CN114249133B - Carton stacking manipulator with overturning assembly - Google Patents
Carton stacking manipulator with overturning assembly Download PDFInfo
- Publication number
- CN114249133B CN114249133B CN202111458500.6A CN202111458500A CN114249133B CN 114249133 B CN114249133 B CN 114249133B CN 202111458500 A CN202111458500 A CN 202111458500A CN 114249133 B CN114249133 B CN 114249133B
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- motor
- push
- pull
- rotating
- telescopic
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- 230000007306 turnover Effects 0.000 claims abstract description 11
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 241000252254 Catostomidae Species 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- 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
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
Abstract
The invention provides a carton stacking manipulator with a turnover assembly, which comprises a mechanical arm structure, a mounting plate, a turnover assembly, a telescopic motor A, a telescopic arm A and a main sucker, wherein the mechanical arm structure is arranged on the mounting plate; the mechanical arm structure is connected with the mounting plate; the overturning assembly comprises a rotating motor A, a rotating arm, a rotating plate, a push-pull motor and a push-pull lath; the rotating motor A is arranged on the mounting plate, one end of the rotating arm is connected with the rotating motor A, and the other end of the rotating arm is connected with the rotating plate; the push-pull motor is arranged on the upper surface of the rotating plate; the position of the rotating plate corresponding to the push-pull motor is provided with a strip-shaped guide hole, the push-pull strip is vertically inserted in the strip-shaped guide hole, and the position of the push-pull strip exposed out of the upper surface of the rotating plate is connected with the power output end of the push-pull motor; one end of the telescopic arm A is connected with the power output end of the telescopic motor A, and the other end of the telescopic arm A penetrates through the rotating plate and extends out of the rotating plate to be connected with the main sucker. On one hand, the carton can be adsorbed and fixed, and on the other hand, the carton can be supported on the downward surface, so that the stability in transferring is improved.
Description
Technical Field
The invention relates to the technical field of carton processing, in particular to a carton stacking manipulator with a turnover assembly.
Background
In the prior art, for the pile up neatly of carton, either manual operation or adopt pile up neatly manipulator cooperation operation, and adopt pile up neatly manipulator to pile up neatly, work efficiency is high to pile up neatly degree is high, also can cooperate the production line to use, has been used widely on the carton production line of manufacturing enterprise. The stacking manipulator in the prior art mainly adopts a sucking disc mode to adsorb the carton, and then carries out position transfer, and the defect that such a structure exists is: the stability is insufficient, and when the weight or volume of the carton is large, the stacking manipulator needs to be replaced, so that the problem needs to be solved.
Disclosure of Invention
Therefore, the invention aims to provide the carton stacking manipulator with the overturning assembly, and the carton can be adsorbed and fixed by the cooperation of the sucker and the overturning assembly, and can be supported on the downward surface, so that the stability in transferring is improved.
The invention provides a carton stacking manipulator with a turnover assembly, which comprises a mechanical arm structure, a mounting plate, a turnover assembly, a telescopic motor A, a telescopic arm A and a main sucker, wherein the mechanical arm structure is arranged on the mounting plate; the free end of the mechanical arm structure is connected with the mounting plate; the overturning assembly comprises a rotating motor A, a rotating arm, a rotating plate, a push-pull motor and a push-pull batten; the rotating motor A is arranged on the mounting plate, one end of the rotating arm is connected with the power output end of the rotating motor A, and the other end of the rotating arm is connected with the rotating plate; the push-pull motor is arranged on the upper surface of the rotating plate and is close to the side edge of the rotating plate; the rotary plate is provided with a strip-shaped guide hole at a position corresponding to the push-pull motor, the push-pull strip is vertically inserted into the strip-shaped guide hole, and the position of the push-pull strip, which is exposed out of the upper surface of the rotary plate, is connected with the power output end of the push-pull motor; the telescopic motor A is arranged on the lower surface of the mounting plate and is coaxially arranged with the rotating plate; one end of the telescopic arm A is connected with the power output end of the telescopic motor A, and the other end of the telescopic arm A penetrates through the rotating plate and extends out of the rotating plate to be connected with the main sucker.
As the preferred scheme, the mechanical arm structure includes flexible motor B, flexible arm B, changes motor B, connecting axle, flexible arm B's one end with flexible motor B's power take off end is connected, flexible arm B's the other end with change motor B and be connected, change motor B's power take off end with the connecting axle is connected, the free end of connecting axle with the mounting panel is connected.
