CN114619430A - Single-upright-column plane coordinate mechanical arm on box filler - Google Patents
Single-upright-column plane coordinate mechanical arm on box filler Download PDFInfo
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- CN114619430A CN114619430A CN202210234241.7A CN202210234241A CN114619430A CN 114619430 A CN114619430 A CN 114619430A CN 202210234241 A CN202210234241 A CN 202210234241A CN 114619430 A CN114619430 A CN 114619430A
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- 239000000945 filler Substances 0.000 title 1
- 230000007246 mechanism Effects 0.000 claims abstract description 105
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000005299 abrasion Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- 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
Abstract
The invention provides a single-stand column planar coordinate mechanical arm on a box filling machine, which belongs to the technical field of mechanical arms and comprises support columns, wherein the bottoms of the support columns are connected through a rotating mechanism, a horizontal support column is connected in each support column through a lifting mechanism, an extension column is connected on each horizontal support column through an extension mechanism, a grabbing mechanism is connected in each extension column through an angle adjusting mechanism, the rotating mechanism comprises a first motor, the first motor is arranged at the bottom of each support column through an external support seat, the output end of the first motor is fixed with the bottom of each support column, the whole mechanical arm is reasonable in structure arrangement, ingenious in concept, flexible to use and simple in internal structure, can meet various operations of box filling of the box filling machine, reduces manufacturing and maintenance costs, and has high practicability.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a single-upright-column plane coordinate mechanical arm on a box filling machine.
Background
A boxing machine is a boxing apparatus commonly used for various foods. And the mechanical arm on the box filling machine can grab and stack the box body or other articles and realize transfer. The mechanical arm structures of the four-connecting-rod box filling machine, the rocker arm type box filling machine and the crank arm type box filling machine commonly used in the market at present are quite complex, the manufacturing cost is high, the performance is excessive, and the installation and adjustment of the mechanical arm are complex, so that the single-upright-column plane coordinate mechanical arm on the box filling machine is designed.
Disclosure of Invention
The invention aims to provide a single-upright-column plane coordinate mechanical arm on a box filling machine, and aims to solve the problems that the mechanical arm structures in a four-connecting-rod box filling machine, a rocker arm type box filling machine and a crank arm type box filling machine which are commonly used in the prior art are very complicated, the manufacturing cost is high, and the mechanical arm is complicated to install and adjust due to the excessive performance.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a single-upright-column planar coordinate mechanical arm on case packer includes the support column, the bottom of support column is passed through rotary mechanism and is connected, be connected with the horizontal support post through lifting mechanism in the support column, be connected with the extension post through extending the mechanism on the horizontal support post, be connected with through angle adjustment mechanism in the extension post and snatch the mechanism, rotary mechanism has first motor to constitute, first motor sets up in the bottom of support column through external support seat, and the output of first motor is fixed with the bottom of support column.
Preferably, lifting mechanism includes the second motor, the second motor sets up in the top of support column, the output of second motor runs through the support column and is fixed with first lead screw, and first lead screw rotates and connects in the support column, the surface cover of first lead screw is equipped with first sleeve, and threaded connection between first sleeve and the first lead screw.
Preferably, a first sliding plate is fixed on the first sleeve, a first sliding rail is arranged on the left side of the supporting column, and the first sliding plate is connected to the first sliding rail in a sliding manner.
Preferably, the extension mechanism includes lower cover box, lower cover box is fixed in the bottom of horizontal support post, and horizontal support post is fixed with first slide, be provided with the third motor in the lower cover box, the horizontal support post internal rotation is connected with the second lead screw, be fixed with drive gear on the right-hand member of second lead screw and the output of third motor, and two drive gear mesh mutually, threaded connection has the second sleeve on the second lead screw.
Preferably, a second sliding rail is arranged on the horizontal supporting column, a second sliding plate is fixed on the second sleeve, and the second sliding plate is connected to the second sliding rail in a sliding manner.
