CN206780413U - A kind of vanning robot of boxed products - Google Patents
A kind of vanning robot of boxed products Download PDFInfo
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- CN206780413U CN206780413U CN201720323665.5U CN201720323665U CN206780413U CN 206780413 U CN206780413 U CN 206780413U CN 201720323665 U CN201720323665 U CN 201720323665U CN 206780413 U CN206780413 U CN 206780413U
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Abstract
A kind of vanning robot of boxed products, it is made up of robot body and component of attaching troops to a unit, robot body includes base, ambulation positioning device, travel mechanism, rotating mechanism, vanning pivoted arm and control assembly, walking and positioning function mechanism of the ambulation positioning device for robot under base, travel mechanism on base is the translation mechanism of robot, rotating mechanism is that 360 ° of robot examines the functional entity for picking up and casing, there is the replaceable handgrip controlled by lift cylinder vanning pivoted arm end, cooperate with the orders-awaiting slot for component of attaching troops to a unit, robot has a range of versatility；Control assembly includes control computer, control panel, servomotor and monitoring identifier, operational order inputs to control computer by control panel, is acted by control computer according to monitoring identifier information command servomotor, lift cylinder, Pneumatic suction cup and component of attaching troops to a unit；Component of attaching troops to a unit includes the automatic integrated assembly of product and joint sealing component and the different sides for being separately mounted to robot body.
Description
Technical field
A kind of robot is the utility model is related to, the vanning robot of more particularly to a kind of boxed products, belongs to intelligent machine
Tool field of engineering technology.
Background technology
Robot progressively widens application field in fields such as modern industries.As the manufacturing industry in modern times, intelligence is automated
The production line of energyization is constantly provided in enterprise of certain scale.There is automated production flowing water at these
In the workshop of line enterprise, the traditional mode that product is manufactured by industrial worker is changed, being removed in of such a size workshop there are several several prisons
Control outside skilled worker, it is that the flicker of indicator lamp, product continuously outflow to show before eyes.Behind all boxed products outflow workshops,
There is the problem of vanning.Current most vanning program, especially clothes, shoes and hats and hot-water heating product all also rest on craft
The vanning stage.Such vanning by hand is to form strong asymmetric contrast with the workshop of modernization first, is given not
The drop sense of coordination；Next to that labor intensity is big, the vanning speed for the worker that cases will be with flowing water line coordination, and once motion is slightly slow,
Automatically the product exported will form overstocked；It is finally that recruitment cost is high, the packer in each clothes, shoes and hats manufacturing enterprise
Member takes the significant proportion of packaging personnel, and the manufacturing cost of product is virtually added to enterprise.Currently on the market
The structure of recrater or robot of casing is all more complicated, and intelligence degree is not also high, and is typically all confined to specific purposes
And lack versatility.So numerous and diverse structure is not only increased again, maintenance cost is high, and is easily gone out because intelligence degree is not high
It is wrong.
The content of the invention
To solve the technological deficiency that the industry boxed products such as above-mentioned clothes, shoes and hats will manually case, while overcome traditional
Recrater structure is numerous and diverse and the drawbacks of intelligence degree is low, and the utility model discloses a kind of vanning robot of boxed products.
Technical scheme is used by the utility model：A kind of vanning robot of boxed products, by robot body and
Component of attaching troops to a unit is formed, and robot body includes base, ambulation positioning device, travel mechanism, rotating mechanism, vanning pivoted arm and control
Component, base is the load bearing seat of robot body and includes crossbeam and longeron, and ambulation positioning device includes lifting suspension column and row
Walk component and be arranged on base, travel mechanism includes slide rail, roll-out tray, drive component, and slide rail is formed and consolidated by least two
It is scheduled on above crossbeam, the outer side edges of slide rail are fluted and inner side edge is provided with rack, and roll-out tray is installed by mobile sliding block
On slide rail, drive component is chain structure and is arranged on roll-out tray that drive component passes through gear and the kinetic energy of rack
Conversion driving roll-out tray moves on slide rail, and rotating mechanism includes fluted disc, rotating disk and column, and fluted disc is consolidated by connecting elements
It is scheduled on above roll-out tray, rotating disk is arranged on above fluted disc by rotary slider, and the lower end of column is connected in rotating disk
The heart, vanning pivoted arm include arm body, lift cylinder and handgrip, and one end of arm body is connected to the upper end of column, the other end to column with
Remote horizontal-extending and connect the cylinder body of lift cylinder, handgrip is to include strip, circle and square structure and according to vanning parameter
The vanning actuating station that can flexibly change, is connected to the termination of expansion link below lift cylinder above handgrip, below handgrip by
Multiple elastic pneumatic suckers are combined into execution face, and descending depth of the handgrip in vanning is successively successively decreased according to packed article thickness, control
Component processed includes control computer, control panel, servomotor and monitoring identifier, operational order and inputs to control by control panel
Computer processed, moved by control computer according to monitoring identifier information command servomotor, lift cylinder, Pneumatic suction cup and component of attaching troops to a unit
Make；Component of attaching troops to a unit includes the automatic integrated assembly of product and joint sealing component and the different sides for being separately mounted to robot body.
