CN111422415A - Multi-station manipulator of packaging machine production line - Google Patents
Multi-station manipulator of packaging machine production line Download PDFInfo
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- CN111422415A CN111422415A CN202010238399.2A CN202010238399A CN111422415A CN 111422415 A CN111422415 A CN 111422415A CN 202010238399 A CN202010238399 A CN 202010238399A CN 111422415 A CN111422415 A CN 111422415A
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- mechanical arm
- manipulator
- seat
- base
- rotating
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/42—Arranging and feeding articles in groups by roller-ways
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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Abstract
The invention discloses a multi-station manipulator of a packaging machine production line, which comprises a conveying mechanism, wherein one side of the conveying mechanism is provided with a holding manipulator, a stacking manipulator is arranged at a position, far away from the holding manipulator, of one side of the conveying mechanism, and the other side of the conveying mechanism is provided with two clamping manipulators; the clamping manipulator comprises a first manipulator base, a first transmission base is fixedly mounted on the upper surface of the first manipulator base, a first rotary seat is rotatably mounted at the upper end of the first transmission base, and a first transmission motor is fixedly mounted on the rear surface of the first rotary seat. According to the invention, the missing articles on the conveying mechanism can be clamped by the clamping manipulator, so that the loss caused by the missing articles is avoided, and the packaged articles on the conveying mechanism can be orderly clamped and taken off for stacking by matching the clamping manipulator and the stacking manipulator, so that the loading efficiency of the packaging machine production line is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multi-station manipulator for a packaging machine production line.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
Patent document (CN107225585A) discloses a production line multi-station manipulator, the structure of which includes: a telescopic manipulator, a distribution box base, a mechanical distribution box, a distribution box fixing block, a heat dissipation box top plate, a heat dissipation box and a mechanical transmission column block, the telescopic manipulator is provided with a telescopic mechanical slider, a telescopic mechanical chute, a telescopic mechanical supporting plate and a telescopic mechanical bracket, so that the mechanical arm of the multi-station manipulator of the production line is flexible in stretching, the working area in the rotating process is enlarged in a matched manner, the remote processing control is more efficiently matched, the production line flow is operated more efficiently and conveniently in a large area, and the rotary adsorption and grinding of the gripper are carried out in a matched manner while carrying and processing; but article that omit on this multistation manipulator can't the clamp get the production line still can't embrace to get the sign indicating number buttress to the article of production line.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide the multi-station manipulator for the packaging machine production line, which can clamp the missing articles on the conveying mechanism through the clamping manipulator, so that the loss caused by article omission is avoided, and the packaged articles on the conveying mechanism can be orderly clamped and taken down for stacking through the matching of the clamping manipulator and the stacking manipulator, so that the loading efficiency of the packaging machine production line is improved.
The purpose of the invention can be realized by the following technical scheme:
a multi-station manipulator of a packaging machine production line comprises a conveying mechanism, wherein one side of the conveying mechanism is provided with a holding manipulator, a stacking manipulator is arranged at a position, far away from the holding manipulator, of one side of the conveying mechanism, and two clamping manipulators are arranged at the other side of the conveying mechanism;
the clamping manipulator comprises a first manipulator base, a first transmission base is fixedly mounted on the upper surface of the first manipulator base, a first rotating seat is rotatably mounted at the upper end of the first transmission base, a first transmission motor is fixedly mounted on the rear surface of the first rotating seat, and a first mechanical arm is rotatably mounted on the front surface of the first rotating seat;
the conveying mechanism comprises a conveying main body, a plurality of bearing seats which are distributed at equal intervals are fixedly arranged at positions, close to two sides, of the upper surface of the conveying main body, a roller is rotatably arranged between the left and right aligned bearing seats, and a second chain wheel is fixedly arranged at one end, penetrating through one of the bearing seats, of the roller;
the holding manipulator comprises a second manipulator base, a second transmission base is fixedly mounted on the upper surface of the second manipulator base, a third rotating seat is rotatably mounted at the upper end of the second transmission base, the third rotating seat is L-shaped, a first servo motor is fixedly mounted on the upper surface of the third rotating seat, a fourth rotating seat is rotatably mounted on one side of the third rotating seat, a second servo motor for transmitting the fourth rotating seat is rotatably mounted on the other side surface of the third rotating seat, and a third mechanical arm is rotatably mounted on one side surface of the fourth rotating seat;
the stacking manipulator comprises a third manipulator base, the upper surface of the third manipulator base is fixedly provided with a third transmission base, the upper end of the third transmission base is rotated to be provided with a sixth rotary seat, the sixth rotary seat is L-shaped, the upper surface of the sixth rotary seat is fixedly provided with a fourth servo motor, one side of the sixth rotary seat is rotated to be provided with a seventh rotary seat, the other side surface of the sixth rotary seat is rotated to be provided with a fifth servo motor for driving the seventh rotary seat, and a surface of one side of the seventh rotary seat is rotated to be provided with a fifth mechanical arm.