As a preferable scheme, an auxiliary adsorption component is arranged below the mounting plate; the auxiliary adsorption assembly comprises a mounting sleeve ring, a plurality of telescopic motors C, a plurality of telescopic arms C and a plurality of auxiliary suckers, wherein the mounting sleeve ring is sleeved on the outer surface of the telescopic arm A and is coaxially arranged with the telescopic arm A; the inner diameter of the mounting lantern ring is larger than the outer diameter of the telescopic arm A; the mounting collar is connected with the bottom of the mounting plate through a connecting rod; the outer side surface circumferential array of installation lantern ring is provided with many extension arms, and each flexible motor C corresponds to be installed the lower surface of extension arm, each flexible motor C's power take off end all pass through flexible arm C with supplementary sucking disc is connected.
As a preferable scheme, the number of the extension arms is set to be N, and N is more than or equal to 2.
As a preferable scheme, the top of the push-pull batten is provided with a telescopic motor D, the power output end of the telescopic motor D is connected with a push-pull rod, the push-pull rod is arranged in a penetrating way along the length direction of the push-pull batten, and one side, extending out of the push-pull batten, of the push-pull rod is connected with a supporting block.
The beneficial effects of the invention are as follows: after the main sucker adsorbs the paper box, the overturning assembly can correspondingly promote the push-pull batten to overturn to a downward side surface for supporting, so that the main sucker is assisted to transfer the paper box, and the stability is improved; the relative distance between the axes of the push-pull battens and the rotating plate can be adaptively adjusted according to the sizes of the cartons, so that the cartons with different sizes can be contacted with the side surfaces of the cartons in a pasting mode, and the applicability is improved.
Drawings
Fig. 1 is a perspective view (bottom view) of the present invention.
Fig. 2 is a perspective view (front view) of the present invention.
Fig. 3 is a side view of a push-pull slat with a telescoping motor D.
The reference numerals are: telescoping motor B10, telescoping arm B11, rotating electrical machines B13, connecting axle 14, bar guide hole 12, rocking arm 15, mounting collar 16, telescoping arm A17, extension arm 18, telescoping motor C19, auxiliary suction cup 20, rotating plate 21, push-pull slat 22, main suction cup 23, connecting rod 24, mounting plate 26, rotating electrical machines A25, telescoping motor A27, push-pull motor 28, auxiliary suction assembly 29, telescoping motor D30, push-pull rod 31, supporting block 32, mechanical arm structure 33.
Detailed Description
The invention will be further described in detail with reference to the following detailed description and the accompanying drawings, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-3, the invention provides a carton stacking manipulator with a turnover assembly, which comprises a mechanical arm structure 33, a mounting plate 26, a turnover assembly, a telescopic motor a27, a telescopic arm a17 and a main sucker 23.
The free end of the robotic arm structure 33 is attached to the mounting plate 26. The mechanical arm structure 33 comprises a telescopic motor B10, a telescopic arm B11, a rotating motor B13 and a connecting shaft 14, one end of the telescopic arm B11 is connected with the power output end of the telescopic motor B10, the other end of the telescopic arm B11 is connected with the rotating motor B13, the power output end of the rotating motor B13 is connected with the connecting shaft 14, and the free end of the connecting shaft 14 is connected with the mounting plate 26. The telescopic motor B10 can drive the rotary motor B13 and the connecting shaft 14 to realize telescopic action through the telescopic arm B11, and the rotary motor B13 can drive the connecting shaft 14 to realize rotary action.
The overturning assembly comprises a rotating motor A25, a rotating arm 15, a rotating plate 21, a push-pull motor 28 and a push-pull slat 22; the rotating motor A25 is arranged on the mounting plate 26, one end of the rotating arm 15 is connected with the power output end of the rotating motor A25, and the other end of the rotating arm 15 is connected with the rotating plate 21; the push-pull motor 28 is mounted on the upper surface of the rotating plate 21 and near the side edge of the rotating plate 21; the rotating plate 21 is provided with a strip-shaped guide hole 12 at a position corresponding to the push-pull motor 28, the push-pull batten 22 is vertically inserted in the strip-shaped guide hole, and the position of the push-pull batten exposing the upper surface of the rotating plate 21 is connected with the power output end of the push-pull motor 28; in actual operation, the rotating motor a25 drives the rotating plate 21, the push-pull motor 28 and the push-pull batten 22 to rotate for a predetermined angle through the rotating arm 15, and the push-pull motor 28 drives the push-pull batten 22 to displace for a predetermined distance to carry out bearing operation. The relative distance between the axes of the push-pull battens and the rotating plate can be adaptively adjusted according to the sizes of the cartons, so that the cartons with different sizes can be contacted with the side surfaces of the cartons in a pasting mode, and the applicability is improved.
