CN202966748U - Cyclic grabbing mechanism - Google Patents

Abstract

The utility model discloses a cyclic grabbing mechanism which is arranged on a production line for achieving synchronous looping execution of grabbing and placing work-pieces on the production line. The cyclic grabbing mechanism is characterized by comprising a sealed annular guide rail, a plurality of slide rail trolleys and a plurality of manipulators. The guide rail is arranged between a feeding area and a discharging area of the production line; the plurality of the slide rail trolleys are arranged on the guide rail and capable of moving on the guide rail between the cyclic feeding area and the discharging area; the plurality of the manipulators can clamp or loosen for grabbing or loosening work-pieces, and each manipulator is fixed on one slide rail trolley; and the manipulators are driven by corresponding slide rail trolleys to move along the guide rail and clamp work-pieces of the feeding area and carry and place the work-pieces to the discharging area successively, and accordingly, automatic carrying is achieved. According to the cyclic grabbing mechanism, line production that a plurality of work-pieces are grabbed simultaneously on the production line and placed at fixed positions sequentially can be achieved; and the occupied space is small, the batch work-piece processing is efficient, and the mechanism is simple and convenient to maintain.

Description

Loop Grabbing Mechanism

technical field

The utility model relates to an automatic conveying device on an automatic production line of a packaging machine, in particular to a circular grabbing mechanism, which is suitable for a flow-water production line that grabs multiple objects at the same time and sequentially places workpieces at fixed positions.

Background technique

In the field of automatic production lines of packaging machinery, it is often required that the feeding part of the packaging machine can grab multiple items to be packaged at the same time, and can sequentially send these items to the entrance of the packaging machine one by one at the same time interval. At the same time, the interval must be guaranteed The time is shorter.

At present, in order to meet the above requirements, in the prior art, PLC controls the movement of motors to drive multiple grasping manipulators to move on linear guide rails. The above-mentioned grasping mechanism is often inefficient because the grasping process cannot be carried out synchronously with the placement process, and the packaging speed of the packaging machine needs to be reduced. When the number of objects to be grasped at a time is large, the length of the linear guide rail is often too long, resulting in the length of the entire production line being too long to meet the design requirements. Moreover, this grasping mechanism and method have high requirements for control, making The structure and control of the whole grasping mechanism are complicated.

Utility model content

The purpose of the utility model is to avoid the deficiencies in the prior art, and provide a multi-inlet and single-out circular grasping mechanism with small volume, high production efficiency, simple structure and easy maintenance.

In order to achieve the above object, the technical scheme adopted by the utility model is as follows:

A cycle grabbing mechanism, which is set on a production line, is used to realize the synchronous cycle execution of grabbing and placing objects on the production line, and is characterized in that the mechanism includes: a guide rail, which is in the form of a closed ring, and is set Between the material area and the discharge area; multiple slide trolleys, which are set on the guide rail, can move on the guide rail to realize the movement of each slide trolley in the circular feed area and discharge area; multiple manipulators, which can be tightened or loosen to grab or loosen objects, where each manipulator is fixed on a slider trolley; each manipulator moves along the guide rail under the drive of the corresponding slide rail trolley, and sequentially removes the objects in the feeding area After tightening, it is transported to the discharge area and placed to realize automatic handling.

Further preferably, the movement of each slide trolley on the guide rail is realized by being driven by a chain drive, a belt drive or a gear drive mechanism.

Further preferably, the chain transmission mechanism includes a transmission chain, a stepping motor and a sprocket, the transmission chain is in a ring shape close to the guide rail, each slide rail trolley is fixedly arranged on the transmission chain, and the stepping motor drives the chain The rotation of the wheel can drive the transmission chain to move, thereby driving each slide rail trolley to move on the guide rail.

Further preferably, the track trolley includes front wheels, rear wheels, front wheel bases, chain plate connectors, vehicle body and rear wheel bases, wherein the front wheel bases and rear wheel bases are respectively arranged at the front and rear ends of the vehicle body, and the front The wheels and the rear wheels are correspondingly arranged on the front wheel base and the rear wheel base respectively, the guide rail can be connected between the front wheel and the rear wheel, and the chain plate connector is fixedly arranged on the front wheel base or the rear wheel base , which is used for fixed connection with the transmission chain.

