CN113650001A - Box body taking and placing mechanical arm and process for intelligent manufacturing - Google Patents
Box body taking and placing mechanical arm and process for intelligent manufacturing Download PDFInfo
- Publication number
- CN113650001A CN113650001A CN202111051398.8A CN202111051398A CN113650001A CN 113650001 A CN113650001 A CN 113650001A CN 202111051398 A CN202111051398 A CN 202111051398A CN 113650001 A CN113650001 A CN 113650001A
- Authority
- CN
- China
- Prior art keywords
- cover
- blanking
- buckling
- dislocation
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a box body taking and placing mechanical arm and a process for intelligent manufacturing, which comprises a material feeding mechanical arm group; the material loading mechanical arm set comprises a discharging guide funnel for discharging a material piece; a blanking swing middle box body with the middle part hinged and pitching swung through a horizontal rotating shaft is arranged below the blanking guide funnel, the right end opening of the blanking swing middle box body is provided with a conical nozzle with an upper opening at the front end of blanking, and the left end of the blanking swing middle box body is the bottom of the blanking swing middle box body; the tail part of the blanking swing middle box body is provided with an adjustable balance weight and a blanking tail part traction ring; the invention has reasonable design, compact structure and convenient use.
Description
Technical Field
The invention relates to a box body taking and placing mechanical arm and a box body taking and placing process for intelligent manufacturing.
Background
An automatic operating device which can imitate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
In some manufacturing plants, the goods shelves are put with the finished product or the semi-finished product of dress box on, save area, generally all insert the goods shelves eminence through fork truck, but fork truck can not adjust the distance between two forks, can not fork little box body, and need put a cardboard at the box body bottom, it is inconvenient to use, the cardboard also accounts for the space, perhaps on artificial one puts the goods shelves, and intensity of labour is big, waste time again.
CN202010644233.0 a box body is got and is put manipulator, CN201811007962.4 a box body is got and is put manipulator for intelligent manufacturing simple structure, and the integration degree is low, and area is unreasonable, can not realize linkage control, needs feedback mechanism such as a large amount of sensors, and the cost is high, has damaged, and is power consumptive height.
Disclosure of Invention
The invention aims to solve the technical problem of providing a box body picking and placing mechanical arm and a box body picking and placing process for intelligent manufacturing.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a box body taking and placing manipulator for intelligent manufacturing comprises a material feeding manipulator group;
the material loading mechanical arm set comprises a discharging guide funnel for discharging a material piece; a blanking swing middle box body with the middle part hinged and pitching swung through a horizontal rotating shaft is arranged below the blanking guide funnel, the right end opening of the blanking swing middle box body is provided with a conical nozzle with an upper opening at the front end of blanking, and the left end of the blanking swing middle box body is the bottom of the blanking swing middle box body;
the tail part of the blanking swing middle box body is provided with an adjustable balance weight and a blanking tail part traction ring;
a blanking clamping notch is formed in a blanking guide funnel falling channel, and a blanking plug tongue guide sleeve with a blanking reset spring is arranged on one side of the blanking clamping notch; a blanking reciprocating inserting tongue connected with a blanking reset spring is arranged in the blanking inserting tongue guide sleeve and used for moving along the blanking inserting tongue guide sleeve and being inserted into and pulled out of a blanking clamping notch; a plurality of blanking guide fixed pulleys are respectively arranged between the blanking tail traction ring and the tail end of the blanking plug tongue guide sleeve, and a blanking traction rope belt connected to the blanking tail traction ring through the blanking guide fixed pulleys is connected to the tail end of the blanking reciprocating plug tongue;
a cover buckling station is arranged below a downward bending station at the right end of the blanking swing middle box body;
when the blanking device is in no-load, the right end of the blanking swing middle box body is tilted upwards, and the blanking reciprocating insertion tongue is pulled by the blanking pulling rope belt, so that the blanking reciprocating insertion tongue overcomes the spring force of the blanking reset spring and leaves the blanking clamping notch; an upper opening cone nozzle at the front end of the blanking receives a material part falling from a blanking guide funnel;
when the blanking device is fully loaded, the right end of the box body bends downwards in the middle of blanking swing, the blanking traction rope belt is loosened, the blanking reciprocating insertion tongue enters the blanking clamping notch under the drive of the spring force of the blanking reset spring, and the material piece falls into the box body piece positioned at the cover buckling station through the conical nozzle at the upper opening at the front end of the blanking.
As a further improvement of the above technical solution:
a box body receiving mechanical arm group is arranged at the cover buckling station and comprises a receiving mechanical arm with a side opening for receiving the U-shaped support;
the box body part enters and exits in the bearing U-shaped support through the side opening so as to be connected in a working procedure.
A box body picking and placing manipulator for intelligent manufacturing comprises a dislocation manipulator group, wherein the dislocation manipulator group comprises a dislocation execution guide groove rail which is longitudinally arranged; the staggered right bent channel of the staggered left bent channel which is connected in sequence is distributed at the bottom of the staggered execution guide channel track to form a zigzag channel; the staggered end point buffer channels are arranged at the two ends of the zigzag channel, the staggered execution guide groove track is internally provided with a staggered linear slide block which longitudinally moves, the staggered linear slide block is provided with a transverse guide groove, and a staggered guide slide rod which moves in the zigzag channel is arranged in the transverse guide groove;
a dislocation left and right moving seat is arranged at the upper end of the dislocation guide slide bar, and a dislocation left spring rod and a dislocation right spring rod are respectively arranged at the left and right ends of the dislocation left and right moving seat;
a first traction arm is arranged on the dislocation linear sliding block;
a dislocation swing driving connecting rod is longitudinally hinged on the dislocation linear sliding block in a moving way;
the dislocation swing driving connecting rod longitudinally drives the dislocation linear sliding block to drive the dislocation guide sliding rod to move in the transverse guide groove and the zigzag channel, so that the dislocation left and right moving seat moves in a zigzag manner;
a cover buckling station is arranged at the left inflection point of the zigzag channel, and an upper cover station is arranged at the right inflection point of the zigzag channel;
the cover buckling station and the upper cover station are transversely arranged in a staggered manner.
