CN112722836B - Mechanical arm for grabbing stacked packing box paper sheets - Google Patents
Mechanical arm for grabbing stacked packing box paper sheets Download PDFInfo
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- CN112722836B CN112722836B CN202011552893.2A CN202011552893A CN112722836B CN 112722836 B CN112722836 B CN 112722836B CN 202011552893 A CN202011552893 A CN 202011552893A CN 112722836 B CN112722836 B CN 112722836B
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- clamping jaw
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- clamping
- robot
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- 238000012856 packing Methods 0.000 title abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000004806 packaging method and process Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 102100021711 Ileal sodium/bile acid cotransporter Human genes 0.000 description 1
- 108091006614 SLC10A2 Proteins 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator for grabbing a pile of packing box paper sheets, which comprises a manipulator connecting assembly, a mounting plate, a clamping jaw assembly, a dislocation and inclination assembly and a guide mechanism, wherein the clamping jaw assembly, the dislocation and inclination assembly and the guide mechanism are arranged on the mounting plate; the clamping jaw assembly comprises 4 clamping jaws which are arranged in a rectangular shape and two clamping jaw mounting plates, the clamping jaw mounting plates are arranged corresponding to the width directions of the mounting plates, and the two clamping jaws are connected below the clamping jaw mounting plates; the staggered inclined assembly is connected with the two clamping jaws on one side and drives the connected clamping jaws to move up and down to adjust the clamping jaws on the two sides to be on different horizontal planes; the guiding mechanism corresponds to the position of the positioning hole on the grabbed paper sheet, and the inserting length of the guiding mechanism is matched with the thickness of all the grabbed paper sheets at one time. The manipulator disclosed by the invention is compact in structure, and can be used for rapidly and accurately clamping and carrying the stacked packing bulk packing sheets in a limited space and neatly placing the sheets into a packing line platform.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to a manipulator for grabbing a stack of packing box paper sheets.
Background
Grasping a full stack of packaging carton sheets is an important component of the packaging industry. A set of stable and reliable mechanism for grabbing and stacking packing box paper sheets directly influences the working level of automatic production of whole sheets. However, the prior art carton paper sheet grasping mechanisms have various problems in grasping and placing processes, such as the condition that the total grasping number does not meet the specified requirement, the condition that the grasping is less, or the condition that the carton can not be flatly placed in a limited space in the placing process.
Disclosure of Invention
Aiming at the problem that the prior art cannot efficiently, effectively and accurately grab a proper number of packing box paper sheets, the invention provides a manipulator for grabbing a pile of packing box paper sheets.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
a manipulator for grabbing a stacked packing box paper sheets comprises a manipulator connecting assembly and a mounting plate, wherein the manipulator connecting assembly is fixedly connected with the mounting plate, and the manipulator connecting assembly further comprises a clamping jaw assembly, a dislocation inclination assembly and a guide mechanism which are arranged on the mounting plate;
the clamping jaw assembly comprises 4 clamping jaws which are arranged in a rectangular shape and two clamping jaw mounting plates, the clamping jaw mounting plates are arranged corresponding to the width directions of the mounting plates, and the two clamping jaws are connected below the clamping jaw mounting plates;
The staggered inclined assembly is connected with the two clamping jaws on one side and drives the connected clamping jaws to move up and down to adjust the clamping jaws on the two sides to be on different horizontal planes;
the pilot mechanism corresponds to the position of the positioning hole on the grabbed paper sheet, and the inserting length of the pilot mechanism is matched with the thickness of all the paper sheets grabbed at one time.
As a further improvement of the invention, the pneumatic clamping device further comprises a linear slide rail arranged transversely, a pneumatic clamping jaw and a buffer, wherein the pneumatic clamping jaw is arranged right below the middle of the mounting plate, the buffer comprises two matched buffer end parts which are respectively connected with the linear slide rail in a sliding manner, the two clamping jaws on the other side are connected with the linear slide rail in a sliding manner, and the two clamping jaws on the other side are fixedly connected with the buffer end parts of the corresponding ends.
