CN206952997U - A kind of cable wire robot for capturing the packed former cigarette bag of fabric - Google Patents
A kind of cable wire robot for capturing the packed former cigarette bag of fabric Download PDFInfo
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- CN206952997U CN206952997U CN201720476843.8U CN201720476843U CN206952997U CN 206952997 U CN206952997 U CN 206952997U CN 201720476843 U CN201720476843 U CN 201720476843U CN 206952997 U CN206952997 U CN 206952997U
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- cable wire
- packed
- fabric
- frame
- crawl
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Abstract
It the utility model is related to a kind of packed Yuan Yan Baogangs rope robot of crawl fabric, for tobacco redrying enterprise, the equipment capture and carry of former cigarette bag packed to fabric.Cable wire robot includes four cable wires, four servomotors, four decelerators, four tenslators, a grabbing device, frame and the controller with closed-loop control software and formed；Wherein, frame uses door type structure, frame both sides are respectively equipped with one group of extension and retraction system being made up of two servomotors, two decelerators, two tenslators and four cable wires, one termination grabbing device of every cable wire, after the every cable wire other end passes through tenslator, it is connected with the cable wire folding and unfolding dish in decelerator, four tenslators are each arranged on four Angle Positions of gate-type upper rack, and a wheel is respectively housed at four stent foots of gate-type bottom of the frame.Cable wire robot, which substitutes, is manually carried and is captured the packed former cigarette job contract work of fabric, is improved operating efficiency, is eliminated artificial body and damage, can be widely used in the other industry of the packed former cigarette bag class material crawl of fabric and carrying.
Description
Technical field
A kind of packed Yuan Yan Baogangs rope robot of crawl fabric is the utility model is related to, is mainly used in tobacco redrying enterprise
Industry, the equipment capture and carry of former cigarette bag packed to fabric.Also it is widely used in the packed former cigarette bag class thing of fabric
Material crawl and the other industry carried.
Background technology
At present, tobacco redrying enterprise, when being put in storage to the packed former cigarette bag of fabric, or under generally using manually
Car, people's frock code basket column, then artificial storage；Using manually getting off, the goods yard of pile is then transported to.Both approaches are all
Need to consume substantial amounts of manpower and materials, and the labor intensity for manually carrying the packed former cigarette bag of fabric is big, manually get off,
Tobacco leaf is damaged during filling basket column larger, while also worker's body of long campaigns this work produced irreversible
Infringement.
The content of the invention
The utility model is in order to solve the above-mentioned problems of the prior art, there is provided one kind substitutes and manually carried and grabbed
Take the packed Yuan Yan Baogangs rope robot of crawl fabric of the packed former cigarette bag of fabric.
The purpose of this utility model is achieved through the following technical solutions.The packed Yuan Yan Baogangs rope machinery of one kind crawl fabric
People is by cable wire draw off gear, a grabbing device（5）, frame（6）Formed with the controller with closed-loop control software, each cable wire
Draw off gear is by a cable wire（4）, a servomotor（1）, a decelerator（2）With a tenslator（3）Composition,
Wherein every cable wire（4）One end be passed through frame（6）Top tenslator（3）Afterwards, with decelerator（2）In steel
Rope folding and unfolding dish connects, four tenslators（3）It is separately mounted to frame（6）Four, top Angle Position, four cable wires（4）'s
The other end is jointly and grabbing device（5）Connection, the controller with closed-loop control software control four servomotors simultaneously（1）Work
Make, realize the stretching or recovery of rope length, every cable wire（4）One end and connect grabbing device（5）Connection, realize crawl dress
Put（5）With the packed former cigarette bag of fabric（8）The motion of space three degree of freedom.
The servomotor（1）With decelerator（2）Connected by sprocket wheel or gear, tenslator（3）Slided to be common
Wheel or the pulley with auto-lock function, tenslator（3）For the strength for the stretching for checking cable wire.
The grabbing device（5）For common hook or manipulator, grabbing device（5）With four cable wires（4）One end be total to
With connection, grabbing device（5）Remain perpendicular to the ground.
The controller control servomotor with closed-loop control software（1）Velocity of rotation, servomotor（1）Drive and slow down
Device（2）Rotate, with decelerator（2）Output end connection cable wire folding and unfolding dish rotate.
The frame（6）Using door type structure or bridge architecture, frame（6）One wheel is respectively housed at bottom bracket pin
（9）.
