CN114275248A - Box body taking and placing manipulator for intelligent manufacturing - Google Patents
Box body taking and placing manipulator for intelligent manufacturing Download PDFInfo
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- CN114275248A CN114275248A CN202210070209.XA CN202210070209A CN114275248A CN 114275248 A CN114275248 A CN 114275248A CN 202210070209 A CN202210070209 A CN 202210070209A CN 114275248 A CN114275248 A CN 114275248A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 34
- 210000000078 claw Anatomy 0.000 claims abstract description 45
- 238000001125 extrusion Methods 0.000 claims description 14
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- 238000012856 packing Methods 0.000 abstract description 30
- 238000004806 packaging method and process Methods 0.000 abstract description 9
- 238000006073 displacement reaction Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 7
- 238000009924 canning Methods 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
A box body taking and placing manipulator for intelligent manufacturing belongs to the technical field of intelligent manufacturing and aims to solve the problems that large-batch formed packing boxes are high in stacking height layer by layer and inconvenient to take in the follow-up process, if workers take the packing boxes directly from a high position, the box bodies easily fall from the high position, and if the workers take the packing boxes from a low position, the large-batch packing boxes easily fall down integrally; according to the invention, through the matching use of the hidden clamping block and the batten member, the hidden clamping block made of rubber can prevent the packaging box from being excessively extruded, and when the claw batten plate loosens the clamping of the box body, the elasticity of the return spring is utilized again to restore the hidden clamping block to the original position; the packing box naturally falls to one end of the transverse conveying table, enough space is reserved between the vertical plate and the transverse conveying table, and the packing box is conveyed to the other end through the transverse conveying table, so that workers can take the packing box conveniently, the packing box does not need to climb to a high place, the packing box is safe, the number of the packing boxes taken is controlled through the displacement times of the convex block, and the operation is convenient.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a box body taking and placing mechanical arm for intelligent manufacturing.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.
In order to save the time of product package, can be in advance with packing carton folding forming, but packing carton volume behind the three-dimensional shaping is great, and the packing carton of big shaping piles up layer upon layer highly higher, when follow-up packing carton of taking, and is very inconvenient, if the staff directly takes from the eminence on the one hand, the box body easily drops from the eminence, on the other hand if the staff extracts from the low, large batch packing carton easily wholly collapses.
To above problem, improve current device, provided a box body for intelligent manufacturing and got and put manipulator.
Disclosure of Invention
The invention aims to provide a box body taking and placing manipulator for intelligent manufacturing, which solves the problems that in the background technology, in order to save the time of product packaging, packaging boxes are folded and formed in advance, but the size of the three-dimensional formed packaging boxes is large, the stacking height of the large-batch formed packaging boxes is high, the packaging boxes are inconvenient to take in the follow-up process, on one hand, if workers take the packaging boxes directly from a high position, the box bodies are easy to fall from the high position, and on the other hand, if the workers take the packaging boxes from a low position, the large-batch packaging boxes are easy to collapse integrally.
In order to achieve the purpose, the invention provides the following technical scheme: a box body taking and placing mechanical arm for intelligent manufacturing comprises a taking and placing mechanism and a transverse conveying table arranged at the lower end of the taking and placing mechanism, wherein a longitudinal conveying frame is arranged on the upper surface of the transverse conveying table, the taking and placing mechanism is connected with the side surface of the longitudinal conveying frame, an upright plate is arranged on the inner side surface of the longitudinal conveying frame and is arranged at the upper end of the transverse conveying table, a driving motor is arranged in the center of the upper surface of the upright plate, a lifting chute is formed in the side surface of the upright plate, a lifting screw rod is arranged inside the lifting chute, one end of the lifting screw rod is connected with the output end of the driving motor, and a limiting chute is formed in the outer side surface of the longitudinal conveying frame;
the taking and placing mechanism comprises a convex block connected with the longitudinal conveying frame and a containing groove formed in the convex block, a sliding block is mounted on the surface of the convex block and is meshed with the lifting lead screw, connecting mounting bars are arranged at two side ends of the convex block, clamping bar rods are arranged on the upper surface and the lower surface of one end of each connecting mounting bar, a first limiting roller is arranged at one end of each clamping bar and is connected with a limiting sliding groove, and clamping claws are arranged in the containing groove;
the gripper jaw is including setting up the U-shaped backing plate at the holding tank internal surface and installing at the inside anti-migration profile frame of U-shaped backing plate, the inboard surface mounting of U-shaped backing plate has push-and-pull subassembly, the claw slat is all installed to push-and-pull subassembly's both sides, the upper and lower surface mounting of claw slat one end has spacing sub-assembly, anti-migration profile frame includes the matching crown plate that is connected with U-shaped backing plate internal surface and sets up the reservation double-layered slat in matching crown plate one side, the matching crown plate is provided with two sets ofly, reserve the double-layered slat and install between two sets of matching crown plates, and the inner dimension and the claw slat phase-match of matching crown plate, the laminating fluting has been seted up to the lower extreme of reserving the double-layered slat, the laminating fluting is connected with push-and-pull subassembly, the side surface of matching crown plate has been seted up the lapse spout, it is provided with four groups to lapse the spout, it is connected with spacing sub-assembly.
