CN111907757B - Tableware snatchs manipulator and automatic case packer - Google Patents
Tableware snatchs manipulator and automatic case packer Download PDFInfo
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- CN111907757B CN111907757B CN202010913712.8A CN202010913712A CN111907757B CN 111907757 B CN111907757 B CN 111907757B CN 202010913712 A CN202010913712 A CN 202010913712A CN 111907757 B CN111907757 B CN 111907757B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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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
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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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
- B65B35/44—Arranging and feeding articles in groups by endless belts or chains
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tableware grabbing mechanical arm which comprises a frame and a driving mechanism, wherein at least one set of mechanical arm mechanism is arranged on the frame, and the mechanical arm mechanism is connected with the frame through a sliding mechanism; the manipulator mechanism comprises an inner finger, an inner finger bracket, an outer finger bracket and a spring; the inner finger and the outer finger are respectively arranged on the inner finger bracket and the outer finger bracket; the inner finger support is provided with a rotating shaft, and two ends of the spring are respectively connected with the sliding mechanism and the lower part of the inner finger support; a fixed limiting part is arranged on the frame outside the inner finger support; the driving mechanism can drive the inner fingers and the outer fingers to move towards the inner side or the outer side simultaneously or respectively, when the inner finger support moves towards the outer side and is stopped by the fixed limiting part, the driving mechanism can drive the inner fingers to rotate towards the outer side, and when the inner fingers move towards the inner side and grab tableware, the spring can drive the inner fingers to rotate towards the inner side. The manipulator mechanism can automatically adapt to the specifications and sizes of tableware to realize flexible grabbing and boxing.
Description
Technical Field
The invention belongs to the technical field of box filling machines, relates to improvement of a manipulator structure, and particularly relates to a tableware grabbing manipulator and an automatic box filling machine.
Background
The complete set of tableware used in restaurant, hotel, dining room and other catering industries is also called as set tableware or tableware for short, generally comprises a plate, a bowl, a cup, a spoon and the like which are arranged in a sealing film, and is widely used by catering enterprises due to the advantages of convenient taking, safety, sanitation, reduction of manual investment in cleaning and the like. The used tableware is collected and recovered for cleaning, automatic treatment can be realized in the cleaning and disinfecting links of the whole set of tableware at present, but the boxing link of the whole set of tableware after sorting and combination still mainly adopts manpower.
As the sizes of the complete set of tableware are different, the size of the box body is different from 6 inches to 8 inches according to the diameter of the dinner plate. Most of the used mechanical arms of the existing automatic box filling machine are only simple bowl placing plates, the bowl pushing devices push complete tableware on the conveying belts to the bowl placing plates and then are placed in the box, and the mechanical arms do not directly grab and pack the tableware. The manipulator can not automatically adapt to the size of the whole set of tableware, the tableware of the packed tableware is arranged disorderly, and the space of the box body is not fully utilized.
The mechanical arm structure size and tableware vanning quantity and arrangement have a close relation, the structure of the existing mechanical arm is not adjustable in the transverse direction and the longitudinal direction, for example, the sizes of a bowl placing plate structure and a bowl placing groove opening are fixed, and the mechanical arm is large in size and cannot be matched with part of box bodies for vanning.
Similar problems exist with respect to the packing of other individual dishes or dishes.
The manipulator comprises a lower support, a hinged shaft, a lower pull plate, lower positioning plates and a lower cylinder, wherein the lower cylinder is arranged, two lower fixing plates are connected between the two lower positioning plates, two ends of the hinged shaft are respectively positioned in one sliding chute, the lower pull plate is positioned between the two lower positioning plates and is connected with the output end of the lower cylinder, the lower pull plate is fixedly connected with the hinged shaft through a lower lifting rod, bowl placing plates hinged with the hinged shaft are arranged on the left side and the right side of the hinged shaft, hinged plates are arranged between the lower positioning plates and the bowl placing plates on the same side of the hinged shaft, the upper ends of the hinged plates are hinged with the lower positioning plates, and the lower ends of the hinged plates are hinged with the bowl placing plates; an upper support is arranged above the two lower supports.
The existing automatic box filling machine disclosed in the prior art and the prior art still have the problems that the automatic box filling machine cannot automatically adapt to the specifications of the tableware, the arrangement of the tableware after the box is disordered, the space utilization of the box body is insufficient, and the like.
Disclosure of Invention
The invention aims to provide a tableware grabbing mechanical arm which is used for solving the problems in the prior art.
In order to realize the purpose of the invention, the following technical scheme is adopted:
the tableware grabbing mechanical arm comprises a frame and a driving mechanism, wherein at least one set of mechanical arm mechanism is arranged on the frame, and the mechanical arm mechanism is connected with the frame through a sliding mechanism;
the manipulator mechanism comprises an inner finger, an inner finger bracket, an outer finger bracket and a spring; the inner finger and the outer finger are respectively arranged on the inner finger bracket and the outer finger bracket; the inner finger support is provided with a rotating shaft, and two ends of the spring are respectively connected with the sliding mechanism and the lower part of the inner finger support;
a fixed limiting part is arranged on the frame outside the inner finger support; the drive mechanism can drive the inner fingers and the outer fingers to move towards the inner side or the outer side simultaneously or respectively, when the inner finger support moves towards the outer side and is blocked by the fixed limiting part, the drive mechanism can drive the inner fingers to rotate towards the outer side by taking the rotating shaft as the circle center, and when the inner fingers move towards the inner side and grab tableware, the spring can drive the inner fingers to rotate towards the inner side by taking the rotating shaft as the circle center.
