CN110963114A - Automatic snatch packing robot - Google Patents
Automatic snatch packing robot Download PDFInfo
- Publication number
- CN110963114A CN110963114A CN201811155218.9A CN201811155218A CN110963114A CN 110963114 A CN110963114 A CN 110963114A CN 201811155218 A CN201811155218 A CN 201811155218A CN 110963114 A CN110963114 A CN 110963114A
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- China
- Prior art keywords
- robot
- packing
- linear module
- clamping jaw
- jaw
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- Pending
Links
- 238000012856 packing Methods 0.000 title claims abstract description 29
- 239000000835 fiber Substances 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims abstract 2
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000007667 floating Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 238000012423 maintenance Methods 0.000 claims 1
- 238000009776 industrial production Methods 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An automatic grabbing and packing robot belongs to the technical field of robots and mainly comprises a cylinder fixing seat, a jaw, a cylinder, a linear slide rail, a jaw fixing seat, an X-axis linear module, a Z-axis linear module, a cycloidal pin wheel RV reducer, a ground rail, a helical gear, a servo motor, a rack and a linear slide rail, and is used for grabbing, carrying and packing fiber blankets, wherein the cylinder moves to drive an upper jaw to move downwards, a sliding block on the Z-axis linear module moves downwards to drive a lower jaw to move upwards, the upper jaw and the lower jaw synchronously move through a cylinder speed regulating valve, the jaw 2 is an upper part and a lower part, the jaw 2 forms a circle after being clamped, the jaw 2 moves to a position through interpolation operation control of an X-direction linear module and a Z-direction linear module after being clamped, a right-angle coordinate robot on the upper part of the cycloidal pin wheel RV, the robot carries the fiber blanket to the blanking platform through the ground rail after the packing is finished, and the robot is suitable for industrial production application.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a novel automatic grabbing and packing robot which has the characteristics of simplicity, high efficiency, reliability, practicality, good economy and the like.
Background
With the continuous maturity and perfection of the robot technology, the robot is widely applied to various fields, and in the production process of the fiber blanket, the fiber blanket packing operation adopts manual operation, and the manual operation has the following problems: (1) the efficiency is low, and the productivity of company products is difficult to improve; (2) heavy tasks, high labor intensity and high labor cost; (3) the operation environment is poor, dust pollution is caused, and the environment is harmful to human health. Therefore, the automatic grabbing and packing robot for the fiber blanket is researched and developed, so that the production efficiency can be effectively improved, the labor intensity of workers is reduced, and the health of the workers is guaranteed. Such devices are now on the market and few enterprises are engaged in the development of such devices, and the problems that prevail are as follows: (1) the fiber blanket has large diameter, the clamping mechanism bears large overturning moment, and the requirement on the integral rigidity of the robot is high; (2) the layout of each device in a general production field is compact, and the robot is required to be small and compact in structure; (3) there are no mature means of achieving this function.
Disclosure of Invention
Aiming at the current application situation of the robot and the problems in the prior art, the invention aims to stably realize the automatic grabbing, carrying and packing of the fiber blanket by adopting a simple and reliable mechanism. The automatic grabbing and packing robot is characterized by mainly comprising a cylinder fixing seat 1, a clamping jaw 2, a cylinder 3, a linear sliding rail 4, a clamping jaw fixing seat 5, an X-axis linear module 6, a Z-axis linear module 7, a cycloidal pin wheel RV reducer 8, a ground rail 9, a helical gear 10, a servo motor 11, a rack 12 and a linear sliding rail 13.
Automatic snatch packing machine people, its characterized in that cylinder 3, cylinder 3 shrink drive upper portion jack catch move down, the slider moves down on the Z axle sharp module, drives the lower part jack catch and shifts up, the synchronous motion of jack catch about can realizing through the governing valve on the adjustment cylinder, the fibre blanket is got to steady clamp.
The automatic grabbing and packing robot is characterized in that the clamping jaw 2 is divided into an upper part and a lower part, the clamping jaw 2 forms a circle after being clamped tightly, the whole stress of a fiber blanket is uniform, and the fiber blanket can be prevented from being scattered in the grabbing process.
The automatic grabbing and packing robot is characterized in that the linear sliding rail 4 is arranged, the linear sliding rail 4 can avoid the rotation of a cylinder rod piston and a cylinder cavity in the clamping process, and the fiber blanket can be stably clamped in the clamping process.
