CN111590538A - Food packing is with snatching arm - Google Patents
Food packing is with snatching arm Download PDFInfo
- Publication number
- CN111590538A CN111590538A CN202010457411.9A CN202010457411A CN111590538A CN 111590538 A CN111590538 A CN 111590538A CN 202010457411 A CN202010457411 A CN 202010457411A CN 111590538 A CN111590538 A CN 111590538A
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- CN
- China
- Prior art keywords
- rotating
- plate
- rod
- mechanical arm
- fixedly connected
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Abstract
The invention discloses a grabbing mechanical arm for food packaging, which comprises a supporting base, wherein the top end of the supporting base is fixedly connected with a vertically arranged supporting rod, the top end of the supporting rod is rotatably connected with an adjusting rod, an installation cavity is arranged on the supporting rod, a first rotating motor is fixedly installed in the installation cavity, an output shaft of the first rotating motor is fixedly connected with the adjusting rod, a groove is formed in the top end of the adjusting rod, a first rotating rod and a second rotating rod are respectively arranged in the groove, and a second rotating motor is fixedly installed on the inner wall of one side of the groove. The automatic stacking mechanism is ingenious in structure and convenient to use, stacked goods can be automatically unloaded one by one, the automatic stacking mechanism is more intelligent compared with the traditional mechanical arm, the mechanical arm can be conveniently moved through the universal wheel, when the position of the mechanical arm needs to be fixed, only the third cylinder needs to be controlled to extend to push the supporting plate to move downwards, and the mechanical arm is supported through the supporting plate.
Description
Technical Field
The invention relates to the technical field of food processing, in particular to a grabbing mechanical arm for food packaging.
Background
In the process of food processing, the package that food is concentrated needs be in individual carton to convenient storage and transportation need artifical one to get to stack food packing box stack on the commodity circulation tray at the in-process of loading transportation, will consume a large amount of labours, and efficiency is extremely low, more suitably adopts the arm to put.
The existing mechanical arm and the technology thereof have an obvious defect that the existing mechanical arm cannot meet the requirement of temporary change of an operation point, namely the existing mechanical arm cannot complete related operation tasks when the spatial position of an operated object is temporarily changed or the shape of the operated object is uncertain.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a grabbing mechanical arm for food packaging.
In order to achieve the purpose, the invention adopts the following technical scheme:
a grabbing mechanical arm for food packaging comprises a supporting base, wherein a vertically arranged supporting rod is fixedly connected to the top end of the supporting base, an adjusting rod is rotatably connected to the top end of the supporting rod, an installation cavity is formed in the supporting rod, a first rotating motor is fixedly installed in the installation cavity, an output shaft of the first rotating motor is fixedly connected with the adjusting rod, a groove is formed in the top end of the adjusting rod, a first rotating rod and a second rotating rod are respectively arranged in the groove, a second rotating motor is fixedly installed on the inner wall of one side of the groove, one end of the first rotating rod is fixedly connected with the output shaft of the second rotating motor, the other end of the first rotating rod is rotatably connected with the inner wall of the groove, a driving gear is fixedly sleeved on the outer side of the first rotating rod, two ends of the second rotating rod are rotatably connected with the inner wall of the groove, and a driven gear and a first joint are fixedly installed, the driving gear is meshed with the driven gear, one end of the first joint is rotatably connected with a second joint, one end of the second joint is rotatably connected with a rotating plate, one side of the rotating plate, which is far away from the second joint, is provided with two clamping plates in a sliding manner, one side of the two clamping plates, which is far away from the second joint, is provided with a fixed plate, one side of one fixed plate, which is far away from the other fixed plate, is fixedly provided with a third rotating motor, a horizontally arranged threaded rod is rotatably connected between the two fixed plates, one end of the threaded rod is fixedly connected with an output shaft of the third rotating motor, penetrates through the two clamping plates, is in threaded connection with the clamping plates, a first air cylinder is rotatably connected between the bottom side of the first joint and the bottom side of the second joint, a second air cylinder is rotatably connected between the top side of the second joint and the, the clamping plate is provided with a laser transmitter and a laser receiver, and a controller is arranged in the mounting cavity.
Preferably, the distance sensor is fixedly installed on the rotating plate close to the clamping plates, the distance sensor is located between the two clamping plates, and the laser transmitter and the laser receiver are respectively and fixedly installed on one side of the two clamping plates close to each other.