In order to further realize the purpose of the invention, the following technical scheme can be adopted:
according to the tableware grabbing manipulator, the manipulator mechanisms are transversely provided with two sets, namely a manipulator mechanism A and a manipulator mechanism B;
the sliding mechanism comprises a longitudinal moving mechanism and a transverse moving mechanism; the longitudinal moving mechanism comprises a transverse bracket which is connected with the longitudinal support of the frame in a sliding manner through a first longitudinal sliding assembly; an outer finger support of the manipulator mechanism A is connected with the outer finger transverse support in a sliding manner through a first transverse sliding assembly, and an outer finger support of the manipulator mechanism B is fixedly connected with the transverse support; the transverse moving mechanism comprises a longitudinal support, an inner finger transverse connecting plate is installed on an inner finger support of the manipulator mechanism B, the inner finger support of the manipulator mechanism A is connected with the inner finger transverse connecting plate in a sliding mode through a second transverse sliding assembly, the inner finger transverse connecting plate and the frame assembly are provided with a second longitudinal sliding assembly, and the first transverse sliding assembly, the second transverse sliding assembly and the longitudinal support are connected through a longitudinal moving transverse limiting assembly respectively;
the driving mechanism comprises a transverse driving cylinder, an inner finger driving cylinder and an outer finger power mechanism, a piston rod of the transverse driving cylinder is connected with the longitudinal support, the piston rod of the inner finger driving cylinder is connected with the inner finger support, and an outer finger power component is fixedly connected with the outer finger support or the transverse support.
According to the tableware grabbing manipulator, the manipulator mechanisms A are provided with two sets, and the two sets of manipulator mechanisms A are respectively arranged on the two transverse sides of the manipulator mechanism B; the transverse support is respectively connected with the two longitudinal supports of the frame through two sets of first longitudinal sliding assemblies.
According to the tableware grabbing manipulator, 2 groups of manipulator mechanisms A and 2 groups of manipulator mechanisms B are symmetrically arranged in the longitudinal direction, and the two sets of manipulator mechanisms A are arranged on the same longitudinal support.
According to the tableware grabbing manipulator, 2 groups of manipulator mechanisms A and 2 groups of manipulator mechanisms B are symmetrically arranged in the longitudinal direction, and the two groups of manipulator mechanisms A on the same longitudinal side are arranged on the same longitudinal support; the inner finger supports or the transverse supports on both longitudinal sides are driven simultaneously or respectively by an outer finger power mechanism.
The tableware grabbing mechanical arm comprises an outer finger power part, an inner finger power part and a mechanical part, wherein the outer finger power part comprises a stepping motor and a motion conversion assembly arranged below the stepping motor; the motion conversion assembly comprises an outer finger power box, a gear and 2 racks meshed with the gear, the gear is installed in the outer finger power box through a rotating shaft, the 2 racks are respectively arranged at the upper part and the lower part of two sides of the gear, the racks are fixed with outer finger longitudinal push plates, the outer ends of the outer finger longitudinal push plates are fixedly connected with the outer finger supports or the transverse supports, and the parts of the two sets of outer finger longitudinal push plates in the outer finger power box are overlapped up and down; the outer finger power box is fixed on the transverse support of the frame, and the rotating shaft is driven by the stepping motor.
According to the tableware grabbing manipulator, the first longitudinal sliding assembly comprises an outer finger longitudinal sliding rail fixed on the longitudinal support, an outer finger longitudinal sliding block matched with the outer finger longitudinal sliding rail and a cross frame connecting plate fixed with the outer finger longitudinal sliding block, and the cross frame connecting plate is fixedly connected with the end part of the cross support;
the first transverse sliding assembly comprises an outer finger transverse sliding rail arranged on the transverse support, an outer finger transverse sliding block matched with the outer finger transverse sliding rail, and an outer finger sliding block connecting plate fixedly arranged with the outer finger transverse sliding block, and the outer finger sliding block connecting plate is fixedly connected with the outer finger support;
the second longitudinal sliding assembly comprises an inner finger longitudinal sliding block arranged on the inner finger transverse connecting plate, an inner finger longitudinal sliding rail matched with the inner finger longitudinal sliding block, and an inner finger longitudinal sliding rail fixing plate for fixing the inner finger sliding rail, wherein the inner finger longitudinal sliding rail fixing plate is fixedly connected with the transverse support of the frame;
the second transverse sliding assembly comprises an inner finger transverse sliding rail arranged on an inner finger transverse connecting plate, an inner finger transverse sliding block matched with the inner finger transverse sliding rail and an inner finger sliding block connecting plate fixedly provided with the inner finger transverse sliding block, and the inner finger sliding block connecting plate is fixedly connected with the inner finger bracket;
the longitudinal movement transverse limiting assembly comprises an inner finger longitudinal limiting sliding groove and an outer finger longitudinal limiting sliding groove which are arranged on the longitudinal support, and two sets of limiting sliding blocks which are fixedly connected with an inner finger sliding block connecting plate and an outer finger sliding block connecting plate, wherein the two sets of limiting sliding blocks are respectively matched with the inner finger longitudinal limiting sliding groove and the outer finger longitudinal limiting sliding groove.
According to the tableware grabbing mechanical arm, 2 inner fingers and 2 outer fingers on a single set of mechanical arm are respectively arranged and are respectively oppositely arranged according to a rectangle; the inner finger and the outer finger are both cylinders, and the lower ends of the cylinders are provided with hook portions bent outwards.
