CN117602368A - Corrugated board sorting robot - Google Patents
Corrugated board sorting robot Download PDFInfo
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- CN117602368A CN117602368A CN202311844045.2A CN202311844045A CN117602368A CN 117602368 A CN117602368 A CN 117602368A CN 202311844045 A CN202311844045 A CN 202311844045A CN 117602368 A CN117602368 A CN 117602368A
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- clamping part
- claw
- disc
- clamping
- corrugated board
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- 210000000078 claw Anatomy 0.000 claims abstract description 104
- 238000009434 installation Methods 0.000 claims description 35
- 230000007704 transition Effects 0.000 claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 238000001125 extrusion Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 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
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a corrugated board sorting robot which comprises a claw base cover, a connecting clamp column and a mounting cover opening, wherein one end of the claw base cover is provided with a connecting clamp column, and the other end of the claw base cover is provided with a mounting cover opening with a downward opening; the claw disc is arranged in the claw hood, a plurality of claws which can be close to the center of the claw disc are arranged on the end face of the claw disc, which is close to the mounting hood opening, and a space is reserved between the claws and the claw disc and used for clamping corrugated boards in the space. According to the invention, the lower end surface of the jaw disc is provided with the plurality of jaws capable of radially moving towards the center of the jaw disc, and the space is reserved between the upper side of the jaws and the lower side of the jaw disc, so that corrugated boards are placed on each jaw and limited by the lower side of the jaw disc, the corrugated boards can be effectively clamped, and the conditions of extrusion, even damage and the like of the corrugated boards caused by the existing mode of opening the mechanical arm through rotation are avoided.
Description
Technical Field
The invention belongs to the technical field of intelligent automation equipment, and particularly relates to a corrugated board sorting robot.
Background
The corrugated board is used as the most important and widely applied packaging material, and can play a role in buffering external impact in the transportation process, so that the corrugated board can protect products in the package in the transportation process, and meanwhile, the corrugated board has the advantages of light weight, low cost, easiness in processing, convenience in storage and the like.
In order to improve the efficiency of the sorting operation for corrugated boards and reduce the manual operation intensity, the existing packaging factories have gradually developed to carry out the sorting operation for corrugated boards by a manipulator. The existing manipulator basically adopts a control rotary manipulator to realize the adjustment of the clamping range. For clamping the corrugated board, the edge of the corrugated board is pressed down due to the swinging and folding action of the manipulator, so that the corrugated board is extruded or even damaged.
Which is a technical problem to be solved by the person skilled in the art.
The present invention has been made in view of this.
Disclosure of Invention
The invention provides a corrugated board sorting robot, which is characterized in that a plurality of claws capable of radially moving towards the center of a claw disc are arranged on the lower end surface of the claw disc, and a space is reserved between the upper sides of the claws and the lower sides of the claw disc, so that corrugated boards are placed on each claw and limited by the lower sides of the claw discs, the corrugated boards can be effectively clamped, and the existing conditions of extrusion, even damage and the like of the corrugated boards caused by a mode of opening a mechanical arm through rotation are avoided.
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that: a corrugated board sorting robot comprises a machine body, a control unit and a control unit,
the claw base cover is provided with a connecting clamping column at one end and a mounting cover opening with a downward opening at the other end;
the claw disc is arranged in the claw hood, a plurality of claws which can be close to the center of the claw disc are arranged on the end face of the claw disc, which is close to the mounting hood opening, and a space is reserved between the claws and the claw disc and used for clamping corrugated boards in the space.
Further, a plurality of mounting sliding grooves are formed in the end face, close to the mounting cover opening, of the jaw disc, and the mounting sliding grooves extend outwards radially from the center, close to the jaw disc, to the peripheral wall of the jaw disc;
the installation sliding groove is internally provided with an installation sliding block matched with the installation sliding groove, and the clamping jaw is connected with the installation sliding block.
Further, the intervals among the plurality of installation sliding grooves are equal, and the installation sliding grooves are arranged on the claw disc in pairs.
