CN111361801A - Double-arm cooperation box opening and material receiving turnover robot - Google Patents
Double-arm cooperation box opening and material receiving turnover robot Download PDFInfo
- Publication number
- CN111361801A CN111361801A CN202010300177.9A CN202010300177A CN111361801A CN 111361801 A CN111361801 A CN 111361801A CN 202010300177 A CN202010300177 A CN 202010300177A CN 111361801 A CN111361801 A CN 111361801A
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- CN
- China
- Prior art keywords
- mechanical arm
- arm
- container
- carton
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007306 turnover Effects 0.000 title abstract description 7
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 238000004806 packaging method and process Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Images
Classifications
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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
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
- B65B43/305—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated specially adapted for boxes, cartons or carton blanks
-
- 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
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
The invention relates to the technical field of packaging equipment, in particular to a double-arm cooperative unpacking and receiving turnover robot, which comprises a clamp and a lifting mechanism, wherein the clamp is used for clamping a carton; a container for receiving material; the clamp is arranged on the first mechanical arm; the first mechanical arm and the second mechanical arm are configured to drive the clamp and the carton on the clamp to move to be opposite to the container on the second mechanical arm and drive the carton to be sleeved on the container, and the first mechanical arm and the second mechanical arm drive the corresponding clamp and the container to synchronously turn over so that the material in the container falls into the carton with an upward opening.
Description
Technical Field
The invention relates to the technical field of packaging equipment, in particular to a double-arm cooperation box opening and material receiving turnover robot.
Background
To facilitate the transport of the product while reducing damage to the product during transport, the product is typically placed in a package. The carton is the most widely used packaging product, and after the production of the product and before the transportation, the bottom of the carton needs to be folded and sealed, then the goods are placed in the carton, and then the upper part of the carton needs to be sealed.
The existing packaging equipment usually operates and packages the materials independently for the mechanical arms of all stations, and when the packaging equipment completes the work between the two machines at the same time, the packaging equipment needs to be conveyed to the next station from the previous station, so that the whole production period is increased, and the work efficiency is reduced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problem that the existing packaging equipment usually operates and packages independently for mechanical arms of all stations, when the existing packaging equipment completes work between the two stations, the packaging needs to be conveyed to the next station from the previous station, so that the whole production period is increased, and the work efficiency is reduced, the double-arm cooperation unpacking, receiving and overturning robot is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: both arms cooperation unpacking connects material upset robot, include
The clamp is used for clamping the carton;
a container for receiving material;
the clamp is arranged on the first mechanical arm;
and the first mechanical arm and the second mechanical arm are configured to enable the first mechanical arm to drive the clamp and the carton on the clamp to move to the position opposite to the container on the second mechanical arm and drive the carton to be sleeved on the container, and the first mechanical arm and the second mechanical arm drive the corresponding clamp and the container to synchronously turn over, so that the materials in the container fall into the carton with the opening facing upwards.
According to the invention, the carton with one side opened can be opposite to the container through the first mechanical arm, the carton is sleeved on the container, and then the first mechanical arm and the second mechanical arm cooperatively operate, namely the clamp and the container are controlled to synchronously turn over, so that the materials in the container fall into the carton with the opening facing upwards.
In order to facilitate conveying of the cartons after the materials are placed in the cartons, a conveying channel for conveying the cartons is arranged between the first mechanical arm and the second mechanical arm. Through set up the material conveying way between first arm and second arm, can carry the carton that is equipped with the material to next process through the material conveying way.
In order to realize the bearing of the container on the material, further, the container comprises a bottom plate, two side plates are oppositely arranged on two sides of the bottom plate, and a baffle plate is arranged on the bottom plate and positioned between the two side plates. Through set up the curb plate of two relative settings on the bottom plate to set up the baffle between two curb plates, two lateral walls and baffle form "U" shape structure on the bottom plate, make the container just can pour the material into to the carton after taking place the slope to one side.