According to the tableware grabbing mechanical arm, the tableware grabbing height limiting plate is arranged between the inner fingers and the outer fingers, and the tableware grabbing height limiting plate is fixedly connected with the outer fingers or the outer finger support.
The invention also discloses an automatic box filling machine, which comprises a rack, a tableware conveying belt, a tableware positioning conveying belt, a box conveying belt and the rack which are arranged on the rack, and the automatic box filling machine also comprises the tableware grabbing mechanical arm, wherein the tableware grabbing mechanical arm is fixedly arranged on the main movement mechanism, and the main movement mechanism is arranged on the rack through a sliding assembly; the main motion mechanism can drive the tableware grabbing manipulator to move up and down and horizontally, and the tableware is grabbed from the tableware positioning conveying belt and placed in the box on the tableware conveying belt.
Compared with the prior art, the invention has the advantages that:
the manipulator mechanism can automatically adapt to the specifications and sizes of tableware to realize flexible grabbing and boxing, can grab a plurality of sets of tableware simultaneously when being matched with a plurality of sets of manipulator mechanisms, realizes stacking and boxing among a plurality of sets of tableware on the same layer, improves the arrangement effect of the boxed tableware, can adapt to the specifications of a box body and improves the space utilization efficiency.
The inner fingers and the outer fingers of the single set of manipulator mechanism can open and grab tableware relatively, and the inner fingers can rotate outwards when the single set of manipulator mechanism is opened, so that the grabbing space of the manipulator mechanism is more compact; when in grabbing, the inner fingers can rotate inwards, so that the grabbing is more stable, and the application range of the gripper can be increased; be provided with the tableware and snatch limit for height board, the position of tableware is more adapted when guaranteeing to snatch and vanning.
The tableware grabbing mechanical arm is compact in structure and stable in performance; can carry out many sets of tableware simultaneously and snatch and vanning, the manipulator mechanism that both ends set up all can remove in horizontal, vertically, perhaps carries out the longitudinal motion operation in lateral shifting, perhaps carries out lateral motion simultaneously at longitudinal shifting, snatchs and vanning action flexibility, effectual to articles such as tableware, work efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a perspective view of a tableware gripping robot according to the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a side view of FIG. 1;
FIG. 5 is a perspective view of the inner finger portion of FIG. 1 (without the spring shown);
FIG. 6 is a front view of FIG. 5;
FIG. 7 is a perspective view of the automatic container loader of the present invention;
FIG. 8 is a front view of FIG. 7;
FIG. 9 is a side view of FIG. 7;
fig. 10 is a top view of fig. 7.
Reference numerals:
1-frame, 11-longitudinal support, 12-transverse support, 13-limiting rod, 14-frame hoisting plate;
2-manipulator mechanism A, 21-outer finger, 211-outer finger support, 212-outer finger slide block connecting plate, 213-outer finger transverse slide block, 214-outer finger transverse slide rail, 215-tableware grabbing height limiting plate, 216-outer finger support adjusting groove;
22-inner finger, 221-inner finger support, 222-inner finger sliding block connecting plate, 223-inner finger transverse sliding block, 224-inner finger transverse sliding rail, 225-hook part, 226-rotating shaft, 227-rotating shaft fixing block, 228-rotating shaft fixing plate, 229-spring mounting frame, 230-spring, 231-inner finger transverse connecting plate, 232-inner finger longitudinal sliding rail fixing plate, 233-spring mounting hole;
3-manipulator mechanism B; 31-middle outer finger support connecting plate, 32-outer finger power box, 33-outer finger longitudinal push plate and 34-stepping motor;
4-transverse support, 41-outer finger longitudinal slide rail, 42-outer finger longitudinal slide block and 43-transverse frame connecting plate;
5-longitudinal support, 51-outer finger longitudinal limiting sliding groove, 52-outer finger limiting sliding block, 53-inner finger longitudinal limiting sliding groove and 54-inner finger limiting sliding block;
6-transverse driving cylinder, 61-transverse driving cylinder fixing seat and 62-transverse driving cylinder piston rod;
7-inner finger driving cylinder, 71-inner finger driving cylinder fixing seat and 72-inner finger driving cylinder piston rod;
8-automatic box filling machine, 81-machine frame, 811-truss z-axis stabilizing frame, 812-truss z-axis sliding rail, 813-truss z-axis sliding block, 814-truss z-axis sliding block connecting plate, 82-truss x-axis movement mechanism, 821-truss x-axis servo motor, 83-truss z-axis movement mechanism, 831-truss z-axis servo motor, 832-truss z-axis movement connecting mechanical arm frame, 84-tableware conveying belt, 85-tableware positioning conveying belt, 851-tableware positioning mechanism, 86-box conveying belt and 861-box positioning mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention.
For convenience of technical solution description of the embodiment, the left and right sides shown in fig. 2 are taken as the lateral moving direction of the manipulator mechanism, the upper and lower sides thereof are taken as the longitudinal moving direction of the manipulator mechanism, corresponding to two sets of manipulator mechanisms B arranged in the middle longitudinal direction in fig. 2, and four sets of manipulator mechanisms a are arranged on both sides of the manipulator mechanism B. The manipulator mechanism a and the manipulator mechanism B are both single set of manipulator mechanisms defined in the present invention, and are also for the purpose of more clearly explaining the internal structure and the mutual connection relationship of the present invention when there are multiple sets of manipulator mechanisms, but the above description should not be considered as a limitation to the technical solution of the present invention, and the direction arrangement and adjustment are performed as required in the specific implementation.