Further, a claw sliding groove is formed in the side wall, far away from the installation sliding groove, of the installation sliding block, and the claw sliding groove extends to two sides of the installation sliding block;
the claw sliding groove is connected with a claw matched with the claw sliding groove in a sliding way.
Further, the claw comprises a first clamping part, a second clamping part and a third clamping part which are sequentially arranged from top to bottom,
the first clamping part and the second clamping part are flush with one side close to the center of the clamping jaw disc, and one side of the third clamping part close to the center of the clamping jaw disc is protruded out of the first clamping part and/or the second clamping part.
Further, the distance extending distance between the first clamping part, the second clamping part and the third clamping part and the center of the clamping jaw disc is gradually reduced, so that a step shape is formed.
Further, a driving structure is arranged between the third clamping part and the second clamping part and used for adjusting the interval between the third clamping part and the second clamping part; the driving structure at least comprises a micro linear motor which is arranged in the second clamping part, wherein an output shaft of the micro linear motor is connected with the third clamping part.
Further, a transition block is further arranged between the second clamping part and the third clamping part, one side, close to the second clamping part, of the transition block is connected with an output shaft of the micro linear motor, and the other side of the transition block is connected with the third clamping part through a telescopic assembly.
Further, the telescopic assembly comprises a telescopic assembly,
the telescopic sleeve is connected with the side wall of the transition block;
one end of the telescopic rod is connected with the inner wall of the telescopic sleeve through a spring, and the other end of the telescopic rod is connected with the third clamping part.
Further, a spherical shaft head is arranged at one end of the telescopic rod, which is far away from the telescopic sleeve, and a spherical groove matched with the spherical shaft head is arranged on the side wall of the third clamping part;
preferably, the deflection angle of the spherical shaft head rotating in the spherical groove is less than or equal to 15 degrees.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the lower end surface of the jaw disc is provided with the plurality of jaws capable of radially moving towards the center of the jaw disc, and the space is reserved between the upper side of the jaws and the lower side of the jaw disc, so that corrugated boards are placed on each jaw and limited by the lower side of the jaw disc, the corrugated boards can be effectively clamped, and the conditions of extrusion, even damage and the like of the corrugated boards caused by the existing mode of opening the mechanical arm through rotation are avoided.
2. According to the invention, the intervals among the installation sliding grooves are equal, the installation sliding grooves are arranged on the jaw disc in pairs, and the installation sliding grooves arranged at the lower end of the jaw disc are arranged in pairs, so that the moving distance of the two jaws which relatively move can be controlled. So that the clamping force on the normal square corrugated board is equal, and the circuit design of each electromagnetic valve is more optimized.
3. According to the invention, the first clamping part and the second clamping part are arranged at the same level on one side close to the center of the jaw disc, and the third clamping part extends to the first clamping part and the second clamping part towards one side close to the center of the jaw disc, so that the corrugated board can be supported through the protruding parts and matched with the lower end of the jaw disc, the upper side, the lower side and the side edges of the corrugated board can be limited, and the situation that the corrugated board is clamped and cannot fall off, be extruded and the like is ensured.
4. According to the invention, the first clamping part, the second clamping part and the third clamping part are arranged at one side far away from the center of the jaw disc and gradually close to the center of the jaw disc, so that a step shape is formed in the vertical direction, and in the production process of special corrugated boards, the side far away from the center of the jaw disc of the first clamping part or the second clamping part or the third clamping part is propped against the side wall of the middle hole of the corrugated board, so that sorting and clamping operation on the corrugated board of the type can be realized.
