CN111605772A

CN111605772A - Mechanical claw and packaging machine

Info

Publication number: CN111605772A
Application number: CN201910133216.8A
Authority: CN
Inventors: 李泽伟
Original assignee: Qingdao Sawote Robot Co ltd
Current assignee: Qingdao Sawote Robot Co ltd
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2020-09-01

Abstract

The invention provides a mechanical claw and a packaging machine. The mechanical claw comprises a first guide rail and a second guide rail which are arranged in a crossed mode, a substrate which can move along the first guide rail, a rotary driving piece arranged on the substrate, a first driving piece connected with the rotary driving piece, and two clamping pieces connected with the first driving piece and moving oppositely or oppositely. According to the mechanical claw and the packaging machine, the base plate is arranged on the first guide rail and the second guide rail, so that displacement on the plane of the base plate is realized, the clamping piece clamps materials through the rotary driving piece, the first driving piece and the clamping piece, and then the rotary adjustment can be carried out on the horizontal plane, so that the requirements of different packaging conditions are met.

Description

Mechanical claw and packaging machine

Technical Field

The invention belongs to the field of packaging machines, and particularly relates to a mechanical claw and a packaging machine.

Background

The conventional box filling machine, for example, for beverage packaging in a square shape, generally includes a sub-packaging device for dividing products conveyed on a single channel into multiple channels, a product stacking assembly for stacking the products fed from the multiple channels into a desired number, a paper magazine for storing the carton boxes, and conveying the cartons one by one to the desired position, a box filling assembly for conveying the stacked products to the carton boxes to perform pre-forming, and a box sealing assembly for the carton boxes, wherein the box sealing assembly includes folding each part of the carton boxes, a packing assembly for completely wrapping the products in the carton boxes, a side sealing assembly for sealing two side faces of the carton boxes with a box sealing adhesive, and a corner sealing assembly for sealing the corner positions of the carton boxes with a box sealing adhesive. The box filler realizes a full-automatic box filling process, is time-saving and labor-saving, and is widely applied in the market.

The existing packaging machine often only can translate and cannot rotate when grabbing bottle materials, the existing bottle materials are mostly not standard round or square due to personalized design and other reasons, when the bottle materials are put into a packaging box, the relative angle of the materials and the packaging box needs to be adjusted, but the existing mechanical arm cannot be effectively completed.

Disclosure of Invention

The invention provides a mechanical claw capable of adjusting the relative position and angle of bottle materials and a packing box and a packing machine aiming at the technical problems.

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

the utility model provides a gripper, is including the first guide rail and the second guide rail that cross arrangement, and can follow the base plate that first guide rail removed locates rotary driving spare on the base plate, with the first driving spare that rotary driving spare is connected, with two clamping part with relative motion are connected to first driving spare.

Preferably, the clamping part comprises a first semi-cylindrical bending surface and a second semi-conical bending surface, and the second bending surface is arranged on one side, far away from the first driving part, of the first bending surface.

Preferably, the portable electronic device further comprises a turntable arranged between the first driving piece and the rotary driving piece, a linkage piece connected with the turntable, and a first detection piece used for detecting the position of the linkage piece, wherein the first detection piece is electrically connected with the rotary driving piece to close the rotary driving piece.

Preferably, the linkage member comprises a linkage member body connected with the turntable, and a bending part arranged at one end of the linkage member body and protruding towards the direction close to the substrate.

Preferably, the first driving member is a claw cylinder.

Preferably, the device further comprises two connecting plates connected with the base plate and a connecting frame connected with the two connecting plates, and the connecting frame is connected with the first guide rail.

Preferably, the device further comprises a second driving element connected with the connecting frame to drive the connecting frame to move along the first guide rail, and a third driving element connected with the first guide rail to drive the first guide rail to move along the second guide rail.

Preferably, the second driving member and the third driving member are both electric cylinders.

Preferably, the first guide rail and the second guide rail are vertically disposed.

A packaging machine comprising a gripper as claimed in any one of the preceding claims.