As shown in fig. 1-6, the tableware gripping manipulator disclosed in this embodiment includes a frame 1, a driving mechanism, and at least one set of manipulator mechanism installed on the frame 1, and the manipulator mechanism is connected to the frame 1 through a sliding mechanism.
The frame 1 comprises two sets of transverse supports 12 and two sets of longitudinal supports 11, and the longitudinal supports 11 and the transverse supports 12 are both made of plate-shaped materials; two sets of transverse supports 12 are arranged in parallel at intervals, and two sets of longitudinal supports 11 are respectively fixedly installed with two ends of the longitudinal supports 11.
The frame 1 plays a role in bearing, positioning and fixing the mechanical arm mechanism, the driving mechanism and the sliding mechanism, and meanwhile, the frame 1 is also a connecting support for hoisting the tableware grabbing mechanical arm and drives the mechanical arm mechanism to move up and down or longitudinally. Therefore, the requirement of structural strength is met, meanwhile, the weight is light, flexibility and stability of up-down or longitudinal action are guaranteed, energy consumption of the grabbing manipulator is reduced, and higher grabbing and boxing working efficiency is achieved.
As shown in fig. 3-6, the single set of manipulator mechanisms in this embodiment comprises an inner finger 22, an inner finger support 221, an outer finger 21, an outer finger support 211 and a spring 230; the inner finger 22 and the outer finger 21 are attached to the inner finger holder 221 and the outer finger holder 211, respectively.
The inner fingers 22 and the outer fingers 21 are grasped from the outer periphery of the dishes so that they can be grasped and carried, and then automatically loaded into the housing and released to complete the automatic boxing operation.
The inner finger 22 or the outer finger 21 can be single when being wider, and the purpose and the function of grabbing tableware and carrying the box can be achieved.
In this embodiment, the inner finger 22 and the outer finger 21 are both rod-shaped or cylinder-shaped, and have the advantages of light weight and flexible movement; therefore, in order to ensure the stability of grasping the tableware, the total number of the inner fingers 22 and the outer fingers 21 in the single set of manipulator mechanism is at least 3.
With continued reference to fig. 3 and 5, in the present embodiment, 4 fingers, that is, 2 fingers, each of the inner finger 22 and the outer finger 21, are provided, and are respectively arranged in a rectangular manner. The inner finger holders 221 and the outer finger holders 211 are arranged in parallel in the lateral direction.
Therefore, the distance between the inner finger 22 and the outer finger 21 can be set smaller, and the dish to be grasped can be larger in size. Meanwhile, in order to lift the tableware from the bottom when the tableware is grabbed, the lower ends of the rod-shaped inner finger 22 and the rod-shaped outer finger 21 are provided with hook parts 225 which are bent inwards. To facilitate adjustment of the height of the outer finger 21, an outer finger rest adjustment slot 216 is provided.
As shown in fig. 4, a tableware grabbing height limiting plate 215 is arranged between the inner finger 22 and the outer finger 21, and the tableware grabbing height limiting plate 215 is fixedly connected with the outer finger holder 211. Snatch limit for height board 215 through the tableware can appear excessively sloping or erect grabbing the tableware to lead to snatching the unstability, also can guarantee simultaneously that mutual collision can not appear when packing into a box, avoid damaging.
As shown in fig. 4, 5, and 6, the inner finger support 221 is provided with a rotating shaft 226, the rotating shaft 226 is connected and positioned with the inner finger support through a rotating shaft fixing plate 228, and the rotating shaft 226 connects and positions the inner finger slider connecting plate 222 with the inner finger support 221 through a rotating shaft fixing block 227.
Two ends of the spring 230 are respectively connected with the sliding mechanism and the lower part of the inner finger support 221. When a plurality of sets of manipulator mechanisms are arranged, one end of the spring 230 is connected with the spring mounting rack 229, the other end is connected with the lower part of the inner finger support 221, and the spring mounting rack 229 is fixed on the corresponding frame 1 on the outer side of the inner finger 22 on the rotating shaft fixing block 227 and is provided with a fixed limiting piece.
The spring 230 in this embodiment is a compression spring and is disposed inside the inner finger rest 221. In the initial state, the inner finger 22 is pulled by the spring 230 to be bent inward, or kept in a vertical state under the combined action of the driving mechanism and the spring 230; when the tableware is grabbed, the driving mechanism drives the inner finger support 221 and the inner fingers 22 to move inwards until the inner fingers 22 contact with the periphery of the tableware, and the driving mechanism stops acting; the spring pulls the inner finger support 221 to continue to rotate at a larger angle, and the inner finger 22 cooperates with the outer finger 21 to more stably grasp the tableware.
Besides a compression spring, the spring may also be a tension spring installed outside the inner finger support 221, or a corresponding elastic component.
When only a single set of manipulator mechanism is arranged on the frame 1, in order to realize the longitudinal movement and turnover of the inner finger 22 and the longitudinal movement of the outer finger 21, and to be matched with the longitudinal sliding unit, thereby the inner finger 22 and the outer finger 21 can be simultaneously or respectively driven to move towards the inner side or the outer side by the driving mechanism, when the inner finger support 221 moves towards the outer side to be blocked by the fixed limiting part, the driving mechanism can drive the inner finger 22 to rotate towards the outer side by taking the rotating shaft 226 as the center of a circle, and when the inner finger 22 moves towards the inner side to grab tableware, the spring 230 can drive the inner finger 22 to rotate towards the inner side by taking the rotating shaft 226 as the center of a circle.