5. According to the corrugated board clamping device, the spherical shaft head is arranged at one end, far away from the telescopic sleeve, of the telescopic rod, the spherical groove matched with the spherical shaft head is arranged on the side wall of the third clamping part, and the rotation deflection angle is smaller than or equal to 15 degrees, so that the third clamping part deflects according to the actual corrugated board clamping process, and the conditions of extrusion, even damage and the like of the corrugated board caused by hard contact with the corrugated board are further avoided.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
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 invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort. In the drawings:
FIG. 1 is a schematic top view of an embodiment of the present invention;
FIG. 2 is a schematic side view of an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of a claw disk according to an embodiment of the invention;
FIG. 4 is a schematic view of the structure of the claw in the embodiment of the invention;
FIG. 5 is a schematic view of a partially exploded construction of a pawl according to an embodiment of the present invention;
the main elements in the figure are illustrated:
1. a base; 11. a first connecting arm; 12. a second connecting arm; 13. a third connecting arm; 14. a first auxiliary arm; 15. a second auxiliary arm; 16. a third auxiliary arm; 17. a support arm; 2. a jaw base cover; 21. connecting the clamping columns; 3. a claw disk; 31. installing a chute; 32. installing a sliding block; 41. a telescoping tube; 42. a telescopic rod; 5. a claw; 51. a first clamping part; 52. a second clamping part; 522. a micro linear motor; 53. a third clamping part; 54. and a transition block.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 5, the corrugated board sorting robot provided by the invention comprises a base 1, wherein a rotating seat capable of rotating around the axis of the base 1 is arranged on the base, and a balance cylinder and a balance block are arranged on the rotating seat, so that the stability of the whole sorting robot is ensured.
The device also comprises a first connecting arm 11, a second connecting arm 12 and a third connecting arm 13, wherein the connecting arms are hinged in sequence. The rotating seat is provided with a supporting arm 17, the upper end of the supporting arm 17 is provided with a branch fork, and the second connecting arm 12 is clamped and rotationally connected. Two driving motors are symmetrically arranged on the side wall of the rotating seat, a driving shaft is connected with the supporting arm 17, and the supporting arm 17 is driven to rotate, so that the third connecting arm 13 moves up and down in the rotating process of the first connecting arm 11 and the second connecting arm 12. Of course, the auxiliary arms provided beside the first connecting arm 11, the second connecting arm 12 and the third connecting arm 13 are respectively a first auxiliary arm 14, a second auxiliary arm 15 and a third auxiliary arm 16, and the auxiliary arms are hinged in sequence. Wherein the second auxiliary arm 15 is hinged to the second connecting arm 12 and the third auxiliary arm 16 is hinged to the third connecting arm 13. The complex movement and rotation operation of the whole manipulator is realized through the hinging relation between each auxiliary arm and each connecting arm. Specific rotation control is well known in the art and will not be described in detail herein. In addition, the third connecting arm 13 is provided with a rotation block rotatable along the vertical axis.
Also included is a method of manufacturing a semiconductor device,
the claw base cover 2 is provided with a connecting clamping column 21 at one end and a mounting cover opening with a downward opening at the other end;
the claw disc 3 is arranged in the claw 5 hood, a plurality of claws 5 which can be close to the center of the claw disc 3 are arranged on the end face, close to the mounting hood, of the claw disc 3, and a space is reserved between the claws 5 and the claw disc 3 and used for clamping corrugated boards in the space.
According to the invention, the rotating clamping block is provided with the rotating bayonet capable of clamping the cover of the clamping jaw 5, so that the cover of the clamping jaw 5 can be controlled to rotate along the vertical axis. The top of jack catch base cover 2 is provided with the connection card post 21 that has elastic buckle, carries out the joint through the rotation bayonet socket in connection card post 21 and the rotation fixture block to realize the installation to jack catch base cover 2. In addition, the inside of the claw-based cover 2 is provided with an inwardly recessed mounting cover opening through which the claw disk 3 can be fixed therein.
Specifically, the lower end surface of the jaw disk 3 is provided with a plurality of jaws 5 that can radially move toward the center of the jaw disk 3, and a space is provided between the upper side of the jaws 5 and the lower side of the jaw disk 3. When the corrugated boards are actually sorted and clamped, the centers of the claw base covers 2 are aligned with the centers of the corrugated boards through the cooperative operation of the connecting arms and the auxiliary arms and gradually move downwards to cover the corrugated boards into the claw base covers 2, then the plurality of claws 5 in the claw disc 3 are controlled to move towards the centers of the claw base covers, so that the intervals between the claws 5 and the claw disc 3 are matched, the corrugated boards are placed on the claws 5 and limited by the lower sides of the claw disc 3, the corrugated boards can be effectively clamped, and the existing conditions that the corrugated boards are extruded or even damaged through the mode of rotating the mechanical arms are avoided.