Preferably, the controller is an HAD-SC200 controller or an HACH-SC200 controller, the output end of the controller is connected with the first rotating motor, the second rotating motor, the third rotating motor, the first cylinder and the second cylinder through leads, and the input end of the controller is connected with the laser receiver and the distance sensor through leads.
Preferably, the two clamping plates are parallel to each other, and the clamping plates are perpendicular to the rotating plate.
Preferably, the bottom of supporting the base is rotated and is installed four gyro wheels, four the gyro wheel is located four turnings of supporting the base bottom.
Preferably, fixed mounting has the third cylinder of vertical setting in the bracing piece, supports the bottom of base and has seted up and accomodate the groove, and the output shaft of third cylinder is vertical downwards and extend to accomodate the inslot, and the output shaft fixedly connected with lifter plate of third cylinder, and the bottom fixedly connected with backup pad of lifter plate supports four turnings in the bottom of base and all installs the universal wheel.
Preferably, the bottom fixedly connected with rubber pad of backup pad, the connecting rod of the equal fixedly connected with vertical setting in four turnings in top of backup pad, the top of connecting rod and the bottom fixed connection of lifter plate.
Preferably, the inner walls of the two sides of the accommodating groove are fixedly connected with vertically arranged slide rails, and the lifting plate is slidably arranged between the two slide rails.
Preferably, four corners of the top end of the lifting plate are fixedly connected with vertically arranged sliding rods, and the top ends of the sliding rods extend to the upper side of the supporting base through sliding holes.
The invention has the beneficial effects that:
1. the automatic cargo clamping device has the advantages that the structure is reasonable, stacked cargos can be automatically unloaded one by one, and the automatic cargo clamping device is more intelligent compared with the traditional mechanical arm.
2. The arm can be through the convenient removal that removes of ten thousand wheels, when the position of arm is fixed to needs, only need control the third cylinder extension promote the backup pad and move down, prop up the arm through the backup pad can, the existence of rubber pad can play the effect of the friction between increase backup pad and the ground for the arm is placed more stably.
The automatic stacking mechanism is ingenious in structure and convenient to use, stacked goods can be automatically unloaded one by one, the automatic stacking mechanism is more intelligent compared with the traditional mechanical arm, the mechanical arm can be conveniently moved through the universal wheel, when the position of the mechanical arm needs to be fixed, only the third cylinder needs to be controlled to extend to push the supporting plate to move downwards, and the mechanical arm is supported through the supporting plate.
Drawings
FIG. 1 is a side, angular cross-sectional view of a grasping robot arm for food packaging according to the present invention;
FIG. 2 is a front view of a rotating plate of a grasping robot arm for food packaging according to the present invention;
FIG. 3 is a main view cross section of a supporting base of the grabbing mechanical arm for food packaging according to the present invention;
fig. 4 is a schematic block diagram of a grasping mechanical arm for food packaging according to the present invention.
In the figure: the device comprises a supporting base 1, a supporting rod 2, an adjusting rod 3, a first rotating motor 4, a first rotating rod 5, a second rotating rod 6, a driving gear 7, a driven gear 8, a first joint 9, a second joint 10, a rotating plate 11, a clamping plate 12, a fixing plate 13, a third rotating motor 14, a threaded rod 15, a first cylinder 16, a second cylinder 17, a distance sensor 18, a containing groove 19, a lifting plate 20, a sliding rod 21, a connecting rod 22, a supporting plate 23, a rubber pad 24, a sliding rail 25, a universal wheel 26 and a third cylinder 27.