Further, the method comprises the following steps: the multi-station manipulator for the packaging machine production line as claimed in claim, wherein a second rotary seat is rotatably mounted at the upper end of the first manipulator, a second transmission motor is fixedly mounted on the rear surface of the second rotary seat, a third transmission motor is fixedly mounted on the upper surface of the second rotary seat, a second manipulator is fixedly mounted on an output shaft of the third transmission motor, a first rotating head is rotatably mounted at the front end of the second manipulator, and a clamping clamp is fixedly mounted at one end of the first rotating head, which is far away from the second manipulator.
Further, the method comprises the following steps: the conveying device comprises a conveying main body, a first chain wheel, a second chain wheel, a third chain wheel, a driving motor, a first chain wheel, a second chain wheel, a third chain wheel and a chain transmission device, wherein the number of the third chain wheels is the same as that of the second chain wheels, the driving motor is fixedly installed on the lower surface of the conveying main body, the first chain wheel is fixedly installed on an output shaft of the driving motor, the first chain wheel, the second chain wheel and the third chain wheel are located on the same plane, and the first.
Further, the method comprises the following steps: the upper end fixed mounting of third arm has first connecting plate, a side fixed surface of first connecting plate installs third servo motor, a side surface of first connecting plate is close to third servo motor's the place ahead and rotates and install the fifth roating seat, the front surface of fifth roating seat rotates and installs the fourth arm, the front surface of fourth arm rotates and installs the second rotating head, the one end movable mounting that the fourth arm was kept away from to the second rotating head has first connecting seat, the lower extreme fixed mounting of first connecting seat has first fixed plate, the lower fixed surface of first fixed plate installs and embraces and gets the frame.
Further, the method comprises the following steps: the lower surface of the holding frame is fixedly provided with slide rails close to the positions of two sides, the lower ends of the two slide rails are slidably provided with two slide blocks, the lower ends of the two slide blocks adjacent to each other in the horizontal direction are fixedly provided with holding plates, the upper end of the holding frame is fixedly provided with a conveying frame, the lower surface of the conveying frame is rotatably provided with belt wheels close to the positions of two ends, the two belt wheels are rotatably provided with belts, the lower surfaces of the two holding plates are fixedly provided with belt fixing plates connected with the belts, the lower surface of the holding frame is fixedly provided with a cylinder seat, one side of the cylinder seat is fixedly provided with an electric cylinder, and a piston rod of the electric cylinder is fixedly provided with a pull rod fixedly connected with one of the holding.
Further, the method comprises the following steps: the upper end fixed mounting of fifth arm has the second connecting plate, a side fixed surface of second connecting plate installs sixth servo motor, a side surface of second connecting plate is close to the place ahead of sixth servo motor and rotates and install the eighth roating seat, the front surface of eighth roating seat rotates and installs sixth arm, the front surface of sixth arm rotates and installs the third rotating head, the one end movable mounting that the sixth arm was kept away from to the third rotating head has the second connecting seat.
Further, the method comprises the following steps: the lower end of the second connecting seat is fixedly provided with a second fixing plate, the lower surface of the second fixing plate is fixedly provided with a stacking frame, the lower surface of the stacking frame is fixedly provided with a plurality of connecting blocks, and the lower ends of the connecting blocks are fixedly provided with suckers.
