CN112158435B - A mounting device based on a robot - Google Patents
A mounting device based on a robot Download PDFInfo
- Publication number
- CN112158435B CN112158435B CN202011173263.4A CN202011173263A CN112158435B CN 112158435 B CN112158435 B CN 112158435B CN 202011173263 A CN202011173263 A CN 202011173263A CN 112158435 B CN112158435 B CN 112158435B
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- grabbing
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- rotating
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- 238000002372 labelling Methods 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 230000001360 synchronised effect Effects 0.000 claims description 32
- 210000000078 claw Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种基于机械手的装贴设备，包括贴标装置和机架，贴标装置包括固定架、抓取组件、转动组件、升降组件和视觉检测组件；固定架连接于机架；抓取组件包括抓取杆和抓取件，抓取杆设置于固定架的前侧，并且抓取杆的下端从固定架的底部穿出，与抓取件连接；升降组件和转动组件分别连接于固定架，升降组件与抓取杆的上端连接；视觉检测组件设置于固定架的后侧，视觉检测组件分别与抓取组件、转动组件电连接，且视觉检测组件的检测端朝下。所述装贴设备通过驱动齿轮通过限位滑轨与抓取杆的滑槽配合，使驱动齿轮能够带动抓取杆转动；同时，抓取杆与驱动齿轮滑动连接，在转动过程中，使得抓取杆能够同时实现转动和从固定架伸出或缩回的操作。
The present invention discloses a manipulator-based labeling device, including a labeling device and a frame, wherein the labeling device includes a fixed frame, a grabbing assembly, a rotating assembly, a lifting assembly and a visual detection assembly; the fixed frame is connected to the frame; the grabbing assembly includes a grabbing rod and a grabbing member, the grabbing rod is arranged at the front side of the fixed frame, and the lower end of the grabbing rod passes through the bottom of the fixed frame and is connected to the grabbing member; the lifting assembly and the rotating assembly are respectively connected to the fixed frame, and the lifting assembly is connected to the upper end of the grabbing rod; the visual detection assembly is arranged at the rear side of the fixed frame, and the visual detection assembly is respectively electrically connected to the grabbing assembly and the rotating assembly, and the detection end of the visual detection assembly faces downward. The labeling device cooperates with the slide groove of the grabbing rod through a driving gear through a limiting slide rail, so that the driving gear can drive the grabbing rod to rotate; at the same time, the grabbing rod is slidably connected to the driving gear, so that during the rotation process, the grabbing rod can simultaneously realize the operation of rotating and extending or retracting from the fixed frame.
Description
Technical Field
The invention relates to the field of automated pasting equipment, in particular to manipulator-based pasting equipment.
Background
Robots are increasingly being used in current industrial automation. In the industrial production process, the application of the label in factories is very wide, and the date, the category, the performance and the like of the product are marked, so that the automation equipment or workers recognize the corresponding state and the product information through the mark, and the corresponding product is classified and arranged for the next processing.
At present, mounting equipment appears in the market, but in the current mounting manipulator, the grabbing piece cannot simultaneously rotate and lift, so that the mounting speed is low, and the mounting direction cannot be accurately controlled. Moreover, most of the devices are not provided with a visual detection system, and the position deviation cannot be judged and adjusted, so that the labeling qualification rate is low, and the reject ratio is high.
Disclosure of Invention
The invention aims to provide a mounting and attaching device based on a manipulator, which solves the problems that the mounting and attaching speed is low and the mounting and attaching direction cannot be accurately controlled due to the fact that the grabbing piece cannot rotate and lift simultaneously, and the problem that the qualified rate of labeling is low due to the fact that the device is not provided with a visual detection system.
To achieve the purpose, the invention adopts the following technical scheme:
The invention provides a manipulator-based mounting and labeling device which comprises a labeling device and a rack, wherein the labeling device comprises a fixing frame, a grabbing component, a rotating component, a lifting component and a visual detection component, wherein the fixing frame is connected with the rack;
the grabbing component comprises grabbing rods and grabbing pieces, the grabbing rods are arranged on the front side of the fixing frame, the lower ends of the grabbing rods penetrate out of the bottom of the fixing frame and are connected with the grabbing pieces;
The lifting component and the rotating component are respectively connected to the fixing frame, and the lifting component is connected with the upper end of the grabbing rod;
The rotary assembly comprises a driving gear, a sliding hole is formed in the axis of the driving gear, a limiting sliding rail is arranged on the inner wall of the sliding hole, and a sliding groove matched with the limiting sliding rail is formed in the rod wall of the grabbing rod;
The visual detection assembly is arranged on the rear side of the fixing frame, the visual detection assembly is respectively electrically connected with the grabbing assembly and the rotating assembly, and the detection end of the visual detection assembly faces downwards.