Furthermore, the push-pull assembly comprises a mounting base plate connected with the inner side surface of the U-shaped base plate and a driving turntable arranged on the upper surface of the mounting base plate, movable connecting pieces are arranged at two opposite side ends of the driving turntable, a traction arm rod is arranged on the surface of each movable connecting piece, and one end of each traction arm rod is connected with the claw ribbon board.
Furthermore, the claw slat comprises a slat member and a slot with a long opening formed in the side surface of the slat member, a double-slide rod is arranged inside the slot with the long opening, and a dark clamping block is sleeved on the surface of the double-slide rod.
Furthermore, the bottom surface of the strip plate is provided with a folding support outer strip rod, one end of the folding support outer strip rod is provided with a first driving shaft, the folding support outer strip rod is connected with one end of the strip plate through the first driving shaft, the other end of the folding support outer strip rod is provided with a second driving shaft, the side surface of the folding support outer strip rod is provided with a containing long groove, a folding support inner strip rod is arranged inside the containing long groove, and one end of the folding support inner strip rod is connected with the second driving shaft.
Further, spacing sub-assembly includes the top position post piece that is connected with the strip plate side surface and sets up the long body slide bar at top position post piece inside surface, and top position post piece is provided with two sets ofly, and long body slide bar is installed between two sets of top position post pieces, and the fixed surface cover of long body slide bar is equipped with the circle body clamp splice, and the surface cover of circle body clamp splice is equipped with the spacing gyro wheel of second, and circle body clamp splice and the spacing gyro wheel of second all are provided with five groups.
Furthermore, the inner surface of the pushing chute is provided with five groups of inner concave elongated grooves, and the inner concave elongated grooves are connected with the second limiting idler wheels.
Furthermore, the hidden clamping block comprises an extrusion sheath and an adjusting moving groove formed in the surface of the extrusion sheath, the extrusion sheath is a component made of rubber, and the adjusting moving groove is connected with the double sliding rods.
Further, adjust the both sides that move the inboard middle-end in groove and all seted up the joint groove, the inside in joint groove is provided with the joint pin, and the one end of joint pin is connected with the double-sliding rod, and the surface cover of joint pin is equipped with reset spring, and reset spring sets up the both sides at the double-sliding rod.
Furthermore, one end of the traction arm rod is provided with a connecting sticking block, the connecting sticking block is arranged on the inner side surface of the strip plate, and a movable bag external member is arranged on the side surface of the connecting sticking block.