Further, the method comprises the following steps: the specific use method of the multi-station manipulator comprises the following steps:
the method comprises the following steps: the object on the packaging machine production line is conveyed by a roller on the conveying mechanism, the driving motor drives the first chain wheel to rotate, and the rotating first chain wheel drives the second chain wheel and the third chain wheel to rotate through the chain, so that the roller is driven to convey the packaged object;
step two: in the conveying process, a second transmission base on a second manipulator base drives a third rotary seat to rotate, the directions of a third mechanical arm and a fourth mechanical arm are adjusted, the fourth rotary seat is driven by a second servo motor to drive the third mechanical arm to rotate, the angle of the third mechanical arm is adjusted, a third servo motor on a first connecting plate drives the fourth mechanical arm to rotate, the angle of the fourth mechanical arm is adjusted, a fifth rotary seat drives the fourth mechanical arm to rotate, the direction of a holding frame connected by a second rotary head, a first connecting seat and a first fixed plate is adjusted, the holding plate is convenient to hold and take articles, an electric cylinder on a cylinder seat pulls the holding plate through a pull rod to hold and take the articles, a belt fixed plate on the holding plate pulls a belt to rotate while pulling, so that another holding plate is driven to hold and take the articles, when the articles are conveyed to the position of the stacking manipulator, a third transmission base on the third manipulator base drives a sixth rotary seat to rotate, the directions of the fifth mechanical arm and the sixth mechanical arm are adjusted, the seventh rotating seat is driven by a fifth servo motor to drive the fifth mechanical arm to rotate, the angle of the fifth mechanical arm is adjusted, the sixth servo motor on the second connecting plate drives the sixth mechanical arm to rotate, the angle of the sixth mechanical arm is adjusted, the sixth mechanical arm is driven by an eighth rotating seat to rotate, the direction of a stacking rack connected by a third rotating head, a second connecting seat and a second fixing plate is adjusted, and a sucker on the stacking rack can conveniently absorb objects to be stacked;
step three: in the process of carrying, when having the article of omission, press from both sides to get off through pressing from both sides the manipulator clamp, first transmission base on the first manipulator base drives first roating seat and rotates, adjusts the direction of first arm, second arm, and the angle of first arm is adjusted to first transmission motor of rethread, then adjusts the regulation of second arm through the second transmission motor on the second roating seat, makes the first manipulator base clamp on the first rotating head get the omission article.
The invention has the beneficial effects that:
1. the missing articles on the conveying mechanism can be clamped down by the arranged clamping mechanical arm, loss caused by article omission is avoided, in the conveying process, when the missing articles exist, the missing articles are clamped down by the clamping mechanical arm, the first transmission base on the first mechanical arm base drives the first rotary base to rotate, the directions of the first mechanical arm and the second mechanical arm are adjusted, the angle of the first mechanical arm is adjusted by the first transmission motor, then the adjustment of the second mechanical arm is adjusted by the second transmission motor on the second rotary base, and the missing articles are clamped by the first mechanical arm base on the first rotary head;
2. the holding and taking manipulator and the stacking manipulator are matched, packaged articles on the conveying mechanism can be orderly held and taken down and stacked, the loading efficiency of a packaging machine production line is improved, in the conveying process, a second transmission base on a second manipulator base drives a third rotary seat to rotate, the direction of a third mechanical arm and a fourth mechanical arm is adjusted, a fourth rotary seat is driven by a second servo motor to drive the third mechanical arm to rotate, the angle of the third mechanical arm is adjusted, a fourth mechanical arm is driven by a third servo motor on a first connecting plate to rotate, the angle of the fourth mechanical arm is adjusted, a fifth rotary seat drives the fourth mechanical arm to rotate to adjust the direction of a holding and taking frame connected by a second rotary head, the first connecting seat and a first fixing plate, the holding and taking of the articles are facilitated, an electric cylinder on a cylinder seat pulls the holding and taking plate through a pull rod to take the articles, when pulling, the area fixed plate pulling belt on embracing the board rotates, thereby it embraces another embracing and gets the board and get article to drive, when carrying the position of pile up neatly machinery hand, third transmission base on the third machinery hand base drives the sixth roating seat and rotates, adjust the fifth arm, the direction of sixth arm, drive the rotation of fifth arm through fifth servo motor drive seventh roating seat, adjust the angle of fifth arm, sixth servo motor on the rethread second connecting plate drives the rotation of sixth arm, adjust the angle of sixth arm, rethread eighth roating seat drives the rotation of sixth arm and adjusts by the third rotating head, the second connecting seat, the pile up neatly frame direction that the second fixed plate is connected, make things convenient for the sucking disc on the pile up neatly frame to absorb article pile up neatly.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the multi-station manipulator of the present invention;
fig. 2 is a schematic view of the mechanism of the gripping robot in the present invention;
FIG. 3 is a schematic view of the structure of the conveying mechanism of the present invention;
FIG. 4 is a schematic structural diagram of a picking robot according to the present invention;
FIG. 5 is a schematic structural view of the carrying rack of the present invention;
FIG. 6 is a schematic diagram of the construction of the palletizing robot in the present invention;
FIG. 7 is a schematic view of the construction of the pallet of the present invention.