As a further improvement of the above technical solution:
the staggered swing driving connecting rod is connected with a circulating crankshaft connecting rod part of a circulating mechanical arm group;
the circulating mechanical arm group comprises a circulating driving sector gear shaft connected with a power source;
the sector gear of the circular driving sector gear shaft is meshed with the rotary gear shaft at the connecting rod part of the circular crankshaft;
when the notches of the sector gears rotate over the rotary gear shaft at the cover buckling station and the upper cover station, the staggered linear sliding blocks stay.
A buckle cover base of the buckle cover mechanical hand group is arranged on the dislocation linear slide block; a cover-buckling reversing valve is arranged on the cover-buckling base, and a cover-buckling left valve handle connected with the staggered left-side spring rod and a cover-buckling right valve handle connected with the staggered right-side spring rod are respectively arranged at the left end and the right end of the cover-buckling reversing valve; the dislocation left and right moving seat is positioned between the left valve handle of the buckle cover and the right valve handle of the buckle cover;
the root of the buckle cover swing rod I and the root of the buckle cover swing rod II are respectively hinged on the dislocation linear sliding block;
the root of the buckle cover swinging rod I is positioned on the left side of the root of the buckle cover swinging rod II,
the buckling cover swinging rod I and/or the buckling cover swinging rod II are driven to swing by a buckling cover driving motor;
the end part of the buckle cover swinging rod I is hinged with the upper top part of the buckle cover linkage rod III;
the end part of the buckle cover swinging rod II is hinged with the middle part of a buckle cover linkage rod III;
a buckle cover transfer claw is arranged at the lower end part of the buckle cover linkage rod III;
when the cover is in an upper cover station, a cover-fastening one-way hinged shifting plate is hinged to the right end of the cover-fastening transfer claw, and a cover-fastening limiting block positioned on the right side of the cover-fastening one-way hinged shifting plate is arranged at the right end of the cover-fastening transfer claw;
at an upper cover station, the dislocation left and right moving seat moves rightwards, the cover-buckling reversing valve reverses, and the cover-buckling driving motor drives the cover-buckling swinging rod I and the cover-buckling swinging rod II to swing, so that the cover-buckling transfer claw upwards grasps or absorbs the outer end face of the cover piece;
at the cover buckling station, the dislocation left-right moving seat moves leftwards, the cover transferring claw downwards loosens or releases the cover part, and the cover part is buckled on the box part.
An upper cover mechanical hand group is arranged on one side of the upper cover station; the upper cover mechanical arm group comprises an upper cover driving rack which is connected with the staggered first traction arm and is longitudinally arranged; the upper cover driving rack is in transmission connection with a rack at the right tail end of an L-shaped pushing fork of an upper cover rack which transversely moves through an upper cover turning speed regulating gear set, the L-shaped pushing fork of the upper cover rack walks between a cover outlet station and an upper cover station, and the upper cover station is positioned on the left side of the cover outlet station; an upper cover guide falling channel with an opening at the lower end is arranged above the cover outlet station so as to stack cover pieces;
the staggered first traction arm drives the upper cover rack L-shaped pushing fork to move left and right through the upper cover driving rack and the upper cover turning speed regulating gear set, so that a cover body part bearing the falling of the upper cover guiding falling channel at a cover outlet station is transversely conveyed to the upper cover station, the buckling cover one-way hinged shifting plate swings forwards and resets in the conveying process, and the upper cover rack L-shaped pushing fork shields the subsequent cover body part from falling from the upper cover guiding falling channel;
when the buckle cover transfer claw swings downwards, the cover piece is conveyed out from the upper cover rack L-shaped pushing fork by the buckle cover limiting block.
A box body is got and is put mechanical hand for intelligent manufacturing includes
The circulating mechanical arm set is used for realizing intermittent circulation to provide driving force;
the staggered manipulator group is in transmission connection with the circulating manipulator group and reciprocates in a zigzag manner, an upper cover station and a cover buckling station are staggered on one side of the staggered manipulator group, and the staggered manipulator group stops intermittently;
the cover buckling mechanical arm group is arranged on the dislocation mechanical arm group and used for conveying the cover body piece from the upper cover station to the cover buckling station so as to buckle the cover body piece on the box body piece;
the upper cover mechanical hand group drops the cover body part to the cover outlet station and transversely sends the cover body part to the upper cover station, and the upper cover mechanical hand group is in transmission connection with the dislocation mechanical hand group;
the material loading mechanical arm group is arranged above the buckling cover station so as to place the material piece into the box body piece;
the box body bearing mechanical hand group is used for conveying the box body piece to and from the buckling cover station to finish the action of conveying the material piece and the buckling cover piece.