Furthermore, a movable rotating sleeve rod is arranged inside the movable bag sleeve, a rotating small block is arranged at one end of the traction arm rod, and the rotating small block is sleeved on the surface of the movable rotating sleeve rod.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a box body taking and placing mechanical arm for intelligent manufacturing, a push-pull assembly comprises a mounting base plate connected with the inner side surface of a U-shaped base plate and a driving rotary table arranged on the upper surface of the mounting base plate, movable connecting pieces are arranged at two opposite side ends of the driving rotary table, a traction arm is arranged on the surface of each movable connecting piece, one end of each traction arm is connected with a claw plate, each claw plate comprises a strip plate and a long-opening groove formed in the side surface of the strip plate, a double-sliding rod is arranged in each long-opening groove, a dark clamping block is sleeved on the surface of each double-sliding rod, the driving rotary table is started, each traction arm drives two groups of claw plates to approach towards the middle, five groups of second limiting rollers are driven to roll along the concave long grooves, so that the two groups of claw plates can horizontally move along the inner sides of matching ring plates, each traction arm moves on the inner sides of reserved clamping plates, and one end of each traction arm swings with a movable sleeve rod as an axis, and then two sets of claw slat carry out the centre gripping to the accumulational packing carton in the eminence, rethread driving motor makes the slider move down along the lift lead screw, meanwhile, first spacing gyro wheel carries out the translation along spacing spout, in order to carry on spacingly to it, when the protruding piece moves to the bottom, the drive carousel gyration, it drives two sets of claw slats along the inboard to both sides translation of matching the crown plate to pull the armed lever, the packing carton loses the clamping-force, make its one end that naturally falls to horizontal conveying platform, sufficient space has between upright plate and the horizontal conveying platform, the packing carton conveys to the other end through horizontal conveying platform of rethread, so that the staff takes, need not to climb to the eminence, it is comparatively safe, and the number of taking is controlled to the packing carton through the displacement number of times of protruding piece, and convenient for operation.
2. The invention provides a box body taking and placing manipulator for intelligent manufacturing, wherein clamping grooves are formed in two sides of the middle end of the inner side of an adjusting moving groove, clamping small rods are arranged in the clamping grooves, one end of each clamping small rod is connected with a double-sliding rod, return springs are sleeved on the surfaces of the clamping small rods and are arranged on two sides of the double-sliding rod, a limiting assembly comprises a top-position column block connected with the side surface of a strip plate and long-body sliding rods arranged on the inner side surface of the top-position column block, two groups of top-position column blocks are arranged, the long-body sliding rods are arranged between the two groups of top-position column blocks, a round-body clamping block is fixedly sleeved on the surface of each long-body sliding rod, a second limiting roller is sleeved on the outer surface of the round-body clamping block, five groups of the round-body clamping block and the second limiting roller are arranged, an inner concave long groove is formed in the inner surface of a pushing sliding groove, five groups of the inner concave long grooves are connected with the second limiting roller, the dark clamp splice includes that the extrusion canning moves the groove with seting up in the regulation of extrusion canning surface, the extrusion canning is the component that the rubber material was made, the regulation moves the groove and is connected with the double-slide bar, when two sets of claw slats carry out the centre gripping to the box body, the dark clamp splice contacts with the box body laminating, along with the crescent of extrusion force, the joint pin removes along the joint groove, the dark clamp splice moves to the outside along the double-slide bar, utilize reset spring's elasticity promotion dark clamp splice and the fastening nature of packing centre gripping, use through the cooperation of dark clamp splice and batten spare, the dark clamp splice of rubber material can prevent excessively to extrude the packing carton, make its surface sunken, when the claw slat unclamp loosens the centre gripping to the box body, reuse reset spring's elasticity makes the dark clamp splice resume the normal position.
3. The invention provides a box body taking and placing manipulator for intelligent manufacturing, an anti-deviation outline frame comprises matching ring plates connected with the inner surfaces of U-shaped base plates and reserved clamping plates arranged on one sides of the matching ring plates, two groups of matching ring plates are arranged, the reserved clamping plates are arranged between the two groups of matching ring plates, the inner sizes of the matching ring plates are matched with the claw plate plates, the lower ends of the reserved clamping plates are provided with fitting grooves which are connected with a push-pull assembly, the side surfaces of the matching ring plates are provided with push sliding grooves, the push sliding grooves are provided with four groups, the push sliding grooves are connected with a limiting assembly, the bottom surface of each strip plate is provided with a folding support outer strip rod, one end of each folding support outer strip rod is provided with a first driving shaft, the folding support outer strip rod is connected with one end of each strip plate through the first driving shaft, and the other end of each folding support outer strip rod is provided with a second driving shaft, the side surface of the outer bar of the folding bracket is provided with an accommodating elongated slot, the inner bar of the folding bracket is arranged in the accommodating elongated slot, one end of the inner bar of the folding bracket is connected with a second driving shaft, the two groups of first driving shafts are opposite at the installation positions of the bottoms of the two groups of claw plate plates, when the two groups of claw plate plates finish clamping the box body, the first driving shafts are started to ensure that the two groups of outer bar of the folding bracket swing towards the inner sides of the two groups of claw plate plates by taking the two groups of first driving shafts as axes respectively, then the second driving shafts are started to ensure that the inner bar of the folding bracket is separated from the accommodating elongated slot and swings by taking the second driving shafts as axes, so that the two groups of outer bar of the folding bracket and the inner bar of the folding bracket form a crossed structure to support the bottom of the box body, the box body can be prevented from sliding down, and the stability of box body transmission can be further ensured.