In the figure: 1. a gripping manipulator; 101. a first manipulator base; 102. a first transmission base; 103. a first drive motor; 104. a first rotating base; 105. a second drive motor; 106. a first robot arm; 107. a third drive motor; 108. a second rotary base; 109. a second mechanical arm; 1010. a first rotating head; 1011. a clamping clip; 2. a conveying mechanism; 201. a conveying body; 202. a drive motor; 203. a first sprocket; 204. a bearing seat; 205. a drum; 206. a second sprocket; 207. a third sprocket; 3. a holding manipulator; 301. a second manipulator base; 302. a second transmission base; 303. a third rotary base; 304. a first servo motor; 305. a second servo motor; 306. a fourth rotating base; 307. a third mechanical arm; 308. a third servo motor; 309. a fifth rotating base; 3010. a first connecting plate; 3011. a fourth mechanical arm; 3012. a second rotary head; 3013. a first connecting seat; 3014. a first fixing plate; 3015. a holding and taking frame; 3016. a slider; 3017. a slide rail; 3018. a transfer frame; 3019. a pulley; 3020. a belt; 3021. a belt fixing plate; 3022. holding the plate; 3023. a cylinder block; 3024. an electric cylinder; 3025. a pull rod; 4. a stacking manipulator; 401. a third manipulator base; 402. a third drive base; 403. a sixth rotating base; 404. a fourth servo motor; 405. a fifth servo motor; 406. a seventh rotating base; 407. a fifth mechanical arm; 408. a sixth servo motor; 409. an eighth rotating base; 4010. a second connecting plate; 4011. a sixth mechanical arm; 4012. a third rotary head; 4013. a second connecting seat; 4014. a second fixing plate; 4015. a stacking rack; 4016. connecting blocks; 4017. and (4) sucking discs.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the multi-station manipulator of the packaging machine production line comprises a conveying mechanism 2, wherein a holding manipulator 3 is arranged on one side of the conveying mechanism 2, a stacking manipulator 4 is arranged on one side of the conveying mechanism 2 away from the holding manipulator 3, and two clamping manipulators 1 are arranged on the other side of the conveying mechanism 2;
the gripping manipulator 1 comprises a first manipulator base 101, a first transmission base 102 is fixedly installed on the upper surface of the first manipulator base 101, a first rotating base 104 is rotatably installed at the upper end of the first transmission base 102, a first transmission motor 103 is fixedly installed on the rear surface of the first rotating base 104, and a first mechanical arm 106 is rotatably installed on the front surface of the first rotating base 104;
the conveying mechanism 2 comprises a conveying main body 201, a plurality of bearing seats 204 which are distributed at equal intervals are fixedly arranged on the upper surface of the conveying main body 201 close to the two sides, a roller 205 is rotatably arranged between the left and right aligned bearing seats 204, and a second chain wheel 206 is fixedly arranged at one end of the roller 205 penetrating through one of the bearing seats 204;
the holding manipulator 3 comprises a second manipulator base 301, a second transmission base 302 is fixedly mounted on the upper surface of the second manipulator base 301, a third rotating seat 303 is rotatably mounted at the upper end of the second transmission base 302, the third rotating seat 303 is L-shaped, a first servo motor 304 is fixedly mounted on the upper surface of the third rotating seat 303, a fourth rotating seat 306 is rotatably mounted on one side of the third rotating seat 303, a second servo motor 305 for driving the fourth rotating seat 306 is rotatably mounted on the other side surface of the third rotating seat 303, and a third mechanical arm 307 is rotatably mounted on the surface of one side of the fourth rotating seat 306;
the stacking manipulator 4 comprises a third manipulator base 401, a third transmission base 402 is fixedly mounted on the upper surface of the third manipulator base 401, a sixth rotary seat 403 is rotatably mounted at the upper end of the third transmission base 402, the sixth rotary seat 403 is L-shaped, a fourth servo motor 404 is fixedly mounted on the upper surface of the sixth rotary seat 403, a seventh rotary seat 406 is rotatably mounted on one side of the sixth rotary seat 403, a fifth servo motor 405 for driving the seventh rotary seat 406 is rotatably mounted on the other side of the sixth rotary seat 403, and a fifth mechanical arm 407 is rotatably mounted on one side surface of the seventh rotary seat 406.