The longitudinal movement of the inner finger 22 and the longitudinal movement of the outer finger 21 may be driven by a set of power mechanisms such as an air cylinder, a hydraulic cylinder, an electric cylinder, or a servo motor, or by two sets of power mechanisms.
The upper portion of the inner finger support 221 in this embodiment is provided with a protruding portion for cooperating with the fixed position limiting member. When the inner finger 22 moves outward to the contact of the fixed limiting part, the convex part of the inner finger support 221 is blocked by the fixed limiting part, the power mechanism continues to push outward, the inner finger support 221 and the inner finger 22 turn over outwards with the rotating shaft 226 as the center of circle, the distance between the lower parts of the inner finger 22 and the outer finger 21 is increased, and therefore larger tableware can be grabbed.
When the inner fingers 22 and the inner finger supports 221 are driven by the power mechanism to move inwards, the outer fingers 21 and the outer finger supports 211 also move inwards, the inner fingers 22 and the outer fingers 21 on two sides contact with tableware to be opened and grabbed, at the moment, the outer fingers 21 are fixed in position, the inner fingers 22 are pulled by the inner finger supports 221 and the springs 230 on the spring mounting rack 229, the inner fingers 22 and the inner finger supports 221 turn inwards by taking the rotating shafts 226 as circle centers, the inner fingers 22 and the outer fingers 21 are matched to stably grab the tableware, and the tableware is moved, carried and packed quickly. Meanwhile, the pulling force of the spring 230 can be adjusted by the resistance, so that the mechanical hand mechanism of the tableware with different specifications and sizes can be automatically adapted to grabbing.
As shown in fig. 5, in order to adjust the tension of the spring 230, a plurality of spring mounting holes 233 are formed on the inner finger support 221 and the spring mounting bracket 229 in the present embodiment, and the number of the springs 230 is set as required, so that the installation and replacement are more convenient.
In addition to the above description of the single set of robot mechanism, as shown in fig. 1, the robot mechanism A2 and the robot mechanism B3 are both the single set of robot mechanism defined in the present invention. At this time, the robot mechanism A2 is laterally movable with respect to the robot mechanism B3.
Under the condition of arranging two sets, three sets and four sets of manipulator mechanisms, the manipulator structure A or the manipulator structure B can be adopted completely, or the manipulator structure A and the manipulator structure B are combined. The matched longitudinal and transverse sliding mechanisms and the number thereof are increased according to actual requirements
Hereinafter, an example of mounting 2 sets of 6 robot mechanisms to the frame 1 will be described in detail. The corresponding manipulator mechanisms B3 are arranged in two sets in the middle longitudinal direction, and the manipulator mechanisms A2 are arranged in four sets at two sides of the manipulator mechanisms B3.
At the moment, two sets of manipulator mechanisms A2 on the same longitudinal side are both arranged on the same longitudinal support 5 and are driven by the transverse cylinders on the same side; the inner finger supports 221 or the lateral supports 4 on both longitudinal sides are simultaneously driven by the power mechanism of the outer finger 21.
As shown in fig. 1 and 2, the sliding mechanism in the present embodiment includes a longitudinal moving mechanism and a lateral moving mechanism; the longitudinal moving mechanism comprises a transverse bracket 4, and the transverse bracket 4 is connected with a longitudinal support 11 of the frame 1 in a sliding manner through a first longitudinal sliding assembly; the outer finger support 211 of the manipulator mechanism A2 is connected with the transverse support 4 of the outer finger 21 in a sliding mode through a first transverse sliding assembly, and the outer finger support 211 of the manipulator mechanism B3 is fixedly connected with the transverse support 4.
The transverse moving mechanism comprises a longitudinal support 5, an inner finger transverse connecting plate 231 is installed on an inner finger support 221 of a manipulator mechanism B3, the inner finger support 221 of the manipulator mechanism A2 is connected with the inner finger transverse connecting plate 231 in a sliding mode through a second transverse sliding assembly, the inner finger transverse connecting plate 231 and a frame 1 assembly are provided with a second longitudinal sliding assembly, and the first transverse sliding assembly, the second transverse sliding assembly and the longitudinal support 5 are respectively connected through a longitudinal moving transverse limiting assembly.
The first longitudinal sliding assembly comprises an outer finger longitudinal sliding rail 41 fixed on the longitudinal support 11, an outer finger longitudinal sliding block 42 matched with the outer finger longitudinal sliding rail 41, and a cross frame connecting plate 43 fixed with the outer finger longitudinal sliding block 42, wherein the cross frame connecting plate 43 is fixedly connected with the end part of the transverse support 4. The first longitudinal sliding assembly is used for longitudinally moving the outer finger 21 and the outer finger support 211 of the 6 sets of manipulator mechanisms, and simultaneously, the positioning and the installation of the outer finger support 211 of the 6 sets of manipulator mechanisms and the frame 1 are realized.
The first transverse sliding assembly comprises an outer finger transverse sliding rail 214 installed on the transverse support 4, an outer finger transverse sliding block 213 matched with the outer finger transverse sliding rail 214, and an outer finger sliding block connecting plate fixedly installed with the outer finger transverse sliding block 213, and the outer finger sliding block connecting plate is fixedly connected with the outer finger support 211. The first lateral sliding assembly is used for movement in the lateral direction of the outer finger 21 and the outer finger holder 211 of the robot mechanism A2.