Drawings
Fig. 1 is a schematic structural diagram of an overall box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 2 is a schematic structural diagram of a box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 3 is a schematic structural diagram of a convex block of the box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 4 is a schematic structural view of a gripper jaw of a cassette pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 5 is a schematic structural diagram of an anti-offset profile rack of a cassette pick-and-place manipulator for smart manufacturing according to the present invention;
FIG. 6 is a schematic diagram of the assembly structure of the push-pull assembly and the claw bar plate of the box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 7 is a schematic structural diagram of a box pick and place manipulator strip plate for intelligent manufacturing according to the present invention;
FIG. 8 is a schematic structural diagram of a box pick and place manipulator spacing assembly for intelligent manufacturing according to the present invention;
FIG. 9 is a schematic view of an internal plane structure of a pushing chute of a box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 10 is a schematic perspective view of a hidden clamping block of the box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 11 is a schematic view of the internal plane structure of the concealed clamping block of the box pick-and-place manipulator for intelligent manufacturing according to the present invention;
FIG. 12 is an enlarged view taken at A of FIG. 6 according to the present invention.
In the figure: 1. a transverse transfer table; 2. a longitudinal transport rack; 3. a pick and place mechanism; 4. an upright plate; 5. a drive motor; 6. a limiting chute; 7. a lifting chute; 8. a lifting screw rod; 31. a convex block; 32. a gripper jaw; 321. a U-shaped backing plate; 322. an anti-offset profile frame; 3221. matching the ring plate; 3222. reserving a batten plate; 3223. fitting and slotting; 3224. a pushing chute; 32241. an inner concave long groove; 323. a push-pull assembly; 3231. installing a base plate; 3232. driving the turntable; 3233. a movable connecting piece; 3234. a traction arm lever; 32341. connecting the sticking blocks; 32342. a mobile bag kit; 32343. a movable rotating sleeve rod; 32344. rotating the small block; 324. a claw plate; 3241. a strip member; 32411. a first drive shaft; 32412. folding the bracket outer bar; 32413. an accommodating elongated slot; 32414. a second drive shaft; 32415. folding the support inner bar; 3242. slotting the long opening; 3243. a double-slide bar; 3244. a hidden clamping block; 32441. extruding the sheath; 32442. adjusting the moving groove; 32443. a clamping groove; 32444. clamping the small rod; 32445. a return spring; 325. a limiting assembly; 3251. a top position column block; 3252. a long slide bar; 3253. a round clamping block; 3254. a second limiting roller; 33. a slider; 34. connecting the mounting bars; 35. a clamping bar rod; 36. a first limit roller; 37. and (6) accommodating the tank.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problem that the height of the large-batch formed packing boxes stacked layer upon layer is higher, the packing boxes are inconvenient to take subsequently, on one hand, if workers directly take the packing boxes from a high place, the box bodies are easy to drop from the high place, on the other hand, if the workers extract the packing boxes from a low place, the large-batch packing boxes are easy to collapse integrally, and as shown in fig. 1-6 and fig. 12, the following preferable technical scheme is provided:
a box body taking and placing mechanical arm for intelligent manufacturing comprises a taking and placing mechanism 3 and a transverse conveying table 1 arranged at the lower end of the taking and placing mechanism 3, wherein a longitudinal conveying frame 2 is arranged on the upper surface of the transverse conveying table 1, the taking and placing mechanism 3 is connected with the side surface of the longitudinal conveying frame 2, an upright plate 4 is arranged on the inner side surface of the longitudinal conveying frame 2, the upright plate 4 is arranged at the upper end of the transverse conveying table 1, a driving motor 5 is arranged in the center of the upper surface of the upright plate 4, a lifting chute 7 is arranged on the side surface of the upright plate 4, a lifting screw rod 8 is arranged inside the lifting chute 7, one end of the