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. 1-4, a grabbing mechanical arm for food packaging comprises a supporting base 1, a vertically arranged supporting rod 2 is fixedly connected to the top end of the supporting base 1, an adjusting rod 3 is rotatably connected to the top end of the supporting rod 2, an installation cavity is arranged on the supporting rod 2, a first rotating motor 4 is fixedly installed in the installation cavity, an output shaft of the first rotating motor 4 is fixedly connected with the adjusting rod 3, a groove is formed in the top end of the adjusting rod 3, a first rotating rod 5 and a second rotating rod 6 are respectively arranged in the groove, a second rotating motor is fixedly installed on the inner wall of one side of the groove, one end of the first rotating rod 5 is fixedly connected with the output shaft of the second rotating motor, the other end of the first rotating rod 5 is rotatably connected with the inner wall of the groove, a driving gear 7 is fixedly sleeved on the outer side of the first rotating rod 5, and two, a driven gear 8 and a first joint 9 are respectively fixedly installed on the outer side of the second rotating rod 6, the driving gear 7 is meshed with the driven gear 8, one end of the first joint 9 is rotatably connected with a second joint 10, one end of the second joint 10 is rotatably connected with a rotating plate 11, two clamping plates 12 are slidably installed on one side of the rotating plate 11 far away from the second joint 10, fixing plates 13 are respectively arranged on one sides of the two clamping plates 12 far away from each other, a third rotating motor 14 is fixedly installed on one side of one fixing plate 13 far away from the other fixing plate 13, a horizontally arranged threaded rod 15 is rotatably connected between the two fixing plates 13, one end of the threaded rod 15 is fixedly connected with an output shaft of the third rotating motor 14, the threaded rod 15 penetrates through the two clamping plates 12, the threaded rod 15 is in threaded connection with the clamping plates 12, a first air cylinder 16 is rotatably connected between the bottom side of the first joint 9 and the, a second air cylinder 17 is rotatably connected between the top side of the second joint 10 and the rotating plate 11, a distance sensor 18 is installed on the rotating plate 11, a laser transmitter and a laser receiver are installed on the clamping plate 12, and a controller is installed in the installation cavity.
The distance sensor 18 is fixedly mounted on the rotating plate 11 close to the clamping plates 12, the distance sensor 18 is located between the two clamping plates 12, and the laser transmitter and the laser receiver are respectively and fixedly mounted on one side of the two clamping plates 12 close to each other.
The controller is an HAD-SC200 controller or an HACH-SC200 controller, the output end of the controller is connected with the first rotating motor 4, the second rotating motor, the third rotating motor 14, the first air cylinder 16 and the second air cylinder 17 through leads, and the input end of the controller is connected with the laser receiver and the distance sensor 18 through leads.
Wherein, two grip blocks 12 are parallel to each other, and grip block 12 is perpendicular to rotating plate 11.
Wherein, four gyro wheels are installed in the rotation of the bottom of supporting base 1, and four gyro wheels are located four turnings that support base 1 bottom.
Wherein, fixed mounting has the third cylinder 27 of vertical setting in the bracing piece 2, support base 1's bottom and seted up and accomodate groove 19, the output shaft of third cylinder 27 is vertical downwards and extend to accomodate the inslot 19, and the output shaft fixedly connected with lifter plate 20 of third cylinder 27, the bottom fixedly connected with backup pad 23 of lifter plate 20, four turnings in bottom that support base 1 all install the universal wheel 26, the arm can be through the convenient removal that removes of universal wheel 26, when the position of needs fixed mechanical arm, only need control the extension of third cylinder 27 and promote backup pad 23 downstream, prop up the arm through backup pad 23 can.
Wherein, the bottom fixedly connected with rubber pad 24 of backup pad 23, the connecting rod 22 of the vertical setting of the equal fixedly connected with in four turnings in top of backup pad 23, the top of connecting rod 22 and the bottom fixed connection of lifter plate 20, the existence of rubber pad 24 can play the effect of the friction between increase backup pad 23 and the ground for the arm is placed more stably.
Wherein, accomodate the slide rail 25 of the vertical setting of equal fixedly connected with on the both sides inner wall of groove 19, lifter plate 20 slidable mounting is between two slide rails 25, and slide rail 25 plays the slide guide effect to lifter plate 20 elevating movement.
Wherein, the equal fixedly connected with in four corners on the top of lifter plate 20 has the slide bar 21 of vertical setting, and the top of slide bar 21 extends to the top of supporting base 1 through the slide hole, and slide bar 21 plays the slide guide effect to lifter plate 20 elevating movement.
