CN206885459U - A kind of carton automatic docking device - Google Patents
A kind of carton automatic docking device Download PDFInfo
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- CN206885459U CN206885459U CN201720669604.4U CN201720669604U CN206885459U CN 206885459 U CN206885459 U CN 206885459U CN 201720669604 U CN201720669604 U CN 201720669604U CN 206885459 U CN206885459 U CN 206885459U
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Abstract
A kind of carton automatic docking device, including frame and four axis robots being installed in frame are the utility model is related to, the bottom of four axis robots is equiped with sucker clamp；Also include the supplied materials wire body positioned at frame left, the carton for needing feeding is transported in supplied materials wire body；Frame rear is provided with the baling press that the whole plate carton after the completion of stacking can be packed automatically；Clamp is provided with frame, four axis robots drive sucker clamp to draw the carton in supplied materials wire body, and by carton stacking to clamp, after the completion of stacking, baling press is packed, and worker walks whole plate carton fork.The utility model can implementation rule stacking and staggeredly stacking, draw products using four suckers, it is quick reliable；Palletizing operation is carried out using four axis robots, action is quick, and SERVO CONTROL is compact-sized, and positioning precision is high, and controlling is good.
Description
Technical field：
It the utility model is related to vapour carton stacking field, more particularly to a kind of carton automatic docking device.
Background technology：
In food, medicine or electronic product packaging field, it is required for that first product is packaged in carton, then by carton code
Pile, per ADF case equal proper alignment, so as to facilitate the statistics of later product transport and quantity, in carton stacking to clamp, code
After the completion of pile, baling press is packed, and worker walks whole plate carton fork, and pile storage or entrucking are handled.In the prior art, mostly
Number enterprise is all that because weight is big, volume is big, therefore the working strength of worker is very using manually completion carton stacking work
Greatly, and operating efficiency is very low.
Utility model content：
The purpose of this utility model is in view of the deficiencies of the prior art, there is provided a kind of carton automatic docking device, it is real
The chest of existing two kinds of specifications carries out automation palletizing operation, and its is compact-sized, and action is quick reliable.
Technology solution of the present utility model is as follows：
A kind of carton automatic docking device, including frame and four axis robots being installed in frame, four shaft mechanical
The bottom of hand is equiped with sucker clamp；Also include the supplied materials wire body positioned at frame left, being transported in supplied materials wire body needs feeding
Carton；The frame rear is provided with the baling press that the whole plate carton after the completion of stacking can be packed automatically；The frame
Interior to be provided with clamp, four axis robots drive sucker clamp to draw the carton in supplied materials wire body, and by carton stacking to clamp, code
After the completion of pile, baling press is packed, and worker walks whole plate carton fork.
Preferably, the frame structure that the frame is made up of four root posts on base, base and column
Between pass through reinforcement strengthen fix.
Preferably, four axis robot includes X-axis mechanism, Y-axis mechanism, Z-axis mechanism and rotating mechanism, the X-axis
Mechanism is installed in upper rack, and Y-axis mechanism is installed in X-axis mechanism top, and Z-axis mechanism is installed in Y-axis mechanism, rotating mechanism dress
Z-axis mechanism bottom is located at, sucker clamp is equiped with below rotating mechanism.
Preferably, the X-axis mechanism, Y-axis mechanism and Z-axis mechanism are oriented to and servomotor control using spherical guide respectively
System, and the rail length of X-axis mechanism is more than the lateral separation of frame, the guide rail of X-axis mechanism is stretched out in the left front of frame.
Stretched out preferably, the supplied materials wire body is located in the lower section of the guide rail of the X-axis mechanism of the left front of frame, supplied materials
Row's roller bearing is equiped with wire body, carton is placed on row's roller bearing, and passes through roller bearing cartons.
Preferably, the right-hand member of the supplied materials wire body, which is equiped with, can ensure the accurate carton positioning of four axis robot feedings
Baffle plate.
Preferably, the sucker clamp includes sucker fixed plate, four angular positions difference of the sucker fixed plate
One group of sucker is adjustably equiped with, product is drawn using four suckers.
Preferably, the carton is cube structure or rectangular parallelepiped structure, the carton of cube structure can stacking into
The regular stacking of 3x3x6 specifications；The carton of rectangular parallelepiped structure can realize staggeredly stacking.
Preferably, the clamp includes disc seat and is spaced three groups of fixture blocks being installed on disc seat, per two adjacent groups
Fork pockets is formed between fixture block, the top of three groups of fixture blocks is equiped with stacking supporting plate.
The beneficial effects of the utility model are：
Sucker clamp of the present utility model draws product using four suckers, quick reliable；The utility model uses four axles
Manipulator carries out palletizing operation, and action is quick, and SERVO CONTROL is compact-sized.The XYZ of four axis robot of the present utility model tri-
Axle is oriented to using spherical guide and Serve Motor Control, and positioning precision is high, and controlling is good, the rotating mechanism of connecting sucker fixture
Rotary shaft connected using thrust bearing, rotary cylinder control, compact-sized, rigidity is good.The utility model can realize rule
Then stacking and staggeredly stacking, it is applied widely.