A box body picking and placing process for intelligent manufacturing is disclosed, which comprises the following steps;
s1, the carrying mechanical arm conveys the box body parts to a cover buckling station through a carrying U-shaped support;
s2, firstly, when the blanking swing middle box body is fully loaded, the right end of the box body bends downwards, a blanking drawing rope belt is loosened, a blanking reciprocating latch enters a blanking clamping notch under the drive of the spring force of a blanking reset spring, a cone nozzle at the upper opening of the front end of blanking drops a material piece into a box body piece positioned at a cover buckling station, a sector gear of a circular drive sector gear shaft is meshed with a rotary gear shaft at the connecting rod part of a circular crankshaft, a dislocation guide slide bar is positioned in a dislocation right-bent channel, a dislocation left side spring rod is pulled outwards by a dislocation left-right moving seat and simultaneously extrudes a dislocation right side spring rod, a cover buckling reversing valve is driven to reverse through a cover buckling left valve handle and a cover buckling right valve handle, and a cover buckling drive motor drives a cover buckling swing rod I and a cover swing rod II to swing; then, an upper cover driving rack and an upper cover turning speed regulating gear set drive an upper cover rack L-shaped pushing fork hand to transversely send the cover piece falling from an upper cover guiding falling channel borne by a cover outlet station to the upper cover station, in the conveying process, a cover buckling one-way hinged shifting plate swings forwards and resets, and the upper cover rack L-shaped pushing fork hand shields subsequent cover pieces to upwards grab or absorb the outer end face of the cover piece from a cover buckling transfer claw falling from the upper cover guiding falling channel;
s3, firstly, when the blanking swing middle box body is unloaded, the right end of the blanking swing middle box body tilts upwards, the blanking reciprocating inserting tongue is pulled by the blanking pulling rope belt, the blanking reciprocating inserting tongue overcomes the spring force of the blanking reset spring and leaves the blanking clamping notch, the material piece falling from the blanking guide funnel is received by the upper opening cone mouth at the front end of the blanking, the sector gear of the circular drive sector gear shaft is meshed with the rotary gear shaft at the connecting rod part of the circular crankshaft, the dislocation guide slide rod is arranged in the dislocation left bent channel, the dislocation left and right movable seat extrudes the dislocation left side spring rod and pulls out the dislocation right side spring rod, the left valve handle and the right valve handle of the buckle cover drive the reversing valve of the buckle cover to change direction, the buckle cover drive motor drives the swing rod I and the swing rod II of the buckle cover to swing, meanwhile, the upper cover driving rack and the upper cover turning speed regulating gear set drive the upper cover rack L-shaped pushing fork to reach a cover outlet station, and the next cover piece falling from the upper cover guiding falling channel is borne; then, when the cover-buckling transfer claw swings downwards, the cover body piece is sent out from the upper cover rack L-shaped pushing fork by using the cover-buckling limiting block, and the cover body piece is buckled on the box body piece by the cover-buckling transfer claw;
and S4, the receiving mechanical arm leaves the box body part from the cover buckling station through the receiving U-shaped support and sends the box body part to the next process.
The invention has the advantages of reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, capital saving, compact structure and convenient use.
Drawings
Fig. 1 is a schematic diagram of the use structure of the invention.
Fig. 2 is a schematic structural diagram of the dislocated robot assembly of the present invention.
Fig. 3 is a schematic structural diagram of the material loading robot of the present invention.
Fig. 4 is a schematic structural diagram of the capping robot assembly of the present invention.
Wherein: 1. a case member; 2. a material piece; 3. a cover member; 4. a dislocation manipulator group; 5. a cyclic robot group; 6. a cover buckling mechanical arm group; 7. an upper cover manipulator group; 8. the box body is connected with the mechanical hand group; 9. a material loading mechanical arm set; 10. a staggered execution guide groove track; 11. a staggered end point buffer channel; 12. a left-bent channel is staggered; 13. a right-hand curved channel is staggered; 14. a dislocation linear slide block; 15. a dislocation guide slide bar; 16. a seat is moved leftwards and rightwards in a staggered manner; 17. a left spring rod is staggered; 18. a staggered right spring rod; 19. a dislocated first traction arm; 20. the connecting rod is driven by staggered swing; 21. circularly driving the sector gear shaft; 22. a circulating crankshaft connecting rod portion; 23. a discharging guide funnel; 24. a blanking clamping notch; 25. blanking and swinging the middle box body; 26. a cone nozzle is opened at the front end of the blanking; 27. a tail drawing ring for blanking; 28. blanking guide fixed pulleys; 29. blanking and drawing a rope belt; 30. a blanking inserting tongue guide sleeve; 31. blanking and inserting the tongue in a reciprocating manner; 32. a blanking reset spring; 33. carrying mechanical arms; 34. carrying the U-shaped support; 35. covering the base; 36. covering a reversing valve; 37. covering the left valve handle; 38. covering the right valve handle; 39. a buckle cover driving motor; 40. buckling and covering the swing rod I; 41. buckling and covering the swing rod II; 42. covering a linkage rod III; 43. covering a transfer claw; 44. the buckle cover is hinged with the shifting plate in a one-way mode; 45. covering a limiting block; 46. the upper cover drives the rack; 47. the upper cover changes direction and adjusts the speed gear set; 48. the upper cover rack L-shaped pushing fork arm; 49. the upper cover is guided to the falling passage.
Detailed Description
As shown in fig. 1 to 4, the box pick-and-place manipulator for intelligent manufacturing of the embodiment includes a material loading manipulator group 9;
the material feeding mechanical arm set 9 comprises a discharging guide funnel 23 for discharging the material part 2; a blanking swing middle box body 25 which is hinged with the middle part through a horizontal rotating shaft and swings in a pitching manner is arranged below the blanking guide funnel 23, the right end opening of the blanking swing middle box body is provided with a conical nozzle 26 with an upper opening at the front end of blanking, and the left end of the blanking swing middle box body 25 is the bottom of the blanking swing middle box body;
the tail part of the blanking swing middle box body 25 is provided with an adjustable balance weight and a blanking tail part traction ring 27;
a blanking position-clamping notch 24 is arranged on a falling channel of the blanking guide funnel 23, and a blanking plug tongue guide sleeve 30 with a blanking reset spring 32 is arranged on one side of the blanking position-clamping notch 24; a blanking reciprocating tongue 31 connected with a blanking reset spring 32 is arranged in the blanking tongue guide sleeve 30, and the blanking reciprocating tongue 31 is used for moving along the blanking tongue guide sleeve 30 and is inserted into and pulled out of the blanking clamping notch 24; a plurality of blanking guide fixed pulleys 28 are respectively arranged between the blanking tail traction ring 27 and the tail end of the blanking plug tongue guide sleeve 30, and the tail end of the blanking reciprocating plug tongue 31 is connected with a blanking traction rope belt 29 connected to the blanking tail traction ring 27 through the blanking guide fixed pulleys 28;
a cover buckling station is arranged below a downward bending station at the right end of the blanking swing middle box body 25;
when the blanking device is unloaded, the right end of the blanking swing middle box body 25 tilts upwards, and the blanking reciprocating insertion tongue 31 is pulled through the blanking pulling rope belt 29, so that the blanking reciprocating insertion tongue 31 overcomes the spring force of the blanking reset spring 32 and leaves the blanking clamping notch 24; the conical nozzle 26 with an upper opening at the front end of the blanking receives the material piece 2 falling from the blanking guide funnel 23;
when the box body is fully loaded, the right end of the blanking swing middle box body 25 is bent downwards, the blanking traction rope belt 29 is loosened, the blanking reciprocating insertion tongue 31 enters the blanking clamping notch 24 under the driving of the spring force of the blanking return spring 32, and the material piece 2 falls into the box body piece 1 positioned at the covering station through the conical nozzle 26 with the upper opening at the front end of the blanking.