In this embodiment, the controller is connected to the computer, the controller controls the first rotating electric machine 4 to rotate, thereby driving the adjusting rod 3 to rotate, driving the mechanical arm to rotate by three hundred and sixty degrees, controlling the second rotating motor to drive the second rotating motor to rotate 9 through the meshing of the driving gear 7 and the driven gear 8, controlling the controller to stretch and drive the second rotating motor to rotate 10 and 11 by 16 and 17, so that the position of the clamping plate 12 is adjusted through the rotation matching of the first joint 9, the second joint 10 and the rotating plate 11, the position between the clamping plates 12 and the goods is adjusted according to the distance sensor 18, when the goods reach between the two clamping plates 12, the laser receiver can not receive the optical signal, at the moment, the controller starts the third rotating motor 14, the third rotating motor 14 is in threaded connection with the clamping plates 12, thereby controlling the two clamping plates 12 to approach each other to clamp the goods, and then the computer operates the controller to place the goods at a predetermined position through a predetermined program.
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 (9)
1. The utility model provides a food package is with snatching arm, includes and supports base (1), its characterized in that, the top fixedly connected with of support base (1) vertically sets up bracing piece (2), the top of bracing piece (2) is rotated and is connected with regulation pole (3), be equipped with the installation cavity on bracing piece (2), fixed mounting has first rotating electrical machines (4) in the installation cavity, the output shaft and the regulation pole (3) fixed connection of first rotating electrical machines (4), the top of adjusting pole (3) is seted up flutedly, be equipped with first rotating rod (5) and second rotating rod (6) respectively in the recess, and fixed mounting has the second rotating electrical machines on one side inner wall of recess, the one end of first rotating rod (5) and the output shaft fixed connection of second rotating electrical machines, the other end of first rotating rod (5) is connected with the inner wall rotation of recess, and the outside of first dwang (5) is fixed to be equipped with driving gear (7) in a sleeved manner, the both ends of second dwang (6) all rotate with the inner wall of recess and are connected, and the outside of second dwang (6) is fixed mounting respectively has driven gear (8) and first joint (9), driving gear (7) meshes with driven gear (8) mutually, the one end of first joint (9) is rotated and is connected with second joint (10), the one end of second joint (10) is rotated and is connected with rotor plate (11), one side slidable mounting that second joint (10) were kept away from to rotor plate (11) has two grip blocks (12), one side that two grip blocks (12) kept away from mutually all is equipped with fixed plate (13), one side fixed mounting that another fixed plate (13) was kept away from to one of them fixed plate (13) has third rotating electrical machines (14), two threaded rod (15) that the level set up are connected in a rotating manner between fixed plate (13), the one end of threaded rod (15) and the output shaft fixed connection of third rotating electrical machines (14), and threaded rod (15) run through two grip blocks (12), threaded rod (15) and grip block (12) threaded connection rotate between the bottom side of first joint (9) and the bottom side of second joint (10) and are connected with first cylinder (16), it is connected with second cylinder (17) to rotate between the top side of second joint (10) and rotor plate (11), install distance sensor (18) on rotor plate (11), install laser emitter and laser receiver on grip block (12), install the controller in the installation cavity.
2. The food packaging grabbing mechanical arm as claimed in claim 1, wherein the distance sensor (18) is fixedly mounted on the rotating plate (11) near the clamping plates (12), the distance sensor (18) is located between the two clamping plates (12), and the laser transmitter and the laser receiver are respectively fixedly mounted on the sides of the two clamping plates (12) near each other.
3. The grasping mechanical arm for food packaging according to claim 1, wherein the controller is a HAD-SC200 controller or a HACH-SC200 controller, and the output end of the controller is connected with the first rotating motor (4), the second rotating motor, the third rotating motor (14), the first air cylinder (16) and the second air cylinder (17) through wires, and the input end of the controller is connected with the laser receiver and the distance sensor (18) through wires.
4. The gripping arm for food packaging according to claim 1, characterized in that the two gripping plates (12) are parallel to each other and the gripping plates (12) are perpendicular to the rotating plate (11).
5. The gripping arm for food packaging according to claim 1, characterized in that the bottom end of the support base (1) is rotatably mounted with four rollers, four of which are located at the four corners of the bottom end of the support base (1).
6. The grabbing mechanical arm for food packaging according to claim 1, wherein a vertically arranged third cylinder (27) is fixedly installed in the support rod (2), a containing groove (19) is formed in the bottom end of the support base (1), an output shaft of the third cylinder (27) vertically faces downwards and extends into the containing groove (19), a lifting plate (20) is fixedly connected to the output shaft of the third cylinder (27), a support plate (23) is fixedly connected to the bottom end of the lifting plate (20), and universal wheels (26) are installed at four corners of the bottom end of the support base (1).
