CN111977070A - Multifunctional robot clamp for spinning cake boxing and working method - Google Patents
Multifunctional robot clamp for spinning cake boxing and working method Download PDFInfo
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- CN111977070A CN111977070A CN202010772200.4A CN202010772200A CN111977070A CN 111977070 A CN111977070 A CN 111977070A CN 202010772200 A CN202010772200 A CN 202010772200A CN 111977070 A CN111977070 A CN 111977070A
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- spinning cake
- robot
- fixedly connected
- suction
- moving mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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- 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
Abstract
The invention provides a multifunctional robot clamp for spinning cake boxing, which is characterized in that the multifunctional robot clamp moves back and forth on a spinning cake boxing production line through a robot and comprises a moving mechanism, a grabbing mechanism and a sucking mechanism, wherein the moving mechanism is used for moving the clamp to the front side of a spinning cake boxing production line; the grabbing mechanism is connected with the tail end of the robot through the moving mechanism, the suction mechanism is fixedly connected to the grabbing mechanism, and the suction mechanism can move up and down; the sucking mechanism is used for sucking the paperboard and the spinning cake positioning plate, and the grabbing mechanism is used for grabbing spinning cakes. The multifunctional robot clamp for packing the spinning cakes can grab and stack the spinning cakes and grab and stack the paperboard and the spinning cake positioning plate, greatly improves the packing efficiency and reduces the production cost.
Description
Technical Field
The invention relates to chemical fiber spinning cake boxing equipment in the field of textile, in particular to a multifunctional robot clamp for spinning cake boxing and a working method.
Background
In order to not influence the appearance quality of the chemical fiber spinning cakes, the spinning cakes cannot have appearance defects such as bruise, hairiness, hairline, pollution and the like in the boxing process, so that the boxing procedure of the spinning cakes is relatively complex, and a layer of bottom paper plate is firstly placed after the paper box is sleeved with the film bag; putting a layer of spinning cake positioning plate to put a layer of spinning cake, and continuously putting n layers of spinning cake positioning plates and spinning cakes; then a layer of top paper board is put on the bag, and finally the mouth of the film bag and the box are finished. Because of various procedures, the conventional spinning cake boxing is basically manual boxing or multiple robots are purchased and are respectively used for loading spinning cakes, placing paperboards and positioning plates for the spinning cakes. Even if the robot loads the spinning cakes, the clamps for the robot can only adapt to the spinning cakes with the same size and certain boxing arrangement distance, if the size of the spinning cakes is changed or the boxing arrangement distance is changed, the clamps for various robots need to be designed and manufactured to be matched with the spinning cakes, different clamps for the robots need to be replaced as long as the size of the spinning cakes is changed or the boxing arrangement distance is changed, and the production line has the advantages of high labor intensity of workers, high cost and low efficiency. Therefore, in order to improve the boxing efficiency of the chemical fiber spinning cakes and the compatibility of the production line, a multifunctional robot clamp needs to be developed, which can grab and stack the spinning cakes, grab and stack the paper boards and the spinning cake positioning plates, and is compatible with the spinning cakes with different sizes and the boxing arrangement space.
Disclosure of Invention
In order to overcome the defects of the prior art, the multifunctional robot clamp for the spinning cake boxing and the working method are provided.
The purpose of the invention is realized by the following technical scheme:
a multifunctional robot clamp for spinning cake boxing moves back and forth on a spinning cake boxing production line through a robot and comprises a moving mechanism, a grabbing mechanism (4) and a sucking mechanism (5);
the grabbing mechanism (4) is connected with the tail end of the robot through the moving mechanism, the suction mechanism (5) is fixedly connected to the grabbing mechanism (4), and the suction mechanism (5) can move up and down;
the sucking mechanism (5) is used for sucking the paper board (65) and the cake positioning plate (64), and the grabbing mechanism (4) is used for grabbing the cake (6).
Preferably, the suction means (5) comprise: the air cylinder (51), the air cylinder mounting seat (52), the air path joint (53) and the suction cup (54);
the air cylinder (51) is fixedly connected with the grabbing mechanism (4) through the air cylinder mounting seat (52);
the air cylinder rod of the air cylinder (51) is fixedly connected with one end of the air path joint (53), and the other end of the air path joint (53) is fixedly connected with the sucker (54);
when the grabbing mechanism (4) works, the cylinder rod of the cylinder (51) retracts, the sucker (56) is arranged above the grabbing mechanism (4), when the sucking mechanism (5) works, the cylinder rod of the cylinder (51) extends out, and the grabbing mechanism (4) is arranged above the sucker (56).
Preferably, the gripping mechanism (4) comprises: the pneumatic claw connecting seat (41), the pneumatic claw (42) and the clamping jaw (43);
the pneumatic gripper is characterized in that one end of the pneumatic gripper (42) is fixedly connected with one end of the pneumatic gripper connecting seat (41), the other end of the pneumatic gripper (42) is fixedly connected with the clamping jaw (43), the pneumatic gripper connecting seat (41) is of a long rod-shaped structure, the other end of the pneumatic gripper connecting seat (41) is fixedly connected with the moving mechanism, and the air cylinder (51) is fixedly connected with the long rod-shaped structure of the pneumatic gripper connecting seat (41) through the air cylinder mounting seat (52).
Preferably, the grabbing mechanisms (4) are in multiple groups, and the number and the arrangement mode of the grabbing mechanisms (4) are adapted to the number and the arrangement mode of each layer of spinning cakes (6) of the spinning cake box.
Preferably, the suction mechanisms (5) are in multiple groups, the number of the suction mechanisms (5) is less than or equal to that of the grabbing mechanisms (4), and the suction mechanisms (5) are symmetrically and fixedly connected to the part of the grabbing mechanisms (4).