Brief description of the drawings：
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structural representation of frame of the present utility model, four axis robots and baling press；
Fig. 2 is Fig. 1 front view；
Fig. 3 is Fig. 1 top view；
Fig. 4 is the structural representation of supplied materials wire body of the present utility model；
Fig. 5 is clamp of the present utility model and the structural representation of regular stacking；
Fig. 6 structural representations of stacking for clamp of the present utility model and staggeredly；
Symbol description in figure：I-four axis robots；1-base；2-column；3-X-axis mechanism；4-Y-axis mechanism；5—Z
Axis mechanism；6-rotating mechanism；7-sucker clamp；701-sucker fixed plate；702-sucker；8-supplied materials wire body；9-carton；
10-roller bearing；11-carton positioning baffle；12-baling press；13-clamp；1301-disc seat；1302-fixture block；1303—
Fork pockets；1304-stacking supporting plate；14-whole plate carton.
Embodiment：
Embodiment, see accompanying drawing 1~6, a kind of carton automatic docking device, including frame and four axle machines being installed in frame
Tool hand I, the frame structure that the frame is made up of four root posts 2 on base 1, by adding between base and column
Strengthening tendons is strengthened fixing, and base has four groups, one group of column is equiped with every group of base, and base is provided with screwed hole, passes through screwed hole
And base can be fixed on the ground using bolt.
Four axis robot includes X-axis mechanism 3, Y-axis mechanism 4, Z-axis mechanism 5 and rotating mechanism 6, four shaft mechanical
The bottom of hand is equiped with sucker clamp；The X-axis mechanism is installed in upper rack, and Y-axis mechanism is installed in X-axis mechanism top, Z axis
Mechanism is installed in Y-axis mechanism, and rotating mechanism is installed in Z-axis mechanism bottom, and sucker clamp 7 is equiped with below rotating mechanism.
The sucker clamp includes sucker fixed plate 701, and four angular positions of the sucker fixed plate are adjustably equiped with respectively
One group of sucker 702, products are drawn using four suckers, in the present embodiment.Four angular positions of sucker fixed plate are respectively equipped with
Long slot bore, sucker is fixed on elongated slot hole location, and the position of sucker can be adjusted according to long slot bore, is easy to adsorb different rule
The carton of lattice, product is drawn using four suckers, it is quick reliable.
The X-axis mechanism, Y-axis mechanism and Z-axis mechanism are oriented to respectively using spherical guide and Serve Motor Control, and X-axis
The rail length of mechanism is more than the lateral separation of frame, and the guide rail of X-axis mechanism is stretched out in the left front of frame.Servomotor control
System, positioning precision is high, and controlling is good.The connection of rotating mechanism and sucker clamp is connected using thrust bearing, and rotating mechanism uses
SMC rotary cylinders control, and compact-sized, rigidity is good.
The utility model also includes the supplied materials wire body 8 positioned at frame left, and the carton for needing feeding is transported in supplied materials wire body
9；The supplied materials wire body is equiped with one positioned at stretching on the lower section of the guide rail of the X-axis mechanism of the left front of frame, supplied materials wire body
Roller bearing 10 is arranged, carton is placed on row's roller bearing, and passes through roller bearing cartons.The right-hand member of the supplied materials wire body is equiped with can
Ensure the accurate carton positioning baffle 11 of four axis robot feedings.
The frame rear is provided with the baling press 12 that the whole plate carton after the completion of stacking can be packed automatically；It is described
Clamp 13 is provided with frame, four axis robots drive sucker clamp to draw the carton in supplied materials wire body, and each carton must be protected
Card direction is consistent, and to ensure that manipulator stacking is accurate, by carton stacking to clamp, after the completion of stacking, baling press is packed,
Worker walks the fork of whole plate carton 14.
The carton is cube structure or rectangular parallelepiped structure, the carton of cube structure can stacking into 3x3x6 specifications
Regular stacking；The carton of rectangular parallelepiped structure can realize staggeredly stacking.
The clamp includes disc seat 1301 and is spaced three groups of fixture blocks 1302 being installed on disc seat, per two adjacent groups card
Fork pockets 1303 is formed between block, the top of three groups of fixture blocks is equiped with stacking supporting plate 1304.
Utility model works process：The utility model also includes electric control cabinet and PLC control system, coordinates electrical equipment control
Cabinet processed and PLC control system, worker are placed into clamp in frame, and at the baling press packed locations, and supplied materials wire body is by paper
Case is sent to feeding position；Four axis robots capture carton；Four axis robots carry out carton palletizing operation on clamp；System is automatic
Number of computations, after the completion of a plate stacking, photos and sending messages are packed to automatic packing machine；Worker walks whole plate carton fork, and
Repeat flow one.So far system completes the automatic stacking operation of a whole plate carton, such cycle operation, until production terminates.
