CN207275752U - A kind of Lamina bale unstacking and stacking machine device people's fixture - Google Patents
A kind of Lamina bale unstacking and stacking machine device people's fixture Download PDFInfo
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- CN207275752U CN207275752U CN201721173050.5U CN201721173050U CN207275752U CN 207275752 U CN207275752 U CN 207275752U CN 201721173050 U CN201721173050 U CN 201721173050U CN 207275752 U CN207275752 U CN 207275752U
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- clamping device
- clamp arm
- lamina bale
- stacking
- unstacking
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Abstract
A kind of Lamina bale unstacking and stacking machine device people's fixture is the utility model is related to, the robot that especially a kind of Redrying Factory, tobacco factory, tobacco leaf warehouse are used to capture Lamina bale tears clamp for stacking structure technology open, belongs to robot clamp field.Robot fixture includes rack, ring flange, support frame, the first clamping device and the second clamping device, ring flange is used to be connected with robot, support frame is connected with ring flange, and the first clamping device and the second clamping device are symmetrically mounted in rack side by side by ring flange.Robot Lamina bale stacking is allowed to be possibly realized, that improves Lamina bale tears stacking efficiency open.This clamp structure has automatic centering function, being capable of adjust automatically cigarette package location so that the pile type uniformity of stacking is higher, allows robot Lamina bale stacking into being possibly realized；This clamp structure is provided with pallet grasping mechanism, and same fixture is crawl and the pallet code division function that Lamina bale can be achieved, and the degree of automation is improved while reducing apparatus for production line.
Description
Technical field
It the utility model is related to a kind of Lamina bale unstacking and stacking machine device people's fixture, especially a kind of Redrying Factory, tobacco factory, tobacco leaf
The robot that warehouse is used to capture Lamina bale tears clamp for stacking structure technology open, belongs to robot clamp field.
Background technology
Modern cigarette industry production in, after the widely used redrying of tobacco leaf throwing precompressed be packaged into the piece tobacco leaf of certain specification
Carton cigarette bag (i.e. Lamina bale).At present, domestic Redrying Factory, tobacco factory, tobacco leaf warehouse adopt the in/out library production line of Lamina bale
Stacking or de-stacking operation are carried out to Lamina bale with special stacking machine, stacking machine work efficiency is low, backward in technique.With " mutually
Networking+intelligence is made " propulsion of concept, the stacking that Lamina bale is carried out using stacking machine has been unable to meet the need of the intelligent production of tobacco
Will, the stacking that Lamina bale is carried out using robot is increasingly becoming a new development trend, yet with piece cigarette piece weight
Reach more than 220kg, once capture two pieces piece cigarette weight and reach 450kg or so, ordinary robot's fixture is difficult to realize, it is necessary to grind
Make special fixture and be possibly realized so as to carry out piece cigarette using robot and tear stacking open.
Utility model content
To solve the above-mentioned problems of the prior art, the utility model proposes a kind of compact-sized, there is automatic centering
Function and pallet crawl function, the Lamina bale suitable for single bag or double-contracting crawl tear clamp for stacking open, it is possible to achieve robot pair
Lamina bale carries out tearing palletizing operation open.
The utility model solves its technical problem and adopts the following technical scheme that realization.A kind of Lamina bale unstacking and stacking machine device people
Fixture, it is characterised in that including：Rack, the first clamping device, the folders of the first clamping device II, the first clamping device II and second
Device I is held to be mounted side by side in rack.
The rack is made of ring flange and support frame, and ring flange is used to be connected with robot, support frame and method
Blue disk is connected, its geomery is adapted with the first clamping device and the second clamping device I.
First clamping device includes the line slideway being connected with support frame, is connected on straight-line guide rail slide block
Clamp arm, one end is fixed with heavy cylinder in clamp arm, and heavy cylinder is connected by big knuckle joint with telescopic rod one end, and telescopic rod is another
One end is fixed on the other end of clamp arm, and heavy cylinder directly drives clamp arm to stretch when flexible, is realized the crawl of cigarette bag and is placed.Even
One end of bar is connected by knuckle joint with clamp arm, and the other end is connected by knuckle joint with connecting plate, and connecting rod can be along knuckle joint axis
Direction rotates, and connecting plate is hinged with rotating disk, can be rotated along rotating disk axis direction, rotating disk is fixed on support frame
On, when heavy cylinder stretches, connecting rod rotates therewith, and auxiliary drives that clamp arm is opened or tightening, the structure make clamp arm shrink every time
The position consistency opened, the cigarette package location of clamping are fixed, and ensure that pile type is consistent.Grip block is fixed on the clip position of clamp arm, with piece
Cigarette cigarette bag directly contacts, using the material that friction coefficient is larger.Tumble cylinder one end is fixed in clamp arm, and one end passes through Y type elbows
Connector connecting trays fixture, pallet grippers are hinged with clamp arm, and pallet grippers upset is driven when tumble cylinder is flexible, and heavy cylinder is stretched
Contracting drives tumble cylinder to stretch together, to adapt to tray position, holding tray.