Preferably, angle adjustment mechanism is including extending the post, it is fixed in on the second slide to extend the post, the top right side that extends the post is fixed with the cover box, upward be provided with the fourth motor in the cover box, be fixed with the master gear on the output of fourth motor, the left side that extends the post is connected with the connecting box, be connected with the axis through pinion rotation in the connecting box, the transmission is connected with the driving chain between pinion and the master gear, centraxonial lower extreme runs through the extension post and is connected with and snatchs the mechanism.
Preferably, the grabbing mechanism comprises a cross plate, the cross plate is fixed at the lower end of the center shaft, suction heads are arranged at four corners of the bottom of the cross plate, and the tops of the four suction heads are connected with interfaces.
Preferably, four of the interfaces are communicated with an external negative pressure device through connecting hoses.
Compared with the prior art, the invention has the beneficial effects that:
1. in the scheme, the whole mechanical arm structure is reasonable in arrangement, ingenious in conception, flexible in use and simple in internal structure, can meet various operations of boxing of a boxing machine, reduces manufacturing and maintenance cost, has strong practicability, and can effectively solve the problems that the mechanical arm structures in a four-connecting-rod boxing machine, a rocker arm type boxing machine and a crank arm type boxing machine which are commonly used in the prior art are very complicated, high in manufacturing cost and excessive in performance, so that the installation and adjustment of the mechanical arm are complicated and the like, when the mechanical arm is used, firstly, the support column fixed at the output end of the first motor can realize the rotation of the whole support column without dead angles after the first motor in the rotating mechanism at the bottom of the mechanical arm is assembled with an external support seat and the position of the support seat is limited, and the horizontal support column connected with the lifting mechanism in the support column can drive the whole horizontal support column to freely move up and down in the support column, the extension column connected with the horizontal support column through the extension mechanism can also enable the extension column to horizontally move on the horizontal support column through the extension mechanism, and the length of the whole horizontal support column is extended, so that the grabbing mechanism at the bottom of the extension column can realize grabbing in a wider range, and the whole grabbing mechanism is connected through the angle adjusting mechanism, namely the angle adjusting mechanism can drive the whole grabbing mechanism to freely rotate so as to meet different grabbing or placing requirements;
2. in the scheme, when the lifting mechanism drives the whole horizontal support column to move up and down in the support column, the output end of the second motor drives the first screw rod to rotate in the support column, the first sleeve which is sleeved on the first screw rod and is in threaded connection with the first screw rod cannot rotate, the screw thread between the first sleeve and the first screw rod can realize the up-and-down movement of the first sleeve, so as to drive the horizontal support column connected on the first sleeve to move up and down, the first sliding plate between the first sleeve and the horizontal support column can be connected on the first sliding rail on the support column in a sliding way, the arrangement of the structure can improve the up-and-down movement stability of the lifting mechanism, reduce the abrasion, prolong the service life of the device, the extending mechanism adopts the same structure as the lifting mechanism, is convenient to maintain, can also reduce the manufacturing cost, and drives the transmission gear at the output end of the extending mechanism through the transmission of the third motor in the lower sleeve box, the other meshed transmission gear drives the whole second screw rod to rotate in the horizontal support column, the second sleeve which is in threaded connection with the second screw rod drives the whole extending column to move left and right, the extending column is extended or shortened, the grabbing range of the grabbing mechanism connected with the extending column is improved, a second sliding plate which is connected between the horizontal support column and the extending column can slide on a second sliding rail on the horizontal support column, the structure of the lifting mechanism is the same as that of the lifting mechanism, the stability of the extending column driven by the whole extending mechanism to extend is improved, the main gear connected with the output end of the fourth motor can rotate by the rotation of a fourth motor in the upper sleeve, the rotation of the auxiliary gear and the rotation of the middle shaft driven by the rotation of the main gear can be realized by a transmission chain which is arranged between the auxiliary gear and the main gear, the grabbing mechanism connected with the lower end of the middle shaft can rotate at any angle, the cross plate in the grabbing mechanism is fixed at the lower end of a center shaft in the angle adjusting mechanism, the cross plate drives the four suction heads at the bottom of the cross plate to rotate at any angle, the four suction heads are arranged to improve the stability of the grabbing box body, and four interfaces which are respectively connected to the tops of the suction heads at the four corners of the bottom of the cross plate are communicated with an external negative pressure device through connecting hoses, so that the control flexibility of the grabbing mechanism can be improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a cross-sectional view taken at A-A of FIG. 2 in accordance with the present invention;
FIG. 4 is a first partial view of the present invention;
FIG. 5 is a second partial view of the present invention;
fig. 6 is a third partial view of the present invention.