Above-described embodiment is the specific descriptions carried out to the utility model, and simply the utility model is carried out furtherly
It is bright, it is impossible to be interpreted as the restriction to scope of protection of the utility model, those skilled in the art is according in above-mentioned utility model
Appearance is made some nonessential modifications and adaptations and each fallen within the scope of protection of the utility model.
Claims (9)
1. a kind of carton automatic docking device, including frame and four axis robots that are installed in frame, it is characterised in that：It is described
The bottom of four axis robots is equiped with sucker clamp；Also include the supplied materials wire body positioned at frame left, being transported in supplied materials wire body needs
Want the carton of feeding；The frame rear is provided with the baling press that the whole plate carton after the completion of stacking can be packed automatically；
Clamp is provided with the frame, four axis robots drive sucker clamp to draw the carton in supplied materials wire body, and carton stacking is arrived
On clamp, after the completion of stacking, baling press is packed, and worker walks whole plate carton fork.
A kind of 2. carton automatic docking device according to claim 1, it is characterised in that：The frame is by the bottom of installed in
The frame structure of four root posts composition on seat, strengthens fixing between base and column by reinforcement.
A kind of 3. carton automatic docking device according to claim 1, it is characterised in that：Four axis robot includes X
Axis mechanism, Y-axis mechanism, Z-axis mechanism and rotating mechanism, the X-axis mechanism are installed in upper rack, and Y-axis mechanism is installed in X-axis machine
Structure top, Z-axis mechanism are installed in Y-axis mechanism, and rotating mechanism is installed in Z-axis mechanism bottom, is equiped with below rotating mechanism
Sucker clamp.
A kind of 4. carton automatic docking device according to claim 3, it is characterised in that：The X-axis mechanism, Y-axis mechanism
With Z-axis mechanism respectively using spherical guide guiding and Serve Motor Control, and the rail length of X-axis mechanism is more than the transverse direction of frame
Distance, the guide rail of X-axis mechanism are stretched out in the left front of frame.
A kind of 5. carton automatic docking device according to claim 4, it is characterised in that：The supplied materials wire body is positioned at stretching
In the lower section of the guide rail of the X-axis mechanism of the left front of frame, row's roller bearing is equiped with supplied materials wire body, carton is placed on row rolling
On axle, and pass through roller bearing cartons.
A kind of 6. carton automatic docking device according to claim 5, it is characterised in that：The right-hand member dress of the supplied materials wire body
Provided with the accurate carton positioning baffle of four axis robot feedings can be ensured.
A kind of 7. carton automatic docking device according to claim 3, it is characterised in that：The sucker clamp includes sucker
Fixed plate, four angular positions of the sucker fixed plate are adjustably equiped with one group of sucker respectively, are inhaled using four suckers
Take product.
A kind of 8. carton automatic docking device according to claim 1, it is characterised in that：The carton is cube structure
Or rectangular parallelepiped structure, the carton of cube structure can stacking into 3x3x6 specifications regular stacking；The carton energy of rectangular parallelepiped structure
It is enough to realize the stacking that interlocks.
A kind of 9. carton automatic docking device according to claim 1, it is characterised in that：The clamp include disc seat and
Interval is installed in three groups of fixture blocks on disc seat, forms fork pockets per between two adjacent groups fixture block, the top of three groups of fixture blocks is equiped with
Stacking supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720669604.4U CN206885459U (en) | 2017-06-09 | 2017-06-09 | A kind of carton automatic docking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720669604.4U CN206885459U (en) | 2017-06-09 | 2017-06-09 | A kind of carton automatic docking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885459U true CN206885459U (en) | 2018-01-16 |
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ID=61318133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720669604.4U Active CN206885459U (en) | 2017-06-09 | 2017-06-09 | A kind of carton automatic docking device |
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| Country | Link |
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| CN (1) | CN206885459U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116830A (en) * | 2019-05-21 | 2019-08-13 | 广东大市智能装备有限公司 | A kind of intelligence encapsulation stacking machine |
| CN111086888A (en) * | 2020-01-19 | 2020-05-01 | 浙江工业大学 | Automatic stacking method and system of manipulator |
| CN116969197A (en) * | 2023-08-29 | 2023-10-31 | 江苏东宇工程机械有限公司 | Full-automatic stacker crane for material transportation |
-
2017
- 2017-06-09 CN CN201720669604.4U patent/CN206885459U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116830A (en) * | 2019-05-21 | 2019-08-13 | 广东大市智能装备有限公司 | A kind of intelligence encapsulation stacking machine |
| CN111086888A (en) * | 2020-01-19 | 2020-05-01 | 浙江工业大学 | Automatic stacking method and system of manipulator |
| CN116969197A (en) * | 2023-08-29 | 2023-10-31 | 江苏东宇工程机械有限公司 | Full-automatic stacker crane for material transportation |
| CN116969197B (en) * | 2023-08-29 | 2024-01-09 | 江苏东宇工程机械有限公司 | Full-automatic stacker crane for material transportation |
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