lifting screw rod 8 is connected with the output end of the driving motor 5, a limiting chute 6 is arranged on the outer side surface of the longitudinal conveying frame 2, the taking and placing mechanism 3 comprises a convex block 31 connected with the longitudinal conveying frame 2 and a holding tank 37 arranged inside the convex block 31, a sliding block 33 is arranged on the surface of the convex block 31, the sliding block 33 is engaged with the lifting screw rod 8, both side ends of the convex block 31 are provided with engaging mounting bars 34, both upper and lower surfaces of one end of the engaging mounting bar 34 are provided with clamping bar rods 35, one end of the clamping bar rod 35 is provided with a first limiting roller 36, the first limiting roller 36 is connected with the limiting chute 6, a holding claw 32 is arranged inside the holding groove 37, the holding claw 32 comprises a U-shaped backing plate 321 arranged on the inner surface of the holding groove 37 and an anti-deviation profile frame 322 arranged inside the U-shaped backing plate 321, the inner side surface of the U-shaped backing plate 321 is provided with a push-pull component 323, both sides of the push-pull component 323 are provided with claw strip plates 324, both upper and lower surfaces of one end of the claw strip plates 324 are provided with a limiting assembly 325, the anti-deviation profile frame 322 comprises a matching ring plate 3221 connected with the inner surface of the U-shaped backing plate 321 and a reserved clamping strip plate 3222 arranged on one side of the matching ring plate 3221, the matching ring plate 3221 is provided with two groups, the reserved clamping bar plate 3222 is installed between the two sets of matching ring plates 3221, the inner size of the matching ring plates 3221 is matched with the claw bar plate 324, the lower end of the reserved clamping bar plate 3222 is provided with a fitting groove 3223, the fitting groove 3223 is connected with the push-pull assembly 323, the side surface of the matching ring plate 3221 is provided with four sets of pushing sliding grooves 3224, and the pushing sliding grooves 3224 are connected with the limiting assembly 325.
The push-pull assembly 323 comprises a mounting base plate 3231 connected with the inner side surface of the U-shaped base plate 321 and a driving turntable 3232 arranged on the upper surface of the mounting base plate 3231, two opposite side ends of the driving turntable 3232 are respectively provided with a movable connecting piece 3233, the surface of the movable connecting piece 3233 is provided with a traction arm 3234, one end of the traction arm 3234 is connected with a claw slat 324, the claw slat 324 comprises a slat 3241 and a long-opening slot 3242 arranged on the side surface of the slat 3241, a double-slide bar 3243 is arranged inside the long-opening slot 3242, and a dark clamping block 3244 is sleeved on the surface of the double-slide bar 3243.
Specifically, the driving turntable 3232 is started, the pulling arm 3234 drives the two sets of claw bar plates 324 to move towards the middle, and drives the five sets of second limiting rollers 3254 to roll along the inner concave long groove 32241, so that the two sets of claw bar plates 324 can translate along the inner side of the matching ring plate 3221, the pulling arm 3234 moves on the inner side of the reserved clamping bar plate 3222, and one end of the pulling arm 3234 swings around the movable sleeve lever 32343 as an axis, so that the two sets of claw bar plates 324 clamp the stacked packing boxes at a high position, the driving motor 5 moves the sliding block 33 downwards along the lifting screw rod 8, meanwhile, the first limiting roller 36 translates along the limiting sliding groove 6 to limit the same, when the convex block 31 moves to the lowest end, the driving turntable 3232 rotates, the pulling arm 3234 drives the two sets of claw bar plates 324 to translate along the inner side of the matching ring plate 3221, and the clamping force of the packing boxes is lost, make its one end that falls to horizontal conveying platform 1 naturally, have sufficient space between upright plate 4 and the horizontal conveying platform 1, the horizontal conveying platform 1 of rethread conveys packing carton to the other end to the staff takes, need not to climb to the eminence, and is comparatively safe, and the number of taking of displacement number of times control packing carton through convex block 31, the operation of being convenient for.