Further, a plurality of mounting sliding grooves 31 are formed in the end face, close to the mounting cover opening, of the jaw disc 3, and extend radially outwards from the center, close to the jaw disc 3, to the peripheral wall of the jaw disc 3;
the installation sliding groove 31 is internally provided with an installation sliding block 32 matched with the installation sliding groove, and the clamping jaw 5 is connected with the installation sliding block 32.
In the present invention, a plurality of radially extending mounting slide grooves 31 are provided on the lower end face of the claw disk 3, and one end of the mounting slide groove 31 extends up to the outer peripheral wall of the claw disk 3. The installation chute 31 is an i-shaped chute, and the installation slide block 32 matched with the installation chute is an i-shaped slide block, so that the sliding is more stable. Each of the claws 5 is connected to a corresponding mounting slider 32 so that the movement of the claws 5 toward the center of the claw disk 3 is achieved by controlling the movement of the i-shaped slider. Specifically, a micro linear cylinder is provided in the installation chute 31, and the air inlet and outlet directions of the micro linear cylinder are controlled by an electromagnetic valve. At the same time, by connecting the piston rod of the micro straight cylinder with the mounting slider 32, the distance of the claw 5 extending to the center of the claw disk 3 can be performed according to the size of the corrugated cardboard, and thus, precise clamping operation can be performed.
Specifically, the electromagnetic valves connected with the miniature linear cylinders can be connected in series to form a loop, so that the moving distance of the clamping jaw 5 can be uniformly controlled under the condition that the corrugated board is square. Of course, the electromagnetic valves connected with the miniature linear cylinders can be connected in parallel to form a loop independently, so that the moving distance of the clamping claw 5 used for clamping is controlled independently according to the length adaptability of each side edge of the corrugated board.
Further, the intervals between the plurality of mounting grooves 31 are equal, and the mounting grooves 31 are provided in pairs on the claw disk 3.
In the present invention, the mounting grooves 31 provided at the lower end of the claw disk 3 are arranged in pairs, and the distance of movement of the two claws 5 that move relative to each other can be controlled. So that the clamping force on the normal square corrugated board is equal, and the circuit design of each electromagnetic valve is more optimized. Because the lower extreme of jack catch dish 3 is provided with many pairs of installation spouts 31, then can be according to corrugated container board's shape adaptation assembly installation slider 32 for this robot is to corrugated container board's letter sorting operation accommodation more extensive.
Further, a claw 5 chute is arranged on the side wall of the installation slide block 32 far away from the installation chute 31, and the claw 5 chute extends to two sides of the installation slide block 32;
the claw 5 sliding groove is connected with a claw 5 matched with the claw 5 in a sliding way.
In the present invention, the side of the mounting slider 32 near the mounting cap opening is provided with a claw 5 chute extending in the radial direction of the claw disk 3. The claws 5 slide grooves extend to the end surfaces on both sides of the radial direction of the mounting slider 32 to form openings. The claw 5 adopts a T-shaped chute, and the claw 5 is provided with a T-shaped sliding block matched with the claw 5. A plurality of screw holes are arranged on the side wall of the bottom of the chute of the claw 5, and the screw holes are arranged at equal intervals. Screw holes are also provided in the side walls of the jaws 5. The claw 5 can be quickly assembled into the claw 5 chute by fixing the claw 5 with screw holes in the claw 5 chute and by locking screws.
Further, the claw 5 comprises a first clamping part 51, a second clamping part 52 and a third clamping part 53 which are sequentially arranged from top to bottom,
wherein, the first clamping part 51 and the second clamping part 52 are flush at one side close to the center of the claw disc 3, and the third clamping part 53 is arranged at one side close to the center of the claw disc 3 in a protruding mode on the first clamping part 51 and/or the second clamping part 52.