Compared with the prior art, the invention has the advantages and positive effects that:

according to the mechanical claw, the base plate is arranged on the first guide rail and the second guide rail, so that displacement on the plane of the base plate is achieved, the clamping piece clamps materials through the rotary driving piece, the first driving piece and the clamping piece, and then rotary adjustment can be carried out on the horizontal plane, so that the requirements of different packaging conditions are met.

The packaging machine comprises the mechanical claw, the base plate is arranged on the first guide rail and the second guide rail, displacement on the plane of the base plate is achieved, the clamping piece clamps materials through the rotary driving piece, the first driving piece and the clamping piece, rotation adjustment can be conducted on the horizontal plane, the requirements of different packaging conditions are met, the clamping piece is used for clamping, relative to a sucker, the clamping piece is stable, relative rotation is not prone to occurring between the clamping piece and the materials during rotation, and normal packaging is further guaranteed.

Drawings

FIG. 1 is a schematic structural view of a gripper according to the present invention;

FIG. 2 is an enlarged view of a portion of the gripper shown in FIG. 1 at A;

in the above figures: 10. a substrate; 20. a first guide rail; 30. a second guide rail; 40. a rotary drive member; 50. a first driving member; 60. a clamping member; 601. a first curved surface; 602. a second curved surface; 70. a turntable; 80. a linkage member; 801. a linkage body; 802. a bending section; 90. a first detecting member; 100. a connecting plate; 110. a connecting frame; 120 a second drive member; 130. and a third driving member.

Detailed Description

The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1-2, the present invention provides a gripper, including a first guide rail 20 and a second guide rail 30 arranged in a crossing manner, a base plate 10 capable of moving along the first guide rail 20, a rotary driving member 40 arranged on the base plate 10, a first driving member 50 connected to the rotary driving member 40, and two clamping members 60 connected to the first driving member 50 for moving in opposite directions or in relative directions, wherein the rotary driving member 40 may be a rotary cylinder or a motor, and the like, and the first guide rail 20 and the second guide rail 30 are arranged in a crossing manner as required, so as to implement displacement control on a plane, and the first driving member 50 is preferably a claw-type cylinder, so that the control is simpler, and the weight is light, the cost is low, and the first guide rail 20 and the second guide rail 30 are preferably arranged vertically, so that a rectangular coordinate system can be applied, and the control and the calculation are convenient.

According to the gripper, the substrate 10 is arranged on the first guide rail 20 and the second guide rail 30, displacement on the plane of the substrate 10 is achieved, the clamping piece 60 clamps materials through the rotary driving piece 40, the first driving piece 50 and the clamping piece 60, and then rotation adjustment can be carried out on the horizontal plane, so that the gripper meets requirements of different packaging situations, the clamping piece 60 is adopted for clamping, the gripper is more stable relative to a sucker, relative rotation between the gripper and the materials is not prone to occurring during rotation, and normal operation of boxing is further guaranteed.

Further, the clamping member 60 includes a first curved surface 601 in a semi-cylindrical shape and a second curved surface 602 in a semi-conical shape, the second curved surface 602 is disposed on a side of the first curved surface 601 away from the first driving member 50, the clamping member 60 can clamp a neck of the bottled material due to the arrangement of the first curved surface 601, and the clamping member 60 can clamp an expanded diameter portion below the neck of the bottled material due to the arrangement of the second curved surface 602, so that the normal operation of the first curved surface 601 is not affected, the bottled material can be prevented from shaking in the moving process, the clamping member cooperates with the first curved surface 601 to complete clamping, and the clamping member is stable and efficient.

Further, the automatic packaging machine further comprises a rotary table 70 arranged between the first driving part 50 and the rotary driving part 40, a linkage part 80 connected with the rotary table 70, and a first detection part 90 used for detecting the position of the linkage part 80, wherein the first detection part 90 is electrically connected with the rotary driving part 40 to close the rotary driving part 40, and through the arrangement, the rotation angle and the range of the rotary table 70 can be limited to limit the rotation angle and the range of the clamping part 60, so that excessive rotation of materials is prevented, the situation that the angles of the materials and the packaging box do not correspond to each other is prevented, and the first detection part 90 can be selected as required, such as laser detection or electromagnetic detection.

