CN111470124B

CN111470124B - Control method for manipulator for automatically feeding packaging tape

Info

Publication number: CN111470124B
Application number: CN202010349851.2A
Authority: CN
Inventors: 孙莉莉
Original assignee: Xinyi Zhongzhen Electrical Technology Co Ltd
Current assignee: Xinyi Zhongzhen Electrical Technology Co., Ltd
Priority date: 2018-05-02
Filing date: 2018-05-02
Publication date: 2021-11-23
Anticipated expiration: 2038-05-02
Also published as: CN108792043A; CN111470124A; CN108792043B

Abstract

The invention discloses a control method of a manipulator for automatically feeding a packaging belt, wherein the manipulator comprises a horizontally arranged table plate, the bottom of the table plate is fixedly connected with a driving motor with an upward output shaft, the tail end of the output shaft of the driving motor is welded with a screw rod arranged along the vertical direction, a guide rod welded with the table plate is arranged above the driving motor, the outer ring of the guide rod is movably sleeved with a connecting block, one side of the connecting block, which is close to the screw rod, is welded with a mounting plate, the inside of the mounting plate is provided with a thread groove along the height direction, the screw rod is in threaded connection with the thread groove, one side of the mounting plate, which is far away from the guide rod, is welded with a horizontally arranged push rod motor, and the tail end of the output shaft of the push rod motor is hinged with two symmetrically arranged fixed blocks. The packaging tape cutting device is novel in design and simple to operate, not only is the packaging tape convenient to pull and take, but also the packaging tape can be cut automatically, time and labor are saved, meanwhile, articles with different heights can be packaged conveniently, and the packaging tape cutting device is suitable for market popularization.

Description

Control method for manipulator for automatically feeding packaging tape

Technical Field

The invention relates to the technical field of manipulators, in particular to a control method of a manipulator for automatically feeding a packaging tape.

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.

In the packing trade, need use the packing area to pack, and when using the packing area packing, need the staff to pull the packing area fracture and come, rethread machine packing still needs the staff to cut simultaneously, and is more time-consuming and energy-consuming like this, and degree of automation is not high moreover, and when packing, when packing the article of packing size difference, the packing area draws the high difference of getting, for this reason we have proposed a control method who is used for the manipulator of automatic packing area.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a control method for a manipulator for automatically feeding a packaging tape.

In order to achieve the purpose, the invention adopts the following technical scheme:

a control method for a manipulator for automatically feeding a packaging belt comprises a horizontally arranged table plate, wherein the bottom of the table plate is fixedly connected with a driving motor with an upward output shaft, the tail end of the output shaft of the driving motor is welded with a screw rod arranged along the vertical direction, a guide rod welded with the table plate is arranged above the driving motor, a connecting block is movably sleeved on the outer ring of the guide rod, one side of the connecting block, which is close to the screw rod, is welded with a mounting plate, the inside of the mounting plate is provided with a thread groove along the height direction, the screw rod is in threaded connection with the thread groove, one side of the mounting plate, which is far away from the guide rod, is welded with a horizontally arranged push rod motor, the tail end of the output shaft of the push rod motor is hinged with two symmetrically arranged fixed blocks, one end, which is far away from each other, of each fixed block is hinged with a movable rod, one end, which is close to the mounting plate, is welded with a baffle plate, one side, close to the mounting plate, of the baffle plate is connected with a spring, one end, far away from the baffle plate, of the spring is connected with the mounting plate, one side, close to each other, of each of the two springs is provided with a fixing plate welded with the mounting plate, a connecting hole is formed in the fixing plate along the length direction of the fixing plate, sliding grooves are formed in the inner walls of the two sides of the connecting hole along the length direction of the connecting hole, a sliding block is arranged in each sliding groove in a sliding mode and is connected with a movable rod in a rotating mode, and a clamping plate is welded at one end, far away from the baffle plate, of the movable rod; it is characterized in that when packaging is carried out, the height of the mounting plate is adjusted according to the height of an article, the driving motor is started, the driving motor drives the screw rod to rotate, the mounting plate is driven to move when the screw rod rotates, the guide rod can enable the mounting plate to move only in the vertical direction, when packaging is carried out, the push rod motor is started to enable the output shaft of the push rod motor to retract, the push rod motor drives the fixed block to move, the fixed block moves to pull the movable rod to rotate, because the spring is always in a compressed state, the spring always generates elasticity on the baffle plate, so that the movable rod only rotates when the push rod motor moves initially, when the movable rod rotates, the clamping plates are driven to approach each other, finally the packaging tape is clamped by the clamping plates, and when the output shaft of the push rod motor is retracted again, the movable rod slides along the sliding groove on the fixed plate along with the sliding block, so that the clamping plate pulls the packaging belt to move horizontally.