Servomotor includes walking servomotor, shift servo motor and rotating servo motor, walking servomotor installation
Walked in base and by the kinetic energy conversion driving robot body for component of walking, shift servo motor is arranged on mobile chassis simultaneously
Moved by the kinetic energy conversion driving mobile chassis of drive component, rotating servo motor is arranged on rotating disk and passes through gear and tooth
Circumference any angle of the kinetic energy conversion driving rotating disk of disk along fluted disc rotates or positioning.
The lifting suspension column of ambulation positioning device is formed by least four and installed in four terminations of crossbeam, its component of walking
Including crawler belt, Athey wheel and power transmission shaft, crawler belt is arranged on the longeron outer side edges of both sides below base by Athey wheel, and power transmission shaft connects
It is connected between the Athey wheel of both sides and links the clutch end of walking servomotor.
Monitoring identifier is the information gathering end for monitoring the information in place of product to be cased and coding being identified, and is monitored
The information of collection is transferred directly to control computer and the centre below handgrip by identifier.
Drive component includes drive shaft, drive sprocket, drive gear and chain, and drive shaft is formed by least two and difference
Roll-out tray on the inside of slide rail is simultaneously applied in the top and bottom of roll-out tray, the upper end connection drive sprocket of drive shaft, drives
The lower end connection drive gear and sliding tooth wheel and rack of moving axis coincide, chain connection shift servo motor and drive sprocket it
Between.
Mobile sliding block and rotary slider are that side is fluted and include the structure of joint face, planing surface and buckle face, are connected
Face is above and is connected to below roll-out tray and rotating disk, and planing surface is above groove and is fitted in slide rail respectively
Above fluted disc, buckle face below groove and be fitted in respectively above sliding rail groove and fluted disc outer below.
Gear, rack, mobile sliding block, rotary slider, motor sprocket, drive sprocket and drive gear are nylon matter structure.
The automatic integrated assembly of product includes link slot, dashpot and orders-awaiting slot and installed in a side of robot body
Side, the upper end connection product output transmission belt of link slot, dashpot is to be tilted down from above and have the disk of upper and lower two notches
Groove, upper notch are connected to link slot lower end, and orders-awaiting slot is that the vanning that packaged box is integrated into the angle arrangement of matching carton is awaited orders
Groove is simultaneously provided with notch, the lower notch of upper notch connection dashpot.
Joint sealing component includes carton locating rack, transmission belt and automatic box sealing machine and installed in another side of robot body
Side, carton locating rack is arranged on to be arranged on below carton locating rack according to nearly robot body, one end of transmission belt, and the other end connects
Connect the input of automatic box sealing machine, the controlled computer control of transmission belt.
The beneficial effects of the utility model are：Pass through the design of replaceable handgrip and orders-awaiting slot, the utility model tool first
There is a range of versatility, then by designing rotating mechanism, travel mechanism and driving handgrip to move up and down by lift cylinder,
The utility model just realizes that 360 ° of any angles examine the packed article that picks up and case by extremely simple design structure, and adapts to one
Determine packing case position or the Parameters variation of scope, set walking to position convertible mechanism, be adapted to the spirit of different vanning environment
Operation living；The utility model is the box-packed vanning robot of single box with code identification function, is passed by the information for monitoring identifier
Pass, the size coding that handgrip can find corresponding configuration in orders-awaiting slot is automatically configured, and is not only able to improve operating efficiency, section
Save due to vanning recruitment and caused cost of labor, serious forgiveness can also greatly improve.
Brief description of the drawings
The utility model is further illustrated below in conjunction with the accompanying drawings：
Fig. 1 is side of the present utility model and partial cross section's mplifying structure schematic diagram；
Fig. 2 is the utility model base and ambulation positioning device planar structure schematic diagram；
Fig. 3 is handgrip positive structure schematic of the present utility model；
Fig. 4 is planar structure schematic diagram of the present utility model.