The second longitudinal sliding assembly comprises an inner finger 22 longitudinal sliding block arranged on the inner finger transverse connecting plate 231, an inner finger 22 longitudinal sliding rail matched with the inner finger 22 longitudinal sliding block, and an inner finger longitudinal sliding rail fixing plate 232 for fixing the inner finger 22 sliding rail, wherein the inner finger longitudinal sliding rail fixing plate 232 is fixedly connected with the transverse support 12 of the frame 1. The second longitudinal sliding assembly is used for longitudinally moving the inner finger 22 and the inner finger support 221 of the 6 sets of mechanical arm mechanisms, and simultaneously, the positioning and the installation of the outer finger support 211 of the 6 sets of mechanical arm mechanisms and the frame 1 are realized.
The second transverse sliding assembly comprises an inner finger transverse sliding rail 224 mounted on the inner finger transverse connecting plate 231, an inner finger transverse sliding block 223 matched with the inner finger transverse sliding rail 224, and an inner finger sliding block connecting plate 222 fixedly mounted with the inner finger transverse sliding block 223, wherein the inner finger sliding block connecting plate 222 is fixedly connected with the inner finger bracket 221. The second lateral slide assembly is used for movement in the lateral direction of the inner finger 22 and the inner finger holder 221 of the robot mechanism A2.
Since the inner finger 22 and the outer finger 21 of the manipulator mechanism A2 on the same longitudinal side move in the longitudinal direction while moving in the transverse direction, the longitudinal movement transverse limiting component is arranged on the manipulator mechanism A2 and the longitudinal support 5.
The longitudinal movement transverse limiting assembly comprises an inner finger longitudinal limiting sliding groove 53 and an outer finger longitudinal limiting sliding groove 51 which are arranged on a longitudinal support 5, and two sets of limiting sliding blocks fixedly connected with an inner finger sliding block connecting plate 222 and an outer finger sliding block connecting plate, wherein the two sets of limiting sliding blocks comprise an inner finger limiting sliding block 54 and an outer finger limiting sliding block 52, and the two sets of limiting sliding blocks are respectively matched with the inner finger longitudinal limiting sliding groove 53 and the outer finger longitudinal limiting sliding groove 51.
The manipulator mechanism A2 on the same longitudinal side drives the longitudinal support 5 to move together through the transverse driving cylinder 6 and the transverse driving cylinder piston rod 62, and the transverse driving cylinder 6 is installed on the outer side of the frame hoisting plate 14 through the transverse driving cylinder fixing seat 61.
The inner finger 22 of the 6 sets of manipulator mechanisms is driven by the inner finger driving cylinder 7 through the inner finger driving cylinder piston rod 72 to drive the inner finger support 221 to move simultaneously, and the inner finger driving cylinder 7 is connected with the frame through the inner finger driving cylinder fixing seat 71.
In order to make the structure of the tableware grabbing mechanical arm more compact, the outer fingers 21 of the 6 sets of mechanical arm mechanisms drive the outer finger supports 211 or the transverse supports 4 to move simultaneously by the outer finger power mechanisms. The outer finger power component can simultaneously drive 2 groups of outer fingers 21 on the longitudinal side to move, and the outer finger power component adopts a stepping motor to ensure stable action.
The action conversion assembly is arranged below the stepping motor, and the power conversion assembly converts the rotary motion of the stepping motor into linear motion, so that the outer fingers on two sides can be driven to open or retract to grab tableware.
The action conversion assembly comprises an outer finger power box 32, a gear and 2 racks meshed with the gear, the gear is installed in the outer finger power box 32 through a rotating shaft, the 2 racks are respectively arranged at the upper part and the lower part of two sides of the gear, the racks are fixed with outer finger longitudinal push plates 34, the two sets of outer finger longitudinal push plates 34 are partially overlapped up and down in the outer finger power box 32, and the outer ends of the outer finger longitudinal push plates 34 are fixedly connected with the outer finger support 211 or the transverse support 4.
In this embodiment, the outer finger power box 32 is fixed on the cross support 12 of the frame 1, the rotating shaft is driven by the stepping motor to drive the gear and the rack, and the outer finger longitudinal pushing plate 34 and the outer finger support are connected and positioned through the middle outer finger support connecting plate 31.
The manipulator mechanism can automatically adapt to the specification and size of tableware to realize flexible grabbing and boxing, can grab a plurality of sets of tableware simultaneously when a plurality of sets of manipulator mechanisms are arranged in a matched manner, and can realize stacking and boxing among the plurality of sets of tableware, so that the space utilization rate of the box body can be improved, the arrangement effect of the boxed tableware is improved, and the manipulator mechanism can adapt to the specification of the box body and improve the space utilization rate.
The mechanical hand mechanisms arranged at the two ends can move in the transverse direction and the longitudinal direction, or move longitudinally simultaneously in the transverse direction, or move transversely simultaneously in the longitudinal direction, so that the grabbing and boxing actions are flexible, the effect is good, and the working efficiency is high.
As shown in fig. 7-10, the present embodiment further discloses an automatic box filling machine 8, which includes a rack 81, and a tableware conveying belt 84, a tableware positioning conveying belt 85, a box conveying belt 86, which are disposed on the rack 81, and further includes the above-mentioned tableware grasping robot.
The tableware conveyer belt 84 is used for conveying tableware after cleaning and disinfection, and after the distribution, the tableware conveyer belt 85 is positioned or after the tableware is primarily arranged through the tableware arranging conveyer belt, the tableware positioning conveyer belt 85 is sent in, and the tableware positioning conveyer belt 85 is provided with a tableware positioning mechanism 851, so that the tableware can be arranged and positioned, and the tableware is grabbed by grabbing machinery to match the complete set of tableware.