As a further improvement of the invention, the clamping jaw comprises a clamping jaw rod and a push plate which are arranged in parallel, and the clamping jaw further comprises a first air cylinder, wherein the fixed end of the first air cylinder is fixedly connected with the clamping jaw rod, and the movable end of the first air cylinder is connected with the push plate.
As a further development of the invention, the ends of the gripper bars have inwardly projecting flanges.
As a further improvement of the invention, the dislocation and inclination assembly comprises a third air cylinder which is vertically arranged, and the air cylinder is connected with a side plate, the air cylinder is connected with the side plate and is fixedly connected with the mounting plate, the fixed end of the third air cylinder is fixed on the air cylinder connection side plate, and the movable end of the third air cylinder is connected with the clamping jaw mounting plate.
As a further improvement of the invention, the guide mechanism comprises a second air cylinder and a guide rod which are sequentially connected up and down, and further comprises an air cylinder fixing plate, the air cylinder fixing plate is fixed on the mounting plate, the fixed end of the second air cylinder is fixed on the air cylinder fixing plate, and the guide rod is connected to the moving end of the second air cylinder.
As a further improvement of the present invention, the offset tilt assembly is disposed opposite to the guide mechanism, and the mounting plate is further provided with a hollow hole for movement of the offset tilt assembly and the guide mechanism.
As a further improvement of the invention, the size of the mounting plate and the position of the arranged hollowed-out hole are matched with the shape of the clamped paper sheet.
As a further improvement of the invention, the manipulator connecting assembly comprises a connecting plate and three connecting rods vertically arranged below the connecting plate, the connecting rods are distributed in a triangular shape, and a positioning block connected with the robot is further arranged on the connecting plate.
The invention has the beneficial effects that: the manipulator disclosed by the invention is compact in structure, and can be used for rapidly and accurately clamping and carrying the stacked packing bulk packing sheets in a limited space and neatly placing the sheets into a packing line platform.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus;
FIG. 2 is a schematic view of the structure of the mounting plate and the mechanism to which it is attached;
fig. 3 is a schematic structural view of a robot connecting assembly;
FIG. 4 is a schematic view of the configuration of the misaligned tilt assembly and the jaw assembly connected on the same side;
FIG. 5 is a schematic view of the structure of the pilot mechanism;
wherein: 1-manipulator connecting assembly, 101-connecting plate, 102-connecting rod, 103-positioning block, 2-mounting plate, 3-clamping jaw, 301-clamping jaw rod, 302-push plate, 303-first cylinder, 304-clamping jaw mounting plate, 4-dislocation inclined assembly, 401-third cylinder, 402-cylinder connecting side plate, 5-guide mechanism, 501-second cylinder, 502-guide rod, 503-cylinder fixing plate, 6-linear sliding rail, 7-pneumatic clamping jaw and 8-buffer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
The manipulator for grabbing a stack of packing carton paper sheets comprises a manipulator connecting assembly 1 and a mounting plate 2, wherein the manipulator connecting assembly 1 is fixedly connected with the mounting plate 2, and the manipulator comprises a clamping jaw assembly, a dislocation and inclination assembly 4 and a guide mechanism 5 which are arranged on the mounting plate 2.
Wherein, manipulator coupling assembling 1 includes connecting plate 101 and sets up three connecting rods 102 of the vertical setting in connecting plate 101 below, connecting rod 102 is triangular distribution, still be equipped with the locating piece 103 of being connected with the robot above connecting plate 101.
The clamping jaw assembly comprises 4 clamping jaws 3 arranged according to a rectangle and two clamping jaw mounting plates 304, the clamping jaw mounting plates 304 are arranged corresponding to the broadside direction of the mounting plates, and the clamping jaws 3 are connected below the clamping jaw mounting plates 304.