In order to realize unpacking the carton, the clamp comprises a support, at least one side of two sides of the support is rotatably provided with a swing arm, the support and the swing arm are both provided with an adsorption mechanism for adsorbing the carton, and the support is provided with a driving mechanism for driving the swing arm to swing inwards or outwards on the support. Adsorb through adsorbing the framework on the support with the carton in proper order, stimulate one side of carton simultaneously for the carton is opened and is driven the swing arm inwardly swinging and adsorb carton one side by actuating mechanism again, thereby the carton is adsorbed in one side of swing arm, along with the swing control carton of swing arm is opened gradually.
In order to realize the swing of the swing arm on the support, the driving mechanism further comprises a cylinder, the cylinder is arranged on the support, a rack is arranged at the extending end of the cylinder, a sliding groove matched with the rack is arranged on the support, the rack is arranged in the sliding groove in a sliding manner, the swing arm is provided with a gear matched with the rack, and the gear and the rack are meshed with each other. The swing arm swings on the support through the gear and rack mechanism between the air cylinder on the support and the swing arm, and the support is simple in structure, convenient to operate and convenient to maintain in a later period.
In order to better open the carton, furthermore, swing arms are arranged on two sides of the support. The swing arms swinging relatively are arranged on the two sides of the support, so that a clamping space required by the carton is formed between the swing arms and the support.
Further, the adsorption mechanism is a negative pressure sucker. The adsorption mechanism is a negative pressure sucker, and is simple in structure, convenient to install and convenient for later maintenance.
The invention has the beneficial effects that: when the double-arm cooperative unpacking, receiving and overturning robot is used, a carton with one side opened can be opposite to a container through the first mechanical arm, the carton is sleeved on the container, and then the first mechanical arm and the second mechanical arm are cooperatively operated, namely the clamp and the container are controlled to overturn synchronously, so that materials in the container fall into the carton with the opening facing upwards, the carton does not need to be conveyed to a next station by a conveying mechanism to load the carton with the materials, the working efficiency is improved, the problem that when the existing packaging equipment normally carries out independent operation and packaging on the mechanical arms of all stations, the packaging needs to be conveyed to the next station from the previous station when the packaging equipment finishes work simultaneously is solved, the whole production period is increased, and the problem of the working efficiency is reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a first three-dimensional view of the clamp of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional structure of a jig according to the present invention;
fig. 4 is a schematic three-dimensional structure of the container of the present invention.
In the figure: 1. the automatic carton-making machine comprises a clamp, 2, a container, 3, a first mechanical arm, 4, a second mechanical arm, 5, a conveying channel, 6, a bottom plate, 7, a side plate, 8, a baffle, 9, a support, 10, a swing arm, 11, a driving mechanism, 12, an adsorption mechanism, 13 and a carton.
Detailed Description
The invention is described in more detail below with reference to the following examples:
the present invention is not limited to the following embodiments, and those skilled in the art can implement the present invention in other embodiments according to the disclosure of the present invention, or make simple changes or modifications on the design structure and idea of the present invention, and fall into the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "vertical" are used to describe the same,
The references to "outer" and the like are based on the orientation or positional relationship shown in the drawings and are only for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-4, a double-arm cooperative unpacking and receiving material overturning robot comprises
The clamp 1 is used for clamping the paper box 13; the opened carton 13 is sealed at the bottom and has an upward opening.
A container 2 for receiving material;
the first mechanical arm 3 is provided with the clamp 1;
and the second mechanical arm 4, the container 2 is arranged on the second mechanical arm 4, the first mechanical arm 3 and the second mechanical arm 4 are configured such that the first mechanical arm 3 can drive the clamp 1 and the carton 13 thereon to move to be opposite to the container 2 on the second mechanical arm 4 and drive the carton 13 to be sleeved on the container 2, and the first mechanical arm 3 and the second mechanical arm 4 drive the corresponding clamp 1 and the corresponding container 2 to synchronously overturn, so that the material in the container 2 falls into the carton 13 with an upward opening.
A conveying material channel 5 for conveying the cartons 13 is arranged between the first mechanical arm 3 and the second mechanical arm 4. The conveying channel 5 may be a belt type conveying mechanism or a roller type conveying mechanism.
