A kind of drum robot recrater
This utility model is related to Automation in Mechanical Working field, more particularly to a kind of drum robot recrater.
In the automation production flow line of many products, production out and loads container, then automation engineering has been
Jing terminates, and follow-up container (such as bucket) binning process is divided into man power encasement and machinery vanning.Man power encasement needs manually
Operation, by manually loading product container in casing, then joint sealing, whole process working strength is big, occupies many people
Power cost, causes to waste, and efficiency is not also high.Standard machinery recrater is that pneumatic capsule is clipping, can only capture 1.55L and
The article of following weight, and common recrater, when working, the bottle of bottle generation in operation is excessive with the extruding force of bottle, understand with
The bottle of vanning produces extruding, causes bottle to be toppled over, and causes vanning failure.And common recrater can only rules for grasping bottle-type, lead to
It is relatively low with degree.
Utility model content
The technical problems to be solved in the utility model：The purpose of this utility model be in order to solve it is of the prior art not
A kind of foot, there is provided precise positioning, improves work efficiency, reduces manual labor, and stability is stronger, it is ensured that one kind of vanning quality
Drum robot recrater.
The technical solution of the utility model：A kind of drum robot recrater described in the utility model is bottled including grabbing
Put, bottle conveying device, defeated case apparatus and mechanical arm.Bottle is grabbed including grappling fixture framework, line slideway, displacement cylinder, crawl cylinder
And mechanical chuck.Line slideway is fixed under grappling fixture framework, displacement cylinder is fixed on line slideway, for adjust two mechanical chucks it
Between distance adapting to different bodies.The fixed crawl cylinder in displacement cylinder lower section, crawl cylinder connection mechanical hand chuck, driving mechanical
Handss chuck with realize crawl.Grab bottle and be fixed on robotic arm front end.Bottle conveying device includes leading a bottle plate, pressure bottle plate, gear bottle bar, gear
Bottle plate and active conveying bottle framework.Lead a bottle plate to be fixed on fixed support, for guiding bottle to prolong chain network operation.Fixed support upper end is fixed
Pressure bottle plate.Gear bottle bar is fixed on active conveying bottle framework lower end, and retaining bottle board is in active conveying bottle framework upper end.Defeated case apparatus include gear box bracket and folder
Case apparatus.Gear box bracket tail end is connected to gear case cylinder, and gear box bracket can be driven to realize that casing is positioned and let pass.Folder case apparatus include
Folder boxboard, pushing block, push rod and fixed handle.Folder boxboard rear end connection pushing block, pushing block rear end connection push rod, push rod is fixed on fixation
Handle, at its lower end, can adapt to different casings by adjusting push rod length.
Further, mechanical chuck is L-shaped, and rubber blanket is fixed at gripping end, it is possible to increase with bottle frictional force, prevent crawl not
Further, active conveying bottle framework side is equipped with reducing motor, and reducing motor connection drivewheel places chain on drivewheel
Further, pressure bottle plate upper end is equipped with pressure bottle cylinder, and pressure bottle cylinder is fixed on leads on bottle framework.Gear bottle bar lower end connects
Connect gear bottle cylinder, retaining bottle board tail end connection bottle positioning cylinder.
This utility model beneficial effect compared with prior art：Because the distance between mechanical hand chuck can pass through displacement
Motor is adjusted, it is ensured that grabbing device can capture the bottle of different model, diameter.And the folder boxboard distance in defeated case apparatus can lead to
Cross the regulation of push rod length, it is ensured that defeated case apparatus are also applied for different size of casing.Arrange in bottle conveying device and lead a bottle plate, pressure bottle
Plate, gear bottle bar, retaining bottle board ensure that bottle is placed on accurate position, accurately positioned, and prevent bottle in operation
The bottle of generation and the extruding force of bottle, are not susceptible to displacement, improve stability, while improving work efficiency, reduce hand labor
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 grabs bottle and bottle conveying device structural representation for of the present utility model；
Fig. 3 is the side view of bottle conveying device shown in Fig. 1；
Fig. 4 is the side view of defeated case apparatus shown in Fig. 1；
Fig. 5 is the structural scheme of mechanism of robot arm device.
In order to deepen understanding of the present utility model, below we will combine accompanying drawing the utility model is described in further detail,
The embodiment is only used for explanation this utility model, does not constitute the restriction to this utility model protection domain.