In the figure: 1. a support pillar; 2. a first motor; 3. a second motor; 301. a first lead screw; 302. a first sleeve; 303. a first slide rail; 304. a first slide plate; 4. a horizontal support column; 401. a third motor; 402. a second lead screw; 403. a second slide rail; 404. a second slide plate; 405. a lower sleeve box; 406. a second sleeve; 5. a sleeve mounting box is arranged; 501. a fourth motor; 502. a main gear; 503. a drive chain; 504. extending the column; 505. a middle shaft; 506. a pinion gear; 507. a connection box; 6. a grabbing mechanism; 601. a cross plate; 602. a suction head; 603. an interface.
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.
Example 1
Referring to fig. 1-6, the present invention provides the following technical solutions: the utility model provides a single-upright-column plane coordinate mechanical arm on case packer includes support column 1, rotary mechanism is connected through rotary mechanism in the bottom of support column 1, horizontal support column 4 is connected through lifting mechanism in the support column 1, be connected with through extension mechanism on the horizontal support column 4 and extend post 504, it snatchs mechanism 6 to be connected with through angle adjustment mechanism in the post 504 to extend, rotary mechanism has first motor 2 to constitute, first motor 2 sets up in the bottom of support column 1 through external support seat, and first motor 2's output is fixed with the bottom of support column 1.
In the specific embodiment of the invention, the whole mechanical arm structure is reasonable in arrangement, ingenious in conception, flexible in use, simple in internal structure, capable of meeting various operations of boxing of a boxing machine, reducing manufacturing and maintenance cost, and strong in practicability, and can effectively solve the problems that the mechanical arm structures in a four-bar box loader, a rocker arm type box loader and a crank arm type box loader commonly used in the prior art are very complicated, high in manufacturing cost and excessive in performance, so that the installation and adjustment of the mechanical arm are complicated and the like Freely reciprocate, the extension post 504 that connects through extension mechanism on the horizontal support post 4 also can make the extension post 504 carry out horizontal migration on horizontal support post 4 through extension mechanism, extend the length of whole horizontal support post, thereby make the mechanism 6 that snatchs that extends the post 504 bottom can realize snatching on a wider scale, and whole mechanism 6 that snatchs is connected through angle adjustment mechanism, can drive the whole free rotation that snatchs mechanism 6 through angle adjustment mechanism, in order to satisfy the difference and snatch or place the demand.
Specifically, lifting mechanism includes second motor 3, and second motor 3 sets up in the top of support column 1, and the output of second motor 3 runs through support column 1 and is fixed with first lead screw 301, and first lead screw 301 rotates to be connected in support column 1, and the surface cover of first lead screw 301 is equipped with first sleeve 302, and threaded connection between first sleeve 302 and the first lead screw 301.
In this embodiment: when the lifting mechanism drives the whole horizontal support column 4 to move up and down in the support column 1, the output end of the second motor 3 drives the first screw rod 301 to rotate in the support column 1, the first sleeve 302 which is connected with the first screw rod 301 in a threaded manner and sleeved on the first screw rod 301 cannot rotate, and the first sleeve 302 can move up and down through threads between the first screw rod 301 and the first sleeve 302, so that the horizontal support column 4 connected to the first sleeve 302 is driven to move up and down.
Specifically, a first sliding plate 304 is fixed on the first sleeve 302, a first sliding rail 303 is arranged on the left side of the supporting column 1, and the first sliding plate 304 is slidably connected to the first sliding rail 303.
In this embodiment: the first sliding plate 304 between the first sleeve 302 and the horizontal supporting column 4 is slidably connected to the first sliding rail 303 on the supporting column 1, and the arrangement of the structure can improve the up-and-down movement stability of the lifting mechanism, reduce abrasion and prolong the service life of the device.