Further preferably, the front wheel base and the rear wheel base are respectively connected to the vehicle body through connecting shafts, and the front wheel base and the rear wheel base can freely rotate around the axes of their respective connecting shafts.

Further preferably, the front wheels and the rear wheels are a pair, which are symmetrically installed on the front wheel base and the rear wheel base respectively.

Further preferably, the manipulator includes a base, a push rod, two connecting rods and two mechanical arms, wherein the base is fixedly connected to the slide trolley, one end of the two connecting rods is respectively hinged to the base, and the other end is respectively connected to the mechanical One end of the arm is hinged, and the other ends of the two mechanical arms are hinged, and a clip is respectively fixed to form a jaw. One end of the push rod is fixedly connected with the two mechanical arms, and the other end passes through the base and connects with the actuator of the cylinder. Connected, the cylinder pushes the push rod to move back and forth relative to the base, so that the push rod pushes the mechanical arm to rotate relative to the end of the connecting rod, so that the clips at the ends of the two mechanical arms are relatively opened or closed, and the opening or grasping of the manipulator is realized.

Further preferably, a spring is provided between the base and the fixed end of the push rod, and the spring is maintained in a stretched state, so that the jaws at the ends of the two mechanical arms maintain a certain predetermined gripping force.

The utility model organically connects batches of grasping manipulators, track trolleys and conveying chains. After the objects are grasped by the grasping manipulators, they move under the drive of the conveying chains. After reaching the target position, the manipulators are released and the workpieces are put down. At the same time, the manipulator that circulates to the object grabs the object. In this way, it is guaranteed to grab the object while placing the object. It is controlled by PLC to ensure the coordination between various parts and to monitor the status of the equipment in real time.

The objects in the utility model are arranged in a straight line, so the track that the track trolley runs is selected to be two sections of straight line track plus two sections of semi-circular arc track superimposed to realize batches of track trolleys running circularly on the track, and each track small workshop, etc. spacing, and dragged through the conveyor chain. The sprocket is driven by a stepping motor. When the trolley reaches the entrance of the packaging machine, the stepping motor stops, and the manipulator puts down the objects. While putting down the object, at the object grabbing place, each manipulator realizes the grabbing of the object.

In order to ensure that the track trolley can run smoothly on the guide rail formed by superimposing two sections of linear track and two sections of semi-circular arc track, and the trolley does not detach from the track, the front and rear wheels of the trolley must rotate freely on the plane of the body, and the wheels will The track is stuck. Select an appropriate position on the trolley to fix the trolley and the delivery chain.

The manipulator of the present utility model is fixed on the track dolly, because the manipulator circulates on the track, so the manipulator should not select a power source fixed on its structure. The manipulator adopts a four-bar mechanism, and the initial gripping force is generated by a spring. When the manipulator needs to be released, the external cylinder is used to output power to push the manipulator rod to open the manipulator arm.

The utility model realizes the flow operation of grabbing a plurality of objects at the same time on the production line and placing workpieces in fixed positions in sequence, and has small space occupation, efficient batch processing of workpieces, simple mechanism and convenient maintenance.

Description of drawings

Fig. 1 is the structural representation of the grasping mechanism that has six manipulators of the utility model embodiment;

Fig. 2 is the structural representation of the track trolley of the utility model embodiment;

Fig. 3 is a structural schematic diagram of the grasping manipulator according to the embodiment of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail. The following examples are only explanatory and do not constitute a limitation to the utility model. Any modification or variation made without departing from the spirit of the technical solution of the utility model belongs to the protection scope of the utility model.

As shown in Figure 1, the multi-input and single-out cycle grabbing mechanism of the present embodiment includes grabbing manipulators 11, 19, 110, 111, 112, 113, guide rails 12, six slide rail trolleys 13 corresponding to the manipulators, feeding Cylinder 14, discharging cylinder 15, stepping motor 16, sprocket wheel 17 and double-side bending plate transmission chain 18. For the convenience of description, this embodiment takes a single-cycle grasping mechanism with six manipulators as an example, but the number of manipulators and corresponding slide rail trolleys is not limited to this, and it can be adjusted according to actual needs .

As shown in Figure 1, the guide rail 12 is annular, arranged along the feed area and the discharge area of the production line. Circular movement, successively pass through the feeding area to pick up the materials and then move to the discharging area to release the materials.