In use, the frame of door type structure（6）Can automatic moving to truck（7）Above park, in closed-loop control software
Control under, by four servomotors（1）, four decelerators（2）With four tenslators（3）Every cable wire is controlled respectively
（4）The stretching or recovery of length, so that grabbing device 5 is in three-dimensional space（Up and down, left and right and it is front and rear）Inside it is moved to establishment
The packed former cigarette side of wrapping of thing, after grabbing device 5 drops to the packed former Yan Bao surfaces of fabric, the electronic rudder of the bottom of grabbing device 5
Machine, which can be screwed in the crotch at tip in the packed former Yan Bao surfaces of fabric by rotation, grasps the packed former cigarette bag realization of fabric
Crawl, complete the packed former cigarette bag of fabric（8）Move（It is or mobile）Work.Grabbing device during crawl（5）All the time protect
Hold, grabbing device vertical with ground（5）With the packed former cigarette bag of fabric（8）Three-degree-of-freedom motion；Play and carried instead of artificial
With the packed former cigarette bag effect of crawl fabric.
Beneficial effect:The utility model, which substitutes, is manually carried and is captured the packed former cigarette job contract work of fabric, improves work
Make efficiency, eliminate the most effective way of artificial body's infringement.
Brief description of the drawings
The utility model content is expanded on further with reference to Figure of description.
Fig. 1 is cable wire robot schematic diagram of the present utility model；
Fig. 2 is cable wire robot A direction views of the present utility model.
In figure:1-servomotor, 2-decelerator, 3-tenslator, 4-cable wire, 5-grabbing device, 6-machine
The packed former cigarette bag of frame, 7-truck, 8-fabric.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings, but the utility model is not subject in any way
Limitation, any conversion or replacement made based on the utility model training centre, belongs to the scope of protection of the utility model.
See Fig. 1, one kind crawl packed Yuan Yan Baogangs rope mechanical device of fabric, it is characterised in that cable wire mechanical device bag
Include four tenslator 3, one of decelerator 2, four of servomotor 1, four of cable wire 4, four grabbing devices 5, the and of frame 6
Controller with closed-loop control software is formed；Wherein, the both sides of frame 6 are respectively equipped with by two servomotors, 1, two decelerator 2, two
Two groups of extension and retraction systems that the individual cable wire 4 of tenslator 3 and four is formed, a termination grabbing device 5 of every cable wire 4, every steel
After the other end of rope 4 passes through tenslator 3, it is connected with the cable wire folding and unfolding dish in decelerator 2, four tenslators 3 are each
Self installation is in four, 6 top of gate-type frame Angle Position.
The servomotor 1 is connected with decelerator 2 by sprocket wheel or gear, tenslator 3 be common pulley or
Pulley with auto-lock function, tenslator 3 are used for the strength for checking the stretching of cable wire.
The grabbing device 5 is connected jointly for common hook or manipulator, grabbing device 5 with one end of four cable wires 4,
Grabbing device 5 remains perpendicular to the ground, realizes the space three degree of freedom of grabbing device 5 and the packed former cigarette bag 8 of fabric
Motion；
The described control velocity of rotation of servomotor 1 of the controller with closed-loop control software, servomotor 1 drive decelerator
Rotate, drive the cable wire folding and unfolding dish being connected with the output end of decelerator 2 to rotate, realize the stretching or recovery of the length of cable wire 4.
The frame 6 uses door type structure or bridge architecture, and a wheel is respectively housed at the stent foot of frame 6 bottom 4.
A kind of packed Yuan Yan Baogangs rope robot of crawl fabric of the utility model mainly includes four cable wires 4, servo electricity
Machine 1, decelerator 2, tenslator 3, grabbing device 5, frame 6, closed-loop control software etc. form；Grabbing device 5 is located at four
The front end of bar cable wire, servomotor 1, decelerator 2, tenslator 3 realize four cable wires 4 under the control of closed-loop control software
Length is stretched out and recovery, realizes the three-degree-of-freedom motion of grabbing device 5 and the packed former cigarette bag 8 of fabric, and grabbing device 5 is protected all the time
Hold perpendicular to the ground.