A box body receiving mechanical arm group 8 is arranged at the cover buckling station and comprises a receiving mechanical arm 33 with a side opening for receiving a U-shaped support 34;
the box body part 1 enters and exits the bearing U-shaped support 34 through the side opening to carry out process connection.
The box body taking and placing manipulator for intelligent manufacturing comprises a dislocation manipulator group 4, wherein the dislocation manipulator group 4 comprises a dislocation execution guide groove rail 10 which is longitudinally arranged; a right staggered bent channel 13 of a left staggered bent channel 12 which is connected in sequence is distributed at the bottom of the staggered execution guide channel track 10 to form a zigzag channel; a dislocation terminal buffer channel 11 is arranged at the two ends of the zigzag channel, a dislocation linear slide block 14 longitudinally moves in the dislocation execution guide groove track 10, a transverse guide groove is arranged on the dislocation linear slide block 14, and a dislocation guide slide rod 15 moving in the zigzag channel is arranged in the transverse guide groove;
a dislocation left and right moving seat 16 is arranged at the upper end of the dislocation guide slide bar 15, and a dislocation left spring rod 17 and a dislocation right spring rod 18 are respectively arranged at the left and right ends of the dislocation left and right moving seat 16;
a first dislocation traction arm 19 is arranged on the dislocation linear sliding block 14;
a dislocation swing driving connecting rod 20 is longitudinally hinged on the dislocation linear sliding block 14 in a moving way;
the dislocation swing driving connecting rod 20 longitudinally drives the dislocation linear slide block 14 to drive the dislocation guide slide rod 15 to move in the transverse guide groove and the zigzag channel, so that the dislocation left and right moving seat 16 moves in a zigzag manner;
a cover buckling station is arranged at the left inflection point of the zigzag channel, and an upper cover station is arranged at the right inflection point of the zigzag channel;
the cover buckling station and the upper cover station are transversely arranged in a staggered manner.
The dislocation swing driving connecting rod 20 is connected with a circulating crankshaft connecting rod part 22 of the circulating manipulator group 5;
the circulating mechanical arm group 5 comprises a circulating driving sector gear shaft 21 connected with a power source;
the sector gear of the cyclic driving sector gear shaft 21 is meshed with the rotary gear shaft of the cyclic crankshaft connecting rod part 22;
when the notches of the sector gear rotate over the rotary gear shaft at the capping station and the upper capping station, the dislocated linear slide 14 is made to stay.
A buckle cover base 35 of the buckle cover manipulator group 6 is arranged on the dislocation linear slide block 14; a cover-fastening reversing valve 36 is arranged on the cover-fastening base 35, and a cover-fastening left valve handle 37 connected with the misplaced left-side spring rod 17 and a cover-fastening right valve handle 38 connected with the misplaced right-side spring rod 18 are respectively arranged at the left end and the right end of the cover-fastening reversing valve 36; the dislocation left and right moving seat 16 is positioned between the left valve handle 37 and the right valve handle 38 of the buckle cover;
the root of a buckle cover swinging rod I40 and the root of a buckle cover swinging rod II41 are respectively hinged on the dislocation linear sliding block 14;
the root of the buckle cover swinging rod I40 is positioned at the left side of the root of the buckle cover swinging rod II41,
the buckle cover swinging rod I40 and/or the buckle cover swinging rod II41 are driven to swing by a buckle cover driving motor 39;
the end part of the buckle cover swinging rod I40 is hinged with the upper top part of a buckle cover linkage rod III 42;
the end part of the buckle cover swinging rod II41 is hinged with the middle part of a buckle cover linkage rod III 42;
a buckle cover transfer claw 43 is arranged at the lower end part of the buckle cover linkage rod III 42;
when in the upper cover station, a cover-fastening one-way hinged shifting plate 44 is hinged at the right end of the cover-fastening transfer claw 43, and a cover-fastening limiting block 45 positioned at the right side of the cover-fastening one-way hinged shifting plate 44 is arranged at the right end of the cover-fastening transfer claw 43;
in the upper cover station, the dislocation left and right moving seat 16 moves rightwards, the cover-buckling reversing valve 36 reverses, and the cover-buckling driving motor 39 drives the cover-buckling swinging rod I40 and the cover-buckling swinging rod II41 to swing, so that the cover-buckling transfer claw 43 upwards grasps or sucks the outer end face of the cover part 3;
at the capping station, the offset left and right moving base 16 moves leftward, the cap-turning claw 43 moves downward to release or release the lid member 3, and the lid member 3 is fastened to the case member 1.