1, base in figure, 2, lifting suspension column, 3, slide rail, 4, roll-out tray, 5, rack, 6, mobile sliding block, 7, fluted disc, 8, rotation
Rotating disk, 9, column, 10, rotary slider, 11, arm body, 12, lift cylinder, 13, handgrip, 14, Pneumatic suction cup, 15, walking servo electricity
Machine, 16, shift servo motor, 17, rotating servo motor, 18, drive shaft, 19, drive sprocket, 20, drive gear, 21, chain,
22nd, link slot, 23, dashpot, 24, orders-awaiting slot, 25, carton locating rack, 26, transmission belt, 27, automatic box sealing machine, 28, carton,
29th, traveling crawler, 30, Athey wheel, 31, power transmission shaft.
Embodiment
In the embodiment of Fig. 1,2,3, the vanning robot of a kind of boxed products, by robot body and component structure of attaching troops to a unit
Into robot body includes base 1, ambulation positioning device, travel mechanism, rotating mechanism, vanning pivoted arm and control assembly, base
1 for robot body load bearing seat and include crossbeam and longeron, ambulation positioning device include lifting suspension column 2 and walking component simultaneously
Installed in base 1, travel mechanism includes slide rail 3, roll-out tray 4, drive component, and slide rail 3 is formed and is fixed on by least two
Above base 1, the outer side edges of slide rail 3 are fluted and inner side edge is provided with rack 5, and roll-out tray 4 is arranged on by mobile sliding block 6
Above slide rail 3, drive component is chain structure and is arranged on roll-out tray 4 that drive component passes through gear and the kinetic energy of rack 5
Conversion driving roll-out tray 4 moves on slide rail 3, and rotating mechanism includes fluted disc 7, rotating disk 8 and column 9, and fluted disc 7 passes through connection
Component is fixed on above roll-out tray 4, and rotating disk 8 is arranged on above fluted disc 7 by rotary slider 10, the lower end connection of column 9
At the center of rotating disk 8, vanning pivoted arm includes arm body 11, lift cylinder 12 and handgrip 13, and one end of arm body 11 is connected to column 9
Upper end, for the other end to column 9 with remote horizontal-extending and connect the cylinder body of lift cylinder 12, handgrip 13 is to include strip, circle
Shape and square structure and according to the vanning actuating station that can flexibly change of vanning parameter, lift cylinder 12 is connected to above handgrip 13
The termination of expansion link below, execution face is combined into by multiple elastic pneumatic suckers 14 below handgrip 13, handgrip 13 is in vanning
Descending depth successively successively decrease according to packed article thickness, control assembly includes control computer, control panel, servomotor and monitoring
Instrument, operational order input to control computer by control panel, by control computer according to monitor information command servomotor, liter
Sending down abnormally ascending cylinder 12, Pneumatic suction cup 14 and component of attaching troops to a unit action；Component of attaching troops to a unit includes the automatic integrated assembly of product and joint sealing component and divided
Not An Zhuan robot body different sides.
Servomotor includes walking servomotor 15, shift servo motor 16 and rotating servo motor 17, walking servo electricity
Machine 15 is arranged on base 1 and walked by the kinetic energy conversion driving robot body for component of walking, and shift servo motor 16 is installed
Moved in mobile chassis 4 and by the power conversion driving mobile chassis 4 of drive component, rotating servo motor 17 is arranged on rotation
Above disk 8 and driving rotating disk 8 is changed by the kinetic energy of gear and fluted disc 7 to rotate.
The lifting suspension column 2 of ambulation positioning device is formed by least four and included installed in the termination of crossbeam, walking component
Crawler belt 29, Athey wheel 30 and power transmission shaft 31, crawler belt 26 are arranged on the longeron outer side edges of both sides below base 1 by Athey wheel 30,
Power transmission shaft 31 is connected between both sides Athey wheel 30 and links the clutch end of walking servomotor 15.
Monitoring identifier is the information gathering end for monitoring the information in place of product to be cased and coding being identified, and is monitored
The information of collection is transferred directly to control computer and below handgrip 13 by identifier.
Drive component includes motor sprocket, drive shaft 18, drive sprocket 19, drive gear 20 and chain 21, motor sprocket
Shift servo motor 16 is connected to, drive shaft 18 is formed by least two and is separately mounted to the roll-out tray 4 of the inner side of slide rail 3 simultaneously
It is applied in the top and bottom of roll-out tray 4, the upper end connection drive sprocket 19 of drive shaft 18, the lower end connection sliding tooth of drive shaft 18
Simultaneously drive gear 20 is coincide wheel 20 with rack 5, and chain 21 is linked between motor gear and drive sprocket 19.