Preferably, the moving mechanism includes: a transverse moving mechanism (2) and a longitudinal moving mechanism (3); the multifunctional robot clamp for spinning cake boxing further comprises: a support frame (1);
the supporting frame (1) is connected with the tail end of the robot; the longitudinal moving mechanism (3) is connected with the supporting frame (1); the transverse moving mechanism (2) is connected with the longitudinal moving mechanism (3), and the grabbing mechanism (4) is connected with the transverse moving mechanism (2).
Preferably, the longitudinal moving mechanism (3) includes: a plurality of support plates (38) and two sets of first guide rail slider assemblies (39); the two sets of first guide rail slider assemblies (39) each comprise: a first linear guide rail and a plurality of first sliders;
the two groups of first linear guide rails are fixedly connected with the supporting frame (1), and the first sliding blocks are arranged on the first linear guide rails in a sliding manner;
the supporting plates (38) are long-strip-shaped, the supporting plates (38) in the middle are fixedly connected with the supporting frame (1), and two ends of the supporting plates (38) on two sides are fixedly connected with the first sliding block.
Preferably, the longitudinal moving mechanism (3) further includes: the servo motor speed reducer comprises a servo motor speed reducer (31), a speed reducer mounting seat (32), a coupler (33), a left-right screw rod (34), a left-right screw nut (35), a fixed seat (36) and a bearing seat (37); the left and right turnnuts (35) include: a left-handed nut and a right-handed nut;
the speed reducer mounting seat (32) and the bearing seat (37) are respectively and fixedly connected with the supporting frame (1);
the servo motor reducer (31) is arranged on the reducer mounting seat (32), one end of the coupler (33) is connected with a shaft of the servo motor reducer (31), the other end of the coupler is connected with one end of the left-right screw rod (34), and the other end of the left-right screw rod (34) is connected with the bearing seat (37);
left side dextrorotation lead screw (34) are the stock form, the middle and both ends of controlling dextrorotation lead screw (34) are the optical axis, and the middle optical axis the left side is levogyration lead screw section, and the right is dextrorotation lead screw section, levogyration nut sets up levogyration lead screw section, dextrorotation nut set up dextrorotation lead screw section, middle optical axis passes fixing base (36), control revolve nut (35) and the middle part fixed connection of both sides backup pad (38), fixing base (36) with the middle part fixed connection of the backup pad (38) at middle part.
Preferably, the lateral movement mechanism (2) comprises: a plurality of groups of link mechanisms (23), a plurality of hollow mounting seats (24), a plurality of link fixed shafts (25) and a plurality of groups of second guide rail sliding block assemblies (26); the plurality of sets of second guide rail slider assemblies (26) each include: the second linear guide rail and the plurality of second sliding blocks;
the number of the connecting rod mechanisms (23) is matched with that of the supporting plates (38), two groups of short connecting rods are arranged at two ends of each connecting rod mechanism (23), a plurality of groups of long connecting rods are arranged in the middle of each connecting rod mechanism, and the connecting rods are hinged;
a connecting rod fixing shaft (25) is arranged on a hinge shaft in the middle of the connecting rod mechanism (23), the connecting rod fixing shaft (25) is fixedly connected with a left-right screw nut (35) or a fixed seat (36) of the longitudinal moving mechanism (3), other hinge shafts of the connecting rod mechanism (23) are fixedly connected with the upper end of the mounting seat (24), the supporting plate (38) penetrates through the mounting seat (24), and the lower end of the mounting seat (24) is fixedly connected with the air claw connecting seat (41);
the second linear guide rail is fixedly connected with the lower surface of the supporting plate (38), the second sliding blocks are arranged on the second linear guide rail in a sliding mode, and the second sliding blocks are fixedly connected with the mounting seat (24) respectively.
Preferably, the lateral movement mechanism (2) further comprises: a servo sliding table (21), a push plate (22) and a guide groove (27);
the servo sliding table (21) is connected with the supporting frame (1), and the servo sliding table (21) is connected with the push plate (22);
the outer longitudinal installation seat (24) is provided with the guide groove (27), the push plate (22) is arranged in the guide groove (27), and the guide groove (27) can slide along the push plate (22).
Preferably, the support frame (1) comprises: the robot comprises a robot connecting plate (11), a connecting column (12) and a mounting rack (13);
the robot connecting plate (11) is connected with the tail end of the robot; the mounting rack (13) is connected with the robot connecting plate (11) through the connecting column (12); the mounting rack (13) is a rectangular frame, a longitudinal beam is arranged in the middle of the mounting rack, and the length of the rectangular frame is matched with that of the supporting plate (38);
the servo sliding table (21) is connected with the robot connecting plate (11), and the speed reducer mounting seat (32) and the bearing seat (37) are fixedly connected to the two ends of the longitudinal beam; the two groups of first linear guide rails are respectively arranged on two wide sides of the rectangular frame, and two ends of the supporting plate (38) in the middle are respectively fixedly connected with the two wide sides of the rectangular frame.
Preferably, the cake boxing production line comprises: a spinning cake boxing station (62), a spinning cake transportation station, a paperboard transportation station and a spinning cake positioning plate transportation station;
the spinning cake boxing station (62), the spinning cake conveying station, the paperboard conveying station and the spinning cake positioning plate conveying station are arranged around the multifunctional robot clamp;
the carton is transported to a station by the spinning cake boxing station (62), the spinning cake (6) is transported to a station by the spinning cake transporting station, the paperboard is transported to a station by the paperboard transporting station (65), the spinning cake positioning plate is transported to a station by the spinning cake positioning plate transporting station (64), and the multifunctional robot starts to work by the clamp.