In the present invention, the claw 5 is formed by connecting the first engaging portion 51, the second engaging portion 52, and the third engaging portion 53 to each other. The specific connection modes are various, and can be threaded connection, bonding or welding. The first clamping part 51 and the second clamping part 52 are flush at one side close to the center of the jaw disc 3, and the third clamping part 53 extends to the first clamping part 51 and the second clamping part 52 in a protruding mode towards one side close to the center of the jaw disc 3, so that corrugated boards can be supported through the protruding parts and the lower ends of the jaw disc 3 are matched, the upper side, the lower side and the side edges of the corrugated boards can be limited, and the situation that the corrugated boards are clamped and cannot fall off, be guaranteed to be extruded and the like is guaranteed.
Further, the first, second, and third engaging portions 51, 52, and 53 are formed in a stepped shape with a gradually decreasing distance from the center of the claw disk 3.
In the present invention, the sides of the first, second, and third catching portions 51, 52, and 53, which are distant from the center of the claw disk 3, are gradually disposed near the center thereof, thereby forming a step shape in the vertical direction. Due to the type of holes in the middle during the production of a particular corrugated board, the corrugated board may be deformed by the above-described outside-in gripping. The sorting and clamping operation of the corrugated board of this type can be also realized by the side of the first clamping part 51 or the second clamping part 52 or the third clamping part 53, which is far away from the center of the jaw disc 3, abutting against the side wall of the middle hole of the corrugated board.
Further, a driving structure is arranged between the third clamping part 53 and the second clamping part 52 for adjusting the interval between the third clamping part 53 and the second clamping part 52; the driving structure at least comprises a micro linear motor 522 arranged in the second clamping part 52, wherein an output shaft of the micro linear motor 522 is connected with the third clamping part 53.
In the present invention, the third clamping portion 53 is vertically movable relative to the second clamping portion 52, wherein the adjustment of the vertical height of the third clamping portion 53 is performed by the micro linear motor 522. Specifically, the micro-motion linear motor 522 is embedded in the second clamping portion 52, and the output shaft thereof is connected with the third clamping portion 53, so that when corrugated boards stacked in different thicknesses or in a plurality of quantities are adapted, the normal operation of the clamping operation can be ensured by adjusting the space between the third clamping portion 53 and the jaw disc 3.
Further, a transition block 54 is further disposed between the second clamping portion 52 and the third clamping portion 53, one side of the transition block 54, which is close to the second clamping portion 52, is connected with an output shaft of the micro linear motor 522, and the other side of the transition block 54 is connected with the third clamping portion 53 through a telescopic assembly.
In the present invention, a transition block 54 is provided between the second engaging portion 52 and the third engaging portion 53, one end of which is connected to the output shaft of the micro linear motor 522, and the other end of which connects the third engaging portion 53 by a vertically retractable telescopic member. When limiting corrugated board through the claw 5 and the claw disc 3, the situation that the thickness adjustment is not accurate enough is unavoidable, and the problem that the corrugated board is not accurate in adjustment due to the thickness can be solved through the retractility of the telescopic component.
Further, the telescopic assembly comprises a telescopic assembly,
a telescopic tube 41 connected with the side wall of the transition block 54;
the telescopic rod 42 has one end connected to the inner wall of the telescopic tube 41 by a spring and the other end connected to the third engaging portion 53.
In the invention, the telescopic rod 42 in the telescopic assembly is slidably inserted into the telescopic tube 41, and the end of the telescopic rod 42 is connected with the inner wall of the telescopic tube 41 through a spring, so that the whole telescopic assembly has the resetting property. When the claw 5 clamps the corrugated board, if the corrugated board is relatively thicker, the telescopic component can be spread for a distance, so that the corrugated board can be prevented from being deformed by extrusion, and in addition, the telescopic performance of the spring can further ensure the safety when limiting the corrugated board.