An upper cover manipulator group 7 is arranged on one side of the upper cover station; the upper cover manipulator group 7 comprises an upper cover driving rack 46 which is connected with the dislocation first traction arm 19 and is longitudinally arranged; the upper cover driving rack 46 is in transmission connection with a rack at the right tail end of an upper cover rack L-shaped pushing fork 48 which transversely moves through an upper cover turning speed regulating gear set 47, the upper cover rack L-shaped pushing fork 48 travels between a cover outlet station and an upper cover station, and the upper cover station is positioned on the left side of the cover outlet station; an upper lid guide drop passage 49 having an open lower end is provided above the lid discharge station to stack the lid members 3;
the staggered first traction arm 19 drives the upper cover rack L-shaped pushing fork 48 to move left and right through the upper cover driving rack 46 and the upper cover turning speed regulating gear set 47, so that the cover body part 3 which bears the falling of the upper cover guiding falling channel 49 at the cover outlet station is transversely conveyed to the upper cover station, the cover buckling unidirectional hinged shifting plate 44 swings forwards and resets in the conveying process, and the upper cover rack L-shaped pushing fork 48 shields the subsequent cover body part 3 from falling from the upper cover guiding falling channel 49;
when the cover-fastening transfer claw 43 swings downward, the cover member 3 is conveyed out from the upper cover rack L-shaped pushing fork 48 by the cover-fastening limiting block 45.
The box body taking and placing manipulator for intelligent manufacturing of the embodiment comprises
A circulating mechanical arm group 5 for providing driving force in an intermittent circulation manner;
the dislocation mechanical arm group 4 is in transmission connection with the circulation mechanical arm group 5 and travels back and forth in a zigzag shape, an upper cover station and a cover buckling station are staggered on one side of the dislocation mechanical arm group 4, and the dislocation mechanical arm group 4 intermittently stays on the upper cover station and the cover buckling station;
the cover buckling mechanical arm group 6 is arranged on the dislocation mechanical arm group 4 and used for conveying the cover body 3 from the cover loading station to the cover buckling station to be buckled on the box body 1;
the upper cover manipulator group 7 is used for dropping the cover body part 3 to the cover discharging station and transversely conveying the cover body part to the upper cover station, and the upper cover manipulator group 7 is in transmission connection with the dislocation manipulator group 4;
the material feeding mechanical arm group 9 is arranged above the buckling cover station so as to place the material part 2 into the box body part 1;
the box body receiving manipulator group 8 is used for conveying the box body parts 1 to and from the buckling cover station and completing the actions of conveying the material parts 2 and buckling cover body parts 3.
In the box body taking and placing process for intelligent manufacturing, the following steps are executed;
s1, the receiving mechanical arm 33 sends the box body 1 to a capping station through the receiving U-shaped support 34;
s2, firstly, when the blanking swing middle box body 25 is fully loaded, the right end of the blanking swing middle box body is bent downwards, the blanking drawing rope belt 29 is loosened, the blanking reciprocating latch 31 enters the blanking clamping notch 24 under the drive of the spring force of the blanking reset spring 32, the material part 2 falls into the box body part 1 at the capping station through the upper opening cone nozzle 26 at the front end of the blanking, the sector gear of the circular drive sector gear shaft 21 is meshed with the rotary gear shaft of the circular crankshaft connecting rod part 22, the dislocation guide slide rod 15 is in the dislocation right bent channel 13, the dislocation left side spring rod 17 is pulled out of the dislocation left side moving seat 16 and simultaneously extrudes the dislocation right side spring rod 18, the capping reversing valve 36 is driven to reverse through the capping left valve handle 37 and the capping right valve handle 38, and the capping drive motor 39 drives the capping swing rod I40 to swing with the capping swing rod II 41; then, the upper cover driving rack 46 and the upper cover turning speed regulating gear set 47 drive the upper cover rack L-shaped pushing fork 48 to transversely send the cover body 3 falling from the upper cover guiding falling channel 49 borne by the cover outlet station to the upper cover station, the cover-fastening one-way hinged shifting plate 44 swings forwards and then resets in the conveying process, and the upper cover rack L-shaped pushing fork 48 shields the subsequent cover body 3 to upwards grab or suck the outer end face of the cover body 3 from the falling cover-fastening transfer claw 43 of the upper cover guiding falling channel 49;
s3, firstly, when the blanking swing middle box 25 is empty, the right end of the blanking swing middle box is tilted upwards, the blanking reciprocating insert tongue 31 is pulled through the blanking pulling rope belt 29, the blanking reciprocating insert tongue 31 is enabled to overcome the spring force of the blanking reset spring 32 and leave the blanking position clamping notch 24, the material part 2 falling from the blanking guide funnel 23 is received by the upper opening cone nozzle 26 at the front end of the blanking, the sector gear of the circular drive sector gear shaft 21 is meshed with the rotating gear shaft of the circular crankshaft connecting rod part 22, the dislocation guide slide bar 15 is in the dislocation left bent channel 12, the dislocation left and right moving seat 16 extrudes the dislocation left side spring rod 17 and pulls the dislocation right side spring rod 18 outwards, the buckle cover reversing valve 36 is driven to reverse by the buckle cover left valve handle 37 and the buckle cover right valve handle 38, the buckle cover driving motor 39 drives the buckle cover swinging rod I40 and the buckle cover swinging rod II41 to swing, meanwhile, the upper cover driving the L-shaped push fork 48 to reach the cap outlet station by the upper cover driving rack 46 and the upper cover reversing gear set 47, the next lid piece 3 carrying the fall of the upper lid guide fall channel 49; then, when the cover-fastening transfer claw 43 swings downwards, the cover body 3 is sent out from the upper cover rack L-shaped pushing fork 48 by using the cover-fastening limiting block 45, and the cover body 3 is fastened on the box body 1 by the cover-fastening transfer claw 43;
s4, the receiving mechanical arm 33 takes the box body 1 out of the capping station through the receiving U-shaped bracket 34 and sends the box body to the next process.
The invention realizes the automatic filling of the material part 2 and the cover part 3 of the box body part 1, has high integration degree and linked structure, saves a large number of servo feedback parts, simplifies a control system, is firm and durable through mechanical control and simplifies a power source.
