pump 41 needs the cutlery box of marking to be sucked by the second sucking pump 41；
S4 control mechanism starts elevating mechanism 7, and elevating mechanism 7 drives marking mechanism to need the cutlery box of marking to down toward contact,
Control mechanism starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box；
Particularly, the bottom surface print target area of cutlery box is adjustable, and control mechanism can arrange according to actual needs, only need to adjust
The placement position of cutlery box, the rotation direction of the first rotation motor, the rotation direction of the second rotation motor 32 and third rotation before marking
Turn the rotation direction of motor 42.
For S5 after cutlery box carries out the work of marking marking, control mechanism starts the first rotation motor, and the first rotation motor drives
First transmission frame 3 moves up to the first sucking pump 31 and touches cutlery box, and control mechanism starts the second rotation motor 32 and third rotation
Turning motor 42, the second rotation motor 32 is made to drive the rotation of the first sucking pump 31, third rotation motor 42 drives the rotation of the second sucking pump 41,
When the first sucking pump 31 and the second sucking pump 41 towards it is opposite when, control mechanism closes the second rotation motor 32, third rotation motor
42 and second sucking pump 41, while control mechanism starts the first sucking pump 31, cutlery box is sucked by the first sucking pump 31；
S6 control mechanism starts the first rotation motor, makes the first rotation motor that the first transmission frame 3 be driven to move downwardly to touching
After touching 1 bottom of bracket, control mechanism closes the first rotation motor and the first sucking pump 31.Particularly, in practical applications, marking is needed
Cutlery box and the placement area of the cutlery box of marking should separate, when transmit branch line be drive cutlery box marking when, the first sucking pump 31 is answered
The cutlery box in the region for needing marking cutlery box is sucked.And after cutlery box completes marking, the first transmission frame 3 should drive cutlery box to marking
Cutlery box region.The rotation direction of first rotation motor control the first transmission frame 3, the control of third rotation motor 4,232 first are inhaled
The rotation direction of pump 31, it is only necessary to the rotation direction and second rotation motor 32 of the first rotation motor are adjusted by control mechanism
The cutlery box for needing marking and the classification of marking cutlery box can be completed in rotation direction, can arrange cutlery box more in an orderly manner.
Embodiment 2
As shown in Fig. 2, further including the second rotating layer on the basis of embodiment 1, it is provided on each transmission track 2
Second rotating layer, the second rotating layer are arranged between the first rotating layer and fixing layer, and the second rotating layer includes two front and back settings
And the 4th contrary transmission frame 641, one end of the 4th transmission frame 641 are hinged on transmission track 2 by the 5th rotation motor
On, the 4th sucking pump 61 and the 6th rotation motor 62 are provided on each 4th transmission frame 6, the 6th rotation motor 62 and the 4th is inhaled
61 connection of pump；Between first rotating layer and the second rotating layer and the distance between the second rotating layer and fixing layer are equal；It is described
Fixing layer further includes third transmission frame 5, third sucking pump 51 and the 4th rotation motor 52, and third transmits frame 5 and second and transmits frame 4
One end is fixedly connected, contrary between two thirds transmission frame 5 of same layer.
As a preferred option, second rotating layer can be added between the first original rotating layer and fixing layer,
When the combination of the first rotating layer, the second rotating layer and fixing layer is greater than one, third transmission frame 5, third sucking pump 51 can be introduced
It is distinguished for convenience so that the group of the first rotating layer, the second rotating layer and fixing layer is combined into two as an example with the 4th rotation motor 52,
The group of first the first rotating layer, the second rotating layer and fixing layer is collectively referred to as the first combination, second the first rotating layer, the second rotation
The group for turning layer and fixing layer is collectively referred to as the second combination, what two front and backs on the same side since transmission track 2 is arranged in were arranged
First transmission frame 3 is contrary, i.e., one first transmission frame 3 is directed towards the direction between two transmission tracks 2, there is one first
Transmission frame 3 is directed towards the opposite direction between two transmission tracks 2.The present embodiment is based on towards between two transmission tracks 2
Direction first transmission frame 3 cutlery box label step, steps are as follows:
(1) 7 on the support for the bottom for needing the cutlery box of marking to be placed on bracket 1 bottom-uply, control mechanism starting first
3 the first rotation motor on first transmission frame 3 of combination, drive the first combination the first transmission frame 3 move downward to touch and need to print
Target cutlery box, restarting first the first sucking pump of combination 31 needs the cutlery box of marking to pick up cutlery box；
(2) rotation of the second rotation motor 32 and the first combination on the first sucking pump 31 of the first combination of control mechanism control
The 6th rotation motor 62 rotation on 4th sucking pump 61, when the 4th sucking pump 61 of the first sucking pump 31 and the first combination of the first combination
Towards it is opposite when, control mechanism stops the second rotation motor 32 of the first combination and the 6th rotation motor 62 of the first combination；
(3) control mechanism closes the 4th sucking pump 61 of the first sucking pump 31 the first combination of starting simultaneously of the first combination, needs to print
Target cutlery box is sucked by the 4th sucking pump 61 of the first combination；
(4) the 6th rotation motor 62 and the first combined third rotation motor 42 of the first combination of control mechanism starting, the
Six rotation motors 62 drive the 4th sucking pump 61 rotation of the first combination, and third rotation motor 42 drives the second sucking pump of the first combination
41 rotations, when the 4th sucking pump 61 of the first combination and the second sucking pump 41 of the first combination towards it is opposite when, control mechanism starting
The 6th rotation motor 62 and third rotation motor 42 of first combination；
(5) control mechanism closes the 4th sucking pump 61 of the first combination and opens the second sucking pump 41 of the first combination simultaneously, needs
The cutlery box of marking is sucked by the second sucking pump 41 of the first combination；
(6) the first rotation motor of the second combination of control mechanism starting, the first rotation motor of the second combination drive second
First transmission frame 3 of combination is rotated up until the 4th sucking pump 61 of the second combination touches cutlery box, and control mechanism closes second
First rotation motor of combination, control mechanism start the second rotation of the first combined third rotation motor 42 and the second combination simultaneously
Turning motor 32, the first combined third rotation motor 42 drives the second sucking pump 41 of the first combination to rotate, and the first of the second combination
Rotation motor drives the first sucking pump 31 rotation of the second combination, inhales to the second sucking pump 41 of the first combination and the first of the second combination
Pump 31 towards it is opposite when, control mechanism close the first combined third rotation motor 42 and second combine the second rotation motor
32；
(7) control mechanism closes the second sucking pump 41 of the first combination and opens the first sucking pump 31 of the second combination, meal simultaneously
Box is sucked by the first sucking pump 31 of the second combination；
(8) rotation of the second rotation motor 32 and the second combination on the first sucking pump 31 of the second combination of control mechanism control
The 6th rotation motor 62 rotation on 4th sucking pump 61, when the 4th sucking pump 61 of the first sucking pump 31 and the second combination of the second combination
Towards it is opposite when, control mechanism stops the second rotation motor 32 of the second combination and the 5th rotation motor of the second combination；
(9) control mechanism closes the 4th sucking pump 61 of the first sucking pump 31 the second combination of starting simultaneously of the second combination, needs to print
Target cutlery box is sucked by the 4th sucking pump 61 of the second combination；
(10) the 5th rotation motor and the second combined third rotation motor 42 of the second combination of control mechanism starting, the 5th
Rotation motor drives the 4th sucking pump 61 rotation of the second combination, and third rotation motor 42 drives 41 turns of the second sucking pump of the second combination
It is dynamic, when the 4th sucking pump 61 of the second combination and the second sucking pump 41 of the second combination towards it is opposite when, control mechanism starting second
The 5th rotation motor and third rotation motor 42 of combination；
(11) control mechanism closes the 4th sucking pump 61 of the second combination and opens the second sucking pump 41 of the second combination simultaneously, needs
The cutlery box of marking is sucked by the second sucking pump 41 of the second combination；
(12) control mechanism starts elevating mechanism 7, and elevating mechanism 7 drives marking mechanism to the meal for needing marking down toward contact
Box, control mechanism start marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box, after completing marking process, cutlery box
Return is sent from former road transport.