A working method of a multifunctional robot clamp for spinning cake boxing comprises the following steps:
starting the robot to drive the multifunctional robot to move back and forth on the spinning cake boxing production line by using the clamp;
after the station is reached, starting a suction mechanism (5) fixedly connected to the grabbing mechanism (4), and moving a suction paperboard (65) downwards by the suction mechanism (5);
starting the moving mechanism to adjust the distance, starting the suction mechanism (5) fixedly connected to the grabbing mechanism (4), and moving the suction spinning cake positioning plate (64) downwards by the suction mechanism (5);
the moving mechanism is started to adjust the distance, the suction mechanism (5) fixedly connected to the grabbing mechanism (4) is started, the suction mechanism (5) moves upwards, and the grabbing mechanism (4) is started to grab a layer of spinning cake (6).
Preferably, after arriving at the station, starting the suction means (5) fixedly connected to the gripping means (4), the suction means (5) moving downwards by itself to suck the cardboard (65), comprising:
starting an air cylinder (51) of the suction mechanism (5), wherein an air cylinder rod of the air cylinder (51) extends out, and a sucker (54) of the suction mechanism (5) is positioned below a clamping jaw (43) of the grabbing mechanism (4); and starting the suction cup (54) to suck the paper board (65) into the bottom of the carton.
Preferably, start moving mechanism adjustment interval, start fixed connection and pick suction means (5) on mechanism (4), suction means (5) self downwardly moving absorbs spinning cake locating plate (64), include:
starting a longitudinal moving mechanism (3) of the moving mechanism to move longitudinally, and starting a servo motor reducer (31) of the longitudinal moving mechanism (3) to drive a supporting plate (38) of the longitudinal moving mechanism (3) to move on a first linear guide rail of the longitudinal moving mechanism (3);
starting a transverse moving mechanism (2) of the moving mechanism to move transversely, and starting a servo sliding table (21) of the transverse moving mechanism (2) to push a connecting rod mechanism (23) of the transverse moving mechanism (2) to drive a suction mechanism to adjust the distance through a push plate (22) of the transverse moving mechanism (2);
starting the air cylinder (51), extending an air cylinder rod of the air cylinder (51), and positioning the suction cup (54) below the clamping jaw (43); and starting the suction cup (54) to suck the spinning cake positioning plate (64) into the carton.
Preferably, start moving mechanism adjustment interval, start fixed connection and pick suction means (5) on mechanism (4), suction means (5) self rebound, start and pick mechanism (4) and pick one deck spinning cake (6), include:
starting the servo motor reducer (31) to drive the supporting plate (38) to move on the first linear guide rail;
starting the servo sliding table (21) to push a link mechanism (23) of the transverse moving mechanism (2) to drive the mounting seat (24) to move through the push plate (22), and adjusting the distance between the grabbing mechanisms (4) through the mounting seat (24);
when the grabbing mechanism (4) works, a cylinder rod of the cylinder (51) is in a retraction state, the sucker (54) is positioned above the clamping jaw (43), and the air claw (42) of the grabbing mechanism (4) is started to drive the clamping jaw (43) to grab a layer of spinning cakes (6) and place the spinning cakes into a carton.
Compared with the prior art, the invention has the beneficial effects that:
(1) a multifunctional robot clamp for packing spinning cakes moves back and forth on a spinning cake packing production line through a robot and comprises a moving mechanism, a grabbing mechanism and a sucking mechanism; the grabbing mechanism is connected with the tail end of the robot through the moving mechanism, the suction mechanism is fixedly connected to the grabbing mechanism, and the suction mechanism can move up and down; the sucking mechanism is used for sucking the paperboard and the spinning cake positioning plate, and the grabbing mechanism is used for grabbing spinning cakes. The multifunctional robot clamp for packing the spinning cakes can grab and stack the spinning cakes and grab and stack the paperboard and the spinning cake positioning plate, greatly improves the packing efficiency and reduces the production cost.
(2) The multifunctional robot clamp can grab and stack spinning cakes, grab and stack a paperboard and a spinning cake positioning plate, grab a layer of spinning cakes from a conveying line at each time, and realize transverse and longitudinal displacement among the spinning cakes in the advancing process of the grab so as to adapt to the arrangement distance of the spinning cake boxing.
(3) The gripper can complete various grabbing and stacking tasks, greatly improves the boxing efficiency and reduces the production cost. The transverse and longitudinal moving mechanisms of the gripper are controlled by a servo, so that the gripper is compact in structure, accurate in displacement and reliable in operation. The gripper can be compatible with spinning cakes of different sizes and packing arrangement intervals of the spinning cakes, and has strong universality.
Drawings
FIG. 1 is a general view of a jig for a multi-function robot according to the present invention;
FIG. 2 is a schematic view of a support frame of the robot gripper of FIG. 1;
FIG. 3 is a schematic view of a lateral movement mechanism of the robot gripper shown in FIG. 1;
FIG. 4 is a schematic view of a longitudinal movement mechanism of the robot gripper shown in FIG. 1;
FIG. 5 is a schematic view of a gripping mechanism of the gripper of the robot shown in FIG. 1;
FIG. 6 is a schematic view of a suction mechanism of the robot gripper shown in FIG. 1;
fig. 7 is a schematic view of an application example of the jig for a robot shown in fig. 1.
