CN110421587B - Three-axis boxing manipulator - Google Patents
Three-axis boxing manipulator Download PDFInfo
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- CN110421587B CN110421587B CN201910553894.XA CN201910553894A CN110421587B CN 110421587 B CN110421587 B CN 110421587B CN 201910553894 A CN201910553894 A CN 201910553894A CN 110421587 B CN110421587 B CN 110421587B
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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
- 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
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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
- B25J15/06—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
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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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
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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
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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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- 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
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Warehouses Or Storage Devices (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention relates to the technical field of intelligent packaging. The boxing three-axis manipulator comprises a first sliding table assembly, a second sliding table assembly, a third sliding table assembly, a mounting frame, a screen clamping assembly, a box clamping assembly, a cover sucking assembly and a label sucking assembly; the first sliding table assembly and the second sliding table assembly are vertically arranged in a horizontal plane, the third sliding table assembly is arranged on a moving part of the second sliding table assembly, and the third sliding table assembly is vertically arranged; the mounting frame is fixedly arranged on the moving part of the third sliding table assembly; the bottom of mounting bracket sets up and presss from both sides the screen subassembly, and the side-mounting of mounting bracket has the box subassembly of pressing from both sides and inhales the lid subassembly, inhales the removal portion that the label subassembly is connected at the box subassembly of pressing from both sides. The invention is provided with the four execution tail ends of the screen clamping component, the box clamping component, the suction cover component and the label suction component, can be independently controlled, realizes the transportation of different workpieces, and has higher transportation efficiency, more compact structure and higher space utilization rate.
Description
Technical Field
The invention relates to the technical field of intelligent packaging, in particular to a boxing three-axis manipulator for a liquid crystal display.
Background
Most of the existing boxing machines are manually used for taking products and boxing the products, and along with the increasing variety of boxing mechanisms, the technical direction is also developed towards the direction of how to produce the boxing mechanism, which is a production device on a production line in the field of automatic production, and the existing boxing mechanisms are more convenient to use on most lines, so that the characteristics of high pursuit efficiency and simple process are achieved; present lamination structure has certain drawback when using, what generally take now is artifical automatic lamination dress box, artifical automatic product stack repacking box of getting, inefficiency, the process is many, certain adverse effect has been brought in the use, a packaging structure for the LCD screen is mostly only applicable to small-size LCD screen, and increase along with the demand of jumbo size LCD screen, present packaging structure is when depositing jumbo size LCD screen, only can carry out single quantity and deposit, therefore influence to produce the line and deposit and shipment, although there are some packaging structure that can deposit a plurality of LCD screens on the production line, but this type of structure majority carries the packing through the manual work, inefficiency, the low precision, easily take place to collide with.
The state intellectual property office discloses in 2019.02.15 that publication number is CN208498888U, and the patent name is an automatic lamination cartoning machine constructs's patent, and it includes the supplied materials assembly line, one side of supplied materials assembly line is equipped with the transport manipulator, one side of transport manipulator is equipped with lamination mechanism, one side of lamination mechanism is equipped with rotary mechanical hand, rotary mechanical hand's upper end is equipped with the box inserting manipulator, one side of box inserting manipulator is equipped with the box inserting assembly line, the upper end of transport manipulator is equipped with and sends a box mechanism. This patent is provided with transport manipulator, rotary manipulator and a plurality of manipulators of box manipulator, and the mechanism is miscellaneous, and efficiency is not high.
Disclosure of Invention
The purpose of the invention is: aiming at the defects existing in the prior art, the boxing three-axis manipulator can carry various different workpieces, and is simple in structure and high in space utilization rate.