As a preferred embodiment, the top of the push-pull slat 22 is provided with a telescopic motor D30, the power output end of the telescopic motor D30 is connected with a push-pull rod 31, the push-pull rod 31 is arranged in a penetrating manner along the length direction of the push-pull slat 22, and a supporting block 32 is connected to one side of the push-pull rod 31 extending out of the push-pull slat 22. When the length of the carton is longer, the telescopic motor D30 promotes the push-pull rod 31 to drive the supporting block 32 to extend, so that the bearing distance is increased, and the bearing stability is further ensured.
The telescopic motor a27 is mounted on the lower surface of the mounting plate 26 and is coaxially disposed with the rotating plate 21; one end of the telescopic arm A17 is connected with the power output end of the telescopic motor A27, and the other end of the telescopic arm A17 penetrates through the rotating plate 21 and extends out of the rotating plate 21 to be connected with the main sucker 23. When the adsorption operation is needed, the telescopic motor A27 drives the main sucker 23 to extend out by a set distance through the telescopic arm A17, the main sucker 23 is connected with a negative pressure air source through a pipeline, and the main sucker 23 is contacted with the surface of the paper box, so that the adsorption operation is performed.
An auxiliary suction assembly 29 is provided below the mounting plate 26. The auxiliary adsorption assembly 29 comprises a mounting collar 16, a plurality of telescopic motors C19, a plurality of telescopic arms C and a plurality of auxiliary suckers 20, and the auxiliary suckers 20 are connected with a negative pressure air source through pipelines. The mounting collar 16 is sleeved on the outer surface of the telescopic arm A17 and is coaxially arranged with the telescopic arm A17; the inner diameter of the mounting collar 16 is larger than the outer diameter of the telescopic arm A17; the mounting collar 16 is connected to the bottom of the mounting plate 26 by a connecting rod 24; the outer side surface circumferential array of the installation lantern ring 16 is provided with a plurality of extension arms 18, and each flexible motor C19 is installed at the lower surface of extension arm 18 correspondingly, and the power take off end of each flexible motor C19 is all connected with auxiliary suction cup 20 through flexible arm C. The number of extension arms 18 is set to N, N.gtoreq.2, and in this embodiment the number of extension arms 18 is set to 4. When encountering the great carton of size, flexible motor C19 drives supplementary sucking disc 20 through flexible arm C and stretches out the established distance to make supplementary sucking disc 20 can adsorb the carton side with main sucking disc 23 cooperation, thereby increase the area of force to the carton, stability when promoting the transfer.
The principle of operation of this embodiment is:
1. the robotic arm structure 33 urges the mounting plate 26 into a given position with the cartons to be palletized;
2. The telescopic motor A27 causes the main sucker 23 to move downwards to suck the paper box;
3. After the rotating motor A25 drives the rotating plate 21 to rotate by a set angle through the rotating arm 15, the push-pull batten 22 is positioned at the lower part of the paper box, and the push-pull motor 28 drives the push-pull batten 22 to move towards the bottom of the paper box until the push-pull batten 22 contacts with the bottom of the paper box;
4. the robotic arm structure 33 causes the mounting plate 26 to move or rotate a predetermined angle to palletize the cartons in a predetermined position and so forth.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (3)
1. Carton stacking manipulator with overturning assembly, and is characterized in that: the device comprises a mechanical arm structure (33), a mounting plate (26), a turnover assembly, a telescopic motor A (27), a telescopic arm A (17) and a main sucker (23); the free end of the mechanical arm structure (33) is connected with the mounting plate (26); the turnover assembly comprises a rotating motor A (25), a rotating arm (15), a rotating plate (21), a push-pull motor (28) and a push-pull batten (22); the rotating motor A (25) is arranged on the mounting plate (26), one end of the rotating arm (15) is connected with the power output end of the rotating motor A (25), and the other end of the rotating arm (15) is connected with the rotating plate (21); the push-pull motor (28) is arranged on the upper surface of the rotating plate (21) and is close to the side edge of the rotating plate (21); the rotary plate (21) is provided with a strip-shaped guide hole (12) at a position corresponding to the push-pull motor (28), the push-pull batten (22) is vertically inserted into the strip-shaped guide hole, and the position of the push-pull batten, which is exposed out of the upper surface of the rotary plate (21), is connected with the power output end of the push-pull motor (28); the telescopic motor A (27) is arranged on the lower surface of the mounting plate (26) and is coaxially arranged with the rotating plate (21); one end of the telescopic arm A (17) is connected with the power output end of the telescopic motor A (27), and the other end of the telescopic arm A (17) penetrates through the rotating plate (21) and extends out of the rotating plate (21) to be connected with the main sucker (23);
The mechanical arm structure (33) comprises a telescopic motor B (10), a telescopic arm B (11), a rotary motor B (13) and a connecting shaft (14), one end of the telescopic arm B (11) is connected with the power output end of the telescopic motor B (10), the other end of the telescopic arm B (11) is connected with the rotary motor B (13), the power output end of the rotary motor B (13) is connected with the connecting shaft (14), and the free end of the connecting shaft (14) is connected with the mounting plate (26);
An auxiliary adsorption assembly (29) is arranged below the mounting plate (26); the auxiliary adsorption assembly (29) comprises a mounting sleeve ring (16), a plurality of telescopic motors C (19), a plurality of telescopic arms C and a plurality of auxiliary suckers (20), wherein the mounting sleeve ring (16) is sleeved on the outer surface of the telescopic arm A (17) and is coaxially arranged with the telescopic arm A (17); the inner diameter of the mounting collar (16) is larger than the outer diameter of the telescopic arm A (17); the mounting collar (16) is connected with the bottom of the mounting plate (26) through a connecting rod (24); the outer side surface circumferential array of installation lantern ring (16) is provided with many extension arms (18), and each flexible motor C (19) is corresponding to be installed the lower surface of extension arm (18), the power take off end of each flexible motor C (19) all pass through flexible arm C with auxiliary chuck (20) are connected.