Number in the figure: 1. a support frame; 2. a lateral movement mechanism; 3. a longitudinal movement mechanism; 4. a grabbing mechanism; 5. a suction mechanism; 6. spinning cakes; 11. connecting a robot plate; 12. connecting columns; 13. a mounting frame; 21. a servo sliding table; 22. pushing the plate; 23. a link mechanism; 24. the mounting base 25 is a connecting rod fixing shaft; 26. a second guide rail slider assembly; 27. a guide groove; 31. a servo motor reducer; 32. a speed reducer mounting base; 33. a coupling; 34. a left-right screw; 35. screwing the nut left and right; 36. a fixed seat; 37. a bearing seat; 38. a support plate; 39. a first guide rail slider assembly; 41. a pneumatic claw connecting seat; 42. a pneumatic claw; 43. a clamping jaw; 51. a cylinder; 52. a cylinder mounting seat; 53. a gas circuit joint; 54. a suction cup; 61. an empty carton; 62. a spinning cake boxing station; 63. a spinning cake conveying line; 64. a spinning cake positioning plate; 65. a paperboard; 66. a jig for a multi-function robot; 67. robot arm spread.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention, but the present invention is not limited to these examples.
Example 1:
in view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a multifunctional robot clamp for packing spinning cakes and a working method thereof, as shown in fig. 1, the multifunctional robot clamp can not only grab and stack spinning cakes, but also grab and stack a paper plate 65 and a spinning cake positioning plate 64.
As shown in fig. 1, the multifunctional robot clamp 66 for spinning cake boxing of the invention mainly comprises a supporting frame 1, a transverse moving mechanism 2, a longitudinal moving mechanism 3, a grabbing mechanism 4 and a suction mechanism 5. The supporting frame 1 is arranged at the tail end of the robot; the longitudinal moving mechanism 3 is arranged on a mounting rack 13 of the support frame 1 through a first linear guide rail; the transverse moving mechanism 2 is arranged on a supporting plate 38 of the longitudinal moving mechanism 3 through a second linear guide rail; 12 groups of grabbing mechanisms 4 are respectively arranged on an installation seat 24 of the transverse moving mechanism 2, the grabbing mechanisms 4 and the installation seats 24 are in one-to-one correspondence, the number and the arrangement mode of the grabbing mechanisms 4 and the installation seats 24 are consistent with the number and the arrangement mode of each layer of spinning cakes 6 during boxing, in this case, each layer of spinning cakes has 12 spinning cakes, and the arrangement mode is 3 rows and 4 columns; the 4 groups of suction mechanisms 5 are symmetrically fixed on the air claw connecting seat 41 of the grabbing mechanism 4, in this case, the 4 groups of suction mechanisms 5 are symmetrically arranged on the grabbing mechanisms 4 with 4 corners; the clamp for the robot is arranged at the tail end of the robot through a supporting frame 1, the whole clamp for the robot is driven by the robot to move between spinning cake boxing production lines, and the clamp for the robot is driven by the robot to move up and down for grabbing, stacking spinning cakes and grabbing and stacking a paper plate 65 and a spinning cake positioning plate 64 by the clamp for the robot.
As shown in fig. 2, the support frame 1 includes a robot connecting plate 11, a connecting column 12, and a mounting frame 13. The robot connecting plate 11 is connected with the tail end of the robot and is used for installing a servo sliding table 21 of the transverse moving mechanism 2; the main body of the mounting frame 13 is a rectangular frame welded by rectangular pipes, a longitudinal beam is arranged in the middle, and a positioning piece and a connecting piece of the longitudinal moving mechanism 3 are welded on the upper surface of the mounting frame and used for mounting the longitudinal moving mechanism 3; four connecting columns 12 connect the robot link plate 11 and the mounting frame 13 into a whole, and the space between the robot link plate 11 and the mounting frame 13 is used for mounting the longitudinal moving mechanism 3 and the transverse moving mechanism 2.
As shown in fig. 3, the lateral moving mechanism 2 includes a servo sliding table 21, a push plate 22, a link mechanism 23, a mounting seat 24, a link fixing shaft 25, a second guide rail slider assembly 26, and a guide groove 27. The transverse moving mechanism 2 is fixed on a supporting plate 38 of the longitudinal moving mechanism 3 through a plurality of groups of second linear guide rails; the servo sliding table 21 is fixed on the robot connecting plate 11; the push plate 22 is connected with the servo sliding table 21, and the servo sliding table 21 drives the tail ends of the multiple groups of link mechanisms 23 to horizontally extend and retract through the push plate 22; two ends of the connecting rod mechanism 23 are two groups of short connecting rods, a plurality of groups of long connecting rods are arranged in the middle, and the connecting rods are hinged; the hinge shaft in the middle of each group of the connecting rod mechanisms is a connecting rod fixing shaft 24 which is fixedly arranged on a left-right screw nut 35 or a fixed seat 36 of the longitudinal moving mechanism 3; each group of mounting seats 24 is arranged at equal intervals, is respectively fixed with other hinged shafts of the connecting rod, is connected with the second sliding block and can move along with the second sliding block; one set of the outer longitudinal mounts 24 is provided with guide slots 27, the push plate 22 being in the set of guide slots 27, the guide slots 27 being movable along the push plate 22. When the transverse moving mechanism 2 is started, each group of the link mechanisms 23 horizontally extends and retracts by taking the link fixing shaft 25 in the middle of the link as a reference, and drives the same group of the installation seats 24 to change at equal intervals.