The upper end of first arm 106 is rotated and is installed second roating seat 108, the rear surface fixed mounting of second roating seat 108 has second drive motor 105, the last fixed surface of second roating seat 108 installs third drive motor 107, the output shaft fixed mounting of third drive motor 107 has second arm 109, the front end of second arm 109 is rotated and is installed first rotating head 1010, the one end fixed mounting that second arm 109 was kept away from to first rotating head 1010 has the clamp to get 1011.
The conveying device comprises a conveying main body 201, a first chain wheel 203, a second chain wheel 206, a third chain wheel 207, a driving motor 202, a first chain wheel 203, a second chain wheel 206, a third chain wheel 207 and a chain transmission device, wherein the number of the third chain wheels 207 is the same as that of the second chain wheels 206, the lower surface of the conveying main body 201 is fixedly provided with the driving motor 202, the output shaft of the driving motor 202 is fixedly provided with the first chain wheel 203, the second chain wheel 206 and the third chain wheel 207 are located on the same plane.
A first connecting plate 3010 is fixedly mounted at the upper end of the third mechanical arm 307, a third servo motor 308 is fixedly mounted on one side surface of the first connecting plate 3010, a fifth rotating seat 309 is rotatably mounted on one side surface of the first connecting plate 3010 close to the front of the third servo motor 308, a fourth mechanical arm 3011 is rotatably mounted on the front surface of the fifth rotating seat 309, a second rotating head 3012 is rotatably mounted on the front surface of the fourth mechanical arm 3011, a first connecting seat 3013 is movably mounted at one end, far away from the fourth mechanical arm 3011, of the second rotating head 3012, a first fixing plate 3014 is fixedly mounted at the lower end of the first connecting seat 3013, and a holding frame 3015 is fixedly mounted on the lower surface of the first fixing plate 3014; the lower surface of the embracing and taking frame 3015 is close to the equal fixed mounting in position on both sides and has slide rail 3017, and the equal slidable mounting of lower extreme of two slide rails 3017 has two sliders 3016, and the lower extreme fixed mounting of two adjacent sliders 3016 of horizontal direction has and embraces and takes board 3022, the upper end fixed mounting who embraces and take frame 3015 has transport frame 3018, the lower surface of transport frame 3018 is close to the equal rotational mounting in position at both ends and has band pulley 3019, and the rotational mounting has belt 3020 on two band pulleys 3019, and the equal fixed mounting of lower surface of two embracing and taking board 3022 has the area fixed plate 3021 that links to each other with belt 3020, the lower surface fixed mounting who embraces and takes frame 3015 has cylinder block 3023, one side fixed mounting of cylinder block 3023 has electric cylinder 3024, electric cylinder 3024's piston rod fixed mounting has and embraces with one of them and takes board 302.
A second connecting plate 4010 is fixedly installed at the upper end of the fifth mechanical arm 407, a sixth servo motor 408 is fixedly installed on the surface of one side of the second connecting plate 4010, an eighth rotating seat 409 is rotatably installed on the surface of one side of the second connecting plate 4010 close to the front of the sixth servo motor 408, a sixth mechanical arm 4011 is rotatably installed on the front surface of the eighth rotating seat 409, a third rotating head 4012 is rotatably installed on the front surface of the sixth mechanical arm 4011, and a second connecting seat 4013 is movably installed at one end, far away from the sixth mechanical arm 4011, of the third rotating head 4012; second connecting seat 4013's lower extreme fixed mounting has second fixed plate 4014, the lower fixed surface of second fixed plate 4014 installs hacking frame 4015, the lower fixed surface of hacking frame 4015 installs a plurality of connecting block 4016, the lower extreme fixed mounting of connecting block 4016 has sucking disc 4017.