Automatic snatch packing machine people, its characterized in that X axle straight line module 6, Z axle straight line module 7, straight line module external frame adopt the aluminium alloy, can directly utilize T type groove to be connected with the outer part, adopt screw drive, servo motor passes through the shaft coupling and directly links with the lead screw, linear guide is furnished with in both sides, the protective cover is installed in the outside.
The automatic grabbing and packaging robot is characterized in that a cycloidal pin wheel RV speed reducer 8 is adopted, a rectangular coordinate robot is fixed on the cycloidal pin wheel RV speed reducer 8 through switching, and the structural form has the structural characteristics of simplicity, reliability and high cost performance.
The automatic grabbing and packing robot is characterized in that the bevel gear 10 is directly driven by the servo motor 11 to rotate and walk on the rack 12, and accurate positioning can be achieved.
The automatic grabbing and packing robot is characterized in that linear sliding rails 13 are adopted on two sides of a helical gear 10 to guide, the sliding rails are completely fixed through T-shaped pressing blocks, the sliding blocks are fixed in a configuration mode that fixed ends and floating ends are combined, the linear sliding rails 13 are connected in a staggered splicing mode due to the fact that the ground rail is long in stroke, and the linear sliding rails 13 are staggered to avoid the situation that the sliding blocks vibrate to influence the guiding precision when passing through the lap joint.
By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
the invention adopts the cylinder 3 to clamp, can output large clamping force, can bear huge overturning moment and realizes powerful grabbing of the fiber blanket.
The invention can guide left and right through the linear slide rail 4, and can effectively ensure the stability of grabbing.
The fiber blanket conveying device can realize the conveying of the fiber blanket by combining the X-axis linear module 6 and the Z-axis linear module 7 to form a rectangular coordinate robot, performing interpolation operation and combining with the cycloid pinwheel RV reducer 8.
The robot can realize the rotary motion by fixing the upper rectangular coordinate robot on the cycloidal pinwheel RV reducer 8, and the cycloidal pinwheel RV reducer 8 has a series of advantages of small volume, light weight, large transmission ratio range, long service life, stable precision, high efficiency, stable transmission and the like.
The invention can well expand the moving range of the robot by combining with the ground rail 9, and can transfer the fiber blanket among different stations.
Drawings
FIG. 1 is a schematic view of the present invention in a fiber blanket grab handling application.
FIG. 2 is a schematic view of the rotary transporting and ground rail of the present invention.
In the figure: the device comprises a 1-cylinder fixing seat, a 2-clamping jaw, a 3-cylinder, a 4-linear sliding rail, a 5-clamping jaw fixing seat, a 6-X-axis linear module, a 7-Z-axis linear module, an 8-cycloid pinwheel RV reducer, a 9-ground rail, a 10-helical gear, a 11-servo motor, a 12-rack and a 13-linear sliding rail.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
as shown in fig. 1 and 2, the automatic grabbing and packing robot mainly comprises a cylinder fixing seat 1, a jaw 2, a cylinder 3, a linear sliding rail 4, a jaw fixing seat 5, an X-axis linear module 6, a Z-axis linear module 7, a cycloidal pin wheel RV reducer 8, a ground rail 9, a helical gear 10, a servo motor 11, a rack 12 and a linear sliding rail 13.
The cylinder 3 is fixed to the upper surface of the cylinder fixing seat 1 through four threaded holes at the tail part, a cylinder rod of the cylinder 3 is connected with the jaw fixing seat 5 through fine threads, and a nut is screwed tightly. The upper and lower two parts of clamping jaws are respectively fixed on the cylinder fixing seat 1 and the clamping jaw fixing seat 5, and the stroke control cooperation of the cylinder 3 and the Z-axis linear module 7 is realized to clamp the fiber blanket.
The whole set of clamping jaw mechanism is fixed on the T-shaped adaptor vertical plate through the threaded hole and the positioning pin, the T-shaped adaptor is made of aluminum alloy, the T-shaped adaptor transverse plate is fixed on the X-axis linear module 6 slide block through the threaded hole and the positioning pin, the X-axis linear module 6 can ensure that the robot has a smaller rotation radius, and the overturning torque and the centrifugal force in the rotation process are reduced.
Whole upper portion cartesian robot is fixed in on the cycloid pinwheel RV reduction gear 8, and cycloid pinwheel RV reduction gear 8 adopts hollow structure, the vertical installation of servo motor side direction, and upper portion cartesian robot cable and trachea pass RV reduction gear 8 through the hole in the middle, reduce the radius of rotation of cable and effectively avoided tearing of gyration in-process cable.