For the purpose of the invention, the following technical scheme is adopted for realizing the purpose: the boxing three-axis manipulator comprises a first sliding table assembly, a second sliding table assembly, a third sliding table assembly, a mounting frame, a screen clamping assembly, a box clamping assembly, a cover sucking assembly and a label sucking assembly; the first sliding table assembly and the second sliding table assembly are vertically arranged in a horizontal plane, the third sliding table assembly is arranged on a moving part of the second sliding table assembly, and the third sliding table assembly is vertically arranged; the mounting frame is fixedly arranged on the moving part of the third sliding table assembly; the bottom end of the mounting frame is provided with a screen clamping component, the side surface of the mounting frame is provided with a box clamping component and a suction cover component, and the label suction component is connected with the moving part of the box clamping component;
the screen clamping assembly comprises a rotary cylinder, a screen clamping finger cylinder and a screen clamping claw; the rotary cylinder is fixedly arranged at the bottom end of the mounting frame, the screen clamping finger cylinder is arranged at the rotating end of the rotary cylinder, and the screen clamping claws are arranged at two moving ends of the screen clamping finger cylinder;
the box clamping assembly comprises a box clamping cylinder, a groove-shaped plate, a box clamping finger cylinder and a box clamping claw; the box clamping cylinder is vertically arranged on the side of the mounting frame, the groove-shaped plate is arranged at the telescopic end of the box clamping cylinder, the two ends of the groove-shaped plate are respectively provided with a box clamping finger cylinder, and the box clamping claw is arranged on the telescopic end of the box clamping finger cylinder;
the suction cover assembly comprises an air disc and an air disc mounting plate, the air disc is fixedly arranged on the air disc mounting plate, the air discs are arranged in a plurality and respectively correspond to four corner positions of the corresponding cover, and the air disc mounting plate is fixedly arranged on the side edge of the groove-shaped plate;
the label sucking assembly comprises a label cylinder, a connecting transverse plate, a discharging cylinder and a suction nozzle; the label cylinder is fixed to be set up on the mounting bracket, connects the fixed flexible end that sets up at the label cylinder of diaphragm, and a suction nozzle is directly installed through the connection piece to the one end of connecting the diaphragm, and another suction nozzle is installed through the blowing cylinder to the other end of connecting the diaphragm.
Preferably, the screen clamping claw comprises two vertical clamping parts and a horizontal connecting part.
Preferably, the distance between the suction nozzles is slightly smaller than the length of the label.
Preferably, the sliding table assembly comprises a driving motor, a base, a guide rail, a screw rod assembly and a connecting and moving part, the connecting and moving part is movably connected with the base through the guide rail, transmission is carried out through the screw rod assembly, and the driving motor drives the screw rod assembly to move.
Preferably, the number of the air discs is four, the air disc mounting plate is provided with a plurality of grooves, and the air discs are mounted in the grooves of the air disc mounting plate through bolts and can be adjusted left and right.
Preferably, the distance between the two finger cylinders for clamping the box is the distance between two side walls of the packaging box; two box clamping claws on the box clamping finger cylinder are oppositely arranged, and a tooth-shaped surface is arranged on the corresponding surface.
Preferably, the inner wall of the screen clamping claw is provided with a rubber flexible material.
Preferably, the shape of the mounting frame is a rectangular square frame.
The utility model provides a packing carton of LCD screen, packing carton outer wall are provided with the bead, the inside holding tank that is provided with eight rows of equipartitions of packing carton, holding tank thickness can hold quantitative LCD screen just, the inside groove that lacks that is provided with of packing carton for hold the winding displacement.
A liquid crystal screen boxing machine comprises a rack, a liquid crystal screen feeding assembly line, a liquid crystal screen feeding and carrying device, a liquid crystal screen positioning device, an upper cover assembly line, an upper box assembly line, a boxing three-axis manipulator, a label box assembly and a blanking assembly line, wherein the liquid crystal screen feeding assembly line, the liquid crystal screen feeding and carrying device, the liquid crystal screen positioning device, the upper cover assembly line, the upper box assembly line, the boxing; the liquid crystal screen feeding assembly line is used for conveying workpieces to be fed, the liquid crystal screen feeding and conveying device is used for conveying the workpieces, and the liquid crystal screen positioning device is used for positioning and arranging the boxed liquid crystal screens; the upper cover production line and the upper box production line are respectively used for realizing the feeding of the cover and the box; the boxing three-axis manipulator is used for carrying boxes, covers and labels, and the blanking assembly line is used for boxing and blanking; the boxing three-axis manipulator adopts the boxing three-axis manipulator in the technical scheme.
Compared with the prior art, the invention has the beneficial effects that: boxing triaxial manipulator is through setting up four execution ends of pressing from both sides screen subassembly, pressing from both sides box subassembly, inhaling the lid subassembly and inhaling the label subassembly, can independent control, realizes the transport to different work pieces, and handling efficiency is higher, and the structure is compacter, and the utilization ratio in space is higher.
Drawings
Fig. 1 is a schematic diagram of an explosive structure according to an embodiment of the present invention.