Dislocation manipulator group 4 has realized the crisscross of station, thereby the lateral space of rational utilization, can realize a plurality of manipulators and move simultaneously, the efficiency is improved, circulation manipulator group 5 avoids the direction motion, realize continuous one-way action, it is durable, intermittent type nature drive has been realized through the bevel gear, thereby reserve time for the upper cover buckle closure, offset the motion error, 6 swing motion of buckle closure manipulator group, thereby the rational utilization space, utilize zigzag passageway, thereby realize the level dislocation, make the space compact, upper cover manipulator group 7 realizes the whereabouts, manipulator group 8 is accepted to the box body and the linking of process from top to bottom is realized, material loading manipulator group 9 realizes sending into of intermittent type material, the closed design who realizes the passageway when sending into is ingenious, thereby make things convenient for the matching between each action. The one-way material taking is realized through the one-way hinged shifting plate 44 and the cover-fastening limiting block 45.
Claims (8)
1. The utility model provides a box body is got and is put manipulator for intelligent manufacturing which characterized in that: comprises a material feeding mechanical arm set (9);
the material loading mechanical arm set (9) comprises a blanking guide funnel (23) used for blanking the material piece (2); a blanking swing middle box body (25) which is hinged with the middle part through a horizontal rotating shaft and swings in a pitching manner is arranged below the blanking guide funnel (23), the opening at the right end of the blanking swing middle box body is provided with a conical nozzle (26) with an upper opening at the front end of blanking, and the left end of the blanking swing middle box body is the bottom of the blanking swing middle box body (25);
the tail part of the blanking swing middle box body (25) is provided with an adjustable balance weight and a blanking tail part drawing ring (27);
a blanking blocking notch (24) is arranged on a falling channel of the blanking guide funnel (23), and a blanking plug tongue guide sleeve (30) with a blanking reset spring (32) is arranged on one side of the blanking blocking notch (24); a blanking reciprocating insert tongue (31) connected with a blanking reset spring (32) is arranged in the blanking insert tongue guide sleeve (30), and the blanking reciprocating insert tongue (31) is used for moving along the blanking insert tongue guide sleeve (30) and is inserted into and pulled out of the blanking clamping notch (24); a plurality of blanking guide fixed pulleys (28) are respectively arranged between the blanking tail traction ring (27) and the tail end of the blanking plug tongue guide sleeve (30), and the tail end of the blanking reciprocating plug tongue (31) is connected with a blanking traction rope belt (29) connected to the blanking tail traction ring (27) through the blanking guide fixed pulleys (28);
a cover buckling station is arranged below a downward bending station at the right end of the blanking swing middle box body (25);
when the blanking device is unloaded, the right end of the blanking swing middle box body (25) tilts upwards, and the blanking reciprocating insertion tongue (31) is pulled through the blanking pulling rope belt (29), so that the blanking reciprocating insertion tongue (31) overcomes the spring force of the blanking reset spring (32) and leaves the blanking clamping notch (24); an upper opening cone nozzle (26) at the front end of the blanking receives the material part (2) falling from the blanking guide funnel (23);
when the box is fully loaded, the right end of the blanking swing middle box body (25) is bent downwards, the blanking traction rope belt (29) is loosened, the blanking reciprocating insertion tongue (31) enters the blanking clamping notch (24) under the drive of the spring force of the blanking return spring (32), and the material part (2) falls into the box body part (1) positioned at the capping station through the upper opening cone nozzle (26) at the front end of the blanking.
2. The box pick-and-place manipulator for intelligent manufacturing of claim 1, wherein: a box body receiving mechanical arm group (8) is arranged at the cover buckling station and comprises a receiving mechanical arm (33) which is provided with a side opening and is used for receiving a U-shaped support (34);
the box body part (1) enters and exits the U-shaped support (34) through the side opening to carry out procedure connection.
3. The utility model provides a box body is got and is put manipulator for intelligent manufacturing which characterized in that: the dislocation manipulator group (4) comprises a dislocation execution guide groove rail (10) which is longitudinally arranged; a right-bent staggered channel (13) of a left-bent staggered channel (12) which is connected in sequence is distributed at the bottom of the staggered execution guide slot track (10) to form a zigzag channel; dislocation end point buffer channels (11) are arranged at two ends of the zigzag channel, a dislocation linear sliding block (14) longitudinally moves in a dislocation execution guide groove track (10), a transverse guide groove is arranged on the dislocation linear sliding block (14), and a dislocation guide sliding rod (15) moving in the zigzag channel is arranged in the transverse guide groove;
a dislocation left and right moving seat (16) is arranged at the upper end of the dislocation guide slide bar (15), and a dislocation left spring rod (17) and a dislocation right spring rod (18) are respectively arranged at the left and right ends of the dislocation left and right moving seat (16);
a first dislocation traction arm (19) is arranged on the dislocation linear sliding block (14);
a dislocation swing driving connecting rod (20) is longitudinally hinged on the dislocation linear sliding block (14) in a moving way;
the dislocation swing driving connecting rod (20) longitudinally drives the dislocation linear slide block (14) to drive the dislocation guide slide rod (15) to move in the transverse guide groove and the zigzag channel, so that the dislocation left and right moving seat (16) moves in a zigzag manner;
a cover buckling station is arranged at the left inflection point of the zigzag channel, and an upper cover station is arranged at the right inflection point of the zigzag channel;
the cover buckling station and the upper cover station are transversely arranged in a staggered manner.
4. A cartridge pick-and-place robot for smart manufacturing according to claim 3, wherein: the dislocation swing driving connecting rod (20) is connected with a circulating crankshaft connecting rod part (22) of a circulating mechanical arm group (5);
the circulating mechanical arm group (5) comprises a circulating driving sector gear shaft (21) connected with a power source;
the sector gear of the circular driving sector gear shaft (21) is meshed with the rotary gear shaft of the circular crankshaft connecting rod part (22);
when the notches of the sector gear rotate over the rotary gear shaft at the capping station and the upper capping station, the dislocation linear sliding block (14) is stopped.