7. The food packaging grabbing mechanical arm as claimed in claim 6, wherein a rubber pad (24) is fixedly connected to the bottom end of the support plate (23), a vertically arranged connecting rod (22) is fixedly connected to each of four corners of the top end of the support plate (23), and the top end of the connecting rod (22) is fixedly connected to the bottom end of the lifting plate (20).
8. The food packaging grabbing mechanical arm as claimed in claim 6, wherein the inner walls of the two sides of the accommodating groove (19) are fixedly connected with vertically arranged slide rails (25), and the lifting plate (20) is slidably mounted between the two slide rails (25).
9. The food packaging grabbing mechanical arm is characterized in that four corners of the top end of the lifting plate (20) are fixedly connected with vertically arranged sliding rods (21), and the top ends of the sliding rods (21) extend to the upper part of the support base (1) through sliding holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010457411.9A CN111590538A (en) | 2020-05-26 | 2020-05-26 | Food packing is with snatching arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010457411.9A CN111590538A (en) | 2020-05-26 | 2020-05-26 | Food packing is with snatching arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111590538A true CN111590538A (en) | 2020-08-28 |
Family
ID=72181198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010457411.9A Pending CN111590538A (en) | 2020-05-26 | 2020-05-26 | Food packing is with snatching arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111590538A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5286159A (en) * | 1990-11-08 | 1994-02-15 | Kabushiki Kaisha Aichi Corporation | Mobile vehicular apparatus with aerial working device |
| US9827677B1 (en) * | 2016-05-16 | 2017-11-28 | X Development Llc | Robotic device with coordinated sweeping tool and shovel tool |
| US20180021948A1 (en) * | 2014-08-29 | 2018-01-25 | Abb Schweiz Ag | Electric fluidic rotary joint actuator with pump |
| CN206967485U (en) * | 2017-03-17 | 2018-02-06 | 广东瑞友科技有限公司 | A kind of gripper of industrial robot with dynamics and accuracy detection function |
| CN108081312A (en) * | 2017-11-03 | 2018-05-29 | 上海工程技术大学 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
| CN108274489A (en) * | 2018-04-26 | 2018-07-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of medical treatment auxiliary manipulator |
| CN108943011A (en) * | 2018-07-16 | 2018-12-07 | 安徽智森电子科技有限公司 | A kind of mechanical arm of angle adjustable |
| CN108972525A (en) * | 2018-08-02 | 2018-12-11 | 彭守晔 | A kind of multi-functional 360 deg is without dead angle mechanical arm |
| CN110815197A (en) * | 2019-11-22 | 2020-02-21 | 江苏铁锚玻璃股份有限公司 | Positioning power manipulator with protection function |
-
2020
- 2020-05-26 CN CN202010457411.9A patent/CN111590538A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5286159A (en) * | 1990-11-08 | 1994-02-15 | Kabushiki Kaisha Aichi Corporation | Mobile vehicular apparatus with aerial working device |
| US20180021948A1 (en) * | 2014-08-29 | 2018-01-25 | Abb Schweiz Ag | Electric fluidic rotary joint actuator with pump |
| US9827677B1 (en) * | 2016-05-16 | 2017-11-28 | X Development Llc | Robotic device with coordinated sweeping tool and shovel tool |
| CN206967485U (en) * | 2017-03-17 | 2018-02-06 | 广东瑞友科技有限公司 | A kind of gripper of industrial robot with dynamics and accuracy detection function |
| CN108081312A (en) * | 2017-11-03 | 2018-05-29 | 上海工程技术大学 | A kind of robot mechanical arm centering calibration system for being used to capture miniature parts |
| CN108274489A (en) * | 2018-04-26 | 2018-07-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of medical treatment auxiliary manipulator |
| CN108943011A (en) * | 2018-07-16 | 2018-12-07 | 安徽智森电子科技有限公司 | A kind of mechanical arm of angle adjustable |
| CN108972525A (en) * | 2018-08-02 | 2018-12-11 | 彭守晔 | A kind of multi-functional 360 deg is without dead angle mechanical arm |
| CN110815197A (en) * | 2019-11-22 | 2020-02-21 | 江苏铁锚玻璃股份有限公司 | Positioning power manipulator with protection function |
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Application publication date: 20200828 |
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| RJ01 | Rejection of invention patent application after publication |