Fig. 2 is an exploded view of the liquid crystal panel positioning device.
Fig. 3 is an exploded view of the upper lid assembly line.
Fig. 4 is a schematic diagram of an explosive structure of a cartoning three-axis manipulator.
Fig. 5 is a schematic diagram of an exploded structure of the cassette assembly.
In the figure: the automatic feeding and conveying device comprises a rack 1, a liquid crystal screen feeding assembly line 2, a liquid crystal screen feeding and conveying device 3, a liquid crystal screen positioning device 4, a cover feeding assembly line 5, a box feeding assembly line 6, a box packing three-axis manipulator 7, a label box assembly 8, a blanking assembly line 9, a pre-positioning assembly 41, an arranging assembly 42, a turning assembly 43, an adjusting installation seat 411, a sorting box 412, an adjusting air cylinder 413, an adjusting block 414, an air suction plate 415, a base 421, a first air cylinder 422, a lifting plate 423, an air claw 424, an adjusting finger 425, a material stacking table 426, a support 431, a second air cylinder 432, a transverse moving plate 433, a rotating air cylinder 434, a connecting plate 435, a first finger air cylinder 436, a clamping jaw, a conveying assembly line 51, a lifting frame 52, a third air cylinder 53, a placing strip 54, a guide pillar 55, a second finger air cylinder 56, a fourth air cylinder 57, a cover placing frame 58, a limiting assembly 59, a first sliding, Mounting bracket 74, clamping screen assembly 75, clamping box assembly 76, suction cover assembly 77, suction label assembly 78, rotary cylinder 751, clamping screen finger cylinder 752, clamping screen claw 753, clamping box cylinder 761, slot plate 762, clamping box finger cylinder 763, clamping box claw 764, air disc 771, air disc mounting plate 772, label cylinder 781, connecting transverse plate 782, discharging cylinder 783, suction nozzle 784, supporting frame 81, ink groove 82, label paper 83, horizontal cylinder 84, vertical cylinder 85, buffer seat 86, stamp 87 and cantilever plate 88.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, as indicating orientations or positional relationships, are based on the orientation or positional relationships of the figures, are used for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
As shown in fig. 1, a liquid crystal display boxing machine comprises a frame 1, a liquid crystal display feeding assembly line 2, a liquid crystal display feeding and carrying device 3, a liquid crystal display positioning device 4, an upper cover assembly line 5, an upper box assembly line 6, a boxing three-axis manipulator 7, a label box assembly 8 and a blanking assembly line 9, wherein the liquid crystal display feeding assembly line 2, the liquid crystal display feeding and carrying device, the box loading assembly line 6, the boxing three-axis manipulator 7, the label; along the feeding direction of the liquid crystal screen, the liquid crystal screen feeding assembly line 2, the liquid crystal screen feeding and carrying device 3, the liquid crystal screen positioning device 4 and the discharging assembly line 9 are sequentially connected; the upper cover assembly line 5 is positioned at one side of the blanking assembly line 9, and the upper box assembly line 6 is positioned at the other side of the blanking assembly line 9; the label box assembly 8 is arranged at the end part of the upper box assembly line 6, and the boxing three-axis manipulator 7 is fixedly arranged on the rack 1 and is positioned above the liquid crystal screen positioning device 4, the upper cover assembly line 5, the upper box assembly line 6, the label box assembly 8 and the blanking assembly line 9.
The liquid crystal screen feeding assembly line 2 is used for conveying workpieces to be fed, the liquid crystal screen feeding and conveying device 3 is used for conveying the workpieces, and the liquid crystal screen positioning device 4 is used for positioning and arranging the boxed liquid crystal screens; the upper cover production line 5 and the upper box production line 6 are respectively used for realizing the feeding of the cover and the box; boxing three-axis manipulator 7 is used for carrying box, lid and label, and unloading assembly line 9 department is used for boxing and unloading.