5. A cartridge pick-and-place robot for smart manufacturing according to claim 3, wherein: a buckle cover base (35) of the buckle cover manipulator group (6) is arranged on the dislocation linear slide block (14); a cover-buckling reversing valve (36) is arranged on the cover-buckling base (35), and a cover-buckling left valve handle (37) connected with the misplaced left-side spring rod (17) and a cover-buckling right valve handle (38) connected with the misplaced right-side spring rod (18) are respectively arranged at the left end and the right end of the cover-buckling reversing valve (36); the dislocation left and right moving seat (16) is positioned between the left valve handle (37) of the buckle cover and the right valve handle (38) of the buckle cover;
the root of a buckling cover swinging rod I (40) and the root of a buckling cover swinging rod II (41) are respectively hinged on the dislocation linear sliding block (14);
the root of the buckle cover swinging rod I (40) is positioned at the left side of the root of the buckle cover swinging rod II (41),
the buckle cover swinging rod I (40) and/or the buckle cover swinging rod II (41) are driven to swing by a buckle cover driving motor (39);
the end part of the buckle cover swinging rod I (40) is hinged with the upper top part of a buckle cover linkage rod III (42);
the end part of the buckling cover swinging rod II (41) is hinged with the middle part of a buckling cover linkage rod III (42);
a buckle cover transfer claw (43) is arranged at the lower end part of the buckle cover linkage rod III (42);
when the cover is in an upper cover station, a cover-fastening one-way hinged shifting plate (44) is hinged to the right end of the cover-fastening transfer claw (43), and a cover-fastening limiting block (45) positioned on the right side of the cover-fastening one-way hinged shifting plate (44) is arranged at the right end of the cover-fastening transfer claw (43);
in an upper cover station, the dislocation left and right moving seat (16) moves rightwards, the cover-buckling reversing valve (36) reverses, and a cover-buckling driving motor (39) drives a cover-buckling swinging rod I (40) and a cover-buckling swinging rod II (41) to swing, so that a cover-buckling transfer claw (43) upwards grabs or sucks the outer end face of the cover piece (3);
at the capping station, the dislocation left and right moving seat (16) moves leftwards, the capping transfer claw (43) downwards loosens or releases the cover piece (3), and the cover piece (3) is capped on the box piece (1).
6. A cartridge pick-and-place robot for smart manufacturing according to claim 3, wherein: an upper cover manipulator group (7) is arranged on one side of the upper cover station; the upper cover mechanical arm group (7) comprises an upper cover driving rack (46) which is connected with the dislocation first traction arm (19) and is longitudinally arranged; the upper cover driving rack (46) is in transmission connection with a rack at the right tail end of an L-shaped pushing fork (48) of an upper cover rack which transversely moves through an upper cover turning speed regulating gear set (47), the L-shaped pushing fork (48) of the upper cover rack walks between a cover outlet station and an upper cover station, and the upper cover station is positioned on the left side of the cover outlet station; an upper cover guide falling channel (49) with an opening at the lower end is arranged above the cover outlet station so as to stack the cover pieces (3);
the staggered first traction arm (19) drives an upper cover rack L-shaped pushing fork (48) to move left and right through an upper cover driving rack (46) and an upper cover turning speed regulating gear set (47), so that a cover piece (3) bearing the falling of an upper cover guiding falling channel (49) at a cover outlet station is transversely conveyed to the upper cover station, a cover buckling unidirectional hinged shifting plate (44) swings forwards and resets in the conveying process, and the upper cover rack L-shaped pushing fork (48) shields the subsequent cover piece (3) from falling from the upper cover guiding falling channel (49);
when the cover-buckling transfer claw (43) swings downwards, the cover piece (3) is sent out from the upper cover rack L-shaped pushing fork (48) by using the cover-buckling limiting block (45).
7. The utility model provides a box body is got and is put manipulator for intelligent manufacturing which characterized in that: comprises that
A circulating mechanical arm set (5) for providing driving force in an intermittent circulation manner;
the staggered manipulator group (4) is in transmission connection with the circulating manipulator group (5) and reciprocates in a zigzag manner, an upper cover station and a cover buckling station are staggered on one side of the staggered manipulator group (4), and the staggered manipulator group (4) intermittently stays on the upper cover station and the cover buckling station;
the cover buckling mechanical arm group (6) is arranged on the dislocation mechanical arm group (4) and conveys the cover body (3) from the cover loading station to the cover buckling station to be buckled on the box body (1);
the upper cover manipulator group (7) is used for dropping the cover body (3) to the cover discharging station and transversely conveying the cover body to the upper cover station, and the upper cover manipulator group (7) is in transmission connection with the dislocation manipulator group (4);
the material loading mechanical arm group (9) is arranged above the buckling cover station so as to place the material piece (2) into the box body piece (1);
the box body receiving manipulator group (8) is used for conveying the box body pieces (1) to and from the buckling cover station to finish the action of conveying the material pieces (2) and the buckling cover pieces (3).