The box conveyer belt 86 is used for conveying the box, a box positioning mechanism 861 is arranged on the box conveyer belt 86, the box is positioned when being boxed, the box is boxed by matching with the complete set tableware grabbing machine, and the box is taken out through manpower, a conveyer belt or a stacker after being filled.
The tableware grabbing manipulator is fixedly installed on a main movement mechanism, and the main movement mechanism is installed on a rack 81 through a sliding assembly. The lower end of the truss z-axis kinematic connection robot frame 832 is connected to the tableware robot by a frame hoist plate 14.
The frame 81 is provided with a truss z-axis stabilizing frame 811, the horizontal movement of the main movement mechanism is realized by a truss x-axis movement mechanism 82, and the truss x-axis servo motor 821 is arranged; the up-and-down movement of the main movement mechanism is realized by the truss z-axis movement mechanism 83, which comprises a truss z-axis slide rail 812, a truss z-axis slide block 813, a truss z-axis slide block connecting plate 814 and a truss z-axis servo motor 831.
The main motion mechanism is used for driving the tableware grabbing manipulator to move up and down and horizontally, and the tableware is grabbed from the tableware positioning conveying belt 85 and placed in the box on the tableware conveying belt 84.
The technical contents not described in detail in the present invention are all known techniques.
Claims (9)
1. The tableware grabbing mechanical arm comprises a frame and a driving mechanism and is characterized in that at least one set of mechanical arm mechanism is arranged on the frame, and the mechanical arm mechanism is connected with the frame through a sliding mechanism;
the manipulator mechanism comprises an inner finger, an inner finger bracket, an outer finger bracket and a spring; the inner finger and the outer finger are respectively arranged on the inner finger bracket and the outer finger bracket; the inner finger support is provided with a rotating shaft, and two ends of the spring are respectively connected with the sliding mechanism and the lower part of the inner finger support;
a fixed limiting part is arranged on the frame outside the inner finger support; the driving mechanism can drive the inner fingers and the outer fingers to move towards the inner side or the outer side simultaneously or respectively, when the inner finger support moves towards the outer side until being blocked by the fixed limiting part, the driving mechanism can drive the inner fingers to rotate towards the outer side by taking the rotating shaft as the circle center, and when the inner fingers move towards the inner side to grab tableware, the springs can drive the inner fingers to rotate towards the inner side by taking the rotating shaft as the circle center;
the manipulator mechanisms are transversely provided with two sets, namely a manipulator mechanism A and a manipulator mechanism B;
the sliding mechanism comprises a longitudinal moving mechanism and a transverse moving mechanism; the longitudinal moving mechanism comprises a transverse bracket which is connected with the longitudinal support of the frame in a sliding manner through a first longitudinal sliding assembly; an outer finger support of the manipulator mechanism A is connected with the outer finger transverse support in a sliding mode through a first transverse sliding assembly, and an outer finger support of the manipulator mechanism B is fixedly connected with the transverse support; the transverse moving mechanism comprises a longitudinal support, an inner finger transverse connecting plate is arranged on an inner finger support of the manipulator mechanism B, the inner finger support of the manipulator mechanism A is connected with the inner finger transverse connecting plate in a sliding mode through a second transverse sliding assembly, the inner finger transverse connecting plate and the frame assembly are provided with a second longitudinal sliding assembly, and the first transverse sliding assembly, the second transverse sliding assembly and the longitudinal support are connected through a longitudinal moving transverse limiting assembly respectively;
the driving mechanism comprises a transverse driving cylinder, an inner finger driving cylinder and an outer finger power component, a piston rod of the transverse driving cylinder is connected with the longitudinal support, a piston rod of the inner finger driving cylinder is connected with the inner finger support, and the outer finger power component is fixedly connected with the outer finger support or the transverse support.
2. The tableware grabbing mechanical arm according to claim 1, wherein the mechanical arm mechanism A is provided with two sets, and the two sets of mechanical arm mechanisms A are respectively arranged at two transverse sides of the mechanical arm mechanism B; the transverse support is respectively connected with the two longitudinal supports of the frame through two sets of first longitudinal sliding assemblies.
3. The tableware gripping manipulator according to claim 1, wherein said manipulator mechanism A and said manipulator mechanism B are symmetrically arranged in 2 sets in longitudinal direction, and both sets of manipulator mechanism A are mounted on the same longitudinal support.
4. The tableware gripping robot of claim 2, wherein the robot mechanism a and the robot mechanism B are symmetrically arranged in 2 groups in a longitudinal direction; two sets of manipulator mechanisms A at the same longitudinal side are arranged on the same longitudinal support; the inner finger supports or the transverse supports on both longitudinal sides are driven simultaneously or respectively by the outer finger power parts.
5. The tableware grasping robot according to claim 4 wherein said outer finger power component comprises a stepper motor and a motion transfer assembly disposed below the stepper motor; the motion conversion assembly comprises an outer finger power box, a gear and 2 racks meshed with the gear, the gear is installed in the outer finger power box through a rotating shaft, the 2 racks are respectively arranged at the upper part and the lower part of two sides of the gear, the racks are fixed with an outer finger longitudinal push plate, the outer end of the outer finger longitudinal push plate is fixedly connected with an outer finger support or a transverse support, and the parts of the 2 sets of outer finger longitudinal push plates in the outer finger power box are overlapped up and down; the outer finger power box is fixed on the transverse support of the frame, and the rotating shaft is driven by the stepping motor.