As shown in fig. 2, the liquid crystal panel positioning device 4 includes a pre-positioning assembly 41, a collating assembly 42 and a turning assembly 43; the primary positioning component 41, the arranging component 42 and the overturning component 43 are sequentially connected and are positioned on the same straight line; the pre-positioning assembly 41 comprises an adjusting mounting seat 411, a sorting box 412, an adjusting cylinder 413, an adjusting block 414 and a suction plate 415; the adjusting installation seat 411 is fixedly arranged on the rack, the upper end of the adjusting installation seat 411 is connected with an air suction plate 415 through four guide posts, and an air suction groove is formed in the air suction plate 415; a sorting box 412 is arranged on the side of the adjusting mounting seat 411; the adjusting cylinder 413 is arranged in an interlayer between the adjusting mounting seat 411 and the air suction plate 415, the two adjusting cylinders 413 are vertically arranged, the adjusting block 414 is arranged at the telescopic end of the adjusting cylinder 413, and the adjusting block 414 is provided with a corresponding notch which is matched with the position of a flat cable of the liquid crystal screen; the collating component 42 comprises a base 421, a first air cylinder 422, a lifting plate 423, an air claw 424, a correcting finger 425 and a stacking platform 426; the fixed end of the first cylinder 422 is installed on the base 421, the telescopic end of the first cylinder 422 is connected with the lifting plate 423, and the lifting plate 423 is movably connected with vertical plates at two sides of the base 421 through sliding rails; the air claw 424 is fixedly arranged on the lifting plate 423, the air claw 424 comprises four mutually orthogonal moving parts, the correcting fingers 425 are fixedly arranged on the moving parts of the air claw 424, the four correcting fingers 425 are opposite in pairs, the material stacking table 426 is arranged on the lifting plate 423 through four upright posts at corners, the material stacking table 426 is in an I shape, the lateral parts at two ends are thicker, and the middle longitudinal part is thinner; the overturning assembly 43 comprises a support 431, a second air cylinder 432, a transverse moving plate 433, a rotating air cylinder 434, a connecting plate 435, a first finger air cylinder 436 and a clamping jaw 437; the second cylinder 432 is horizontally arranged on the support 431, the transverse moving plate 433 is movably connected with the support 431 through a sliding rail, and the telescopic end of the second cylinder 432 is connected with the transverse moving plate 433; the rotary cylinder 434 is mounted on the traverse plate 433, the first finger cylinder 436 is mounted on a rotary portion of the rotary cylinder 434 through the link plate 435, and the grip pawl 437 is mounted on both moving ends of the first finger cylinder 436.
When the liquid crystal screen positioning device 4 works, the liquid crystal screen is firstly carried to the air suction plate 415 through the carrying device, the air suction plate 415 is vacuumized and sucked, and then the adjusting cylinder 413 is adjusted to drive the adjusting block 414 to move inwards to push the liquid crystal screen to adjust the position; after the single liquid crystal screen is pre-positioned, the workpieces are conveyed to the material stacking table 426 by the conveying device, and when the workpieces on the material stacking table are accumulated to a certain number, the gas claw 424 drives the four correcting fingers 425 to close, so that a stack of workpieces is sorted; after finishing, the first finger cylinder 436 drives the clamping jaw 437 to open, extends into the liquid crystal screen at the finishing assembly 42, clamps the second cylinder 432 to move out, and then rotates the cylinder 434 to enable the cylinder to be vertical to wait for carrying.
The liquid crystal screen positioning device 4 solves the problem of low precision of liquid crystal screen carrying laminations, improves the regularity of the liquid crystal screen laminations by setting the prepositioning of a single liquid crystal screen and arranging a stack of liquid crystal screens, improves the accuracy rate for subsequent packaging, and is provided with a rotating assembly to expose the lug of the liquid crystal screen above so as to be conveniently inserted into a packaging box.
As shown in fig. 3, the upper cover production line 5 comprises a conveying production line 51, a lifting frame 52, a third air cylinder 53, a laying bar 54, a guide post 55, a second finger air cylinder 56, a fourth air cylinder 57, a cover placing frame 58 and a limiting assembly 59; the lifting frame 52 is movably connected to the conveying production line 51, the upper end of the lifting frame 52 is provided with a laying strip 54, the fixed end of the third air cylinder 53 is arranged on the conveying production line 51, and the telescopic end of the third air cylinder 53 is connected with the lower end of the lifting frame 52; the guide post 55 is matched in the conveying production line 51, the lower end of the guide post 55 is connected with the lifting frame 52, the fourth cylinder 57 is arranged on a connecting plate at the upper end of the guide post 55, a long plate is arranged on the telescopic end of the fourth cylinder 57, the two ends of the long plate are provided with second finger cylinders 56, and the two moving ends of the second finger cylinders 56 are provided with clamping jaws; the cover placing frame 58 is fixedly arranged at the end part of the conveying pipeline 51, and the limiting assemblies 59 are arranged at two sides of the cover placing frame 58 and used for blocking the workpieces from falling; the limiting assembly 59 comprises a fifth cylinder and a material stopping block arranged at the telescopic end of the fifth cylinder, and the end part of the material stopping block is wedge-shaped.