Further, a spherical shaft head is arranged at one end of the telescopic rod 42 far away from the telescopic sleeve 41, and a spherical groove matched with the spherical shaft head is arranged on the side wall of the third clamping part 53;
preferably, the deflection angle of the spherical shaft head rotating in the spherical groove is less than or equal to 15 degrees.
In the invention, one end of the telescopic rod 42 is fixedly connected with a spherical shaft head, and the spherical shaft head is fixed on the telescopic rod 42 in a threaded connection mode. I.e. the outer circumference of the telescopic rod 42 is provided with an external thread, and the ball stub shaft is provided with a threaded hole matching the external thread of the telescopic rod 42. A spherical groove is provided on a side wall of the third locking portion 53, and the spherical spindle head is engaged with the spherical groove, so that the degree of freedom in rotation of the third locking portion 53 with respect to the second locking portion 52 can be achieved.
Specifically, by setting the rod diameter of the telescopic rod 42 and the caliber of the notch of the spherical groove, the spherical shaft head can only deflect by less than 15 degrees relative to the spherical groove, so that the third clamping part 53 can deflect according to the actual corrugated board clamping process, and the situations of extrusion, even damage and the like of the corrugated board caused by hard contact with the corrugated board are further avoided.
The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited to the above-mentioned embodiment, but is not limited to the above-mentioned embodiment, and any simple modification, equivalent change and modification made by the technical matter of the present invention can be further combined or replaced by equivalent embodiments within the scope of the technical solution of the present invention without departing from the scope of the technical solution of the present invention.
Claims (10)
1. A corrugated board letter sorting robot, its characterized in that: comprising the steps of (a) a step of,
the claw base cover is provided with a connecting clamping column at one end and a mounting cover opening with a downward opening at the other end;
the claw disc is arranged in the claw hood, a plurality of claws which can be close to the center of the claw disc are arranged on the end face of the claw disc, which is close to the mounting hood opening, and a space is reserved between the claws and the claw disc and used for clamping corrugated boards in the space.
2. A corrugated board sorting robot according to claim 1, characterized in that: the end face of the jaw disc, which is close to the mounting cover opening, is provided with a plurality of mounting sliding grooves which extend outwards radially from the center of the jaw disc to the peripheral wall of the jaw disc;
the installation sliding groove is internally provided with an installation sliding block matched with the installation sliding groove, and the clamping jaw is connected with the installation sliding block.
3. A corrugated board sorting robot according to claim 2, characterized in that: the intervals among the plurality of installation sliding grooves are equal, and the installation sliding grooves are arranged on the claw disc in pairs.
4. A corrugated board sorting robot according to claim 3, characterized in that: the side wall of the installation sliding block, which is far away from the installation sliding groove, is provided with a claw sliding groove which extends to the two sides of the installation sliding block;
the claw sliding groove is connected with a claw matched with the claw sliding groove in a sliding way.
5. A corrugated board sorting robot according to claim 4, wherein: the clamping jaw comprises a first clamping part, a second clamping part and a third clamping part which are sequentially arranged from top to bottom,
the first clamping part and the second clamping part are flush with one side close to the center of the clamping jaw disc, and one side of the third clamping part close to the center of the clamping jaw disc is protruded out of the first clamping part and/or the second clamping part.
6. A corrugated board sorting robot according to claim 5, characterized in that: the distance between the first clamping part, the second clamping part and the center of the clamping jaw disc is gradually reduced, so that a step shape is formed.
7. The corrugated board sorting robot of claim 6, wherein: a driving structure is arranged between the third clamping part and the second clamping part and used for adjusting the interval between the third clamping part and the second clamping part; the driving structure at least comprises a micro linear motor which is arranged in the second clamping part, wherein an output shaft of the micro linear motor is connected with the third clamping part.
8. The corrugated board sorting robot of claim 7, wherein: and a transition block is further arranged between the second clamping part and the third clamping part, one side, close to the second clamping part, of the transition block is connected with an output shaft of the micro linear motor, and the other side of the transition block is connected with the third clamping part through a telescopic assembly.