Specifically, the extending mechanism comprises a lower sleeve box 405, the lower sleeve box 405 is fixed at the bottom of the horizontal support column 4, the horizontal support column 4 is fixed with the first sliding plate 304, a third motor 401 is arranged in the lower sleeve box 405, a second screw rod 402 is rotatably connected in the horizontal support column 4, a transmission gear is fixed at the right end of the second screw rod 402 and the output end of the third motor 401, the two transmission gears are meshed, and a second sleeve 406 is in threaded connection with the second screw rod 402.
In this embodiment: the extending mechanism is of the same structure as the lifting mechanism, so that the maintenance is convenient, the manufacturing cost is reduced, the transmission of the transmission gear at the output end of the extending mechanism is driven by the transmission of the third motor 401 in the lower sleeve box 405, the other transmission gear which is meshed with the transmission gear drives the whole second screw rod 402 to rotate in the horizontal support column 4, the second sleeve 406 which is in threaded connection with the second screw rod 402 drives the whole extending column 504 to move left and right, the extending or shortening of the extending column 504 is realized, and the grabbing range of the grabbing mechanism 6 of the extending column 504 in a connecting mode is improved.
Specifically, the horizontal support column 4 is provided with a second slide rail 403, the second sleeve 406 is fixed with a second sliding plate 404, and the second sliding plate 404 is slidably connected to the second slide rail 403.
In this embodiment: the second sliding plate 404 connected between the horizontal supporting column 4 and the extending column 504 can slide on the second sliding rail 403 on the horizontal supporting column 4, and has the same structure as the lifting mechanism, so that the stability of the extending column 504 driven by the whole extending mechanism is improved.
Specifically, the angle adjusting mechanism includes an extending column 504, the extending column 504 is fixed on the second sliding plate 404, an upper sleeve box 5 is fixed on the right side of the top of the extending column 504, a fourth motor 501 is arranged in the upper sleeve box 5, a main gear 502 is fixed on the output end of the fourth motor 501, a connecting box 507 is connected on the left side of the extending column 504, a middle shaft 505 is rotatably connected in the connecting box 507 through a pinion 506, a transmission chain 503 is connected between the pinion 506 and the main gear 502 in a transmission manner, and the lower end of the middle shaft 505 penetrates through the extending column 504 and is connected with the grabbing mechanism 6.
In this embodiment: the angle adjusting mechanism can rotate the main gear 502 connected to the output end of the fourth motor 501 through the rotation of the fourth motor 501 in the upper sleeve 5, and the rotation of the main gear 502 can drive the rotation of the auxiliary gear 506 and the middle shaft 505 through the transmission chain 503 arranged between the auxiliary gear 506 and the main gear 502, which allows the middle shaft 505 to rotate in the extending column 504, on the other side of the extending column 504, so that the grabbing mechanism 6 connected to the lower end of the middle shaft 505 can rotate at any angle.
Specifically, the grabbing mechanism 6 comprises a cross plate 601, the cross plate 601 is fixed at the lower end of the center shaft 505, suction heads 602 are arranged at four corners of the bottom of the cross plate 601, and the tops of the four suction heads 602 are connected with interfaces 603.
In this embodiment: the cross plate 601 in the grabbing mechanism 6 is fixed at the lower end of the middle shaft 505 in the angle adjusting mechanism, so that the cross plate 601 drives the four suction heads 602 at the bottom of the cross plate to rotate at any angle, and the stability of the sucking box body can be improved due to the arrangement of the four suction heads 602.
Specifically, the four ports 603 are all communicated with an external negative pressure device through a connecting hose.
In this embodiment: the four connectors 603 respectively connected to the tops of the suction heads 602 at the four corners of the bottom of the cross plate 601 are communicated with an external negative pressure device through connecting hoses, so that the flexibility of the overall control of the grabbing mechanism 6 can be improved.