When the upper cover production line 5 works, a whole stack of covers is arranged in the cover placing frame 58, the lower ends of the covers are abutted by the limiting component 59, when the covers need to be fed, the third cylinder 53 drives the placing strip 54 and the second finger cylinder 56 to ascend, the second finger cylinder 56 clamps the covers, the covers are placed on the placing strip 54, then the third cylinder 53 contracts, the limiting component 59 abuts against the covers again, and the taken-off covers are placed on the conveying production line 51 and then conveyed out.
The box feeding assembly line 6 is similar to the upper cover assembly line 5 in working principle and structure, and the specific structure aims at feeding of boxes.
As shown in fig. 4, the cartoning three-axis robot 7 includes a first slide table assembly 71, a second slide table assembly 72, a third slide table assembly 73, a mounting frame 74, a screen clamping assembly 75, a box clamping assembly 76, a suction cover assembly 77 and a label suction assembly 78; the first sliding table assembly 71 and the second sliding table assembly 72 are vertically arranged in a horizontal plane, the third sliding table assembly 73 is arranged at a moving part of the second sliding table assembly 72, and the third sliding table assembly 73 is vertically arranged; the mounting bracket 74 is fixedly arranged at the moving part of the third sliding table assembly 73; the bottom end of the mounting frame 74 is provided with a screen clamping component 75, the side surface of the mounting frame 74 is provided with a box clamping component 76 and a suction cover component 77, and a label suction component 78 is connected to the moving part of the box clamping component 76; the screen clamping assembly 75 comprises a rotary cylinder 751, a screen clamping finger cylinder 752 and a screen clamping claw 753; the rotary cylinder 751 is fixedly arranged at the bottom end of the mounting frame 74, the screen clamping finger cylinder 752 is arranged at the rotating end of the rotary cylinder 751, the screen clamping claw 753 is arranged at two moving ends of the screen clamping finger cylinder 752, and the screen clamping claw 753 comprises two vertical clamping parts and a horizontal connecting part; the clamping box assembly 76 comprises a clamping box cylinder 761, a groove-shaped plate 762, a clamping box finger cylinder 763 and a clamping box claw 764; the box clamping cylinder 761 is vertically arranged on the side of the mounting frame 74, the groove plate 762 is arranged at the telescopic end of the box clamping cylinder 761, the two ends of the groove plate 762 are respectively provided with a box clamping finger cylinder 763, and the box clamping claw 764 is arranged at the telescopic end of the box clamping finger cylinder 763; the suction cover assembly 77 comprises an air disc 771 and an air disc mounting plate 772, wherein the air disc 771 is fixedly arranged on the air disc mounting plate 772, the number of the air discs 771 is four, the four air discs 771 correspond to four corner positions of a corresponding cover respectively, and the air disc mounting plate 772 is fixedly arranged on the side edge of the groove-shaped plate 762; the label sucking assembly 78 comprises a label cylinder 781, a connecting transverse plate 782, a discharging cylinder 783 and a suction nozzle 784; label cylinder 781 is fixed to be set up on mounting bracket 74, connects the fixed flexible end that sets up at label cylinder 781 of diaphragm 782, and a suction nozzle 784 is directly installed through the connection piece to the one end of connecting diaphragm 782, and another suction nozzle 784 is installed through blowing cylinder 783 to the other end of connecting diaphragm 782, the interval between suction nozzle 784 slightly be less than the length of label. The boxing three-axis manipulator 7 is a boxing three-axis manipulator.