In the manipulator-based mounting equipment, the lifting assembly further comprises a lifting motor, a driving wheel, a driven wheel, a synchronous belt, a sliding block and a guide rail;
The driven wheel is arranged at the lower end of the fixed frame, and the synchronous belt is meshed with the driving wheel and the driven wheel;
the sliding block comprises a meshing part and a connecting part which are mutually connected, wherein the meshing part is connected with the synchronous belt, and the connecting part is in sliding connection with the guide rail;
The connecting portion is provided with a through hole, and the upper end of the grabbing rod penetrates through the through hole and is rotationally connected with the connecting portion.
In the manipulator-based mounting equipment, the lifting assembly further comprises a limit switch, and the limit switch comprises a baffle and a reset sensor;
the reset sensor is connected with the fixing frame, is positioned on the left side of the grabbing rod and is electrically connected with the lifting motor, and the baffle is connected to the front side of the connecting portion.
In the manipulator-based mounting equipment, the rotating assembly further comprises a rotating motor and a rotating synchronous belt, and the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer side of the driving gear and meshed with the driving gear.
In the manipulator-based mounting and attaching equipment, the labeling device is provided with a plurality of grabbing components, and the number of lifting components and the number of driving gears are the same as the number of grabbing components;
one rotating motor drives two adjacent driving gears through a rotating synchronous belt, and the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer sides of the two adjacent driving gears.
In the manipulator-based mounting and attaching equipment, the labeling device further comprises a shell, and the shell is sleeved on the outer side of the fixing frame.
In the manipulator-based mounting and attaching equipment, the grabbing component further comprises a rotary joint, the upper end of the grabbing rod is connected with the rotary joint, the rotary joint is connected with an external air source through an air pipe, the grabbing piece is a parallel air claw, and the grabbing rod is arranged in a hollow mode.
In the manipulator-based mounting equipment, the rack comprises a first support frame, a second support frame and a transverse support frame;
The first support frame is arranged on the left side, the second support frame is arranged on the right side, the left end and the right end of the transverse support frame are respectively connected with the first support frame and the second support frame, and the labeling device is connected with the transverse support frame.
In the manipulator-based mounting equipment, the transverse support frame comprises a transverse screw rod motor, a transverse ball nut, a transverse movable block, a left connecting block and a right connecting block;
The transverse ball nut is in threaded connection with a screw rod of the transverse screw rod motor, the transverse movable block is fixedly connected with the transverse ball nut, and the fixing frame is connected with the transverse movable block;
The left connecting block is arranged on the lower end face of the left side of the transverse screw motor and is connected with the first supporting frame;
The right connecting block is arranged on the lower end face of the right side of the transverse screw motor, and the right connecting block is connected with the second supporting frame.
In the manipulator-based mounting equipment, the first support frame comprises a first base, a first longitudinal screw motor, a first longitudinal ball nut and a first longitudinal movable block; the first longitudinal screw rod motor is fixed on the upper end face of the first base, the first longitudinal ball nut is in threaded connection with the screw rod of the first longitudinal screw rod motor, the lower end face of the first longitudinal movable block is fixedly connected with the first longitudinal ball nut, and the upper end face of the first longitudinal movable block is connected with the left connecting block;
The second support frame comprises a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block; the second longitudinal screw rod motor is fixed on the upper end surface of the second base, the second longitudinal ball nut is in threaded connection with the screw rod of the second longitudinal screw rod motor, the lower end surface of the second longitudinal movable block is fixedly connected with the second longitudinal ball nut, and the upper end surface of the second longitudinal movable block is connected with the right connecting block;
the transverse screw motor, the first longitudinal screw motor and the second longitudinal screw motor are respectively and electrically connected with the visual detection assembly, and the visual detection assembly moves the labeling device to a designated position through the transverse screw motor, the first longitudinal screw motor and the second longitudinal screw motor.