8. The utility model provides a box body is got and is put technology for intelligent manufacturing which characterized in that: the process performs the following steps;
s1, the carrying mechanical arm (33) sends the box body (1) to a cover buckling station through the carrying U-shaped support (34);
s2, when the blanking swing middle box body (25) is fully loaded, the right end of the box body bends downwards, the blanking drawing rope belt (29) loosens, the blanking reciprocating insertion tongue (31) enters the blanking clamping notch (24) under the drive of the spring force of the blanking return spring (32), a cone nozzle (26) with an opening at the front end of the blanking part drops the material part (2) into the box body part (1) positioned at the cover buckling station, the sector gear of the circular driving sector gear shaft (21) is meshed with the rotary gear shaft of the circular crankshaft connecting rod part (22), the dislocation guide slide rod (15) is arranged in the dislocation right bent channel (13), the misplaced left and right moving seats (16) pull the misplaced left spring rod (17) outwards and simultaneously extrude the misplaced right spring rod (18), the cover-buckling reversing valve (36) is driven to reverse through the cover-buckling left valve handle (37) and the cover-buckling right valve handle (38), and the cover-buckling driving motor (39) drives the cover-buckling swinging rod I (40) and the cover-buckling swinging rod II (41) to swing; then, an upper cover rack L-shaped pushing fork (48) is driven by an upper cover driving rack (46) and an upper cover turning speed regulating gear set (47) to enable the cover piece (3) falling from an upper cover guiding falling channel (49) borne by a cover outlet station to be transversely conveyed to the upper cover station, a cover-buckling one-way hinged shifting plate (44) swings forwards and then resets in the conveying process, and the upper cover rack L-shaped pushing fork (48) shields the subsequent cover piece (3) to upwards grab or suck the outer end face of the cover piece (3) from a cover-buckling transfer claw (43) falling from the upper cover guiding falling channel (49);
s3, firstly, when the blanking swing middle box body (25) is unloaded, the right end of the blanking swing middle box body tilts upwards, the blanking pull rope belt (29) pulls the blanking reciprocating insertion tongue (31), the blanking reciprocating insertion tongue (31) overcomes the spring force of the blanking reset spring (32) to leave the blanking clamping notch (24), the material part (2) falling from the blanking guide funnel (23) is received by the upper opening cone nozzle (26) at the front end of the blanking, the sector gear of the circular drive sector gear shaft (21) is meshed with the rotating gear shaft of the circular crankshaft connecting rod part (22), the dislocation guide slide rod (15) is arranged in the dislocation left bent channel (12), the dislocation left and right moving seat (16) extrudes the dislocation left side spring rod (17) and simultaneously pulls out the dislocation right side spring rod (18), the cover reversing valve (36) is driven by the cover left valve handle (37) and the cover right valve handle (38), the reversing cover driving motor (39) drives the cover swing rod I (40) and the cover swing rod II (41) to swing, meanwhile, an upper cover driving rack (46) and an upper cover turning speed regulating gear set (47) drive an upper cover rack L-shaped pushing fork (48) to reach a cover outlet station, and a next cover piece (3) falling from an upper cover guide falling channel (49) is borne; then, when the cover-buckling transfer claw (43) swings downwards, the cover piece (3) is sent out from the upper cover rack L-shaped pushing fork (48) by using the cover-buckling limiting block (45), and the cover piece (3) is buckled on the box piece (1) by the cover-buckling transfer claw (43);
s4, the receiving mechanical arm (33) enables the box body (1) to leave the buckling cover station through the receiving U-shaped support (34) and sends the box body to the next process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111051398.8A CN113650001A (en) | 2021-09-08 | 2021-09-08 | Box body taking and placing mechanical arm and process for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111051398.8A CN113650001A (en) | 2021-09-08 | 2021-09-08 | Box body taking and placing mechanical arm and process for intelligent manufacturing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113650001A true CN113650001A (en) | 2021-11-16 |
Family
ID=78493704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111051398.8A Withdrawn CN113650001A (en) | 2021-09-08 | 2021-09-08 | Box body taking and placing mechanical arm and process for intelligent manufacturing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113650001A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878353A (en) * | 2021-12-02 | 2022-01-04 | 唐山开用网络信息服务有限公司 | Collector manufacturing process of law enforcement audio and video collection workstation |
-
2021
- 2021-09-08 CN CN202111051398.8A patent/CN113650001A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878353A (en) * | 2021-12-02 | 2022-01-04 | 唐山开用网络信息服务有限公司 | Collector manufacturing process of law enforcement audio and video collection workstation |
| CN113878353B (en) * | 2021-12-02 | 2022-02-22 | 唐山开用网络信息服务有限公司 | Collector manufacturing process of law enforcement audio and video collection workstation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114789805B (en) | Automatic packaging system for flexible container bag | |
| CN206485848U (en) | Gaily decorated basket guide card machine | |
| CN113650001A (en) | Box body taking and placing mechanical arm and process for intelligent manufacturing | |
| CN104773337A (en) | Snatch formula tray automatic distribution device | |
| CN208150359U (en) | A kind of automatic cycle transhipment lifting device | |
| CN107380997A (en) | Bobbin-winding machine cylinder yarn offline lifting device automatically | |
| CN113663920B (en) | Intelligent recognition letter sorting car for commodity circulation | |
| CN112934730B (en) | Formed product quantitative racking machine for handbag processing and use method thereof | |
| CN109625431B (en) | Full-automatic material arranging and packaging equipment for shaft workpieces | |
| CN207209347U (en) | A kind of full-automatic reason cup feed mechanism | |
| CN207899759U (en) | A kind of rapid sorting device of package | |
| CN208963388U (en) | Push away box-type plastic bottle sack filling machine | |
| CN208836689U (en) | A kind of edible fungus culturing matrix bagging system | |
| CN207511203U (en) | A kind of feed mechanism for turnover box | |
| CN109967999A (en) | A kind of strainer ratchet shaft automatic assembling apparatus and assembly method | |
| CN207404461U (en) | Automatic material adds to mechanism | |
| CN109606808A (en) | Boxing device for cupped products | |
| CN213111453U (en) | Automatic change stacking mechanism for feeder | |
| CN211643776U (en) | Can separating and conveying mechanism | |
| CN112775634B (en) | Rod finishing device and rod finishing method | |
| CN210365490U (en) | Open type multi-layer feeder | |
| CN210656117U (en) | Liquid filling device | |
| CN209668017U (en) | A kind of automatic cleaning product line feeding device of bearing finished products | |
| CN106542145B (en) | A kind of reason bag machine | |
| CN208005256U (en) | Undercarriage system for placing material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211116 |
|
| WW01 | Invention patent application withdrawn after publication |