The boxing three-axis manipulator can move freely in space when working, and the moving tail end can clamp a liquid crystal screen, a packaging box, a cover and a label; the method comprises the following specific steps: clamping the liquid crystal screen: the spatial position is adjusted by three sliding table assemblies, a screen clamping finger cylinder 752 drives a screen clamping claw 753 to approach to clamp the liquid crystal screen, and then a rotating cylinder 751 drives the screen clamping finger cylinder 752 to rotate ninety degrees to be adjusted to a proper position; clamping the packaging box: the three sliding table assemblies are used for adjusting the spatial position, then a box clamping cylinder 761 drives a groove-shaped plate 762 to descend, and a box clamping finger cylinder 763 controls a box clamping claw 764 to clamp two side walls of the packaging box 001 for moving; and (3) sucking the cover: the three sliding table assemblies are used for adjusting the spatial position, then air is sucked through the air disc 771, the cover is sucked, and then the cover is moved; and (3) label sucking action: the spatial position is adjusted by three slip table subassemblies, and two suction nozzle 784 of label cylinder 781 control realize going up and down, are inhaled the paper label by suction nozzle 784, move the fortune.
The boxing three-axis manipulator solves the problems of low efficiency and complicated structure of multi-task carrying work, and four execution terminals of the screen clamping assembly 75, the box clamping assembly 76, the suction cover assembly 77 and the suction label assembly 78 are arranged to be independently controlled, so that carrying of different workpieces is realized, the carrying efficiency is higher, and the structure is more compact.
As shown in fig. 5, the label box assembly 8 includes a support frame 81, an ink tank 82, a label paper 83, a horizontal cylinder 84, a vertical cylinder 85, a buffer seat 86, a stamp 87 and a cantilever plate 88; the supporting frame 81 is fixedly arranged on the frame, an accommodating groove for accommodating the label paper 83 is formed in the upper end of the supporting frame 81, and an ink groove 82 for accommodating ink is formed in the side of the label paper 83; the horizontal cylinder 84 is connected to the frame, the vertical cylinder 85 is installed at the telescopic end of the horizontal cylinder 84, the buffer seat 86 is installed at the telescopic end of the vertical cylinder 85 through the cantilever plate 88, the stamp 87 is installed at the lower end of the buffer seat 86, and the lower end face of the stamp 87 is provided with a convex pattern of corresponding product information.
The blanking assembly line 9 conveys blanking by using a belt, the middle part of the belt is hollow, and a clamping jaw for fixing a packaging box is arranged, so that the carrying precision is improved, and the clamping jaw can be lifted without influencing the feeding and the blanking of workpieces; and the conveying belt is provided with a dustproof roller to reduce the entering of dust.
The liquid crystal display boxing machine automatically boxes liquid crystal display screens sequentially through the following steps when in work:
feeding and laminating: the liquid crystal screen feeding assembly line 2 feeds the liquid crystal screens through the conveying assembly line, the liquid crystal screen feeding and conveying devices 3 convey the liquid crystal screens to the air suction plate 415 one by one, the air suction plate 415 is vacuumized and sucked, and then the adjusting cylinder 413 drives the adjusting block 414 to move inwards to push the liquid crystal screens to adjust positions; after the single liquid crystal screen is pre-positioned, the workpieces are conveyed to the material stacking table 426 by the conveying device, and when the workpieces on the material stacking table are accumulated to a certain number, the gas claw 424 drives the four correcting fingers 425 to close, so that a stack of workpieces is sorted; after finishing, the first finger cylinder 436 drives the clamping jaw 437 to open, extends into the liquid crystal screen at the finishing assembly 42, clamps the second cylinder 432 to move out, and then rotates the cylinder 434 to enable the cylinder to be vertical to wait for carrying.
(II) feeding in a packaging box: the packing boxes are stacked together in the upper box assembly line 6, single feeding is achieved, the packing boxes are conveyed to the discharging assembly line 9 to be fixed in an empty box mode, and the packing boxes wait for being packed.
(III) boxing: the label box assembly 8 transfers a specific information bar code on a blank label, and the liquid crystal screen, the label and the cover which are sequentially stacked are loaded into the box by the boxing three-axis manipulator 7.