Preferably, one side, far away from each other, of each of the two clamping plates is fixedly connected with a horizontally arranged micro motor, a cutter is welded at the tail end of an output shaft of each micro motor, and an installation cover welded with the clamping plates is sleeved outside each micro motor; when the packaging tape is taken properly, the micro motor is started, the micro motor drives the cutter to rotate, and the cutter cuts off the packaging tape.

Compared with the prior art, the invention has the beneficial effects that:

1. the packaging belt is clamped by the clamping plate, when the push rod motor moves again, the sliding block can slide along the sliding groove on the fixed plate, so that the clamping plate pulls the packaging belt to move horizontally;

2. the packaging tape cutting device comprises a driving motor, a screw rod, a guide rod, a connecting block, a micro motor, a cutter and the like, wherein the driving motor drives the screw rod to rotate, the screw rod rotates to drive a mounting plate to move up and down, the guide rod plays a role in guiding, the mounting plate can only move in the vertical direction, and the micro motor drives the cutter to rotate, so that the packaging tape can be cut;

in conclusion, the packaging tape is novel in design and simple to operate, the packaging tape can be conveniently pulled and taken, the packaging tape can be automatically cut off, time and labor are saved, meanwhile, articles with different heights can be conveniently packaged, and the packaging tape is suitable for market popularization.

Drawings

FIG. 1 is a front view of a clamping plate of a manipulator for automatically feeding a packaging tape according to the present invention;

FIG. 2 is a schematic front view of a clamping plate of a manipulator for automatically feeding a packaging tape according to the present invention;

fig. 3 is a schematic top view of a fixing plate of a robot for automatically loading a packaging tape according to the present invention.

In the figure: the cutting tool comprises a table plate 1, a driving motor 2, a screw rod 3, a guide rod 4, a connecting block 5, a mounting plate 6, a thread groove 7, a push rod motor 8, a fixed block 9, a movable rod 10, a baffle 11, a spring 12, a clamping plate 13, a fixed plate 14, a connecting hole 15, a sliding groove 16, a sliding block 17, a micro motor 18, a cutter 19 and a mounting cover 20.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-3, a control method for a manipulator for automatically feeding a packaging tape, the manipulator comprises a horizontally arranged table plate 1, a driving motor 2 with an upward output shaft is fixedly connected to the bottom of the table plate 1, a screw 3 arranged in the vertical direction is welded at the tail end of the output shaft of the driving motor 2, a guide rod 4 welded with the table plate 1 is arranged above the driving motor 2, a connecting block 5 is movably sleeved on the outer ring of the guide rod 4, a mounting plate 6 is welded at one side of the connecting block 5 close to the screw 3, a thread groove 7 is arranged in the mounting plate 6 in the height direction, the screw 3 is in threaded connection with the thread groove 7, a horizontally arranged push rod motor 8 is welded at one side of the mounting plate 6 far away from the guide rod 4, two symmetrically arranged fixed blocks 9 are hinged at the tail end of the output shaft of the push rod motor 8, and a movable rod 10 is hinged at one end of each fixed block 9 far away from each other, one end welding that movable rod 10 is close to mounting panel 6 has baffle 11, one side that baffle 11 is close to mounting panel 6 is connected with spring 12, spring 12 keeps away from baffle 11 one end and is connected with mounting panel 6, one side that two springs 12 are close to each other is equipped with fixed plate 14 with mounting panel 6 welded, connecting hole 15 has been seted up along its length direction in fixed plate 14's inside, spout 16 has all been seted up along its length direction to the both sides inner wall of connecting hole 15, the inside slidable mounting of spout 16 has slider 17, and slider 17 rotates with movable rod 10 to be connected.

The welding of the one end that movable rod 10 kept away from baffle 11 has splint 13, the equal fixed connection in one side that two splint 13 kept away from each other has micro motor 18 that the level set up, the end welding of micro motor 18's output shaft has cutter 19, micro motor 18's outside cup joints with splint 13 welded installation cover 20, the guiding hole has been seted up to connecting block 5's inside, and guide bar 4 runs through the guiding hole, the through-hole has been seted up to table 1's inside, and driving motor 2's output shaft runs through the through-hole, the mounting hole has been seted up to movable rod 10's inside, and slider 17 runs through the mounting hole, the one side that two splint 13 are close to each other all bonds there is the rubber pad, cutter 19 is semi-circular structure, the welding of the bottom four corners of table 1 has the table leg that sets up along vertical direction, driving motor 2 passes through bolted connection with table 1.