The clamping jaw 3 comprises a clamping jaw rod 301 and a push plate 302 which are arranged in parallel, and further comprises a first air cylinder 303, wherein the fixed end of the first air cylinder 303 is fixedly connected with the clamping jaw rod 301, and the moving end of the first air cylinder 303 is connected with the push plate 302. In operation, the first cylinder 303 grips the gripped stack of packages and sheets by pushing the pusher plate 302 inwardly. In addition, the flange protruding inwards at the tail end of the clamping claw rod 301 provides a certain supporting function to prevent paper sheets from falling.
The dislocation inclination component 4 is connected with the two clamping jaws 3 on one side and drives the connected clamping jaws 3 to move up and down to adjust the clamping jaws 3 on the two sides to be on different horizontal planes. Thereby the paper piece that makes the clamp get takes place the slope to can make the paper piece that gets the clamp more smooth put into new packing carton. In the present invention, specifically, the specific structure of the offset tilting assembly 4 includes a vertically arranged third cylinder 401 and a cylinder connecting side plate 402, the cylinder connecting side plate 402 is fixedly connected to the mounting plate 2, a fixed end of the third cylinder 401 is fixed to the cylinder connecting side plate 402, and a moving end is connected to the clamping jaw mounting plate 304.
The paper clamping device further comprises a linear sliding rail 6 which is transversely arranged, the two clamping jaws 3 on the other side are connected with the linear sliding rail 6 in a sliding mode, so that the distance between the clamping jaws 3 on the two sides of the manipulator in the initial state is larger than the size of a clamped paper piece, and then the clamping jaws move oppositely to the distance which is adaptive to the paper piece.
Still include pneumatic clamping jaw 7 and buffer 8 that sets up under the middle of mounting panel 2, pneumatic clamping jaw 7 fix under mounting panel 2, buffer 8 include two matched with buffer tip, respectively with linear slide rail 6 slide and link to each other, and the opposite side two clamping jaw 3 and corresponding end buffer end fixing links to each other. In the clamping process, the pneumatic clamping jaw 7 capable of sliding transversely and the clamping jaw assembly are used together to clamp the product from the x axis and the y axis in two perpendicular directions respectively, and meanwhile, the Z axis can bear heavy-load packing materials, and the operation is smooth. In addition, in order to avoid the package from being damaged due to the bending deformation of the paper sheet caused by the excessive movement of the pneumatic jaws 7 and the jaw assembly, the clamping space may be limited by the buffer 8 according to the size of the paper sheet.
The guiding mechanism 5 corresponds to the position of the positioning hole on the grabbed paper sheet, and the inserting length of the guiding mechanism is matched with the thickness of all the grabbed paper sheets at one time. Specifically, it just to lead mechanism 5 includes second cylinder 501 and guide bar 502 that connect in order from top to bottom, still includes cylinder fixed plate 503, cylinder fixed plate 503 fix mounting panel 2 on, the stiff end of second cylinder 501 is fixed cylinder fixed plate 503 on, guide bar 502 is connected the removal end of second cylinder 501. The guide rod 502 is inserted downwards to the position corresponding to the last paper sheet through the rear end corresponding to the disposable paper sheet to be clamped, so that all the grabbed paper sheets are neat, and the rear part of the manipulator can be grabbed smoothly.
In addition, in the invention, in order to make the whole structure of the device compact, the dislocation inclined component 4 is arranged opposite to the guide mechanism 5, the mounting plate 2 is also provided with a hollow hole 200 for moving the dislocation inclined component 4 and the guide mechanism 5, and the hollow hole 200 is arranged for opening an avoidance space for the pneumatic clamping jaw. In the present invention, in the course of installing the robot arm, an appropriate mounting plate 2 is selected according to the shape of the gripped paper piece, the size of the selected mounting plate 2, the position of the set hollow hole 200, and the shape of the gripped paper piece are matched, and thereafter other components or mechanisms are installed based on the mounting plate 2.