The motion of each slide rail dolly 13 on the guide rail 12 is driven by a chain transmission mechanism. This chain transmission mechanism comprises transmission chain 18, stepping motor 16 and sprocket wheel 17, and wherein sprocket wheel 17 is two, is respectively driving sprocket and driven sprocket, transmission chain 18 is the ring shape similar to guide rail 12, preferably Set on the inner ring of guide rail 12, each slide rail trolley 13 is fixedly arranged on the transmission chain 18, and the stepper motor 16 drives the sprocket wheel 17 to rotate, which can drive each slide rail trolley 13 to move on the guide rail 12.

The transmission mechanism adopted in this embodiment is a chain transmission mechanism, but other transmission mechanisms can also be used to drive the slide rail dolly 13, such as a belt transmission mechanism, a gear transmission mechanism and the like.

As shown in Figure 2, the track car 13 includes front wheels 21,22, rear wheels 28,29, front wheel base 23, chain plate connector 24, vehicle body 25, connecting shafts 26,27 and rear wheel base 20. Track 12 is stuck in the middle of four wheels, guarantees that dolly can not break away from track 12. Front wheels 21,22 are symmetrically installed on the front wheel base 23 through screw holes, and rear wheels 28,29 are symmetrically installed on the rear wheel base 20 through screw holes. The wheel base 23 and the rear wheel base 20 are respectively connected to the vehicle body 25 through connecting shafts 26 and 27, and the front wheel base 23 and the rear wheel base 20 can freely rotate around the respective connecting shaft axes. The chain plate connector 24 is arranged on the front wheel base 23 or the rear wheel base 20 and is fixedly connected to be fixedly connected with the transmission chain 18 . The axis of front wheel seat 23 inner threaded hole is in the plane that the central axis of front wheel 21,22 forms, guarantees that double-sided bent plate transmission chain 18 can not allow dolly to block.

As shown in FIG. 3 , the grasping manipulator includes a base 31 , a push rod 32 , connecting rods 33 , 37 , mechanical arms 34 , 36 , and a spring 35 . The base 31 is fixedly connected with the slide rail trolley 13, and one end of the connecting rod 33,37 is respectively hinged with the base 31, and the other end is respectively hinged with one end of the mechanical arms 34,36, and the other ends of the two mechanical arms 34,36 are respectively fixed. Set up the jaws. One end of the push rod 32 is fixedly connected with the two mechanical arms 34 , 36 , and the other end passes through the base 31 and is connected with the actuator of the cylinder 14 or 15 . The two connecting rods 33, 37 and the two mechanical arms 34, 36 form a symmetrically arranged structure, together with the push rod 32, they form a similar crank-slider mechanism.

Both ends of the spring 35 are respectively connected to the fixed ends of the base 31 and the push rod 32 . The spring 35 remains stretched to ensure that the mechanical arms 34, 36 are closed and have a certain grip. The cylinder 14 pushes the push rod 32 to move back and forth relative to the base 31, so that the push rod 32 pushes the mechanical arms 34, 36 to rotate relative to the ends of the connecting rods 33, 37, so that the jaws at the ends of the mechanical arms 34, 36 are relatively opened or closed. Close to realize the opening or grasping of the manipulator.

During work, the stepping motor 16 drives the sprocket 17 to rotate, so that the transmission chain 18 moves, and the slide rail trolley 13 is driven to move on the track 12 . The position of grabbing manipulator 112 and grabbing manipulator 113 is the grabbing object area. At this time, the feeding cylinder 14 is ventilated to push the connecting rods in grabbing manipulator 112 and grabbing manipulator 113, and grabbing manipulator 112 and grabbing manipulator 113 grab Get the object, and grab the discharge cylinder 15 at the manipulator 110 to ventilate at the same time, so that the grab manipulator 110 releases the object. After the grabbing and placement of objects are completed simultaneously, the stepper motor 16 rotates to drive the manipulators to move on the guide rail 12, so that the grabbing manipulator 19 moves to the position of the grabbing manipulator 110 in the figure, and the placement of the objects in the grabbing manipulator 19 is completed. . Only when there are two manipulators that do not grab the object in the grab object area, the feed cylinder 14 is just actuated, so that the grab object area manipulator grabs the object. The multi-input and single-out cycle grabbing mechanism takes and places objects in a cycle in this order to realize grabbing multiple objects.