A kind of embodiment of drum robot recrater of this utility model is shown such as Fig. 1-Fig. 5, including grab bottle,
Bottle conveying device and defeated case apparatus.Bottle is grabbed including grappling fixture framework 11, line slideway 12, displacement cylinder 12, the crawl and of cylinder 13
Mechanical chuck 15.11 times fixed line slideways 12 of grappling fixture framework, fix displacement cylinder 13, for adjusting two machines on line slideway 12
Distance is adapting to different bodies between tool chuck 15.The fixed crawl cylinder 14 in the lower section of displacement cylinder 13, the crawl connection machine of cylinder 14
Tool handss chuck 15, driving mechanical handss chuck 15 with realize crawl.Bottle conveying device include leading bottle plate 51, pressure bottle plate 61, gear bottle bar 71,
Retaining bottle board 73 and active conveying bottle framework 21.Lead bottle plate 51 to be fixed on fixed support 52, run for guiding bottle to prolong link network 22.It is fixed
Pressure bottle plate 61 is fixed in the upper end of support 52.Gear bottle bar 71 is fixed on the lower end of active conveying bottle framework 21, and retaining bottle board 73 is followed by bottle positioning cylinder 74.
Defeated case apparatus include gear box bracket 92 and folder case apparatus.The gear tail end of box bracket 92 is connected to gear case cylinder 91, can drive gear box bracket
92 realize that casing is positioned and let pass.Folder case apparatus include folder boxboard 101, pushing block 102, push rod 103 and fixed handle 104.Folder case
The rear end of plate 101 connects pushing block 102, and the rear end of pushing block 102 connection push rod 103, push rod 103 is fixed on the lower end of fixed handle 10, can lead to
Overregulate the length of push rod 103 to adapt to different casings.Mechanical chuck 14 is L-shaped, and rubber blanket is fixed at gripping end, it is possible to increase with bottle
Frictional force, prevents crawl loosely.The side of active conveying bottle framework 21 is equipped with reducing motor 24, the connection drivewheel 23 of reducing motor 24, active
Link network 22 is placed on wheel 23.The upper end of pressure bottle plate 61 is equipped with pressure bottle cylinder 62, and pressure bottle cylinder 62 is fixed on leads on bottle framework 44.Gear bottle
The lower end of bar 72 connects gear bottle cylinder 71, the tail end of retaining bottle board 73 connection bottle positioning cylinder 74.Grab bottle to be fixed on before robotic arm 8
Operation principle of the present utility model：Bottle carries out displacement, wherein bottle 1 by bottle conveying device and defeated case apparatus respectively with case
By leading bottle plate 51 into link network 22, when above bottle is full, pressure bottle cylinder 62 works, and drives pressure bottle plate 61 to move down 3, pushes down bottle 1.
After front end bottle is cased, pressure bottle cylinder 62 shrinks, and drives pressure bottle plate 61 to rise, and bottle 1 is advanced at retaining bottle board 73, now pressure bottle
Cylinder 62 works, and drives pressure bottle plate 62 to push down bottle below.Gear bottle cylinder 71 works, and promotes gear bottle bar 72 up, between fixed bottle
Spacing, waits mechanical hand chuck 15 to capture.Defeated case apparatus are outwarded winding fixed handle 104, select the suitable distance of push rod 103, pass through
102 fixation clamp boxboard of pushing block 101 determines box location, and gear case cylinder 91 works, and gear box bracket 92 is up, blocks carton, and with
Folder boxboard 101 limits together cartons position.The now drive of mechanical arm 8 is grabbed bottle and moves to the top of bottle 1, the work of displacement cylinder 12
Make, along line slideway 12, adjust distance between two mechanical hand chucks 15, after mechanical arm 8 moves to specified location, capture cylinder 13
Work, driving mechanical handss chuck 14 shrinks, and clamps bottle 1, and along the desired guiding trajectory of mechanical arm 8 carton top is moved to, and captures cylinder 13
Stretch, accurately load bottle 1 in packing cratess, now keep off case cylinder 91 and shrink, gear box bracket 92 declines, and case is sent to guide rail
This utility model has precise positioning, improves work efficiency, reduces manual labor, and stability is stronger, it is ensured that apply
The characteristics of colloid amount, due to pressing from both sides boxboard 101 in defeated case apparatus box location is determined, and width is adjustable, coordinates the work of gear case cylinder 91
Make, gear box bracket 92 is up, blocks carton, can together limit cartons position, can try out in different cartons.Retaining bottle board 73 and gear
Bottle bar 72 makes that bottle 1 is stable to be placed on accurate position, is accurately positioned, it is ensured that mechanical hand chuck 14 is gripped successfully,
System stability is improved, while improving work efficiency.
Above-mentioned specific embodiment, only illustrates technology design of the present utility model and architectural feature, it is therefore intended that allow ripe
Knowing the stakeholder of technique can implement according to this, but above content is not intended to limit protection domain of the present utility model, every
Any equivalence changes made according to spirit of the present utility model or modification, all should fall into protection domain of the present utility model