(IV) blanking: the liquid crystal screen and the label are filled in the packaging box in the blanking assembly line 9, and after the cover is sealed, the packaging box is conveyed for blanking.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-mentioned embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art. The general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The boxing three-axis manipulator is characterized by comprising a first sliding table assembly (71), a second sliding table assembly (72), a third sliding table assembly (73), a mounting frame (74), a screen clamping assembly (75), a box clamping assembly (76), a suction cover assembly (77) and a label suction assembly (78); the first sliding table assembly (71) and the second sliding table assembly (72) are vertically arranged in a horizontal plane, the third sliding table assembly (73) is arranged at a moving part of the second sliding table assembly (72), and the third sliding table assembly (73) is vertically arranged; the mounting rack (74) is fixedly arranged on a moving part of the third sliding table assembly (73); a screen clamping component (75) is arranged at the bottom end of the mounting rack (74), a box clamping component (76) and a suction cover component (77) are arranged on the side surface of the mounting rack (74), and a label suction component (78) is connected to a moving part of the box clamping component (76);
the screen clamping assembly (75) comprises a rotary cylinder (751), a screen clamping finger cylinder (752) and a screen clamping claw (753); the rotary cylinder (751) is fixedly arranged at the bottom end of the mounting frame (74), the screen clamping finger cylinder (752) is arranged at the rotating end of the rotary cylinder (751), and the screen clamping claws (753) are arranged at two moving ends of the screen clamping finger cylinder (752);
the box clamping assembly (76) comprises a box clamping cylinder (761), a groove plate (762), a box clamping finger cylinder (763) and a box clamping claw (764); the box clamping cylinder (761) is vertically arranged on the side of the mounting frame (74), the groove plate (762) is arranged at the telescopic end of the box clamping cylinder (761), the two ends of the groove plate (762) are respectively provided with a box clamping finger cylinder (763), and the box clamping claw (764) is arranged at the telescopic end of the box clamping finger cylinder (763);
the suction cover assembly (77) comprises an air disc (771) and an air disc mounting plate (772), wherein the air disc (771) is fixedly arranged on the air disc mounting plate (772), the air disc (771) is provided with a plurality of air discs which respectively correspond to four corner positions of a corresponding cover, and the air disc mounting plate (772) is fixedly arranged on the side edge of the groove-shaped plate (762);
the label sucking assembly (78) comprises a label cylinder (781), a connecting transverse plate (782), a discharging cylinder (783) and a suction nozzle (784); label cylinder (781) is fixed to be set up on mounting bracket (74), connect diaphragm (782) fixed the flexible end that sets up in label cylinder (781), connect the one end of diaphragm (782) and directly install a suction nozzle (784) through the connection piece, the other end of connecting diaphragm (782) is installed another suction nozzle (784) through blowing cylinder (783).
2. The boxing three-axis manipulator of claim 1, wherein four task actions of clamping a liquid crystal screen, clamping a packaging box, sucking a cover and sucking a label are realized during work; the clamping liquid crystal screen is as follows: the screen clamping finger cylinder drives the screen clamping claw to clamp the liquid crystal screen, and then the rotating cylinder drives the screen clamping finger cylinder to rotate; the clamping packaging box comprises: the three sliding table assemblies are used for adjusting the spatial position, then the box clamping cylinder drives the groove-shaped plate to descend, and the box clamping finger cylinder controls the box clamping claw to clamp the packaging box for moving; the suction cover is: the three sliding table assemblies are used for adjusting the spatial position, then the cover is sucked by air suction of the air disc, and then the cover is moved; the label absorbing action is that the spatial position is adjusted by three sliding table assemblies, the two air suction nozzles are controlled by a label cylinder to realize lifting, and the paper label is absorbed by the air suction nozzles to be moved.
3. Cartoning three-axis robot according to claim 1, wherein the gripper jaw (753) comprises two vertical grippers and a horizontal connecting portion.
4. Cartoning triple-axis robot according to claim 1, 2 or 3, wherein the spacing between the suction nozzles (784) is slightly less than the length of the label.
5. The boxing three-axis manipulator as claimed in claim 1, 2 or 3, wherein the sliding table assembly comprises a driving motor, a base, a guide rail, a screw rod assembly and a connecting and moving part, the connecting and moving part is movably connected with the base through the guide rail, transmission is carried out through the screw rod assembly, and the driving motor drives the screw rod assembly to move.
6. The cartoning three-axis robot according to claim 1, 2 or 3, wherein the number of the air discs (771) is four, a plurality of grooves are formed in the air disc mounting plate (772), and the air discs (771) are mounted in the grooves of the air disc mounting plate (772) through bolts and can be adjusted left and right.
7. Cartoning three-axis robot according to claim 1, 2 or 3, wherein the distance between the two carton clamping finger cylinders (763) is the distance between two side walls of the carton; two box clamping claws (764) on the box clamping finger cylinder (763) are oppositely arranged, and the corresponding surfaces are provided with toothed surfaces.