The working principle and the using process of the invention are as follows: when the invention is used, firstly, the first motor 2 in the rotating mechanism at the bottom of the mechanical arm is assembled with an external supporting seat, and the position of the supporting seat is limited, the supporting column 1 fixed at the output end of the first motor 2 can realize the rotation of the whole supporting column 1 in three hundred sixty degrees without dead angles, the horizontal supporting column 4 connected with the lifting mechanism in the supporting column 1 can drive the whole horizontal supporting column 4 to move up and down freely in the supporting column 1, the extending column 504 connected with the horizontal supporting column 4 through the extending mechanism can also enable the extending column 504 to move horizontally on the horizontal supporting column 4 through the extending mechanism, the length of the whole horizontal supporting column is extended, so that the grabbing mechanism 6 at the bottom of the extending column 504 can realize the grabbing in a wider range, the whole grabbing mechanism 6 is connected through the angle adjusting mechanism, namely, the angle adjusting mechanism can drive the whole grabbing mechanism 6 to rotate freely, so as to meet different grabbing or placing requirements, when the lifting mechanism drives the whole horizontal supporting column 4 to move up and down in the supporting column 1, the output end of the second motor 3 drives the first screw rod 301 to rotate in the supporting column 1, the first sleeve 302 which is sleeved on the first screw rod 301 and is in threaded connection with the first screw rod 301 cannot rotate, and the screw thread between the first sleeve 302 and the first sleeve can realize the up-and-down movement of the first sleeve 302, so as to drive the horizontal supporting column 4 connected to the first sleeve 302 to move up and down, and the first sliding plate 304 between the first sleeve 302 and the horizontal supporting column 4 can be slidably connected to the first sliding rail 303 on the supporting column 1, the arrangement of the structure can improve the up-and-down movement stability of the lifting mechanism, reduce abrasion, prolong the service life of the device, the extending mechanism utilizes the structure which is the same as the lifting mechanism, is convenient to maintain, and can reduce the manufacturing cost, and drives the transmission gear of the output end of the third motor 401 in the lower sleeve 405 to transmit, the other engaged transmission gear drives the whole second screw rod 402 to rotate in the horizontal support column 4, the second sleeve 406 screwed on the second screw rod 402 drives the whole extending column 504 to move left and right, so as to extend or shorten the extending column 504, and improve the grabbing range of the grabbing mechanism 6 for connecting the extending column 504, the second sliding plate 404 connected between the horizontal support column 4 and the extending column 504 can slide on the second sliding rail 403 on the horizontal support column 4, the structure of the lifting mechanism is the same as that of the lifting mechanism, so as to improve the stability of the extending column 504 driven by the whole extending mechanism, the angle adjusting mechanism can rotate the main gear 502 connected with the output end of the fourth motor 501 through the rotation of the fourth motor 501 in the upper sleeve box 5, and the rotation of the sub-gear 506 and the middle shaft 505 driven by the rotation of the main gear 502 through the transmission chain 503 arranged between the sub-gear 506 and the main gear 502 rotating in the extending column 504 through the middle shaft 505, thereby realizing the rotation of the gripping mechanism 6 connected with the lower end of the middle shaft 505 at any angle, the cross plate 601 in the gripping mechanism 6 is fixed at the lower end of the middle shaft 505 in the angle adjusting mechanism, realizing the rotation of the cross plate 601 driving the four suction heads 602 at any angle at the bottom thereof, the arrangement of the four suction heads 602 can also improve the stability of the gripping box body, the control flexibility of the gripping mechanism 6 can be improved by communicating the interfaces 603 at the tops of the four suction heads 602 respectively connected with the four corners at the bottom of the cross plate 601 with an external negative pressure device through connecting hoses, the whole mechanical arm structure is reasonable in arrangement, ingenious in concept, flexible in use, simple in internal structure, capable of meeting various operations of the box filling machine, reducing the manufacturing and maintenance costs, has stronger practicability, and can effectively solve the problem that the mechanical arm structures in the four-bar box filling machine, the rocker arm type box filling machine and the curved arm type box filling commonly used in the prior art are very complicated, the manufacturing cost is high, and the problems that the mechanical arm is complex to install and adjust and the like due to excessive performance exist.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a single-column plane coordinate robotic arm on case packer which characterized in that: including support column (1), rotary mechanism is connected through the bottom of support column (1), horizontal support post (4) are connected through lifting mechanism in support column (1), be connected with through extension mechanism on horizontal support post (4) and extend post (504), be connected with through angle adjustment mechanism in extending post (504) and snatch mechanism (6), rotary mechanism has first motor (2) to constitute, first motor (2) set up in the bottom of support column (1) through external support seat, and the output of first motor (2) is fixed with the bottom of support column (1).