In order to better solve the technical problem that the excessive pressing of the claw ribbon plates 324 on the box body causes the box body to be sunken, as shown in fig. 6 and fig. 8-11, the following preferred technical solutions are provided:
the limiting assembly 325 comprises top-position column blocks 3251 connected with the side surface of a strip plate piece 3241 and long body slide rods 3252 arranged on the inner side surface of the top-position column blocks 3251, two groups of top-position column blocks 3251 are arranged, the long body slide rods 3252 are arranged between the two groups of top-position column blocks 3251, round body clamp blocks 3253 are fixedly sleeved on the surface of the long body slide rods 3252, second limiting rollers 3254 are sleeved on the outer surface of the round body clamp blocks 3253, five groups of round body clamp blocks 3253 and five groups of second limiting rollers 3254 are arranged, concave long grooves 32241 are formed in the inner surface of the pushing sliding groove 3224, the concave long grooves 32241 are provided with five groups, the concave long grooves 41 are connected with the second limiting rollers 3254, the dark clamp blocks 3244 comprise extrusion sheaths 32441 and adjusting moving grooves 32442 arranged on the surface of the extrusion sheaths 32441, the extrusion sheaths 32441 are members made of rubber, and the adjusting moving grooves 32442 are connected with the double slide rods 3243.
Specifically, when the two sets of claw slats 324 clamp the box body, the dark clamping block 3244 is in contact with the box body in a fitting mode, along with the gradual increase of the extrusion force, the clamping small rod 32444 moves along the clamping groove 32443, the dark clamping block 3244 moves outwards along the double-sliding rod 3243, the tightness between the dark clamping block 3244 and the clamping of the package is improved by the aid of the elasticity of the return spring 32445, the dark clamping block 3244 and the strip plate 3241 are used in a matched mode, the rubber dark clamping block 3244 can prevent the package from being excessively extruded to enable the surface of the package to be concave, and when the claw slats 324 loosen the clamping of the box body, the dark clamping block 3244 is restored by the elasticity of the return spring 32445 again.
In order to better solve the technical problem that the box body is easy to slide off during the clamping process of the claw-bar plate 324, as shown in fig. 4, 6 and 7, the following preferred technical solutions are provided:
a folding support outer bar 32412 is arranged on the bottom surface of a bar piece 3241, a first driving shaft 32411 is arranged at one end of a folding support outer bar 32412, the folding support outer bar 32412 is connected with one end of the bar piece 3241 through the first driving shaft 32411, a second driving shaft 32414 is arranged at the other end of a folding support outer bar 32412, a containing long groove 32413 is arranged on the side surface of the folding support outer bar 32412, a folding support inner bar 32415 is arranged inside the containing long groove 32413, one end of the folding support inner bar 32415 is connected with the second driving shaft 32414, clamping grooves 32443 are arranged on both sides of the middle end inside the adjusting moving groove 32442, a clamping small bar 32444 is arranged inside the clamping groove 32443, one end of the clamping small bar 444 is connected with a double-sliding bar 3243, a return spring 32445 is sleeved on the surface of the clamping small bar 32444 and arranged on both sides of the double-sliding bar 3243, a sticking block 32341 is arranged at one end of a traction arm 3234, the engaging attachment block 32341 is installed on the inner side surface of the strip plate member 3241, the movable wrapping member 32342 is installed on the side surface of the engaging attachment block 32341, a movable sleeve rotating rod 32343 is installed inside the movable wrapping member 32342, a rotating small block 32344 is installed at one end of the traction arm rod 3234, and the rotating small block 32344 is sleeved on the surface of the movable sleeve rotating rod 32343.