Further, the linkage member 80 includes a linkage member body 801 connected to the turntable 70, and a bending portion 802 disposed at one end of the linkage member body 801 and protruding toward the direction close to the substrate 10, and the above structure is configured so that the first detection member 90 can select different forms, and a detected portion is selected as required to detect the linkage member body 801 or the bending portion 802, where the first detection member 90 preferably detects the bending portion 802, so that a certain space is available for detection, which prevents a false detection from occurring in a closer detection, and also saves space, so that the installation is more compact.

Further, the packaging structure further comprises two connecting plates 100 connected with the base plate 10 and two connecting frames 110 connected with the two connecting plates 100, the connecting frames 110 are connected with the first guide rail 20, the arrangement of the connecting plates 100 prolongs the distance between the clamping piece 60 and the first guide rail 20, so that the clamping piece 60 can be suitable for more packaging conditions, the arrangement of the connecting frames 110 enables the structure to be more stable, the situation that the connecting plates 100 shake in the clamping process cannot occur, and the operation process is more stable.

Further, the device also comprises a second driving element 120 connected with the connecting frame 110 to drive the connecting frame 110 to move along the first guide rail 20, and a third driving element 130 connected with the first guide rail 20 to drive the first guide rail 20 to move along the second guide rail 30, so as to control the connecting frame 110 to move to a preset position on a plane, thereby moving the clamping element 60 to the preset position, wherein the second driving element 120 and the third driving element 130 are preferably electric cylinders, thereby controlling the precise displacement of the connecting frame 110 and only controlling by electric signals.

The invention also provides a packaging machine, which comprises the mechanical claw as described in any one of the above items, the displacement on the plane of the substrate 10 is realized by arranging the substrate 10 on the first guide rail 20 and the second guide rail 30, the arrangement of the rotary driving piece 40, the first driving piece 50 and the clamping piece 60 enables the clamping piece 60 to clamp the material and then to rotate and adjust on the horizontal plane, so as to meet the requirements of different packaging conditions, and the clamping piece 60 is adopted for clamping, so that the clamping is more stable relative to a suction cup, relative rotation is not easy to generate between the clamping piece and the material during rotation, and the normal operation of packaging is further ensured.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims

1. The mechanical claw is characterized by comprising a first guide rail, a second guide rail, a substrate, a rotary driving piece, a first driving piece and two clamping pieces, wherein the first guide rail and the second guide rail are arranged in a crossed mode, the substrate can move along the first guide rail, the rotary driving piece is arranged on the substrate, the first driving piece is connected with the rotary driving piece, and the two clamping pieces are connected with the first driving piece to move in opposite directions or relative to each other.

2. The gripper of claim 1, wherein the clamping element includes a first curved surface of a semi-cylindrical shape and a second curved surface of a semi-conical shape, the second curved surface being disposed on a side of the first curved surface remote from the first driving element.

3. The gripper of claim 1, further comprising a turntable disposed between the first driving member and the rotary driving member, a linkage member coupled to the turntable, and a first detection member for detecting a position of the linkage member, the first detection member being electrically coupled to the rotary driving member to close the rotary driving member.

4. The gripper of claim 3, wherein the linkage member comprises a linkage member body connected to the turntable, and a bending portion disposed at one end of the linkage member body and protruding toward the substrate.

5. The mechanical claw of claim 3, wherein the first drive member is a claw cylinder.

6. The gripper of claim 1, further comprising two connecting plates coupled to the base plate, and a link coupled to the two connecting plates, the link coupled to the first rail.

7. The gripper of claim 6, further comprising a second drive coupled to the linkage carriage to drive the linkage carriage along the first rail, and a third drive coupled to the first rail to drive the first rail along the second rail.

8. The gripper of claim 7, wherein the second drive member and the third drive member are both electric cylinders.

9. The gripper of claim 1, wherein the first rail and the second rail are vertically disposed.

10. A packaging machine comprising a gripper as claimed in any one of claims 1-9.