The specific use method of the multi-station manipulator comprises the following steps:
the method comprises the following steps: the articles on the production line of the packaging machine are conveyed by the roller 205 on the conveying mechanism 2, the driving motor 202 drives the first chain wheel 203 to rotate, and the rotating first chain wheel 203 drives the second chain wheel 206 and the third chain wheel 207 to rotate through the chain, so as to drive the roller 205 to convey the packaged articles;
step two: in the conveying process, the second transmission base 302 on the second manipulator base 301 drives the third rotating base 303 to rotate, the directions of the third mechanical arm 307 and the fourth mechanical arm 3011 are adjusted, the fourth rotating base 306 is driven by the second servo motor 305 to drive the third mechanical arm 307 to rotate, the angle of the third mechanical arm 307 is adjusted, the fourth mechanical arm 3011 is driven to rotate by the third servo motor 308 on the first connecting plate 3010, the angle of the fourth mechanical arm 3011 is adjusted, the fourth mechanical arm 3011 is driven by the fifth rotating base 309 to rotate, the direction of a holding frame 3015 connected by the second rotating head 3012, the first connecting base 3013 and the first fixing plate 3014 is adjusted, the article is conveniently held by the holding plate 3022, an electric cylinder 3024 on the cylinder base 3023 pulls the holding plate 3022 through a pull rod 3025 to hold the article, and when the article is pulled, the belt 3020 on the holding plate 3022 pulls a belt 3020 to rotate, so as to drive the other holding plate 3022 to hold the article, when the robot is conveyed to the position of the stacking manipulator 4, a third transmission base 402 on a third manipulator base 401 drives a sixth rotating seat 403 to rotate, the directions of a fifth mechanical arm 407 and a sixth mechanical arm 4011 are adjusted, a seventh rotating seat 406 is driven by a fifth servo motor 405 to drive the fifth mechanical arm 407 to rotate, the angle of the fifth mechanical arm 407 is adjusted, the sixth mechanical arm 4011 is driven by a sixth servo motor 408 on a second connecting plate 4010 to rotate, the angle of the sixth mechanical arm 4011 is adjusted, the sixth mechanical arm 4011 is driven by an eighth rotating seat 409 to rotate, the direction of a stacking rack 4015 connected by a third rotating head 4012, a second connecting seat 4013 and a second fixing plate 4014 is adjusted, and the robot is convenient for sucking discs 4017 on the stacking rack 4015 to suck articles for stacking;
step three: in the conveying process, when missing articles exist, the missing articles are clamped by the clamping manipulator 1, the first transmission base 102 on the first manipulator base 101 drives the first rotary base 104 to rotate, the directions of the first mechanical arm 106 and the second mechanical arm 109 are adjusted, the angle of the first mechanical arm 106 is adjusted by the first transmission motor 103, then the adjustment of the second mechanical arm 109 is adjusted by the second transmission motor 105 on the second rotary base 108, and the first manipulator base 101 on the first rotary head 1010 is enabled to clamp the missing articles.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.
Claims (8)
1. The multi-station manipulator of the packaging machine production line is characterized by comprising a conveying mechanism (2), wherein one side of the conveying mechanism (2) is provided with a holding manipulator (3), one side of the conveying mechanism (2) far away from the holding manipulator (3) is provided with a stacking manipulator (4), and the other side of the conveying mechanism (2) is provided with two clamping manipulators (1);
the clamping manipulator (1) comprises a first manipulator base (101), a first transmission base (102) is fixedly installed on the upper surface of the first manipulator base (101), a first rotating base (104) is rotatably installed at the upper end of the first transmission base (102), a first transmission motor (103) is fixedly installed on the rear surface of the first rotating base (104), and a first mechanical arm (106) is rotatably installed on the front surface of the first rotating base (104);
the conveying mechanism (2) comprises a conveying main body (201), a plurality of bearing seats (204) which are distributed at equal intervals are fixedly arranged at positions, close to two sides, of the upper surface of the conveying main body (201), a roller (205) is rotatably arranged between the left and right aligned bearing seats (204), and a second chain wheel (206) is fixedly arranged at one end, penetrating through one bearing seat (204), of the roller (205);
the holding manipulator (3) comprises a second manipulator base (301), a second transmission base (302) is fixedly installed on the upper surface of the second manipulator base (301), a third rotating seat (303) is rotatably installed at the upper end of the second transmission base (302), the third rotating seat (303) is L-shaped, a first servo motor (304) is fixedly installed on the upper surface of the third rotating seat (303), a fourth rotating seat (306) is rotatably installed on one side of the third rotating seat (303), a second servo motor (305) for driving the fourth rotating seat (306) is rotatably installed on the surface of the other side of the third rotating seat (303), and a third mechanical arm (307) is rotatably installed on the surface of one side of the fourth rotating seat (306);
the stacking manipulator (4) comprises a third manipulator base (401), a third transmission base (402) is fixedly mounted on the upper surface of the third manipulator base (401), a sixth rotary seat (403) is rotatably mounted at the upper end of the third transmission base (402), the sixth rotary seat (403) is L-shaped, a fourth servo motor (404) is fixedly mounted on the upper surface of the sixth rotary seat (403), a seventh rotary seat (406) is rotatably mounted on one side of the sixth rotary seat (403), a fifth servo motor (405) for driving the seventh rotary seat (406) is rotatably mounted on the surface of the other side of the sixth rotary seat (403), and a fifth mechanical arm (407) is rotatably mounted on the surface of one side of the seventh rotary seat (406).