The beneficial effects are that:
(1) Meanwhile, the grabbing rod is connected with the driving gear in a sliding way, and the driving gear does not interfere the longitudinal movement of the grabbing rod in the rotating process, so that the grabbing rod can simultaneously rotate and extend or retract from the fixing frame;
(2) Be equipped with a plurality of on the subsides mark device and snatch the subassembly, can snatch a plurality of label, then paste the label by one, practice thrift the time of snatching the piece and snatch the label back and forth, improve dress and paste efficiency.
Drawings
The present invention is further illustrated by the accompanying drawings, which are not to be construed as limiting the invention in any way.
FIG. 1 is a schematic diagram of one embodiment of the present invention;
FIG. 2 is a schematic view showing an internal structure of a labeling apparatus according to one embodiment of the present invention;
FIG. 3 is a schematic view of a rotating assembly according to one embodiment of the present invention;
FIG. 4 is a schematic view of a transverse support according to one embodiment of the present invention;
FIG. 5 is a schematic view illustrating a structure of a first supporting frame according to one embodiment of the present invention;
FIG. 6 is a schematic diagram of a limit switch according to one embodiment of the present invention;
in the drawing, a labeling device 1 and a frame 2;
The device comprises a fixing frame 11, a grabbing component 12, a rotating component 13, a lifting component 14 and a visual detection component 15, wherein the first support frame 21, the second support frame 22 and a transverse support frame 23;
The gripping device comprises a gripping rod 121, a gripping piece 122, a rotary joint 123, a driving gear 131, a rotary motor 132, a rotary synchronous belt 133, a lifting motor 141, a driving wheel 142, a driven wheel 143, a synchronous belt 144, a sliding block 145, a guide rail 146 and a limit switch 147;
The first base 211, the first longitudinal screw motor 212, the first longitudinal ball nut 213, the first longitudinal movable block 214, the transverse screw motor 231, the transverse ball nut 232, the transverse movable block 233, the left connecting block 234 and the right connecting block 235;
slide hole 131a, slide groove 131b, engagement portion 145a, connection portion 145b, shutter 147a, reset sensor 147b.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly, for distinguishing between the descriptive features, and not sequentially, and not lightly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to fig. 1-6, the invention provides a manipulator-based labeling device, which comprises a labeling device 1 and a frame 2, wherein the labeling device 1 comprises a fixing frame 11, a grabbing component 12, a rotating component 13, a lifting component 14 and a visual detection component 15, wherein the fixing frame 11 is connected with the frame 2;
The grabbing component 12 comprises a grabbing rod 121 and a grabbing piece 122, the grabbing rod 121 is arranged on the front side of the fixing frame 11, the lower end of the grabbing rod 121 penetrates out of the bottom of the fixing frame 11, and the grabbing rod 121 is connected with the grabbing piece 122;
The lifting component 14 and the rotating component 13 are respectively connected to the fixing frame 11, and the lifting component 14 is connected to the upper end of the grabbing rod 121;
The rotating assembly 13 comprises a driving gear 131, wherein the driving gear 131 is arranged at the lower end of the fixed frame 11, a sliding hole 131a is formed in the axis of the driving gear 131, a limit sliding rail (not shown) is arranged on the inner wall of the sliding hole 131a, and a sliding groove 131b matched with the limit sliding rail is formed in the rod wall of the grabbing rod 121;
The visual detection assembly 15 is disposed at the rear side of the fixing frame 11, the visual detection assembly 15 is electrically connected with the grabbing assembly 12 and the rotating assembly 13 respectively, and the detection end of the visual detection assembly 15 faces downwards.
The machine frame 2 is arranged on two sides of the production line, so that the labeling device 1 is positioned above the production line. The visual detection component 15 in the labeling device 1 is used for visual photographing, and the visual detection component 15 can judge whether the product on the production line needs to be attached or not currently according to visual information. The grabbing piece 122 can grab and attach labels, and the lifting assembly 14 controls the grabbing rod 121 to extend or retract from the fixing frame 11, so that the length of the grabbing rod 121 is changed, the grabbing piece 122 is contacted with the labels or products, and grabbing and attaching actions are achieved. The rotating assembly 13 is used for rotating the grabbing rod 121, so that the grabbing rod 121 drives the grabbing piece 122 to rotate, and therefore the angle of the label is changed, and the angle of the label is matched with the angle of a product to be attached.