9. The corrugated board sorting robot of claim 8, wherein: the telescopic assembly comprises a telescopic assembly which comprises a telescopic rod,
the telescopic sleeve is connected with the side wall of the transition block;
one end of the telescopic rod is connected with the inner wall of the telescopic sleeve through a spring, and the other end of the telescopic rod is connected with the third clamping part.
10. The corrugated board sorting robot of claim 9, wherein: a spherical shaft head is arranged at one end of the telescopic rod, which is far away from the telescopic sleeve, and a spherical groove matched with the spherical shaft head is arranged on the side wall of the third clamping part;
preferably, the deflection angle of the spherical shaft head rotating in the spherical groove is less than or equal to 15 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311844045.2A CN117602368A (en) | 2023-12-28 | 2023-12-28 | Corrugated board sorting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311844045.2A CN117602368A (en) | 2023-12-28 | 2023-12-28 | Corrugated board sorting robot |
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| Publication Number | Publication Date |
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| CN117602368A true CN117602368A (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311844045.2A Pending CN117602368A (en) | 2023-12-28 | 2023-12-28 | Corrugated board sorting robot |
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| CN (1) | CN117602368A (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4762354A (en) * | 1985-11-12 | 1988-08-09 | Zevatech Ag | Device for picking and transporting components |
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| JPH0539888U (en) * | 1991-10-29 | 1993-05-28 | 金井 宏之 | Claw of checking device for disk wheel |
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| CN104609178A (en) * | 2014-12-31 | 2015-05-13 | 迈得医疗工业设备股份有限公司 | Infusion apparatus catheter coil clamping device |
| CN204588022U (en) * | 2015-03-16 | 2015-08-26 | 东莞市伟创东洋自动化设备有限公司 | LED colour TV 180 degree of positioning machines |
| CN105345502A (en) * | 2015-12-09 | 2016-02-24 | 珠海罗西尼表业有限公司 | Circular work piece clamp |
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| CN105905593A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Actuator for omnidirectional water steel pipe installation robot |
| CN108406828A (en) * | 2018-05-28 | 2018-08-17 | 珠海格力智能装备有限公司 | Fixture |
| US20190062073A1 (en) * | 2016-03-04 | 2019-02-28 | Cermex Newtec | Pallet gripping |
| CN109623860A (en) * | 2019-02-21 | 2019-04-16 | 济南翼菲自动化科技有限公司 | A kind of baked donut robot gripper |
| CN110127364A (en) * | 2019-06-12 | 2019-08-16 | 山东魔方新能源科技有限公司 | A kind of graphite bi-polar plate fills cage assembly automatically |
| CN215318740U (en) * | 2020-12-30 | 2021-12-28 | 福州市荣盛荣自动化设备有限公司 | Novel multifunctional gripper |
| US20220048203A1 (en) * | 2018-09-12 | 2022-02-17 | Schmitt Prof. Möhlmann & Collegen Wirtschaftskanzlei Insolvenzverwalter Aktiengesellschaft | Packing gripper system |
| CN216299292U (en) * | 2021-12-09 | 2022-04-15 | 烟台艾迪精密机械股份有限公司 | Two tongs that snatch a |
| CN216707505U (en) * | 2021-12-22 | 2022-06-10 | 东莞拓斯达技术有限公司 | Multi-axis robot and grabbing mechanism thereof |