Embodiment 3
The present embodiment is identical with the structure of embodiment 2, and the present embodiment is based on the negative side between two transmission tracks 2 of direction
To first transmission frame 3 cutlery box marking process, steps are as follows:
4. the 4th rotation motor 52 of the 6th rotation motor 62 and the first combination of the first combination of control mechanism starting, the 6th
Rotation motor 62 drives the 4th sucking pump 61 rotation of the first combination, and the 4th rotation motor 52 drives the first combined third sucking pump 51
Rotation, when the 4th sucking pump 61 of the first combination and the second sucking pump 41 of the first combination towards it is opposite when, control mechanism starting the
The 6th rotation motor 62 and the 4th rotation motor 52 of one combination；
5. control mechanism closes the 4th sucking pump 61 of the first combination and opens the first combined third sucking pump 51 simultaneously, need to print
Target cutlery box is sucked by the first combined third sucking pump 51；
6. the second rotation motor 32 of the 4th rotation motor 52 and the second combination of the first combination of control mechanism starting, second
Second rotation motor 32 of combination drives the first sucking pump 31 rotation of the second combination, the third sucking pump 51 and second combined to first
First sucking pump 31 of combination towards it is opposite when, control mechanism closes the 4th rotation motor 52 and second combination of the first combination
Second rotation motor 32；
7. control mechanism closes the first sucking pump 31 that the first combined third sucking pump 51 opens the second combination simultaneously, cutlery box quilt
First sucking pump 31 of the second combination is sucked；
8. the 5th rotation motor of the second rotation motor 32 and the second combination of the second combination of control mechanism starting, second group
The second rotation motor 32 closed drives the first sucking pump 31 rotation of the second combination, and the 5th rotation motor of the second combination drives second
Combination the 4th sucking pump 61 rotation, when second combination the first sucking pump 31 and the 4th sucking pump 61 towards it is opposite when, control mechanism close
Close the 5th rotation motor of the second rotation motor 32 and the second combination of the second combination；
9. control mechanism closes the 4th sucking pump 61 of the first sucking pump 31 the second combination of starting simultaneously of the second combination, marking is needed
Cutlery box by second combination the 4th sucking pump 61 be sucked；
10. the 5th rotation motor and the second combined third rotation motor 42 of the second combination of control mechanism starting, the 5th rotation
Turn the 4th sucking pump 61 rotation that motor drives the second combination, third rotation motor 42 drives 41 turns of the second sucking pump of the second combination
It is dynamic, when the 4th sucking pump 61 of the second combination and the second sucking pump 41 of the second combination towards it is opposite when, control mechanism starting second
The 5th rotation motor and third rotation motor 42 of combination；
Control mechanism closes the 4th sucking pump 61 of the second combination and opens the second sucking pump 41 of the second combination simultaneously, needs to print
Target cutlery box is sucked by the second sucking pump 41 of the second combination；
Control mechanism starts elevating mechanism 7, and elevating mechanism 7 drives marking mechanism to need the cutlery box of marking to down toward contact,
Control mechanism starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box, and after completing marking process, cutlery box is from original
Road transport send return.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and modification, and all these change and modification, should be construed as being included within the scope of protection of the claims of the present invention.
Claims (6)
1. a kind of gripper of industrial robot of lunch box for environment protection production, which is characterized in that including bracket, control mechanism, marking mechanism,
Transmission track, several first transmission frames, several second transmission frames, the first sucking pump, the second sucking pump, the first rotation motor, the second rotation
Turn motor and third rotation motor, transmission track is equipped on the two sides of bracket, marking mechanism and elevating mechanism are arranged at branch
The top of frame, marking mechanism and elevating mechanism can move up and down connection；Fixing layer and first are respectively connected on each transmission track
Rotating layer, the first rotating layer includes two front and back settings and the first contrary transmission frame, one end of the first transmission frame pass through
First rotation motor is hinged on transmission track, is provided with the first sucking pump and the second rotation motor on each first transmission frame,
Second rotation motor is connect with the first sucking pump；The top of the first rotating layer is arranged in fixing layer, and fixing layer includes the second transmission frame,
Second transmission frame is separately positioned on the front and back on the transmission track on the two sides of bracket, is all provided on each second transmission frame
There are the second sucking pump and third rotation motor, the lower section of marking mechanism, the second sucking pump and third rotation motor is arranged in the second sucking pump
Connection；The largest motion distance of first transmission frame is equal to the distance between adjacent fixing layer and the first rotating layer；Control mechanism
Respectively with the first rotation motor, the second rotation motor, third rotation motor, the first sucking pump, the second sucking pump, marking mechanism and lifting
Mechanism connection.
2. the gripper of industrial robot of lunch box for environment protection production according to claim 1, which is characterized in that further include the second rotation
Turning layer, the second rotating layer is provided on each transmission track, the second rotating layer is arranged between the first rotating layer and fixing layer,
Second rotating layer includes two front and back settings and the 4th contrary transmission frame, one end of the 4th transmission frame pass through the 5th rotation
Motor is hinged on transmission track, and the 4th sucking pump and the 6th rotation motor, the 6th rotation are provided on each 4th transmission frame
Motor is connect with the 4th sucking pump；Between first rotating layer and the second rotating layer and the distance between the second rotating layer and fixing layer
It is equal；The fixing layer further includes third transmission frame, third sucking pump and the 4th rotation motor, and third transmits frame and the second transmission frame
One end be fixedly connected, it is contrary between two thirds of same layer transmission frame.
3. the gripper of industrial robot of lunch box for environment protection production according to claim 1, which is characterized in that it further include pedestal,
The bottom of bracket is arranged in bottom plate.
4. the gripper of industrial robot of lunch box for environment protection production according to claim 1, which is characterized in that the bracket uses
Titanium alloy material.