2. The single-column plane coordinate mechanical arm on the box filling machine of claim 1, wherein: lifting mechanism includes second motor (3), second motor (3) set up in the top of support column (1), the output of second motor (3) runs through support column (1) and is fixed with first lead screw (301), and first lead screw (301) rotate to be connected in support column (1), the surface cover of first lead screw (301) is equipped with first sleeve (302), and threaded connection between first sleeve (302) and first lead screw (301).
3. The single-column plane coordinate mechanical arm on the box filling machine of claim 2, wherein: a first sliding plate (304) is fixed on the first sleeve (302), a first sliding rail (303) is arranged on the left side of the supporting column (1), and the first sliding plate (304) is connected to the first sliding rail (303) in a sliding mode.
4. The single-column plane coordinate mechanical arm on the box filling machine of claim 3, wherein: the extension mechanism comprises a lower sleeve box (405), the lower sleeve box (405) is fixed to the bottom of a horizontal support column (4), the horizontal support column (4) is fixed to a first sliding plate (304), a third motor (401) is arranged in the lower sleeve box (405), a second screw rod (402) is connected to the horizontal support column (4) in a rotating mode, transmission gears are fixed to the right end of the second screw rod (402) and the output end of the third motor (401) and are meshed with each other, and a second sleeve (406) is connected to the second screw rod (402) in a threaded mode.
5. The single-column plane coordinate mechanical arm on the box filling machine of claim 4, wherein: the horizontal support column (4) is provided with a second sliding rail (403), a second sliding plate (404) is fixed on the second sleeve (406), and the second sliding plate (404) is connected to the second sliding rail (403) in a sliding mode.
6. The single-column plane coordinate mechanical arm on the box filling machine of claim 5, wherein: the angle adjustment mechanism includes extension post (504), it is fixed in on second slide (404) to extend post (504), the top right side of extending post (504) is fixed with cover box (5), be provided with fourth motor (501) in cover box (5) on going up, be fixed with master gear (502) on the output of fourth motor (501), the left side of extending post (504) is connected with junction box (507), rotate through pinion (506) in junction box (507) and be connected with axis (505), the transmission is connected with driving chain (503) between pinion (506) and master gear (502), the lower extreme of axis (505) runs through extension post (504) and is connected with snatchs mechanism (6).
7. The single-column plane coordinate mechanical arm on the box filling machine of claim 6, wherein: the grabbing mechanism (6) comprises a cross plate (601), the cross plate (601) is fixed at the lower end of the middle shaft (505), suction heads (602) are arranged at four corners of the bottom of the cross plate (601), and the tops of the four suction heads (602) are connected with connectors (603).
8. The single-column plane coordinate mechanical arm on the box filling machine of claim 7, wherein: the four interfaces (603) are communicated with an external negative pressure device through connecting hoses.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210234241.7A CN114619430A (en) | 2022-03-10 | 2022-03-10 | Single-upright-column plane coordinate mechanical arm on box filler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210234241.7A CN114619430A (en) | 2022-03-10 | 2022-03-10 | Single-upright-column plane coordinate mechanical arm on box filler |
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| CN114619430A true CN114619430A (en) | 2022-06-14 |
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| CN202210234241.7A Pending CN114619430A (en) | 2022-03-10 | 2022-03-10 | Single-upright-column plane coordinate mechanical arm on box filler |
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| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN105149474A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Material taking mechanical arm |
| CN112499229A (en) * | 2020-11-17 | 2021-03-16 | 曲怡铃 | Single-upright-column plane coordinate mechanical arm on box filling machine |
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