During work, the packed former cigarette bag 8 of fabric is transported to the utility model cable wire robot portal support 1 by truck 7
Lower section, cable wire robot detect the packed former position of cigarette bag 8 of fabric by miscellaneous equipment and positional information are transmitted to cable wire machine
Device people.Cable wire robot realizes steel by servomotor 1, decelerator 2, tenslator 3 under the control of closed-loop control software
The length of rope 4 is stretched out and recovery, four rope length degree of cable wire 4 of control so that grabbing device 5 that fabric is moved in space is packed
The former top of cigarette bag 8, after grabbing device 5 is placed on the packed former surface of cigarette bag 8 of fabric, grabbing device 5 captures the packed original of fabric
Cigarette bag 8, after crawl, cable wire robot changes the length that four cable wires 4 are restricted again, can make grabbing device 5 and the packed former cigarette of fabric
Bag 8 discharges the packed former cigarette bag 8 of fabric again after being moved to the position for needing to place together.
Claims (5)
1. one kind crawl the packed Yuan Yan Baogangs rope robot of fabric, it is characterised in that cable wire robot by cable wire draw off gear,
One grabbing device（5）, frame（6）Formed with the controller with closed-loop control software, each cable wire draw off gear is by a steel
Rope（4）, a servomotor（1）, a decelerator（2）With a tenslator（3）Composition, wherein every cable wire（4）
One end be passed through frame（6）Top tenslator（3）Afterwards, with decelerator（2）In cable wire folding and unfolding dish connection, four
Individual tenslator（3）It is separately mounted to frame（6）Four, top Angle Position, four cable wires（4）The other end jointly with grabbing
Take device（5）Connection, the controller with closed-loop control software control four servomotors simultaneously（1）Work, realizes rope length
Stretching or recovery, every cable wire（4）One end and connect grabbing device（5）Connection, realizes grabbing device（5）With fabric bag
Fill former cigarette bag（8）The motion of space three degree of freedom.
2. the crawl packed Yuan Yan Baogangs rope robot of fabric according to claim 1, it is characterised in that the servo electricity
Machine（1）With decelerator（2）Connected by sprocket wheel or gear, tenslator（3）For common pulley or with auto-lock function
Pulley, tenslator（3）For the strength for the stretching for checking cable wire.
3. the crawl packed Yuan Yan Baogangs rope robot of fabric according to claim 1, it is characterised in that the crawl dress
Put（5）For common hook or manipulator, grabbing device（5）With four cable wires（4）One end connect jointly, grabbing device（5）
Remain perpendicular to the ground.
4. the crawl packed Yuan Yan Baogangs rope robot of fabric according to claim 1, it is characterised in that the band closed loop
The controller control servomotor of control software（1）Velocity of rotation, servomotor（1）Drive decelerator（2）Rotate, with decelerator
（2）Output end connection cable wire folding and unfolding dish rotate.
5. the crawl packed Yuan Yan Baogangs rope robot of fabric according to claim 1, it is characterised in that the frame
（6）Using door type structure or bridge architecture, frame（6）One wheel is respectively housed at bottom bracket pin（9）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720476843.8U CN206952997U (en) | 2017-05-02 | 2017-05-02 | A kind of cable wire robot for capturing the packed former cigarette bag of fabric |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720476843.8U CN206952997U (en) | 2017-05-02 | 2017-05-02 | A kind of cable wire robot for capturing the packed former cigarette bag of fabric |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206952997U true CN206952997U (en) | 2018-02-02 |
Family
ID=61374207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720476843.8U Active CN206952997U (en) | 2017-05-02 | 2017-05-02 | A kind of cable wire robot for capturing the packed former cigarette bag of fabric |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206952997U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571523A (en) * | 2018-12-18 | 2019-04-05 | 云南烟叶复烤有限责任公司 | A kind of complete or redundant constaint flexible cable flexible cable crawl robot |
-
2017
- 2017-05-02 CN CN201720476843.8U patent/CN206952997U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571523A (en) * | 2018-12-18 | 2019-04-05 | 云南烟叶复烤有限责任公司 | A kind of complete or redundant constaint flexible cable flexible cable crawl robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 650051 No. 6 Renmin Middle Road, Yunnan, Kunming Patentee after: YUNNAN KSEC DESIGN RESEARCH INSTITUTE Co.,Ltd. Address before: 650051 No. 6 Renmin Middle Road, Yunnan, Kunming Patentee before: Yunnan Kunchuan Design and Research Institute |