2. The multi-station manipulator of the packaging machine production line as claimed in claim 1, wherein a second rotary seat (108) is rotatably mounted at the upper end of the first mechanical arm (106), a second transmission motor (105) is fixedly mounted on the rear surface of the second rotary seat (108), a third transmission motor (107) is fixedly mounted on the upper surface of the second rotary seat (108), a second mechanical arm (109) is fixedly mounted on an output shaft of the third transmission motor (107), a first rotary head (1010) is rotatably mounted at the front end of the second mechanical arm (109), and a clamping clamp (1011) is fixedly mounted at one end, away from the second mechanical arm (109), of the first rotary head (1010).
3. The multi-station manipulator of the packaging machine production line as claimed in claim 1, wherein a third chain wheel (207) with the same number as the second chain wheels (206) is fixedly mounted on one side surface of the conveying main body (201), a driving motor (202) is fixedly mounted on the lower surface of the conveying main body (201), a first chain wheel (203) is fixedly mounted on an output shaft of the driving motor (202), the first chain wheel (203), the second chain wheel (206) and the third chain wheel (207) are located on the same plane, and the first chain wheel (203), the second chain wheel (206) and the third chain wheel (207) are in chain transmission.
4. The multi-station manipulator of claim 1, a first connecting plate (3010) is fixedly arranged at the upper end of the third mechanical arm (307), a third servo motor (308) is fixedly arranged on the surface of one side of the first connecting plate (3010), a fifth rotating seat (309) is rotatably arranged on one side surface of the first connecting plate (3010) close to the front of the third servo motor (308), a fourth mechanical arm (3011) is rotatably arranged on the front surface of the fifth rotating seat (309), a second rotating head (3012) is rotatably arranged on the front surface of the fourth mechanical arm (3011), one end of the second rotating head (3012) far away from the fourth mechanical arm (3011) is movably provided with a first connecting seat (3013), a first fixing plate (3014) is fixedly arranged at the lower end of the first connecting seat (3013), the lower surface of the first fixing plate (3014) is fixedly provided with a holding frame (3015).
5. The multistation manipulator of the packaging machine production line as claimed in claim 4, wherein the lower surface of the holding frame (3015) is fixedly provided with slide rails (3017) at positions close to both sides, the lower ends of the two slide rails (3017) are slidably provided with two sliders (3016), the lower ends of the two sliders (3016) adjacent to each other in the horizontal direction are fixedly provided with holding plates (3022), the upper end of the holding frame (3015) is fixedly provided with a conveying frame (3018), the lower surface of the conveying frame (3018) close to both ends is rotatably provided with belt wheels (3019), the two belt wheels (3019) are rotatably provided with belts (3020), the lower surfaces of the two holding plates (3022) are fixedly provided with belt fixing plates (3021) connected with the belts (3020), the lower surface of the holding frame (3015) is fixedly provided with a cylinder seat (3023), one side of the cylinder seat (3023) is fixedly provided with an electric cylinder (3024), a piston rod of the electric cylinder (3024) is fixedly provided with a pull rod (3025) which is fixedly connected with one of the holding plates (3022).