When the visual detection assembly 15 detects that the unfired product appears on the production line, the visual detection assembly 15 controls the lifting assembly 14 and the rotating assembly 13, the lifting assembly 14 drives the grabbing rod 121 to extend out of the fixing frame 11 to enable the grabbing piece 122 to grab the label, meanwhile, the rotating assembly 13 drives the driving gear 131 to enable the driving gear 131 to drive the grabbing rod 121 to rotate, the grabbing rod 121 drives the grabbing piece 122 to rotate to enable the label to rotate to an angle matched with the unfired product, then the grabbing rod 121 is driven to retract from the fixing frame 11, and when the label faces the position of the unfired product, the lifting assembly 14 drives the grabbing rod 121 to extend out of the fixing frame 11 to enable the label to be attached to the surface of the unfired product.
The labeling device 1 is provided with a rotating assembly 13 and a lifting assembly 14, the driving gear 131 is matched with the chute 131b of the grabbing rod 121 through a limiting sliding rail, so that the driving gear 131 can drive the grabbing rod 121 to rotate, meanwhile, the grabbing rod 121 is slidably connected with the driving gear 131, and in the rotating process, the driving gear 131 does not interfere the movement of the grabbing rod 121 in the longitudinal direction, so that the grabbing rod 121 can simultaneously rotate and extend or retract from the fixing frame 11.
Referring to fig. 2, further, the lifting assembly 14 further includes a lifting motor 141, a driving wheel 142, a driven wheel 143, a synchronous belt 144, a slider 145, and a guide rail 146;
The lifting motor 141 is arranged at the upper end of the fixed frame 11, and the output end of the lifting motor 141 is in transmission connection with the driving wheel 142, the driven wheel 143 is arranged at the lower end of the fixed frame 11, and the synchronous belt 144 is meshed with the driving wheel 142 and the driven wheel 143;
the guide rail 146 is vertically connected to the fixed frame 11, the sliding block 145 comprises a meshing part 145a and a connecting part 145b which are mutually connected, the meshing part 145a is connected with the synchronous belt 144, and the connecting part 145b is in sliding connection with the guide rail 146;
The connection portion 145b is provided with a through hole, and the upper end of the grasping rod 121 passes through the through hole and is rotatably connected with the connection portion 145 b.
Taking fig. 2 as an example, when the lifting motor 141 drives the driving wheel 142 to rotate clockwise, the driving wheel 142 drives the synchronous belt 144 to rotate clockwise around the driving wheel 142 and the driven wheel 143, the synchronous belt 144 drives the sliding block 145 to move downwards in the rotating process, the sliding block 145 drives the grabbing rod 121 to extend out of the fixing frame 11, when the lifting motor 141 drives the driving wheel 142 to rotate anticlockwise, the driving wheel 142 drives the synchronous belt 144 to rotate anticlockwise around the driving wheel 142 and the driven wheel 143, and the synchronous belt 144 drives the sliding block 145 to move upwards in the rotating process, and the sliding block 145 drives the grabbing rod 121 to retract from the fixing frame 11.
Referring to fig. 6, further, the lifting assembly 14 further includes a limit switch 147, and the limit switch 147 includes a baffle 147a and a reset sensor 147b;
The reset sensor 147b is connected to the fixing frame 11, and the reset sensor 147b is disposed at the left side of the grip lever 121 and electrically connected to the lifting motor 141, and the blocking plate 147a is connected to the front side of the connection portion 145 b.
The limit switch 147 enables the distance of the grabbing rod 121 retracted into the fixing frame 11 to be kept consistent through the baffle 147a and the reset sensor 147b, so that deviation in the resetting process of the grabbing rod 121 is avoided, and after multiple resets, larger deviation occurs in the distance of the grabbing rod 121 retracted into the fixing frame 11.
The reset sensor 147b can refer to the existing infrared sensor, when the synchronous belt 144 drives the sliding block 145 to ascend, if the baffle 147a on the sliding block 145 ascends to the infrared receiving end and the infrared emitting end of the reset sensor 147b, the baffle 147a shields the infrared rays from the infrared emitting end, and the reset sensor 147b transmits the electric signal to the lifting motor 141, so that the lifting motor 141 stops working, and the sliding block 145 is prevented from continuing to move upwards.