As shown in fig. 4, the longitudinal moving mechanism 3 includes a servo motor reducer 31, a reducer mounting seat 32, a coupling 33, a left-right screw 34, a left-right screw nut 35, a fixing seat 36, a bearing seat 37, a support plate 38, and a first guide rail slider assembly 39. The longitudinal moving mechanism 3 is fixed on the mounting frame 13 of the support frame 1 through a first linear guide rail 39, a reducer mounting seat 32 and a bearing seat 37; the shaft coupling 33 is connected with the shaft of the servo motor reducer 31 and the left-right screw 34; the middle section of the left-right rotating lead screw 34 is an optical axis, the left side close to the optical axis is a left-rotating lead screw section, the right side is a right-rotating lead screw section, the screw pitches of the left-rotating lead screw and the right-rotating lead screw are the same, only the rotating directions are different, the two ends of the left-rotating lead screw and the right-rotating lead screw are optical axis sections, one end of each optical axis section is connected with the coupler 33, and the; the left and right turn nuts 35 include: the left-handed nuts and the right-handed nuts are respectively matched with the left-handed screw and the right-handed screw, the left-handed nuts are distributed on the left-handed screw section and fixed on the left supporting plate 38, and the right-handed nuts are distributed on the right-handed screw section and fixed on the right supporting plate 38 and symmetrically distributed; the supporting plates 38 are multiple, the middle supporting plate 38 is fixed on the mounting frame 13, and the supporting plates 38 on two sides are connected with the first sliding block and can move along with the first sliding block; the fixed seat 36 is arranged in the middle of the supporting plate 38, the middle of the fixed seat 36 is provided with a light hole, and the left-right screw 34 penetrates through the middle. When the longitudinal movement mechanism 2 is activated, the side support plates 38 are brought closer to or farther away from the intermediate support plate 38 with reference to the intermediate support plate 38.
As shown in fig. 5, the gripping mechanism 4 includes a pneumatic gripper connecting seat 41, a pneumatic gripper 42 and a gripping jaw 43. The pneumatic claw connecting seat 41 is arranged on the mounting seat 24 of the transverse moving mechanism 2 and can move along with the mounting seat 24, and the length of the pneumatic claw connecting seat 41 is determined according to the boxing depth; the air claw 42 is a power source and is in threaded connection with the air claw connecting seat 41; the clamping jaw 43 is used for grabbing the inner wall of the paper tube of the spinning cake 6 and is in threaded connection with the air claw 42, the air claw 42 comprises two movable fingers, the clamping jaw 43 is fixedly connected to the two movable fingers, the air claw 42 is a power source of the grabbing mechanism, and the fingers are controlled to open and close through an air path so as to drive the clamping jaw fixed on the fingers of the air claw to open and close. The maximum diameter of the clamping jaw 43 is smaller than the inner wall of the paper tube of the spinning cake, the clamping jaw stretches into the inner wall of the paper tube to grab the spinning cake, and the grabbing device is mainly used for grabbing the whole layer of spinning cake every time when the box is packed, so that the number and the arrangement mode of the grabbing mechanisms 4 are consistent with the number and the arrangement mode of each layer of spinning cake 6 when the box is packed.
As shown in fig. 6, the suction mechanism 5 includes: cylinder 51, cylinder mount 52, air circuit joint 53, sucking disc 54. The sucking mechanisms 5 are mainly used for sucking the paper boards 65 and the cake positioning plates 64, so that in order to suck stably, a plurality of groups of sucking mechanisms 5 are arranged in a symmetrical mode; the suction mechanism 5 can move up and down through the air cylinder 51, and an air cylinder rod of the air cylinder 51 is connected with the suction cup 54 through an air path joint 53; when the grabbing mechanism 4 works, the cylinder rod of the cylinder 51 is in a retraction state, and the suction disc 54 is arranged above the clamping jaw 43, so that the packing of spinning cakes is not influenced; the suction mechanism 5 during operation, the cylinder pole of cylinder 51 is stretched out the state, sucking disc 54 is under clamping jaw 43, clamping jaw 43 can not influence sucking disc 54 and absorb cardboard 65 and spinning cake locating plate 64, the sucking disc is the vacuum chuck, the suction of controlling the sucking disc through the control inflation and deflation is put down, cylinder mount pad 52 includes a diameter and the pole-like structure diameter assorted ring of gas claw connecting seat 41, cylinder mount pad 52 is through ring fixed connection on gas claw connecting seat 41 pole-like structure, and cylinder 51 length is less than gas claw connecting seat 41, cylinder mount pad 52 is installed and is close gas claw 42 one end at gas claw connecting seat 41, cylinder 51 length on the cylinder mount pad 52 is less than gas claw connecting seat 41.
By adopting the technical scheme, the invention can achieve the following beneficial effects: the multifunctional robot clamp 66 for spinning cake boxing can grab and stack spinning cakes, grab and stack the paper plate 65 and the spinning cake positioning plate 64, grab a layer of spinning cakes from a conveying line at each time, and realize transverse and longitudinal displacement among the spinning cakes in the advancing process of the grab so as to adapt to the arrangement distance of the spinning cake boxing.
The gripper can complete various grabbing and stacking tasks, greatly improves the boxing efficiency and reduces the production cost. The transverse and longitudinal moving mechanisms of the gripper are controlled by a servo, so that the gripper is compact in structure, accurate in displacement and reliable in operation. The gripper can be compatible with spinning cakes of different sizes and packing arrangement intervals of the spinning cakes, and has strong universality.
Example 2
As shown in fig. 7, in the present embodiment, a multifunctional robot gripper 66 according to the present invention is mounted on the robot body through a robot link plate, and the robot gripper is moved by the robot body between the cake positioning plate 64, the cake, the paper plate 65, and the empty box 61.
The early preparation stage: after being marshalled, the chemical fiber spinning cakes are sequentially conveyed to a station to be grabbed from two spinning cake conveying lines in the middle of the front end of the robot; after the empty paper boxes 61 are sleeved with the film bags, the film bags are conveyed to a spinning cake boxing station 62 from conveying lines on two sides of the robot; the paper board 65 is conveyed from an intermediate conveying line at the rear end of the robot to a station to be sucked; the spinning cake positioning plate 64 is conveyed from the conveying lines at the two sides of the rear end of the robot to the station to be sucked.