8. Cartoning three-axis robot according to claim 1, 2 or 3, wherein the inner walls of the screen clamping claws (753) are provided with a rubber flexible material; the mounting frame (74) is rectangular and square.
9. A liquid crystal screen boxing machine is characterized by comprising a rack (1), a liquid crystal screen feeding assembly line (2), a liquid crystal screen loading and carrying device (3), a liquid crystal screen positioning device (4), an upper cover assembly line (5), a box loading assembly line (6), a boxing three-axis manipulator (7), a label box assembly (8) and a blanking assembly line (9), wherein the liquid crystal screen feeding assembly line, the liquid crystal screen loading and carrying device, the box loading and positioning device, the box loading; the liquid crystal screen feeding assembly line (2) is used for conveying workpieces to be fed, the liquid crystal screen feeding and carrying device (3) is used for carrying the workpieces, and the liquid crystal screen positioning device (4) is used for positioning and arranging the boxed liquid crystal screens; the upper cover production line (5) and the upper box production line (6) are respectively used for realizing the feeding of the cover and the box; the boxing three-axis manipulator (7) is used for carrying boxes, covers and labels, and the blanking assembly line (9) is used for boxing and blanking; cartoning three-axis robot (7) according to any one of claims 1 to 8.
10. The liquid crystal screen box packing machine according to claim 9, wherein the liquid crystal screen box packing machine is used for packing a liquid crystal screen into a packing box, the outer wall of the packing box (001) is provided with a rib (002), eight rows of uniformly distributed accommodating grooves (003) are arranged inside the packing box (001), the thickness of one accommodating groove (003) can just accommodate a quantitative liquid crystal screen, and the inside of the packing box (001) is provided with a notch (004) for accommodating a flat cable.
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| CN110950069B (en) * | 2019-12-13 | 2021-07-20 | 深圳市必联电子有限公司 | Full-automatic feeding machine of charging tray formula PCB board |
| CN112298996B (en) * | 2020-09-29 | 2022-03-11 | 武汉纺织大学 | M5 subassembly stackers of stainbel module transport |
| CN114194526A (en) * | 2021-11-08 | 2022-03-18 | 无锡西奇智能科技有限公司 | Servo bag-folding feeding and rejecting mechanism |
| CN115009596B (en) * | 2022-08-09 | 2022-11-08 | 成都思越智能装备股份有限公司 | A vertical inserted sheet baling press for LCD screen |
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| KR101194314B1 (en) * | 2012-01-17 | 2012-10-24 | 한국뉴매틱(주) | Gripper device having holding points |
| EP3028827A1 (en) * | 2014-12-05 | 2016-06-08 | SMR Patents S.à.r.l. | Method and device for automating the assembly of automotive mirrors |
| CN104924295B (en) * | 2015-06-29 | 2016-04-20 | 吴中区横泾博尔机械厂 | The three axle robert of automatic screen kludge |
| CN106043789A (en) * | 2016-07-13 | 2016-10-26 | 四川省绵阳西南自动化研究所 | Industrial detonator container packing manipulator |
| CN106241405B (en) * | 2016-08-29 | 2018-05-04 | 苏州朗坤自动化设备有限公司 | A kind of universal group of screens installing is standby |
| CN207564475U (en) * | 2017-10-25 | 2018-07-03 | 深圳方中自动化科技有限公司 | A kind of tempering film feeding manipulator |
| CN108621192A (en) * | 2018-06-13 | 2018-10-09 | 广东速美达自动化股份有限公司 | A kind of liquid crystal display handling device |
| CN109249575A (en) * | 2018-10-11 | 2019-01-22 | 东莞市思为客自动化科技股份有限公司 | A kind of box-packed mechanized production system of tableware and its application method |
| CN109531616B (en) * | 2018-12-30 | 2020-10-23 | 珠海格力智能装备有限公司 | Assembly mechanism and liquid crystal display assembly device with same |
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Denomination of invention: Boxing three-axis manipulator Effective date of registration: 20221123 Granted publication date: 20201222 Pledgee: Industrial Bank Co.,Ltd. Shanghai Songjiang sub branch Pledgor: SHANGHAI ZHENGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd. Registration number: Y2022310000333 |
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