5. the gripper of industrial robot of lunch box for environment protection production according to claim 1, which is characterized in that second connection
The total length of frame is equal to the length of width and the first connection frame between bracket.
6. the working method of the gripper of industrial robot of lunch box for environment protection production a method as claimed in any one of claims 1 to 5, feature exist
In, comprising the following steps:
S1 needs the cutlery box of marking to be placed on the bottom of bracket, the first rotation on control mechanism starting the first transmission frame bottom-uply
Turn motor, drives the first transmission frame to move downward and touch the cutlery box for needing marking, restarting the first sucking pump for cutlery box needs marking
Cutlery box picks up；
The first rotation motor that S2 control mechanism is controlled simultaneously on the first transmission frame is rotated to opposite direction and is controlled on the first sucking pump
The rotation of the second rotation motor, the first rotation motor drives the first transmission frame to move upwards on adjacent second transmission frame
Second sucking pump, the second rotation motor drive the rotation of the first sucking pump；
The third rotation motor that S3 control mechanism controls on the second sucking pump turns to after the second sucking pump touches the cutlery box for needing marking,
Control mechanism stops the second rotation motor, third rotation motor and the first sucking pump, while starting the second sucking pump, needs the cutlery box of marking
It is sucked by the second sucking pump；
S4 control mechanism starts elevating mechanism, and elevating mechanism drives marking mechanism to the cutlery box for needing marking down toward contact, controls machine
Structure starts marking mechanism, and marking mechanism carries out marking process in the bottom surface of cutlery box；
For S5 after cutlery box carries out the work of marking marking, control mechanism starts the first rotation motor, and the first rotation motor drives first
Transmission frame moves up to the first sucking pump and touches cutlery box, and control mechanism starts the second rotation motor and third rotation motor, makes
Second rotation motor drives the rotation of the first sucking pump, and third rotation motor drives the rotation of the second sucking pump, when the first sucking pump and second are inhaled
Pump towards it is opposite when, control mechanism closes the second rotation motor, third rotation motor and the second sucking pump, while control mechanism opens
Dynamic first sucking pump, cutlery box are sucked by the first sucking pump；
S6 control mechanism starts the first rotation motor, makes the first rotation motor that the first transmission frame be driven to move downwardly to touching bracket
Behind bottom, control mechanism closes the first rotation motor and the first sucking pump.
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| CN201910441513.9A CN110076800B (en) | 2019-05-24 | 2019-05-24 | Industrial robot tongs of environmental protection cutlery box production |
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| CN201910441513.9A CN110076800B (en) | 2019-05-24 | 2019-05-24 | Industrial robot tongs of environmental protection cutlery box production |
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| CN110076800B CN110076800B (en) | 2024-08-02 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014217912A (en) * | 2013-05-08 | 2014-11-20 | サンビット株式会社 | Suction pad, transfer robot, and suction mechanism |
| CN107324050A (en) * | 2017-07-28 | 2017-11-07 | 泉州华硕实业有限公司 | Adjust automatically feeder equipment |
| CN107552967A (en) * | 2017-10-09 | 2018-01-09 | 浙江睿索电子科技有限公司 | A kind of automatic loading and unloading device of router marking machine |
| CN210436146U (en) * | 2019-05-24 | 2020-05-01 | 佛山隆深机器人有限公司 | Industrial robot tongs of production of environmental protection cutlery box |
-
2019
- 2019-05-24 CN CN201910441513.9A patent/CN110076800B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014217912A (en) * | 2013-05-08 | 2014-11-20 | サンビット株式会社 | Suction pad, transfer robot, and suction mechanism |
| CN107324050A (en) * | 2017-07-28 | 2017-11-07 | 泉州华硕实业有限公司 | Adjust automatically feeder equipment |
| CN107552967A (en) * | 2017-10-09 | 2018-01-09 | 浙江睿索电子科技有限公司 | A kind of automatic loading and unloading device of router marking machine |
| CN210436146U (en) * | 2019-05-24 | 2020-05-01 | 佛山隆深机器人有限公司 | Industrial robot tongs of production of environmental protection cutlery box |
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| CN110076800B (en) | 2024-08-02 |
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Effective date of registration: 20240709 Address after: 301 Guandoumen Road, Wuhu Area, China (Anhui) Pilot Free Trade Zone, Wuhu City, Anhui Province, 241007 Applicant after: WUHU LONGSHEN ROBOT Co.,Ltd. Country or region after: China Address before: 528000 residents committee of Chihua community, Chencun Town, Shunde District, Foshan City, Guangdong Province Applicant before: FOSHAN LONGSHEN ROBOT Co.,Ltd. Country or region before: China |
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