Claims (8)

1. A cyclic grasping mechanism, which is arranged on the production line, is used to realize the synchronous cycle execution of the grasping and placement of objects on the production line, characterized in that the mechanism includes: The guide rail (12), which is in the form of a closed ring, is arranged between the feeding area and the discharging area on the production line; A plurality of sliding rail trolleys (13), which are movably arranged on the guide rail (12), to realize the alternate circular movement of each sliding rail trolley (13) in the circular feeding area and the discharging area; a plurality of manipulators, which can be clamped or unclamped, for grasping or releasing objects, wherein each manipulator is fixed on a slider trolley (13); Each manipulator moves along the guide rail (12) under the drive of the corresponding slide rail trolley (13), sequentially tightens up the objects in the feeding area and transports them to the discharging area for placement, realizing automatic handling. 2. The circular grabbing mechanism according to claim 1, characterized in that the movement of each slide rail trolley (13) on the guide rail (12) is realized by being driven by a chain drive, a belt drive or a gear drive mechanism. 3. The circular grabbing mechanism according to claim 2, characterized in that, the chain transmission mechanism includes a transmission chain (18), a stepping motor (16) and a sprocket (17), wherein the transmission chain (18) It is in a ring shape similar to the guide rail (12), and each slide rail trolley (13) is fixedly arranged on the transmission chain (18), and the stepping motor (16) drives the sprocket (17) to rotate to drive The transmission chain (18) moves, thereby driving each slide rail trolley (13) to move on the guide rail (12). 4. The cycle grabbing mechanism according to any one of claims 1-3, characterized in that, the track trolley (13) includes front wheels (21, 22), rear wheels (28, 29), front wheels Seat (23), chain plate connector (23), vehicle body (25) and rear wheel seat (20), wherein, front wheel seat (23) and rear wheel seat (20) are respectively arranged at the front and rear ends of vehicle body (25) , the front wheels (21, 22) and rear wheels (28, 29) are respectively arranged on the front wheel seat (23) and the rear wheel seat (20), and the guide rail (12) is clamped on the front wheel (21, 22) and the rear wheels (28, 29), the chain plate connector (23) is fixedly arranged on the front wheel base (23) or the rear wheel base (20), for connecting with the transmission chain (18) Fixed connection. 5. The circular grabbing mechanism according to claim 4, characterized in that, the front wheel base (23) and the rear wheel base (20) are respectively connected to the vehicle body (25) through connecting shafts (26, 27), the The front wheel base (23) and the rear wheel base (20) can freely rotate around their respective connecting shaft axes. 6. The cycle grabbing mechanism according to claim 5, characterized in that, the front wheels (21, 22) and the rear wheels (28, 29) are a pair, which are respectively symmetrically installed on the front wheel seat (23) and on the rear wheel seat (20). 7. The cycle grabbing mechanism according to any one of claims 1-3, 5 or 6, characterized in that the manipulator comprises a base (31), a push rod (32), two connecting rods (33, 37) and two mechanical arms (34, 36), wherein, the base (31) is fixedly connected with the slide trolley (13), one end of the two connecting rods (33, 37) is respectively hinged with the base (31), and the other One end is respectively hinged with one end of the mechanical arms (34, 36), the other ends of the two mechanical arms (34, 36) are hinged, and a clip is respectively fixed to form a jaw, and one end of the push rod (32) is connected with the two mechanical arms. The arms (34, 36) are fixedly connected, and the other end passes through the base (31) and is connected with the actuator of the cylinder (14, 15), and the cylinder (14, 15) pushes the push rod (32) relative to the base (31 ) to move back and forth, so that the push rod (32) pushes the mechanical arms (34, 36) to rotate relative to the ends of the connecting rods (33, 37), so that the clips at the ends of the two mechanical arms (34, 36) are relatively opened or Close to realize the opening or grasping of the manipulator. 8. The cycle grabbing mechanism according to claim 7, characterized in that a spring (35) is provided between the base (31) and the fixed end of the push rod (32), and the spring (35) keeps pulling stretched state, so that the jaws at the ends of the two mechanical arms (34, 36) maintain a certain predetermined gripping force.

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