2. The carton palletizing robot with a turnover assembly of claim 1, wherein: the number of the extension arms (18) is set to be N, and N is more than or equal to 2.
3. The carton palletizing robot with a turnover assembly of claim 1, wherein: the top of push-and-pull lath (22) is provided with flexible motor D (30), the power take off end of flexible motor D (30) is connected with push-and-pull rod (31), push-and-pull rod (31) are followed push-and-pull lath (22) length direction runs through the setting, one side that push-and-pull rod (31) extends push-and-pull lath (22) is connected with supporting shoe (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458500.6A CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458500.6A CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114249133A CN114249133A (en) | 2022-03-29 |
| CN114249133B true CN114249133B (en) | 2024-04-19 |
Family
ID=80793767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111458500.6A Active CN114249133B (en) | 2021-12-02 | 2021-12-02 | Carton stacking manipulator with overturning assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114249133B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN104944165A (en) * | 2014-03-27 | 2015-09-30 | 蔡钱玉 | Suction cup type stacking machine |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN207726377U (en) * | 2018-01-11 | 2018-08-14 | 广州市致诚纸品有限公司 | A kind of manipulator for carton stacking |
| CN109132581A (en) * | 2018-07-26 | 2019-01-04 | 王顺岭 | A kind of stacking machine with staggeredly heap playing function |
| CN211366173U (en) * | 2019-09-05 | 2020-08-28 | 深圳蓝胖子机器人有限公司 | Carton stacking gripper and mechanical arm |
| CN212421300U (en) * | 2020-03-25 | 2021-01-29 | 东莞市兆恒机械有限公司 | Rotatable manipulator structure |
| CN212445266U (en) * | 2020-03-25 | 2021-02-02 | 东莞市兆恒机械有限公司 | Manipulator with auxiliary grabbing structure |
| CN213106894U (en) * | 2020-08-13 | 2021-05-04 | 苏州金策自动化工程有限公司 | Manipulator for transferring large-scale packaging carton |
-
2021
- 2021-12-02 CN CN202111458500.6A patent/CN114249133B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN104944165A (en) * | 2014-03-27 | 2015-09-30 | 蔡钱玉 | Suction cup type stacking machine |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN106078783A (en) * | 2016-08-08 | 2016-11-09 | 江门市弘程精密制造有限公司 | A kind of four axle loading and unloading manipulators |
| CN207726377U (en) * | 2018-01-11 | 2018-08-14 | 广州市致诚纸品有限公司 | A kind of manipulator for carton stacking |
| CN109132581A (en) * | 2018-07-26 | 2019-01-04 | 王顺岭 | A kind of stacking machine with staggeredly heap playing function |
| CN211366173U (en) * | 2019-09-05 | 2020-08-28 | 深圳蓝胖子机器人有限公司 | Carton stacking gripper and mechanical arm |
| CN212421300U (en) * | 2020-03-25 | 2021-01-29 | 东莞市兆恒机械有限公司 | Rotatable manipulator structure |
| CN212445266U (en) * | 2020-03-25 | 2021-02-02 | 东莞市兆恒机械有限公司 | Manipulator with auxiliary grabbing structure |
| CN213106894U (en) * | 2020-08-13 | 2021-05-04 | 苏州金策自动化工程有限公司 | Manipulator for transferring large-scale packaging carton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114249133A (en) | 2022-03-29 |
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