6. The multi-station manipulator of the packaging machine production line as claimed in claim 1, wherein a second connecting plate (4010) is fixedly mounted at the upper end of the fifth mechanical arm (407), a sixth servo motor (408) is fixedly mounted on one side surface of the second connecting plate (4010), an eighth rotating seat (409) is rotatably mounted on one side surface of the second connecting plate (4010) close to the front of the sixth servo motor (408), a sixth mechanical arm (4011) is rotatably mounted on the front surface of the eighth rotating seat (409), a third rotating head (4012) is rotatably mounted on the front surface of the sixth mechanical arm (4011), and a second connecting seat (4013) is movably mounted at one end, far away from the sixth mechanical arm (4011), of the third rotating head (4012).
7. The multi-station mechanical arm for the packaging machine production line as claimed in claim 6, wherein a second fixing plate (4014) is fixedly mounted at the lower end of the second connecting seat (4013), a stacking rack (4015) is fixedly mounted on the lower surface of the second fixing plate (4014), a plurality of connecting blocks (4016) are fixedly mounted on the lower surface of the stacking rack (4015), and suckers (4017) are fixedly mounted at the lower end of the connecting blocks (4016).
8. The multi-station manipulator of the packaging machine production line according to claim 1, wherein the specific use method of the multi-station manipulator is as follows:
the method comprises the following steps: the goods on the packaging machine production line are conveyed by a roller (205) on the conveying mechanism (2), the driving motor (202) drives the first chain wheel (203) to rotate, and the rotating first chain wheel (203) drives the second chain wheel (206) and the third chain wheel (207) to rotate through a chain, so that the roller (205) is driven to convey the packaged goods;
step two: in the conveying process, a second transmission base (302) on a second manipulator base (301) drives a third rotating base (303) to rotate, the directions of a third mechanical arm (307) and a fourth mechanical arm (3011) are adjusted, a fourth rotating base (306) is driven by a second servo motor (305) to drive the third mechanical arm (307) to rotate, the angle of the third mechanical arm (307) is adjusted, a fourth mechanical arm (3011) is driven to rotate by a third servo motor (308) on a first connecting plate (3010), the angle of the fourth mechanical arm (3011) is adjusted, a fifth rotating base (309) drives the fourth mechanical arm (3011) to rotate to adjust the direction of a holding frame (3015) connected by the second rotating head (3012), the first connecting base (3013) and a first fixing plate (3014), articles are conveniently held by a holding plate (3022), an electric cylinder (3024) on a cylinder base (3023) pulls the holding plate (3022) through a pull rod (3025) to hold articles, when the robot arm is pulled, a belt (3020) is pulled to rotate by a belt fixing plate (3021) on the grabbing plate (3022), so that another grabbing plate (3022) is driven to grab an article, and the article is conveyed to the position of a stacking manipulator (4), a sixth rotating seat (403) is driven to rotate by a third transmission base (402) on a third manipulator base (401), a fifth mechanical arm (407) is adjusted, the direction of the sixth mechanical arm (4011) is adjusted, a seventh rotating seat (406) is driven to drive the fifth mechanical arm (407) to rotate by a fifth servo motor (405), the angle of the fifth mechanical arm (407) is adjusted, a sixth mechanical arm (4011) is driven to rotate by a sixth servo motor (408) on a second connecting plate (4010), the angle of the sixth mechanical arm (4011) is adjusted, a sixth mechanical arm (4011) is driven to rotate by an eighth rotating seat (409), and the adjustment is carried out by a third rotating head (4012), a second connecting seat (4013), The direction of a stacking frame (4015) connected with the second fixing plate (4014) is convenient for a sucking disc (4017) on the stacking frame (4015) to suck objects for stacking;
step three: in the conveying process, when missing articles exist, the articles are clamped through the clamping manipulator (1), a first transmission base (102) on a first manipulator base (101) drives a first rotary seat (104) to rotate, a first mechanical arm (106) and the direction of a second mechanical arm (109) are adjusted, the angle of the first mechanical arm (106) is adjusted through a first transmission motor (103), then the adjustment of the second mechanical arm (109) is adjusted through a second transmission motor (105) on a second rotary seat (108), and the missing articles are clamped through the first manipulator base (101) on the first rotary head (1010).
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| CN202010238399.2A CN111422415A (en) | 2020-03-30 | 2020-03-30 | Multi-station manipulator of packaging machine production line |
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