The container 2 comprises a bottom plate 6, two side plates 7 are oppositely arranged on two sides of the bottom plate 6, and a baffle plate 8 is arranged between the two side plates 7 on the bottom plate 6. Enclose each other between two curb plates 7 and the baffle 8 and close and be the holding tank that has the placing object material on bottom plate 6, the bottom plate 6.
Anchor clamps 1 includes support 9, support 9 both sides all are provided with swing arm 10, all set up the adsorption apparatus 12 that is used for adsorbing carton 13 on support 9 and the swing arm 10, adsorption apparatus 12 is negative sucker, be provided with on the support 9 and be used for driving swing arm 10 inwards to swing or outwards open actuating mechanism 11 on support 9.
The driving mechanism 11 comprises a cylinder, the cylinder is arranged on the support 9, a rack is arranged at the extending end of the cylinder, a sliding groove matched with the rack is formed in the support 9, the rack is arranged in the sliding groove in a sliding mode, the swing arm 10 is provided with a gear matched with the rack, and the gear and the rack are meshed with each other.
When the double-arm cooperative unpacking and receiving overturning robot is used, firstly, the first mechanical arm 3 drives the clamp 1 to move to a required position and clamp the carton 13, the cylinder at the position of the driving mechanism 11 on the support 9 is started to drive the swing arm 10 on the support 9 to rotate, the swing arm 10 rotates and forms a clamping area for clamping the carton 13, the first mechanical arm 3 finishes clamping the carton 13, meanwhile, the container 2 on the second mechanical arm 4 bears the materials required to be packaged by the carton 13, then the first mechanical arm 3 drives the clamp 1 to overturn and move to the position above the container 2, the opening of the carton 13 is opposite to the container 2, then the carton 13 is sleeved on the container 2, then the first mechanical arm 3 and the second mechanical arm 4 synchronously overturn, so that the materials in the container 2 fall into the carton 13, meanwhile, the carton 13 is in a state with the opening facing upwards at the moment, the carton 13 is placed on the conveying channel 5 and conveyed to a next process, and (5) finishing boxing the materials.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that numerous changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. The utility model provides a both arms cooperation unpacking connects material upset robot which characterized in that: comprises that
The clamp (1) is used for clamping the carton (13);
a container (2) for receiving material;
the first mechanical arm (3), the clamp (1) is arranged on the first mechanical arm (3);
and the second mechanical arm (4), the container (2) is arranged on the second mechanical arm (4), the first mechanical arm (3) and the second mechanical arm (4) are configured to enable the first mechanical arm (3) to drive the clamp (1) and the carton (13) on the clamp to move to the position opposite to the container (2) on the second mechanical arm (4), the carton (13) is driven to be sleeved on the container (2), and the first mechanical arm (3) and the second mechanical arm (4) drive the corresponding clamp (1) and the container (2) to synchronously overturn, so that the material in the container (2) falls into the carton (13) with the upward opening.
2. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 1, wherein: a conveying channel (5) for conveying cartons (13) is arranged between the first mechanical arm (3) and the second mechanical arm (4).
3. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 1, wherein: the container (2) comprises a bottom plate (6), two side plates (7) are oppositely arranged on two sides of the bottom plate (6), and a baffle plate (8) is arranged between the two side plates (7) on the bottom plate (6).
4. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 1, wherein: anchor clamps (1) include support (9), at least one side of support (9) both sides is rotated and is provided with swing arm (10), all set up adsorption apparatus structure (12) that are used for adsorbing carton (13) on support (9) and swing arm (10), be provided with on support (9) and be used for driving swing arm (10) inwards swing or outwards open actuating mechanism (11) on support (9).
5. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 4, wherein: actuating mechanism (11) includes the cylinder, the cylinder sets up on support (9), the stretching out of cylinder is served and is provided with the rack, be provided with on support (9) with rack assorted spout, the rack slides and sets up in the spout, swing arm (10) be provided with rack assorted gear, gear and rack intermeshing.
6. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 4, wherein: swing arms (10) are arranged on two sides of the support (9).