In the embodiment, firstly, when packaging is carried out, the height of the mounting plate 6 is adjusted according to the height of an object, the driving motor 2 is started, the driving motor 2 drives the screw rod 3 to rotate, the screw rod 3 drives the mounting plate 6 to move when rotating, the mounting plate 6 can only move in the vertical direction through the guide rod 4, when packaging is carried out, the push rod motor 8 is started to withdraw the output shaft of the push rod motor 8, the push rod motor 8 drives the fixed block 9 to move, the fixed block 9 moves to pull the movable rod 10 to rotate, because the spring 12 is always in a compressed state, the spring 12 always generates elasticity on the baffle 11, therefore, when the push rod motor 8 initially moves, the movable rod 10 only rotates, the movable rod 10 drives the clamping plates 13 to approach each other when rotating, finally, the clamping plates 13 clamp the packaging belt, and when the output shaft of the push rod motor 8 is withdrawn again, the movable rod 10 slides along the sliding groove 16 on the fixed plate 14 along with the sliding block 17, so that the clamping plate 13 pulls the packaging tape to move horizontally, when the packaging tape is taken properly, the micro motor 18 is started, the micro motor 18 drives the cutter 19 to rotate, and the cutter 19 cuts off the packaging tape.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A control method for a manipulator for automatically feeding a packaging tape comprises a horizontally arranged table plate (1), wherein an output shaft of a driving motor (2) with an upward output shaft is fixedly connected to the bottom of the table plate (1), a screw rod (3) arranged in a vertical direction is welded at the tail end of the output shaft of the driving motor (2), a guide rod (4) welded with the table plate (1) is arranged above the driving motor (2), a connecting block (5) is movably sleeved on the outer ring of the guide rod (4), a mounting plate (6) is welded on one side, close to the screw rod (3), of the connecting block (5), a thread groove (7) is formed in the mounting plate (6) in the height direction of the mounting plate, the screw rod (3) is in threaded connection with the thread groove (7), and a horizontally arranged push rod motor (8) is welded on one side, far away from the guide rod (4), of the mounting plate (6), the end of the output shaft of the push rod motor (8) is hinged with two fixed blocks (9) which are symmetrically arranged, two fixed blocks (9) are hinged with a movable rod (10) at one end far away from each other, the movable rod (10) is welded with a baffle (11) at one end close to the mounting plate (6), one side of the baffle (11) close to the mounting plate (6) is connected with a spring (12), one end of the spring (12) far away from the baffle (11) is connected with the mounting plate (6), two sides of the spring (12) close to each other are provided with a fixed plate (14) welded with the mounting plate (6), a connecting hole (15) is formed in the inner part of the fixed plate (14) along the length direction, sliding grooves (16) are formed in the inner walls of the two sides of the connecting hole (15) along the length direction, sliding blocks (17) are arranged in the sliding manner, and the sliding blocks (17) are rotatably connected with the movable rod (10), a clamping plate (13) is welded at one end of the movable rod (10) far away from the baffle plate (11); the packaging machine is characterized in that when packaging is carried out, the height of a mounting plate (6) is adjusted according to the height of an object, a driving motor (2) is started, the driving motor (2) drives a screw rod (3) to rotate, the screw rod (3) can drive the mounting plate (6) to move when rotating, a guide rod (4) can enable the mounting plate (6) to move only in the vertical direction, when packaging is carried out, a push rod motor (8) is started to enable an output shaft of the push rod motor (8) to withdraw, the push rod motor (8) drives a fixed block (9) to move, the fixed block (9) moves to pull a movable rod (10) to rotate, the spring (12) is always in a compression state, the spring (12) always generates elasticity on a baffle plate (11), therefore, when the push rod motor (8) initially moves, the movable rod (10) only rotates, and when the movable rod (10) rotates, the movable rod (10) can drive a clamping plate (13) to mutually approach, finally, the clamping plate (13) clamps the packaging belt, and when the output shaft of the push rod motor (8) retracts again, the movable rod (10) slides along the sliding groove (16) on the fixed plate (14) along with the sliding block (17), so that the clamping plate (13) pulls the packaging belt to move horizontally.

2. The method for controlling the manipulator for automatically feeding the packing tape as claimed in claim 1, wherein a horizontally arranged micro motor (18) is fixedly connected to each of the two clamping plates (13) at the side away from each other, a cutter (19) is welded to the tail end of an output shaft of the micro motor (18), and a mounting cover (20) welded to the clamping plates (13) is sleeved outside the micro motor (18); when the packaging tape is taken properly, the micro motor (18) is started, the micro motor (18) drives the cutter (19) to rotate, and the cutter (19) cuts off the packaging tape.