A working method of the multifunctional robot clamp 66 for spinning cake boxing comprises the following steps:
after the preparation work is finished, the robot drives the clamp for the robot to move to the position above the paper plate 65, the robot works and extends downwards, the clamp for the robot starts the suction mechanism, the air cylinder 51 starts to work, the air cylinder rod of the air cylinder 51 extends out, the suction disc 54 is positioned below the air claw 42, the suction mechanism sucks the paper plate 65, the suction mechanism is symmetrically arranged for sucking stably, the robot retracts, the robot moves, the paper plate 65 is placed in the empty paper box 61, the robot retracts, then the robot moves to the position above the spinning cake positioning plate 64, the distance between the transverse moving mechanism 2 and the longitudinal moving mechanism 3 is adjusted, the suction mechanism sucks the spinning cake positioning plate 64 and places the spinning cake positioning plate into the empty paper box 61, the robot retracts, then the robot moves to the position above the spinning cake, the clamping jaws 43 of the grabbing mechanism 4 are aligned with the inner wall of the paper tube of the spinning cake through the adjustment of the transverse moving mechanism, because the inner wall of the paper tube is grabbed, the size of the spinning cakes is not limited too much, the distance can be adjusted by the transverse moving mechanism 2 and the longitudinal moving mechanism 3, after the inner wall of the paper tube of the spinning cakes is aligned, the clamping jaws 43 work to clamp the inner wall, the robot works to transport the spinning cakes back into the paper box, the spinning cakes are positioned with the spinning cake positioning plates 64 by the adjustment of the transverse moving mechanism 2 and the longitudinal moving mechanism 3, the spinning cakes are put down, and then the actions of sucking one layer of spinning cake positioning plates 64 and grabbing one layer of spinning cakes are repeated until the paper box is full. And finally, a layer of cardboard 65 is sucked and placed in the carton. This completes one cycle of the cake boxing station 62.
A boxing stage: the multifunctional robot clamp 66 starts the suction mechanism 5 to suck a layer of paper board 65 to be placed at the bottom of the carton, and then the distance between the suction mechanism 5 is adjusted to suck a layer of spinning cake positioning plate 64 to be placed in the carton. And starting the grabbing mechanisms 4 again, adjusting the distance between the 12 grabbing mechanisms 4, grabbing 12 spinning cakes 6 from the spinning cake conveying line at one time, adjusting the distance to adapt to the spinning cake positioning plates 64, and placing a layer of 12 spinning cakes on the spinning cake positioning plates 64 in the carton. The suction of the cake-positioning plate 64 and the grasping of the cake 6 are then repeated until the carton is filled. And finally, a layer of cardboard 65 is sucked and placed in the carton. This completes one cycle of the cake boxing station 62.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present invention is included in the scope of the claims of the present invention filed as filed.
Claims (16)
1. A multifunctional robot clamp for spinning cake boxing is characterized in that the multifunctional robot clamp moves back and forth on a spinning cake boxing production line through a robot and comprises a moving mechanism, a grabbing mechanism (4) and a sucking mechanism (5);
the grabbing mechanism (4) is connected with the tail end of the robot through the moving mechanism, the suction mechanism (5) is fixedly connected to the grabbing mechanism (4), and the suction mechanism (5) can move up and down;
the sucking mechanism (5) is used for sucking the paper board (65) and the cake positioning plate (64), and the grabbing mechanism (4) is used for grabbing the cake (6).
2. The multifunctional robot jig for spinning cake boxing as claimed in claim 1, wherein said suction mechanism (5) comprises: the air cylinder (51), the air cylinder mounting seat (52), the air path joint (53) and the suction cup (54);
the air cylinder (51) is fixedly connected with the grabbing mechanism (4) through the air cylinder mounting seat (52);
the air cylinder rod of the air cylinder (51) is fixedly connected with one end of the air path joint (53), and the other end of the air path joint (53) is fixedly connected with the sucker (54);
when the grabbing mechanism (4) works, the cylinder rod of the cylinder (51) retracts, the sucker (56) is arranged above the grabbing mechanism (4), when the sucking mechanism (5) works, the cylinder rod of the cylinder (51) extends out, and the grabbing mechanism (4) is arranged above the sucker (56).
3. The multifunctional robot jig for spinning cake boxing as claimed in claim 2, wherein said gripping mechanism (4) comprises: the pneumatic claw connecting seat (41), the pneumatic claw (42) and the clamping jaw (43);
the pneumatic gripper is characterized in that one end of the pneumatic gripper (42) is fixedly connected with one end of the pneumatic gripper connecting seat (41), the other end of the pneumatic gripper (42) is fixedly connected with the clamping jaw (43), the pneumatic gripper connecting seat (41) is of a long rod-shaped structure, the other end of the pneumatic gripper connecting seat (41) is fixedly connected with the moving mechanism, and the air cylinder (51) is fixedly connected with the long rod-shaped structure of the pneumatic gripper connecting seat (41) through the air cylinder mounting seat (52).
4. The multifunctional robot gripper for spinning cake boxing as claimed in claim 1, wherein the gripping mechanisms (4) are in a plurality of groups, and the number and arrangement of the gripping mechanisms (4) are adapted to the number and arrangement of the spinning cakes (6) in each layer of the spinning cake boxing.
5. The multifunctional robot gripper for spinning cake boxing as claimed in claim 4, wherein the suction mechanisms (5) are in a plurality of groups, the number of the suction mechanisms (5) is less than or equal to that of the gripping mechanisms (4), and the suction mechanisms (5) are symmetrically and fixedly connected to the partial gripping mechanisms (4).