Mobile sliding block 6 and rotary slider 10 are that side is fluted and include the structure of joint face, planing surface and buckle face, even
Junction is above and is connected to below roll-out tray 4 and rotating disk 8, and planing surface is above groove and is fitted in respectively
Above slide rail 3 and fluted disc 7, buckle face is below groove and is fitted in respectively above the groove of slide rail 3 and the outer of fluted disc 7
Below.
Gear, rack 5, mobile sliding block 6, rotary slider 10, motor sprocket, drive sprocket 19 and drive gear 20 are nylon
Matter structure.
In the fig. 4 embodiment, product integrated assembly includes link slot 22, dashpot 23 and orders-awaiting slot 24 and is arranged on machine
The side of device human body, the upper end connection product output transmission belt of link slot 22, dashpot 23 is to be tilted down simultaneously from above
There are the disc slots of upper and lower two notches, upper notch is connected to the lower end of link slot 22, and orders-awaiting slot is that packaged box is integrated into matching
The vanning orders-awaiting slot of carton angle arrangement is simultaneously provided with notch, the lower notch of upper notch connection dashpot 23.
Joint sealing component includes carton locating rack 25, transmission belt 26 and automatic box sealing machine 27 and installed in the another of robot body
One side, carton locating rack 25 are installed according to nearly robot body, and one end of transmission belt 26 is arranged under carton locating rack 25
Face, the other end connect the input of automatic box sealing machine 27, the control of 26 controlled computer of transmission belt.
Embodiment 1：Carton 28 is deployed into back cover rear enclosure by craft and is attached to carton locating rack 25, starts vanning robot.When
When being boxed thing as box-packed shoes, clothes etc. and being exported by the output transmission belt of automatic assembly line, it is connected groove 22 and accepts simultaneously
Dashpot 23 is input to, because dashpot 23 is to be obliquely installed, the packed article into dashpot 23 is directly entered orders-awaiting slot 24,
Packaged box into orders-awaiting slot 24 is integrated into the arrangement of the matching angle of carton 28.
Embodiment 2：Default location is in above orders-awaiting slot 24 during 13 armed state of handgrip.When monitor is transferred to control electricity
When the information of brain is that orders-awaiting slot 24 has the box-packed thing for meeting vanning coding requirement, control computer instruction lift cylinder 12 declines, its
Following handgrip 13 drops to above the packed article of orders-awaiting slot 24, then instructs Pneumatic suction cup 14 to adsorb handgrip after packed article
13 rise to setting position, and control computer instructs rotating servo motor to be rotated by the anglec of rotation of rotating disk 8 set in advance, grabbed again
Hand 13 is taken to above carton 28 by rotating disk 8 by column 9, arm body 11.Now, computer instruction walking servomotor 15 is controlled
Handgrip 13 is moved to correspondence position of the packing box in carton 28 with shift servo motor 16, then instructs lift cylinder 12 will
Handgrip 13 drops to the setting height of the inside of carton 28, then instructs Pneumatic suction cup 14 to release the absorption to being packaged box, is packaged
Thing is loaded into carton 28.When reaching specified vanning amount, control computer instruction transmission belt 26 starts, and the carton 25 of full dress is conveyed
Enter joint sealing program to automatic box sealing machine 27.
Embodiment 3：Descending depth of the handgrip 13 inside carton 28 is controlling plate face in advance according to the thickness of packed article
Input the parameter successively successively decreased.
Claims (9)
1. a kind of vanning robot of boxed products, it is made up of robot body and component of attaching troops to a unit, it is characterized in that：Robot body
Including base, ambulation positioning device, travel mechanism, rotating mechanism, vanning pivoted arm and control assembly, base is robot body
Load bearing seat simultaneously includes crossbeam and longeron, and ambulation positioning device includes lifting suspension column and walking component and is arranged on base, mobile
Mechanism includes slide rail, roll-out tray, drive component, and slide rail is formed and is fixed on above crossbeam by least two, outside slide rail
Side is fluted and inner side edge is provided with rack, and roll-out tray is arranged on above slide rail by mobile sliding block, and drive component is chain
Formula structure is simultaneously arranged on roll-out tray, and drive component changes driving roll-out tray on slide rail by the kinetic energy of gear and rack
Mobile, rotating mechanism includes fluted disc, rotating disk and column, and fluted disc is fixed on above roll-out tray by connecting elements, rotating disk
It is arranged on by rotary slider above fluted disc, the lower end of column is connected to the center of rotating disk, and vanning pivoted arm includes arm body, lifting
Cylinder and handgrip, one end of arm body are connected to the upper end of column, and the other end is to column with remote horizontal-extending and connect lift cylinder
Cylinder body, handgrip is to include strip, circle and square structure and according to the vanning actuating station that can flexibly change of vanning parameter, is grabbed
It is connected to the termination of expansion link below lift cylinder above hand, execution is combined into by multiple elastic pneumatic suckers below handgrip
Face, descending depth of the handgrip in vanning are successively successively decreased according to packed article thickness, and control assembly includes control computer, chain of command
Plate, servomotor and monitoring identifier, operational order inputs to control computer by control panel, by control computer according to monitoring
Identifier information command servomotor, lift cylinder, Pneumatic suction cup and component of attaching troops to a unit action；It is automatically whole that component of attaching troops to a unit includes product
Seaming element and joint sealing component and the different sides for being separately mounted to robot body.
2. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described servomotor includes
Walking servomotor, shift servo motor and rotating servo motor, walking servomotor are arranged on base and pass through component of walking
Kinetic energy conversion driving robot body walking, shift servo motor is arranged on mobile chassis and turned by the kinetic energy of drive component
Driving mobile chassis movement is changed, rotating servo motor is arranged on rotating disk and changes driving rotation by the kinetic energy of gear and fluted disc
Circumference any angle of the disk along fluted disc rotates or positioning.
3. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described ambulation positioning device
Lifting suspension column formed by least four and include crawler belt, Athey wheel and biography installed in four terminations of crossbeam, its component of walking
Moving axis, crawler belt are arranged on the longeron outer side edges of both sides below base by Athey wheel, and power transmission shaft is connected between the Athey wheel of both sides
And link the clutch end of walking servomotor.
4. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described monitoring identifier is
The information gathering end for monitoring the information in place of product to be cased and coding being identified, monitoring identifier are straight by the information of collection
Connect and be transferred to control computer and the centre below handgrip.
5. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described drive component includes
Drive shaft, drive sprocket, drive gear and chain, drive shaft are formed by least two and are separately mounted to the movement on the inside of slide rail
Chassis and the top and bottom for being applied in roll-out tray, the upper end connection drive sprocket of drive shaft, the lower end connection sliding tooth of drive shaft
Take turns and sliding tooth wheel and rack coincide, chain connection is between shift servo motor and drive sprocket.
6. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described mobile sliding block and rotation
It is fluted and include the structure of joint face, planing surface and buckle face for side to turn sliding block, joint face is above and is connected to
Below roll-out tray and rotating disk, planing surface is above groove and is fitted in respectively above slide rail and fluted disc, buckle face
Be fitted in below groove and respectively above sliding rail groove and fluted disc outer below.
7. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described gear, rack, shifting
Movable slider, rotary slider, motor sprocket, drive sprocket and drive gear are nylon matter structure.
8. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described product is integrated automatically
Component includes link slot, dashpot and orders-awaiting slot and installed in a side of robot body, the upper end connection system of link slot
Product export transmission belt, and for dashpot to be tilted down from above and having the disc slots of upper and lower two notches, upper notch is connected to link slot
Lower end, orders-awaiting slot are that packaged box is integrated into the vanning orders-awaiting slot of matching carton angle arrangement and is provided with upper notch, upper notch
Connect the lower notch of dashpot.
9. a kind of vanning robot of boxed products according to claim 1, it is characterized in that：Described joint sealing component includes
Carton locating rack, transmission belt and automatic box sealing machine are simultaneously arranged on installed in another side of robot body, carton locating rack
According to nearly robot body, one end of transmission belt is arranged on below carton locating rack, and the other end connects the input of automatic box sealing machine
End, the controlled computer control of transmission belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720323665.5U CN206780413U (en) | 2017-03-30 | 2017-03-30 | A kind of vanning robot of boxed products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720323665.5U CN206780413U (en) | 2017-03-30 | 2017-03-30 | A kind of vanning robot of boxed products |
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| Publication Number | Publication Date |
|---|---|
| CN206780413U true CN206780413U (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720323665.5U Active CN206780413U (en) | 2017-03-30 | 2017-03-30 | A kind of vanning robot of boxed products |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357714A (en) * | 2018-03-20 | 2018-08-03 | 廊坊永创包装机械有限公司 | A kind of sponge sucked type Full-automatic box filling machine |
| CN108406788A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of adjustable robot of rotation |
-
2017
- 2017-03-30 CN CN201720323665.5U patent/CN206780413U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406788A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of adjustable robot of rotation |
| CN108357714A (en) * | 2018-03-20 | 2018-08-03 | 廊坊永创包装机械有限公司 | A kind of sponge sucked type Full-automatic box filling machine |
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