The servo motor 11 is connected with the helical gear 10 after being decelerated through the planetary gear reducer, the helical gear rotates through meshing with the rack 12, the robot moves on the ground rail, the rack is arranged between the two linear sliding rails 13, the slider is fixed by adopting a mode that a fixed end and a floating end are combined, a lubricating point is arranged on the front side of the helical gear, the moving friction force is reduced, a Z-shaped protective cover is arranged on the rack 12 and the sliding rails 13, scrap iron, dust and the like are reduced, the robot body cable and the air pipe move back and forth through a drag chain on the ground rail 9, and the cable is prevented from being bent repeatedly.
The lower part of the ground rail 9 is welded with a square pipe, the upper part of the ground rail is adhered with a layer of steel plate, after welding and aging, the upper guide rail installation surface is processed, the length of the guide rail is larger, the ground rail 9 and the linear slide rail 13 are connected in a staggered splicing mode, and the ground rail 9 is fixed to the ground through a core striking expansion bolt.
By adopting the technology, the automatic grabbing and packing robot is obtained, the automation of grabbing, carrying and packing of the fiber blanket is realized, the problems of low efficiency, high labor intensity, dust pollution and the like of the existing manual operation are solved, meanwhile, the operation stations are reduced, the operation precision is ensured, the product quality is improved, the operation efficiency is improved, and the automatic grabbing and packing robot is suitable for industrial production application.
Claims (9)
1. The automatic grabbing and packing robot mainly comprises an air cylinder fixing seat 1, a clamping jaw 2, an air cylinder 3, a linear slide rail 4, a clamping jaw fixing seat 5, an X-axis linear module 6, a Z-axis linear module 7, a cycloid pinwheel RV reducer 8, a ground rail 9, a helical gear 10, a servo motor 11, a rack 12 and a linear slide rail 13, wherein the tail part of the air cylinder 3 is fixed on the air cylinder fixing seat 1, the end part of the air cylinder is connected with the clamping jaw fixing seat 5, the clamping jaw is divided into an upper part and a lower part, the clamping jaw is respectively fixed on the air cylinder fixing seat 1 and the clamping jaw fixing seat 5, when the air cylinder 3 contracts, the upper clamping jaw moves downwards, an upper sliding block on the Z-axis linear module 7 moves upwards, the lower clamping jaw moves upwards, the upper clamping jaw and the lower clamping jaw simultaneously move towards the center of a fiber blanket to realize a clamping function, avoid taking place the interference problem among the handling, Z axle straight line module 7 is fixed in on cycloid pinwheel RV reduction gear 8, can easily realize that Z axle direction is rotatory, and this robot has increased the robot home range by setting up ground rail 9, and ground rail 9 is moved on rack 12 by servo motor 11 drive helical gear 10, and two sets of linear slide rail 13 supports are arranged in to rack 12, can high-efficient promotion robot move, have avoided the production of biasing moment of torsion of marcing.
2. The automatic grabbing and packing robot according to claim 1, wherein the cylinder 3 is contracted to drive the upper clamping jaw to move downwards, the sliding block on the Z-axis linear module moves downwards to drive the lower clamping jaw to move upwards, and the upper and lower clamping jaws can synchronously move by adjusting the speed regulating valve on the cylinder to stably clamp the fiber blanket.
3. The automatic grabbing and packing robot according to claim 1, wherein the linear sliding rail 4 is arranged on the linear sliding rail 4, the linear sliding rail 4 can prevent the rotation of a cylinder rod piston and a cylinder cavity in the clamping process, and can ensure that the fiber blanket can be clamped smoothly in the clamping process.
4. The automatic grabbing and packing robot according to claim 1, wherein the cycloidal-pin wheel RV reducer 8 is connected with a rectangular coordinate robot through a transfer connection, and the structural form has the structural characteristics of simplicity, reliability and high cost performance.
5. The robot for automatically grabbing and packing a lot of claim 1, wherein the X-axis linear module 6, the Z-axis linear module 7 and the outer frame are made of aluminum profiles, and the linear modules can be directly connected with the outer part by using T-shaped grooves; adopt lead screw drive, servo motor directly links through shaft coupling and lead screw, and both sides are furnished with linear guide, and the protective cover is installed to the outside, and overall structure is compact, has the advantage of high accuracy, high rigidity, easy installation, easy maintenance.