6. A multi-function robot gripper for spinning cake boxing as claimed in claim 3, wherein said moving mechanism comprises: a transverse moving mechanism (2) and a longitudinal moving mechanism (3); the multifunctional robot clamp for spinning cake boxing further comprises: a support frame (1);
the supporting frame (1) is connected with the tail end of the robot; the longitudinal moving mechanism (3) is connected with the supporting frame (1); the transverse moving mechanism (2) is connected with the longitudinal moving mechanism (3), and the grabbing mechanism (4) is connected with the transverse moving mechanism (2).
7. The multifunctional robot jig for spinning cake boxing as claimed in claim 6, wherein said longitudinal moving mechanism (3) comprises: a plurality of support plates (38) and two sets of first guide rail slider assemblies (39); the two sets of first guide rail slider assemblies (39) each comprise: a first linear guide rail and a plurality of first sliders;
the two groups of first linear guide rails are fixedly connected with the supporting frame (1), and the first sliding blocks are arranged on the first linear guide rails in a sliding manner;
the supporting plates (38) are long-strip-shaped, the supporting plates (38) in the middle are fixedly connected with the supporting frame (1), and two ends of the supporting plates (38) on two sides are fixedly connected with the first sliding block.
8. The multifunctional robot jig for spinning cake boxing as claimed in claim 7, wherein said longitudinal moving mechanism (3) further comprises: the servo motor speed reducer comprises a servo motor speed reducer (31), a speed reducer mounting seat (32), a coupler (33), a left-right screw rod (34), a left-right screw nut (35), a fixed seat (36) and a bearing seat (37); the left and right turnnuts (35) include: a left-handed nut and a right-handed nut;
the speed reducer mounting seat (32) and the bearing seat (37) are respectively and fixedly connected with the supporting frame (1);
the servo motor reducer (31) is arranged on the reducer mounting seat (32), one end of the coupler (33) is connected with a shaft of the servo motor reducer (31), the other end of the coupler is connected with one end of the left-right screw rod (34), and the other end of the left-right screw rod (34) is connected with the bearing seat (37);
left side dextrorotation lead screw (34) are the stock form, the middle and both ends of controlling dextrorotation lead screw (34) are the optical axis, and the middle optical axis the left side is levogyration lead screw section, and the right is dextrorotation lead screw section, levogyration nut sets up levogyration lead screw section, dextrorotation nut set up dextrorotation lead screw section, middle optical axis passes fixing base (36), control revolve nut (35) and the middle part fixed connection of both sides backup pad (38), fixing base (36) with the middle part fixed connection of the backup pad (38) at middle part.
9. The multifunctional robot jig for spinning cake boxing as claimed in claim 8, wherein said traverse mechanism (2) comprises: a plurality of groups of link mechanisms (23), a plurality of hollow mounting seats (24), a plurality of link fixed shafts (25) and a plurality of groups of second guide rail sliding block assemblies (26); the plurality of sets of second guide rail slider assemblies (26) each include: the second linear guide rail and the plurality of second sliding blocks;
the number of the connecting rod mechanisms (23) is matched with that of the supporting plates (38), two groups of short connecting rods are arranged at two ends of each connecting rod mechanism (23), a plurality of groups of long connecting rods are arranged in the middle of each connecting rod mechanism, and the connecting rods are hinged;
a connecting rod fixing shaft (25) is arranged on a hinge shaft in the middle of the connecting rod mechanism (23), the connecting rod fixing shaft (25) is fixedly connected with a left-right screw nut (35) or a fixed seat (36) of the longitudinal moving mechanism (3), other hinge shafts of the connecting rod mechanism (23) are fixedly connected with the upper end of the mounting seat (24), the supporting plate (38) penetrates through the mounting seat (24), and the lower end of the mounting seat (24) is fixedly connected with the air claw connecting seat (41);
the second linear guide rail is fixedly connected with the lower surface of the supporting plate (38), the second sliding blocks are arranged on the second linear guide rail in a sliding mode, and the second sliding blocks are fixedly connected with the mounting seat (24) respectively.
10. The multifunctional robot jig for spinning cake boxing as claimed in claim 9, wherein said traverse mechanism (2) further comprises: a servo sliding table (21), a push plate (22) and a guide groove (27);
the servo sliding table (21) is connected with the supporting frame (1), and the servo sliding table (21) is connected with the push plate (22);
the outer longitudinal installation seat (24) is provided with the guide groove (27), the push plate (22) is arranged in the guide groove (27), and the guide groove (27) can slide along the push plate (22).
11. The multifunctional robot jig for spinning cake boxing as claimed in claim 10, wherein the support frame (1) comprises: the robot comprises a robot connecting plate (11), a connecting column (12) and a mounting rack (13);
the robot connecting plate (11) is connected with the tail end of the robot; the mounting rack (13) is connected with the robot connecting plate (11) through the connecting column (12); the mounting rack (13) is a rectangular frame, a longitudinal beam is arranged in the middle of the mounting rack, and the length of the rectangular frame is matched with that of the supporting plate (38);
the servo sliding table (21) is connected with the robot connecting plate (11), and the speed reducer mounting seat (32) and the bearing seat (37) are fixedly connected to the two ends of the longitudinal beam; the two groups of first linear guide rails are respectively arranged on two wide sides of the rectangular frame, and two ends of the supporting plate (38) in the middle are respectively fixedly connected with the two wide sides of the rectangular frame.
12. A multi-function robot gripper for cake boxing as claimed in claim 1, wherein said cake boxing production line comprises: a spinning cake boxing station (62), a spinning cake transportation station, a paperboard transportation station and a spinning cake positioning plate transportation station;
the spinning cake boxing station (62), the spinning cake conveying station, the paperboard conveying station and the spinning cake positioning plate conveying station are arranged around the multifunctional robot clamp;
the carton is transported to a station by the spinning cake boxing station (62), the spinning cake (6) is transported to a station by the spinning cake transporting station, the paperboard is transported to a station by the paperboard transporting station (65), the spinning cake positioning plate is transported to a station by the spinning cake positioning plate transporting station (64), and the multifunctional robot starts to work by the clamp.