Specifically, the two sets of first driving shafts 32411 are opposite to each other at the bottom of the two sets of claw bars 324, when the two sets of claw bars 324 complete clamping the cartridge, the first driving shaft 32411 is started to make the two sets of folding bracket outer bars 32412 swing towards the inner sides of the two sets of claw bars 324 respectively with the two sets of first driving shafts 32411 as axes, and then the second driving shaft 32414 is started to make the folding bracket inner bar 32415 separate from the accommodating long groove 32413, and swing with the second driving shaft 32414 as an axis, so that the two sets of folding bracket outer bars 32412 and the folding bracket inner bar 32415 support the bottom of the cartridge in an intersecting structure, thereby preventing the cartridge from sliding off and further ensuring the smoothness of cartridge delivery.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (10)
1. The utility model provides a box body is got and is put manipulator for intelligent manufacturing, is putting mechanism (3) and setting up in getting horizontal conveying platform (1) of putting mechanism (3) lower extreme including getting, and the upper surface of horizontal conveying platform (1) is provided with vertical conveying frame (2), gets and puts mechanism (3) and is connected its characterized in that with the side surface of vertical conveying frame (2): the inner side surface of the longitudinal conveying frame (2) is provided with an upright plate (4), the upright plate (4) is arranged at the upper end of the transverse conveying table (1), the center of the upper surface of the upright plate (4) is provided with a driving motor (5), the side surface of the upright plate (4) is provided with a lifting chute (7), a lifting screw rod (8) is arranged inside the lifting chute (7), one end of the lifting screw rod (8) is connected with the output end of the driving motor (5), and the outer side surface of the longitudinal conveying frame (2) is provided with a limiting chute (6);
the taking and placing mechanism (3) comprises a convex block (31) connected with the longitudinal conveying frame (2) and an accommodating groove (37) formed in the convex block (31), a sliding block (33) is mounted on the surface of the convex block (31), the sliding block (33) is meshed with the lifting screw rod (8), two side ends of the convex block (31) are respectively provided with a connecting mounting strip (34), the upper surface and the lower surface of one end of the connecting mounting strip (34) are respectively provided with a clamping strip rod (35), one end of the clamping strip rod (35) is provided with a first limiting roller (36), the first limiting roller (36) is connected with the limiting sliding groove (6), and a clamping claw (32) is arranged in the accommodating groove (37);
the clamping claws (32) comprise a U-shaped base plate (321) arranged on the inner surface of the accommodating groove (37) and an anti-deviation outline frame (322) arranged in the U-shaped base plate (321), the inner side surface of the U-shaped base plate (321) is provided with a push-pull assembly (323), the two sides of the push-pull assembly (323) are respectively provided with a claw strip plate (324), the upper surface and the lower surface of one end of each claw strip plate (324) are provided with a limiting assembly (325), the anti-deviation outline frame (322) comprises a matching ring plate (3221) connected with the inner surface of the U-shaped base plate (321) and a reserved clamping strip plate (3222) arranged on one side of the matching ring plate (3221), the two groups of matching ring plates (3221) are arranged, the reserved clamping strip plate (3222) is arranged between the two groups of matching ring plates (3221), the inner size of the matching ring plate (3221) is matched with the claw strip plate (324), the lower end of the reserved clamping strip plate (3222) is provided with a joint groove (3223), the fit groove (3223) is connected with the push-pull component (323), the side surface of the matching ring plate (3221) is provided with four groups of push sliding grooves (3224), and the push sliding grooves (3224) are connected with the limiting assembly (325).
2. A cartridge pick-and-place robot for smart manufacturing as defined in claim 1, wherein: the push-pull assembly (323) comprises a mounting base plate (3231) connected with the inner side surface of the U-shaped base plate (321) and a driving turntable (3232) arranged on the upper surface of the mounting base plate (3231), movable connecting pieces (3233) are arranged at two opposite side ends of the driving turntable (3232), a traction arm rod (3234) is arranged on the surface of each movable connecting piece (3233), and one end of each traction arm rod (3234) is connected with a claw plate (324).
3. A cartridge pick-and-place robot for smart manufacturing as defined in claim 2, wherein: the claw slat (324) comprises a slat element (3241) and a long-opening slot (3242) formed in the side surface of the slat element (3241), a double-sliding rod (3243) is arranged inside the long-opening slot (3242), and a dark clamping block (3244) is sleeved on the surface of the double-sliding rod (3243).