7. The double-arm cooperative unpacking and receiving and overturning robot as claimed in claim 4, wherein: the adsorption mechanism (12) is a negative pressure sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010300177.9A CN111361801A (en) | 2020-04-16 | 2020-04-16 | Double-arm cooperation box opening and material receiving turnover robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010300177.9A CN111361801A (en) | 2020-04-16 | 2020-04-16 | Double-arm cooperation box opening and material receiving turnover robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111361801A true CN111361801A (en) | 2020-07-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010300177.9A Pending CN111361801A (en) | 2020-04-16 | 2020-04-16 | Double-arm cooperation box opening and material receiving turnover robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111361801A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776304A (en) * | 2020-08-04 | 2020-10-16 | 格力电器（武汉）有限公司 | Cabinet air conditioner vanning device and vanning equipment |
| CN112693171A (en) * | 2021-01-06 | 2021-04-23 | 深圳九星印刷包装集团有限公司 | Collecting and boxing machine |
| TWI751747B (en) * | 2020-10-19 | 2022-01-01 | 鴻績工業股份有限公司 | Packing mechanism |
| CN115303551A (en) * | 2022-10-09 | 2022-11-08 | 江苏金旺智能科技有限公司 | Full-automatic cooperation boxing equipment |
| WO2023095235A1 (en) * | 2021-11-25 | 2023-06-01 | スターテクノ株式会社 | Article suction-holding device, and box-making device and box-making method using said article suction-holding device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014075151A1 (en) * | 2012-11-14 | 2014-05-22 | Adaptapack Pty Limited | A packaging assembly |
| CN205952433U (en) * | 2016-08-09 | 2017-02-15 | 中山市鑫光智能系统有限公司 | Cover carton device |
| CN108341091A (en) * | 2018-03-01 | 2018-07-31 | 武汉人天包装自动化技术股份有限公司 | The vertical vertical dress recrater of one kind and packing method |
| CN212048113U (en) * | 2020-04-16 | 2020-12-01 | 上海节卡机器人科技有限公司 | Double-arm cooperation box opening and material receiving turnover robot |
-
2020
- 2020-04-16 CN CN202010300177.9A patent/CN111361801A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014075151A1 (en) * | 2012-11-14 | 2014-05-22 | Adaptapack Pty Limited | A packaging assembly |
| CN205952433U (en) * | 2016-08-09 | 2017-02-15 | 中山市鑫光智能系统有限公司 | Cover carton device |
| CN108341091A (en) * | 2018-03-01 | 2018-07-31 | 武汉人天包装自动化技术股份有限公司 | The vertical vertical dress recrater of one kind and packing method |
| CN212048113U (en) * | 2020-04-16 | 2020-12-01 | 上海节卡机器人科技有限公司 | Double-arm cooperation box opening and material receiving turnover robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776304A (en) * | 2020-08-04 | 2020-10-16 | 格力电器（武汉）有限公司 | Cabinet air conditioner vanning device and vanning equipment |
| TWI751747B (en) * | 2020-10-19 | 2022-01-01 | 鴻績工業股份有限公司 | Packing mechanism |
| CN112693171A (en) * | 2021-01-06 | 2021-04-23 | 深圳九星印刷包装集团有限公司 | Collecting and boxing machine |
| WO2023095235A1 (en) * | 2021-11-25 | 2023-06-01 | スターテクノ株式会社 | Article suction-holding device, and box-making device and box-making method using said article suction-holding device |
| CN115303551A (en) * | 2022-10-09 | 2022-11-08 | 江苏金旺智能科技有限公司 | Full-automatic cooperation boxing equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: SHANGHAI JAKA ROBOTICS Ltd. Address before: Room 301, building 6, Zizhu Science Park, 555 Dongchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant after: Jieka Robot Co.,Ltd. Address before: 200240 building 6, 646 Jianchuan Road, Minhang District, Shanghai Applicant before: SHANGHAI JAKA ROBOTICS Ltd. |
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| CB02 | Change of applicant information |