13. A working method of a multifunctional robot clamp for spinning cake boxing is characterized by comprising the following steps:
starting the robot to drive the multifunctional robot to move back and forth on the spinning cake boxing production line by using the clamp;
after the station is reached, starting a suction mechanism (5) fixedly connected to the grabbing mechanism (4), and moving a suction paperboard (65) downwards by the suction mechanism (5);
starting the moving mechanism to adjust the distance, starting the suction mechanism (5) fixedly connected to the grabbing mechanism (4), and moving the suction spinning cake positioning plate (64) downwards by the suction mechanism (5);
the moving mechanism is started to adjust the distance, the suction mechanism (5) fixedly connected to the grabbing mechanism (4) is started, the suction mechanism (5) moves upwards, and the grabbing mechanism (4) is started to grab a layer of spinning cake (6).
14. The working method of a multifunctional robot gripper for spinning cake boxing as claimed in claim 13, wherein after said station is reached, a suction mechanism (5) fixedly connected to the gripping mechanism (4) is activated, the suction mechanism (5) moving downward by itself a suction plate (65), comprising:
starting an air cylinder (51) of the suction mechanism (5), wherein an air cylinder rod of the air cylinder (51) extends out, and a sucker (54) of the suction mechanism (5) is positioned below a clamping jaw (43) of the grabbing mechanism (4); and starting the suction cup (54) to suck the paper board (65) into the bottom of the carton.
15. The working method of the multifunctional robot gripper for spinning cake boxing as claimed in claim 14, wherein the starting moving mechanism adjusts the pitch, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is started, and the suction mechanism (5) moves down the suction cake positioning plate (64) by itself, comprising:
starting a longitudinal moving mechanism (3) of the moving mechanism to move longitudinally, and starting a servo motor reducer (31) of the longitudinal moving mechanism (3) to drive a supporting plate (38) of the longitudinal moving mechanism (3) to move on a first linear guide rail of the longitudinal moving mechanism (3);
starting a transverse moving mechanism (2) of the moving mechanism to move transversely, and starting a servo sliding table (21) of the transverse moving mechanism (2) to push a connecting rod mechanism (23) of the transverse moving mechanism (2) to drive a suction mechanism to adjust the distance through a push plate (22) of the transverse moving mechanism (2);
starting the air cylinder (51), extending an air cylinder rod of the air cylinder (51), and positioning the suction cup (54) below the clamping jaw (43); and starting the suction cup (54) to suck the spinning cake positioning plate (64) into the carton.
16. The working method of the multifunctional robot gripper for spinning cake boxing as claimed in claim 15, wherein the starting moving mechanism adjusts the pitch, the suction mechanism (5) fixedly connected to the gripping mechanism (4) is started, the suction mechanism (5) moves upward by itself, and the gripping mechanism (4) is started to grip a layer of spinning cake (6), comprising:
starting the servo motor reducer (31) to drive the supporting plate (38) to move on the first linear guide rail;
starting the servo sliding table (21) to push a link mechanism (23) of the transverse moving mechanism (2) to drive the mounting seat (24) to move through the push plate (22), and adjusting the distance between the grabbing mechanisms (4) through the mounting seat (24);
when the grabbing mechanism (4) works, a cylinder rod of the cylinder (51) is in a retraction state, the sucker (54) is positioned above the clamping jaw (43), and the air claw (42) of the grabbing mechanism (4) is started to drive the clamping jaw (43) to grab a layer of spinning cakes (6) and place the spinning cakes into a carton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772200.4A CN111977070A (en) | 2020-08-04 | 2020-08-04 | Multifunctional robot clamp for spinning cake boxing and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010772200.4A CN111977070A (en) | 2020-08-04 | 2020-08-04 | Multifunctional robot clamp for spinning cake boxing and working method |
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| Publication Number | Publication Date |
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| CN111977070A true CN111977070A (en) | 2020-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010772200.4A Pending CN111977070A (en) | 2020-08-04 | 2020-08-04 | Multifunctional robot clamp for spinning cake boxing and working method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623810A (en) * | 2021-02-04 | 2021-04-09 | 山东元旭光电股份有限公司 | Noninvasive soluble microneedle patch feeding device |
| CN112938003A (en) * | 2021-03-24 | 2021-06-11 | 南通职业大学 | Spinning cake grabbing and boxing method and device |
| CN114620273A (en) * | 2020-12-10 | 2022-06-14 | 珠海市乾盛自动化科技有限公司 | Interior automatic case packer of formula that snatchs |
| CN115158735A (en) * | 2022-08-15 | 2022-10-11 | 广东建邦机械有限公司 | Robot boxing machine and boxing method |
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2020
- 2020-08-04 CN CN202010772200.4A patent/CN111977070A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620273A (en) * | 2020-12-10 | 2022-06-14 | 珠海市乾盛自动化科技有限公司 | Interior automatic case packer of formula that snatchs |
| CN112623810A (en) * | 2021-02-04 | 2021-04-09 | 山东元旭光电股份有限公司 | Noninvasive soluble microneedle patch feeding device |
| CN112938003A (en) * | 2021-03-24 | 2021-06-11 | 南通职业大学 | Spinning cake grabbing and boxing method and device |
| CN115158735A (en) * | 2022-08-15 | 2022-10-11 | 广东建邦机械有限公司 | Robot boxing machine and boxing method |
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