Referring to fig. 4, specifically, the rotating assembly 13 further includes a rotating motor 132 and a rotating synchronous belt 133, and the rotating synchronous belt 133 is sleeved at the output end of the rotating motor 132 and the outer side of the driving gear 131 and is meshed with the driving gear 131.
Taking fig. 3 as an example, when the output end of the rotating motor 132 rotates clockwise, the rotating motor 132 drives the driving gear 131 to rotate clockwise through the rotating synchronous belt 133, the driving gear 131 drives the grabbing rod 121 and the grabbing piece 122 to rotate clockwise correspondingly through the cooperation of the limiting sliding rail and the sliding groove 131b of the grabbing rod 121, and when the output end of the rotating motor 132 rotates anticlockwise, the rotating motor 132 drives the driving gear 131 to rotate anticlockwise through the rotating synchronous belt 133, and drives the grabbing rod 121 and the grabbing piece 122 to rotate anticlockwise correspondingly through the cooperation of the limiting sliding rail and the sliding groove 131b of the grabbing rod 121.
Referring to fig. 2 and 3, specifically, the labeling device 1 is provided with a plurality of grabbing components 12, and the number of lifting components 14 and the number of driving gears 131 are the same as the number of grabbing components 12;
one rotating motor 132 drives two adjacent driving gears 131 through a rotating synchronous belt 133, and the rotating synchronous belt 133 is sleeved on the output end of the rotating motor 132 and the outer sides of the two adjacent driving gears 131.
Preferably, the labeling device 1 is provided with a plurality of grabbing components 12, so that a plurality of labels can be grabbed, then the labels are attached one by one, the time for grabbing the labels back and forth by the grabbing piece 122 is saved, and the attaching efficiency is improved. In the preferred embodiment, the labeling device 1 is provided with four grabbing components 12, each grabbing component 12 is connected with a corresponding lifting component 14, each grabbing component 12 is slidably connected with a corresponding driving gear 131, when the labeling device 1 performs labeling operation, the first lifting component 14 drives the grabbing rod 122 of the first grabbing component 12 to extend out of the fixing frame 11, the grabbing piece 121 of the first grabbing component 12 grabs a label, after grabbing, the first lifting component 14 drives the grabbing rod 122 to retract, and then the second, third and fourth grabbing components 12 sequentially repeat the action of grabbing the label by the first grabbing component 12.
When the label needs to be attached, the first lifting assembly 14 drives the grabbing rod 122 of the first grabbing assembly 12 to extend out of the fixed frame 11, meanwhile, the first rotating motor 132 drives the grabbing rods 122 of the first grabbing assembly 12 and the second grabbing assembly 12 to rotate through the driving gear 131 and the rotating synchronous belt 133, so that the angle of the grabbing piece 121 of the first grabbing assembly 12 is matched with the product, and then the grabbing piece 121 attaches the label to the surface of the product;
After the first grabbing component 12 is assembled and pasted, the first rotating motor 132 adjusts the position of the grabbing piece 121 of the second grabbing component 12 again through the driving gear 131 and the rotating synchronous belt 133, so that the angle of the grabbing piece 121 of the second grabbing component 12 is matched with another product to be assembled and pasted; meanwhile, the second lifting component 14 drives the grabbing rod 122 of the second grabbing component 12 to extend out of the fixed frame 11, and the grabbing piece 121 of the second grabbing component 12 is used for attaching the label to the surface of a product, and the grabbing rod 122 of the first grabbing component 12 is driven by the first lifting component 14 to retract synchronously when the grabbing rod 122 of the second grabbing component 12 extends out;
Subsequently, when the gripper bar 122 of the second gripper assembly 12 is retracted, the second rotating motor 132 drives the gripper bar 122 of the third gripper assembly 12 and the fourth gripper assembly 12 to rotate through the driving gear 131 and the rotating timing belt 133, and at the same time, the third lifting assembly 14 drives the gripper bar 122 of the third gripper assembly 12 to extend, and the gripper 121 of the lifting assembly 14 attaches the label to the surface of the product;
next, when the gripper bar 122 of the third gripper assembly 12 is retracted, the second rotating motor 13 again adjusts the position of the gripper bar 121 of the fourth gripper assembly 12 to adapt the angle of the gripper bar 121 of the fourth gripper assembly 12 to another product to be attached, meanwhile, the fourth lifting assembly 14 drives the gripper bar 122 of the fourth gripper assembly 12 to extend, the gripper bar 121 of the lifting assembly 14 attaches the label to the surface of the product, and finally, the fourth lifting assembly 14 drives the gripper bar 122 of the fourth gripper assembly 12 to retract, and the labeling device 1 resets.