6. The tableware gripping manipulator according to any one of claims 1 to 5, wherein the first longitudinal sliding assembly comprises an outer finger longitudinal slide rail fixed on the longitudinal support, an outer finger longitudinal slide block matched with the outer finger longitudinal slide rail, and a cross frame connecting plate fixed with the outer finger longitudinal slide block, and the cross frame connecting plate is fixedly connected with the end part of the cross frame;
the first transverse sliding assembly comprises an outer finger transverse sliding rail arranged on the transverse support, an outer finger transverse sliding block matched with the outer finger transverse sliding rail, and an outer finger sliding block connecting plate fixedly arranged with the outer finger transverse sliding block, and the outer finger sliding block connecting plate is fixedly connected with the outer finger support;
the second longitudinal sliding assembly comprises an inner finger longitudinal sliding block arranged on the inner finger transverse connecting plate, an inner finger longitudinal sliding rail matched with the inner finger longitudinal sliding block, and an inner finger longitudinal sliding rail fixing plate for fixing the inner finger sliding rail, wherein the inner finger longitudinal sliding rail fixing plate is fixedly connected with the transverse support of the frame;
the second transverse sliding assembly comprises an inner finger transverse sliding rail arranged on an inner finger transverse connecting plate, an inner finger transverse sliding block matched with the inner finger transverse sliding rail and an inner finger sliding block connecting plate fixedly provided with the inner finger transverse sliding block, and the inner finger sliding block connecting plate is fixedly connected with the inner finger bracket;
the longitudinal movement transverse limiting assembly comprises an inner finger longitudinal limiting sliding groove, an outer finger longitudinal limiting sliding groove and two sets of limiting sliding blocks, wherein the inner finger longitudinal limiting sliding groove and the outer finger longitudinal limiting sliding groove are formed in the longitudinal support, the two sets of limiting sliding blocks are fixedly connected with an inner finger sliding block connecting plate and an outer finger sliding block connecting plate, and the two sets of limiting sliding blocks are respectively matched with the inner finger longitudinal limiting sliding groove and the outer finger longitudinal limiting sliding groove.
7. The tableware gripping robot of any one of claims 1 to 5 wherein 2 fingers are provided for each of the inner fingers and the outer fingers of a single set of robot, and are arranged in a rectangular pattern; the inner finger and the outer finger are both cylinders, and the lower ends of the cylinders are provided with hook parts bent outwards.
8. The tableware grabbing mechanical arm according to any one of claims 1 to 5, wherein a tableware grabbing height limiting plate is arranged between the inner fingers and the outer fingers, and the tableware grabbing height limiting plate is fixedly connected with the outer fingers or the outer finger support.
9. The automatic box filling machine comprises a rack, and a tableware conveying belt, a tableware positioning conveying belt and a box conveying belt which are arranged on the rack, and is characterized by further comprising a tableware grabbing mechanical arm according to any one of claims 1 to 8, wherein the tableware grabbing mechanical arm is fixedly arranged on a main movement mechanism, and the main movement mechanism is arranged on the rack through a sliding assembly; the main motion mechanism can drive the tableware grabbing manipulator to move up and down and horizontally, and the tableware is grabbed from the tableware positioning conveying belt and placed in the box on the tableware conveying belt.
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| CN202010913712.8A CN111907757B (en) | 2020-09-03 | 2020-09-03 | Tableware snatchs manipulator and automatic case packer |
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| CN202010913712.8A CN111907757B (en) | 2020-09-03 | 2020-09-03 | Tableware snatchs manipulator and automatic case packer |
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| CN112938003B (en) * | 2021-03-24 | 2023-01-03 | 南通职业大学 | Spinning cake grabbing and boxing method and device |
| CN114084663B (en) * | 2021-11-12 | 2024-04-02 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
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| CN102430663B (en) * | 2011-10-17 | 2015-01-21 | 机械科学研究总院先进制造技术研究中心 | Flexible adjustable manipulator for catching high-temperature steel plate |
| CN106140640A (en) * | 2015-04-16 | 2016-11-23 | 苏州旋特自动化科技有限公司 | Tableware sorting unit |
| CN204772519U (en) * | 2015-06-10 | 2015-11-18 | 珠海盈致科技有限公司 | Be applied to PCB test carrying platform's manipulator |
| CN105600429B (en) * | 2016-03-04 | 2018-04-24 | 宁夏机械研究院股份有限公司 | It is multi-functional to grab reclaimer robot |
| CN107088890B (en) * | 2016-03-04 | 2018-08-24 | 温州市科泓机器人科技有限公司 | Flexibility adaptively can tolerance formula new mechanical arm mechanism |
| CN106181976B (en) * | 2016-07-26 | 2019-02-15 | 温州职业技术学院 | Three inserted sheet automatic catching robot system of lamp holder |
| CN106986059B (en) * | 2017-03-31 | 2019-02-05 | 武汉健康之星餐具消毒有限公司 | Combined set tableware automatic boxing machine and its packing method |
| CN107042521A (en) * | 2017-04-18 | 2017-08-15 | 温州职业技术学院 | Many finger parallel manipulators of soft drive |
| CN208276927U (en) * | 2018-03-12 | 2018-12-25 | 东莞市万将机电设备有限公司 | One kind automatically grabbing displacement manipulator |
| CN111453061B (en) * | 2020-05-18 | 2024-07-16 | 广州霖森环保科技有限公司 | Tableware vanning production line |
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