4. A cartridge pick and place robot for smart manufacturing as recited in claim 3, wherein: a folding support outer bar (32412) is arranged on the bottom surface of the bar piece (3241), a first driving shaft (32411) is arranged at one end of the folding support outer bar (32412), the folding support outer bar (32412) is connected with one end of the bar piece (3241) through the first driving shaft (32411), a second driving shaft (32414) is arranged at the other end of the folding support outer bar (32412), an accommodating long groove (32413) is formed in the side surface of the folding support outer bar (32412), a folding support inner bar (32415) is arranged in the accommodating long groove (32413), and one end of the folding support inner bar (32415) is connected with the second driving shaft (32414).
5. A cartridge pick and place robot for smart manufacturing as recited in claim 3, wherein: the limiting assembly (325) comprises top-position column blocks (3251) connected with the side surface of a strip plate piece (3241) and long body sliding rods (3252) arranged on the inner side surface of the top-position column blocks (3251), the top-position column blocks (3251) are provided with two groups, the long body sliding rods (3252) are installed between the two groups of top-position column blocks (3251), the surface of each long body sliding rod (3252) is fixedly sleeved with a round body clamping block (3253), the outer surface of each round body clamping block (3253) is sleeved with a second limiting roller (3254), and the round body clamping blocks (3253) and the second limiting rollers (3254) are provided with five groups.
6. A cartridge pick-and-place robot for smart manufacturing as recited in claim 5, wherein: the inner surface of the pushing sliding groove (3224) is provided with five groups of inner concave long grooves (32241), and the inner concave long grooves (32241) are connected with the second limiting roller (3254).
7. A cartridge pick and place robot for smart manufacturing as recited in claim 3, wherein: the hidden clamping block (3244) comprises an extrusion sheath (32441) and an adjusting moving groove (32442) formed in the surface of the extrusion sheath (32441), the extrusion sheath (32441) is made of rubber, and the adjusting moving groove (32442) is connected with the double-sliding rod (3243).
8. A cartridge pick-and-place robot for smart manufacturing as recited in claim 7, wherein: clamping grooves (32443) are formed in two sides of the middle end of the inner side of each adjusting moving groove (32442), a clamping small rod (32444) is arranged inside each clamping groove (32443), one end of each clamping small rod (32444) is connected with the corresponding double-sliding rod (3243), a reset spring (32445) is sleeved on the surface of each clamping small rod (32444), and the reset springs (32445) are arranged on two sides of the corresponding double-sliding rod (3243).
9. A cartridge pick and place robot for smart manufacturing as recited in claim 3, wherein: one end of the traction arm rod (3234) is provided with a connecting sticking block (32341), the connecting sticking block (32341) is installed on the inner side surface of the strip plate member (3241), and the side surface of the connecting sticking block (32341) is provided with a movable bag external member (32342).
10. A cartridge pick-and-place robot for smart manufacturing as recited in claim 9, wherein: a movable rotating sleeve rod (32343) is installed inside the movable bag sleeve piece (32342), a rotating small block (32344) is installed at one end of the traction arm rod (3234), and the rotating small block (32344) is sleeved on the surface of the movable rotating sleeve rod (32343).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210070209.XA CN114275248B (en) | 2022-01-21 | 2022-01-21 | Box body taking and placing manipulator for intelligent manufacturing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210070209.XA CN114275248B (en) | 2022-01-21 | 2022-01-21 | Box body taking and placing manipulator for intelligent manufacturing |
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| CN114275248A true CN114275248A (en) | 2022-04-05 |
| CN114275248B CN114275248B (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210070209.XA Active CN114275248B (en) | 2022-01-21 | 2022-01-21 | Box body taking and placing manipulator for intelligent manufacturing |
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| CN115489818A (en) * | 2022-10-28 | 2022-12-20 | 《中国当代医药》杂志社有限公司 | Device for sealing publications and sealing method thereof |
| CN115693448A (en) * | 2022-10-09 | 2023-02-03 | 江苏伟正电气科技有限公司 | Suspension type block terminal convenient to carry and take and carry |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114275248B (en) | 2023-03-31 |
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Application publication date: 20220405 Assignee: Liaoning Tongren Construction Engineering Co.,Ltd. Assignor: LIAONING INSTITUTE OF SCIENCE AND TECHNOLOGY Contract record no.: X2023210000178 Denomination of invention: A Box Body Picking and Placing Robot Hand for Intelligent Manufacturing Granted publication date: 20230331 License type: Common License Record date: 20231116 |
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