Two adjacent drive gears 131 are driven by the same rotation motor 132, so that the number of the rotation motors 132 can be reduced, the production cost is reduced, the space is saved, and meanwhile, the grabbing rod 121 is guaranteed to be capable of achieving rotation operation. Moreover, two adjacent grabbing components 12 rotate simultaneously, and when the grabbing piece 121 grabs the labels, the problem that the labels fall from the grabbing piece 121 due to the fact that the two grabbing pieces 121 grabbing the labels collide with each other during rotation is avoided.
Preferably, the labeling device 1 further comprises a housing (not shown), and the housing is sleeved outside the fixing frame 11. The outside of the labeling device 1 is also provided with a shell for protecting the grabbing component 12, the rotating component 13, the lifting component 14 and the visual detection component 15 which are arranged on the fixing frame 11, so that the problem that dust or other sundries enter the labeling device 1 is avoided, and the grabbing component 12, the rotating component 13, the lifting component 14 or the visual detection component 15 are affected.
Specifically, the grabbing component 12 further includes a rotary joint 123, the upper end of the grabbing rod 121 is connected with the rotary joint 123, the rotary joint 123 is connected with an external air source through an air pipe, the grabbing piece 122 is a parallel air claw, and the grabbing rod 121 is hollow.
The rotary joint 123 can refer to the existing pneumatic slip ring for a pipeline connecting device, so that the connected pipeline can rotate relatively, one end of the rotary joint 123 connected with the grabbing rod 121 can rotate, the problem that the gas flow is affected due to deformation of the gas pipe caused by rotation of the gas pipe in the rotation process of the grabbing rod 121 is avoided, and the capability of grabbing objects of parallel gas claws is reduced.
In one embodiment, a gas flow path is formed between the gas tube, the rotary joint 123 and the grasping rod 121, connecting an external gas source to the parallel gas jaws. The gripping member 122 may refer to an existing parallel air jaw, in which a piston is disposed, and the piston is pushed by compressed air as power to complete the clamping and retracting actions. As simple replacement, the parallel air claw can also adopt a sucker, and negative pressure is formed by collecting air to adsorb the label.
Specifically, the frame 2 includes a first support 21, a second support 22, and a transverse support 23;
The first support frame 21 is arranged on the left side, the second support frame 22 is arranged on the right side, the left end and the right end of the transverse support frame 23 are respectively connected with the first support frame 21 and the second support frame 22, and the labeling device 1 is connected with the transverse support frame 23. The first support frame 21 and the second support frame 22 are respectively erected on two sides of the production line and are used for supporting the transverse support frame 23, and the labeling device 1 is arranged on the transverse support frame 23, so that the labeling device 1 is positioned above the production line.
Referring to fig. 5, further, the transverse supporting frame 23 includes a transverse screw motor 231, a transverse ball nut 232, a transverse movable block 233, a left connecting block 234 and a right connecting block 235;
The transverse ball nut 232 is in threaded connection with a screw rod of the transverse screw rod motor 231, the transverse movable block 233 is fixedly connected with the transverse ball nut 232, and the fixing frame 11 is connected with the transverse movable block 233;
The left connecting block 234 is disposed on a lower end surface of the left side of the transverse screw motor 231, and the left connecting block 234 is connected with the first supporting frame 21;
the right connecting block 235 is disposed on a lower end surface of the right side of the transverse screw motor 231, and the right connecting block 235 is connected with the second support frame 22.
The transverse screw motor 231 can refer to the existing screw motor, a screw is arranged in the transverse screw motor 231, the screw is meshed with the transverse ball nut 232, and the transverse movable block 233 is connected with the transverse ball nut 232, so that relative rotation between the screw and the transverse ball nut 232 is prevented. When the screw rod is driven to axially move by the transverse screw rod motor 231, the transverse ball nut 232 will linearly move along the axis of the screw rod due to the engagement between the internal thread of the transverse ball nut 232 and the screw rod, so as to drive the transverse movable block 233 and the labeling device 1 arranged on the transverse movable block 233.