| CN218224153U (en) * | 2022-09-29 | 2023-01-06 | 宁波市大宇矢崎机械制造有限公司 | Fast-assembling anchor clamps for panel beating bending machine |
| CN218342942U (en) * | 2022-10-17 | 2023-01-20 | 重庆市祥和大宇包装有限公司 | Corrugated paper rip cutting explosion-proof line ball processing equipment |
| CN115890719A (en) * | 2023-01-04 | 2023-04-04 | 南京邮电大学 | Mechanical arm for logistics sorting |
| CN219468967U (en) * | 2023-02-21 | 2023-08-04 | 泉州市栢禾智能科技有限公司 | Automatic mold locking mechanism of block machine |
| CN219633811U (en) * | 2022-11-28 | 2023-09-05 | 安徽航大智能科技有限公司 | Robot clamp for integrally grabbing rotor core |
| CN117246751A (en) * | 2023-09-13 | 2023-12-19 | 深圳市日联科技有限公司 | Battery clamping device |
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| US4762354A (en) * | 1985-11-12 | 1988-08-09 | Zevatech Ag | Device for picking and transporting components |
| US5042862A (en) * | 1988-12-31 | 1991-08-27 | System Gmbh | Gripping device |
| JPH0539888U (en) * | 1991-10-29 | 1993-05-28 | 金井 宏之 | Claw of checking device for disk wheel |
| JP2010012581A (en) * | 2008-07-07 | 2010-01-21 | Ihi Corp | Robot hand and workpiece positioning method using same |
| CN104609178A (en) * | 2014-12-31 | 2015-05-13 | 迈得医疗工业设备股份有限公司 | Infusion apparatus catheter coil clamping device |
| CN204588022U (en) * | 2015-03-16 | 2015-08-26 | 东莞市伟创东洋自动化设备有限公司 | LED colour TV 180 degree of positioning machines |
| CN105345502A (en) * | 2015-12-09 | 2016-02-24 | 珠海罗西尼表业有限公司 | Circular work piece clamp |
| CN105460613A (en) * | 2016-01-18 | 2016-04-06 | 湖州优创科技有限公司 | Clamping mechanism for steel angle conveying |
| US20190062073A1 (en) * | 2016-03-04 | 2019-02-28 | Cermex Newtec | Pallet gripping |
| CN105905593A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Actuator for omnidirectional water steel pipe installation robot |
| CN108406828A (en) * | 2018-05-28 | 2018-08-17 | 珠海格力智能装备有限公司 | Fixture |
| US20220048203A1 (en) * | 2018-09-12 | 2022-02-17 | Schmitt Prof. Möhlmann & Collegen Wirtschaftskanzlei Insolvenzverwalter Aktiengesellschaft | Packing gripper system |
| CN109623860A (en) * | 2019-02-21 | 2019-04-16 | 济南翼菲自动化科技有限公司 | A kind of baked donut robot gripper |
| CN110127364A (en) * | 2019-06-12 | 2019-08-16 | 山东魔方新能源科技有限公司 | A kind of graphite bi-polar plate fills cage assembly automatically |
| CN215318740U (en) * | 2020-12-30 | 2021-12-28 | 福州市荣盛荣自动化设备有限公司 | Novel multifunctional gripper |
| CN216299292U (en) * | 2021-12-09 | 2022-04-15 | 烟台艾迪精密机械股份有限公司 | Two tongs that snatch a |
| CN216707505U (en) * | 2021-12-22 | 2022-06-10 | 东莞拓斯达技术有限公司 | Multi-axis robot and grabbing mechanism thereof |
| CN218224153U (en) * | 2022-09-29 | 2023-01-06 | 宁波市大宇矢崎机械制造有限公司 | Fast-assembling anchor clamps for panel beating bending machine |
| CN218342942U (en) * | 2022-10-17 | 2023-01-20 | 重庆市祥和大宇包装有限公司 | Corrugated paper rip cutting explosion-proof line ball processing equipment |
| CN219633811U (en) * | 2022-11-28 | 2023-09-05 | 安徽航大智能科技有限公司 | Robot clamp for integrally grabbing rotor core |
| CN115890719A (en) * | 2023-01-04 | 2023-04-04 | 南京邮电大学 | Mechanical arm for logistics sorting |
| CN219468967U (en) * | 2023-02-21 | 2023-08-04 | 泉州市栢禾智能科技有限公司 | Automatic mold locking mechanism of block machine |
| CN117246751A (en) * | 2023-09-13 | 2023-12-19 | 深圳市日联科技有限公司 | Battery clamping device |
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