6. The robot for automatically grabbing and packing a bag according to claim 1, wherein the bevel gear 10 is directly driven by the servo motor 11 to rotate and travel on the rack 12, and the linear sliding rails 13 on both sides perform guiding functions (fixed end and floating end respectively) so that the mechanism is simple and reliable and has high precision.
7. The automatic grabbing and packing robot according to claim 1, wherein the claw 2 is divided into an upper part and a lower part, the claw 2 is arc-shaped, after the claw 2 is clamped, a circle is formed, the whole fiber blanket is uniformly stressed, and the fiber blanket can be prevented from being scattered in the grabbing process.
8. The robot for automatically grabbing and packing according to claim 1, wherein the X-axis linear module 6, the Z-axis linear module 7 and the cycloidal pinwheel RV reducer 8 are combined, the X-axis linear module 6 can move back and forth, the Z-axis linear module 7 can move up and down, the cycloidal pinwheel RV reducer 8 can move rotationally, and the station transfer after grabbing the fiber blanket can be realized with 3 degrees of freedom.
9. The robot for automatically grabbing and packing according to claim 1, wherein the ground rail 9 increases the range of motion of the robot by the combination of the robot body and the ground rail 9, so that the robot can work between different stations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155218.9A CN110963114A (en) | 2018-09-30 | 2018-09-30 | Automatic snatch packing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155218.9A CN110963114A (en) | 2018-09-30 | 2018-09-30 | Automatic snatch packing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110963114A true CN110963114A (en) | 2020-04-07 |
Family
ID=70028529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811155218.9A Pending CN110963114A (en) | 2018-09-30 | 2018-09-30 | Automatic snatch packing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110963114A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566309A (en) * | 2024-01-17 | 2024-02-20 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200376714Y1 (en) * | 2004-11-22 | 2005-03-09 | 현대중공업 주식회사 | A robot hand for a green case tire |
| CN202668232U (en) * | 2012-05-17 | 2013-01-16 | 马丁路德机器人（上海）有限公司 | Ground rail moving type four-shaft linkage robot |
| CN203402679U (en) * | 2013-07-29 | 2014-01-22 | 江阴市锦明玻璃技术有限公司 | Combined clamping system for automatic loading and unloading of robot |
| CN104003187A (en) * | 2014-06-03 | 2014-08-27 | 苏州博众精工科技有限公司 | Grabbing rotation mechanism |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205415630U (en) * | 2015-12-15 | 2016-08-03 | 山东科技大学 | Bottled water transfer robot |
| CN207480627U (en) * | 2017-11-24 | 2018-06-12 | 烟台万泰通信科技有限公司 | A kind of mechanical gripper |
| CN108406754A (en) * | 2018-05-30 | 2018-08-17 | 北京三维精致科技有限责任公司 | A kind of leading screw servo articulated mechanical arm |
| CN208994004U (en) * | 2018-09-30 | 2019-06-18 | 山东云晟智能科技有限公司 | One kind automatically grabbing packing press people |
-
2018
- 2018-09-30 CN CN201811155218.9A patent/CN110963114A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200376714Y1 (en) * | 2004-11-22 | 2005-03-09 | 현대중공업 주식회사 | A robot hand for a green case tire |
| CN202668232U (en) * | 2012-05-17 | 2013-01-16 | 马丁路德机器人（上海）有限公司 | Ground rail moving type four-shaft linkage robot |
| CN203402679U (en) * | 2013-07-29 | 2014-01-22 | 江阴市锦明玻璃技术有限公司 | Combined clamping system for automatic loading and unloading of robot |
| CN104003187A (en) * | 2014-06-03 | 2014-08-27 | 苏州博众精工科技有限公司 | Grabbing rotation mechanism |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205415630U (en) * | 2015-12-15 | 2016-08-03 | 山东科技大学 | Bottled water transfer robot |
| CN207480627U (en) * | 2017-11-24 | 2018-06-12 | 烟台万泰通信科技有限公司 | A kind of mechanical gripper |
| CN108406754A (en) * | 2018-05-30 | 2018-08-17 | 北京三维精致科技有限责任公司 | A kind of leading screw servo articulated mechanical arm |
| CN208994004U (en) * | 2018-09-30 | 2019-06-18 | 山东云晟智能科技有限公司 | One kind automatically grabbing packing press people |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566309A (en) * | 2024-01-17 | 2024-02-20 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
| CN117566309B (en) * | 2024-01-17 | 2024-08-06 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
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