Further, the first supporting frame 21 comprises a first base 211, a first longitudinal screw motor 212, a first longitudinal ball nut 213 and a first longitudinal movable block 214, wherein the first longitudinal screw motor 212 is fixed on the upper end surface of the first base 211, the first longitudinal ball nut 213 is in threaded connection with the screw of the first longitudinal screw motor 212, the lower end surface of the first longitudinal movable block 214 is fixedly connected with the first longitudinal ball nut 213, and the upper end surface of the first longitudinal movable block 214 is connected with the left connecting block 234;
The second support frame 22 comprises a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block, wherein the second longitudinal screw motor is fixed on the upper end face of the second base, the second longitudinal ball nut is in threaded connection with the screw rod of the second longitudinal screw motor, the lower end face of the second longitudinal movable block is fixedly connected with the second longitudinal ball nut, and the upper end face of the second longitudinal movable block is connected with the right connecting block 235;
The transverse screw motor 231, the first longitudinal screw motor 212 and the second longitudinal screw motor are respectively and electrically connected with the visual detection assembly 15, and the visual detection assembly 15 moves the labeling device 1 to a designated position through the transverse screw motor 231, the first longitudinal screw motor 212 and the second longitudinal screw motor.
The principle of the first longitudinal screw motor 212 and the second longitudinal screw motor is the same as that of the transverse screw motor 231, and the first longitudinal screw motor 212 and the second longitudinal screw motor have the same structure, which is not described in detail, and the visual detection assembly 15 controls the operation of the transverse screw motor 231, the first longitudinal screw motor 212 and the second longitudinal screw motor to achieve the purpose of moving the labeling device 1 to a designated position, so that the labeling device 1 finishes the processes of moving to a label storage position, grabbing labels, moving to a product position, loading labels and resetting.
The technical principle of the present application is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the application and should not be taken in any way as limiting the scope of the application. Other embodiments of the application will occur to those skilled in the art from consideration of this specification without the exercise of inventive faculty, and such equivalent modifications and alternatives are intended to be included within the scope of the application as defined in the claims.
Claims (4)
1. The manipulator-based mounting and pasting device is characterized by comprising a labeling device and a rack, wherein the labeling device comprises a fixing frame, a grabbing component, a rotating component, a lifting component and a visual detection component, and the fixing frame is connected with the rack;
the grabbing component comprises grabbing rods and grabbing pieces, the grabbing rods are arranged on the front side of the fixing frame, the lower ends of the grabbing rods penetrate out of the bottom of the fixing frame and are connected with the grabbing pieces;
The lifting component and the rotating component are respectively connected to the fixing frame, and the lifting component is connected with the upper end of the grabbing rod;
The rotary assembly comprises a driving gear, a sliding hole is formed in the axis of the driving gear, a limiting sliding rail is arranged on the inner wall of the sliding hole, and a sliding groove matched with the limiting sliding rail is formed in the rod wall of the grabbing rod;
the visual detection assembly is arranged at the rear side of the fixing frame, is electrically connected with the grabbing assembly and the rotating assembly respectively, and has a downward detection end;
the lifting assembly further comprises a lifting motor, a driving wheel, a driven wheel, a synchronous belt, a sliding block and a guide rail;
The driven wheel is arranged at the lower end of the fixed frame, and the synchronous belt is meshed with the driving wheel and the driven wheel;
the sliding block comprises a meshing part and a connecting part which are mutually connected, wherein the meshing part is connected with the synchronous belt, and the connecting part is in sliding connection with the guide rail;
the connecting part is provided with a through hole, and the upper end of the grabbing rod penetrates through the through hole and is rotationally connected with the connecting part;
the lifting assembly further comprises a limit switch, wherein the limit switch comprises a baffle and a reset sensor;
the reset sensor is connected with the fixed frame, is positioned at the left side of the grabbing rod and is electrically connected with the lifting motor, and the baffle is connected to the front side of the connecting part;
the rotating assembly further comprises a rotating motor and a rotating synchronous belt, and the rotating synchronous belt is sleeved at the output end of the rotating motor and the outer side of the driving gear and meshed with the driving gear;
The labeling device is provided with a plurality of grabbing components, and the number of the lifting components and the number of the driving gears are the same as the number of the grabbing components;
One rotating motor drives two adjacent driving gears through a rotating synchronous belt, and the rotating synchronous belt is sleeved at the output end of the rotating motor and the outer sides of the two adjacent driving gears;
the labeling device further comprises a shell, and the shell is sleeved on the outer side of the fixing frame;
The grabbing component further comprises a rotary joint, the upper end of the grabbing rod is connected with the rotary joint, the rotary joint is connected with an external air source through an air pipe, the grabbing piece is a parallel air claw, and the grabbing rod is arranged in a hollow mode.