In another embodiment of the invention, the first cylinder 303, the second cylinder 501 and the third cylinder 401 are all straight-line cylinders, wherein the model of the first cylinder 303 is DFM-10-10-P-A-GF, the model of the second cylinder 501 is CDJ2B16-100Z, and the model of the third cylinder 401 is MXS8-50 ASBT.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A manipulator for picking a stack of sheets of packaging box paper, characterized in that: the manipulator connecting assembly is fixedly connected with the mounting plate, and the manipulator connecting assembly also comprises a clamping jaw assembly, a dislocation and inclination assembly and a guide mechanism which are arranged on the mounting plate;
the clamping jaw assembly comprises 4 clamping jaws which are arranged in a rectangular shape and two clamping jaw mounting plates, the clamping jaw mounting plates are arranged corresponding to the width directions of the mounting plates, and the two clamping jaws are connected below the clamping jaw mounting plates; the staggered inclined assembly is connected with the two clamping jaws on one side and drives the connected clamping jaws to move up and down to adjust the clamping jaws on the two sides to be on different horizontal planes;
The pilot mechanism corresponds to the position of the positioning hole on the grabbed paper sheet, and the inserting length of the pilot mechanism is matched with the thickness of all the paper sheets grabbed at one time.
2. A robot for grasping a stacked package of paper sheets as recited in claim 1, wherein: still including horizontal linear slide rail that sets up, pneumatic clamping jaw and the buffer that sets up under the mounting panel is middle, pneumatic clamping jaw fix under the mounting panel, the buffer include two matched with buffer tip, respectively with linear slide rail slide and link to each other, two of opposite side the clamping jaw with linear slide rail slide and link to each other, and two of opposite side the clamping jaw with correspond the end buffer end fixing links to each other.
3. A robot for gripping a stack of packed paper sheets as claimed in claim 1, wherein: the clamping jaw include parallel arrangement's clamping jaw pole and push pedal, institute still includes first cylinder, the stiff end of first cylinder with the clamping jaw pole is fixed to be linked to each other, remove the end with the push pedal links to each other.
4. A robot for gripping a stack of packed paper sheets as claimed in claim 3, wherein: a flange projecting inwardly from the distal end of the claw bar.
5. A robot for gripping a stack of packed paper sheets as claimed in claim 1, wherein: dislocation slope subassembly include the third cylinder of vertical setting, the curb plate is connected to the cylinder, the cylinder connect the curb plate with the mounting panel fixed link to each other, the stiff end of third cylinder is fixed the cylinder connect the curb plate on, remove the end with the clamping jaw mounting panel links to each other.
6. A robot for gripping a stack of packed paper sheets as claimed in claim 1, wherein: lead positive mechanism and include second cylinder and the guide bar of connecting in order from top to bottom, still include the cylinder fixed plate, the cylinder fixed plate fix the mounting panel on, the stiff end of second cylinder is fixed the cylinder fixed plate on, the guide bar is connected the removal end of second cylinder.
7. A robot as claimed in claim 5 or 6, wherein said robot is adapted to grasp a stack of sheets of packaging paper, and wherein: the dislocation slope subassembly with lead and just to construct and set up relatively, the mounting panel on still set up and be used for dislocation slope subassembly with lead the fretwork hole that just mechanism removed.
8. A robot for gripping a stack of packed paper sheets as claimed in claim 7, wherein: the size of the mounting plate, the position of the arranged hollow hole and the shape of the clamped paper sheet are matched.
9. A robot for gripping a stack of packed paper sheets as claimed in claim 1, wherein: the manipulator coupling assembling includes the connecting plate and sets up three connecting rods of the vertical setting in connecting plate below, the connecting rod is triangular distribution, still be equipped with the locating piece of being connected with the robot above the connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011552893.2A CN112722836B (en) | 2020-12-24 | 2020-12-24 | Mechanical arm for grabbing stacked packing box paper sheets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011552893.2A CN112722836B (en) | 2020-12-24 | 2020-12-24 | Mechanical arm for grabbing stacked packing box paper sheets |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112722836A CN112722836A (en) | 2021-04-30 |
| CN112722836B true CN112722836B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011552893.2A Active CN112722836B (en) | 2020-12-24 | 2020-12-24 | Mechanical arm for grabbing stacked packing box paper sheets |
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| CN (1) | CN112722836B (en) |
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| CN112722836A (en) | 2021-04-30 |
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