2. The manipulator-based mounting apparatus of claim 1, wherein the frame comprises a first support frame, a second support frame, and a transverse support frame;
The first support frame is arranged on the left side, the second support frame is arranged on the right side, the left end and the right end of the transverse support frame are respectively connected with the first support frame and the second support frame, and the labeling device is connected with the transverse support frame.
3. The manipulator-based mounting and attaching device as defined in claim 2, wherein said transverse supporting frame comprises a transverse screw motor, a transverse ball nut, a transverse movable block, a left connecting block and a right connecting block;
The transverse ball nut is in threaded connection with a screw rod of the transverse screw rod motor, the transverse movable block is fixedly connected with the transverse ball nut, and the fixing frame is connected with the transverse movable block;
The left connecting block is arranged on the lower end face of the left side of the transverse screw motor and is connected with the first supporting frame;
The right connecting block is arranged on the lower end face of the right side of the transverse screw motor, and the right connecting block is connected with the second supporting frame.
4. The manipulator-based mounting equipment according to claim 3 is characterized in that the first support frame comprises a first base, a first longitudinal screw motor, a first longitudinal ball nut and a first longitudinal movable block, wherein the first longitudinal screw motor is fixed on the upper end face of the first base, the first longitudinal ball nut is in threaded connection with a screw rod of the first longitudinal screw motor, the lower end face of the first longitudinal movable block is fixedly connected with the first longitudinal ball nut, and the upper end face of the first longitudinal movable block is connected with the left connecting block;
The second support frame comprises a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block; the second longitudinal screw rod motor is fixed on the upper end surface of the second base, the second longitudinal ball nut is in threaded connection with the screw rod of the second longitudinal screw rod motor, the lower end surface of the second longitudinal movable block is fixedly connected with the second longitudinal ball nut, and the upper end surface of the second longitudinal movable block is connected with the right connecting block;
the transverse screw motor, the first longitudinal screw motor and the second longitudinal screw motor are respectively and electrically connected with the visual detection assembly, and the visual detection assembly moves the labeling device to a designated position through the transverse screw motor, the first longitudinal screw motor and the second longitudinal screw motor.
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| CN202011173263.4A CN112158435B (en) | 2020-10-28 | 2020-10-28 | A mounting device based on a robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011173263.4A CN112158435B (en) | 2020-10-28 | 2020-10-28 | A mounting device based on a robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113019974B (en) * | 2021-03-25 | 2022-05-24 | 山东理工大学 | Potato is picked up in grades and is got device |
| CN113479391B (en) * | 2021-07-09 | 2022-10-25 | 浙江传媒学院 | Automatic boxing and labeling production line for bulb packaging |
| CN114872011B (en) * | 2022-06-21 | 2024-01-26 | 长沙万为机器人有限公司 | Hanger rail type primary-secondary robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213893220U (en) * | 2020-10-28 | 2021-08-06 | 广东奇创智能科技有限公司 | Dress pastes equipment based on manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101104449B (en) * | 2007-08-02 | 2010-10-13 | 陈以忠 | Horizontal labeler |
| CN109693848A (en) * | 2017-10-20 | 2019-04-30 | 石家庄泽厚科技有限公司 | Labelling machine |
| CN108466854B (en) * | 2018-05-24 | 2023-05-02 | 湖北英特搏智能机器有限公司 | Corrugated board turns over wrong heap system of board |
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| CN213893220U (en) * | 2020-10-28 | 2021-08-06 | 广东奇创智能科技有限公司 | Dress pastes equipment based on manipulator |
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