The first clamping device II structures are identical with the second clamping device, can be according to the single bag of once crawl or double-contracting need
Select only to install and use the first clamping device II or the two is installed and used at the same time.
Clamp structure provided by the utility model is provided with pallet grasping mechanism, and same fixture is that Lamina bale can be achieved
Crawl and pallet code division function, the degree of automation is improved while reducing apparatus for production line.
Utility model works principle is：By taking stacking as an example, after robot starts, first, robot crawl empty pallet
The empty pallet that supplied materials front end is unloaded by artificial fork truck, after judging empty pallet height by detection device, pallet grippers 13 are overturn, machine
People is run to empty pallet overcentre position, subsequently falls to position, and cigarette sandwiches arm 12 and shrinks, and pallet grippers 13 clamp empty support
Disk is simultaneously carried to piling station, and cigarette sandwiches arm 12 and opens, and pallet grippers overturn 12 returns, completes an empty pallet grasping movement,
Empty pallet grasping movement is acted until completing task more than repeating.
Following robot proceeds by cigarette bag stacking, and cigarette bag is divided into two pieces form, machine by cigarette bag supplied materials front end automatically
People is run to the supplied materials cigarette side of wrapping, and is then fallen into place, and cigarette sandwiches arm 12 and shrinks, clamping two pieces Yan Bao both sides, then by cigarette bag
It is carried on the empty pallet in piling station, cigarette sandwiches arm 12 and unclamps, and it is conventional up to completing 2 × 2 cigarette bags to repeat action above
Ready-made tray group, stacking are completed, and are delivered to next station by conveyer, robot enters the pallet circulation that uses leisure moments.In addition, occurring
In the case that tail bag is 1,2,3 cigarette bag, into end of line bag pallet stacking, crawl flow and above-mentioned 2 × 2 cigarette packages disk-form one
Cause, only the first clamping device works when capturing single bag.
The utility model beneficial effect is：A kind of Lamina bale fixture used for robot is provided, allows robot piece
Cigarette cigarette bag stacking is possibly realized, and that improves Lamina bale tears stacking efficiency open.Clamp structure provided by the utility model has automatic
Alignment function, being capable of adjust automatically cigarette package location so that the pile type uniformity of stacking is higher, improves out warehouse-in efficiency.
Brief description of the drawings
The content of the utility model is expanded on further with reference to Figure of description.
Fig. 1 is the utility model three-dimensional structure diagram；
Fig. 2 is the main view direction structure figure of the utility model rack；
Fig. 3 is utility model works view；
In figure, I- racks, the first clamping device, III- the second clamping device I, 1- ring flanges, 2- support frames, 3- cunnings
Block, 4- line slideways, 5- knuckle joints, 6- heavy cylinders, 7- connecting rods, 8- rotating disks, the big knuckle joints of 9-, 10- connecting plates, 11- stretch
Contracting bar, 12- clamp arm, 13- tumble cylinders, 14- grip blocks, 15- pallet grippers, 16-Y type knuckle joints.
Embodiment
See Fig. 1, Fig. 2, Fig. 3, a kind of Lamina bale unstacking and stacking machine device people's fixture of the utility model includes：Rack I, the first folder
Device II is held, the second clamping device III, the first clamping device II and the second clamping device III is mounted side by side on rack I.
Specifically, rack I is made of ring flange 1 and support frame 2, and ring flange 1 is used to be connected with robot, support frame
2 are connected with ring flange 1, its geomery is adapted with the first clamping device II and the second clamping device III.
Specifically, the first clamping device II includes the line slideway 4 being connected with support frame 2, is connected to line slideway 4
Clamp arm 12 on sliding block 3, is fixed with heavy cylinder 6 in left clamp arm 12, heavy cylinder 6 passes through big knuckle joint 9 and telescopic rod 11 1
End is connected, and 11 other end of telescopic rod is fixed in right clamp arm 12, directly drives left and right clamp arm 12 flexible when heavy cylinder 6 stretches,
Realize the crawl of cigarette bag and place.One end of left connecting rod 7 is connected by knuckle joint 5 with left clamp arm 12, the other end by knuckle joint 5 with
10 left end of connecting plate connects, and left connecting rod 7 can be rotated along 5 axis direction of knuckle joint, and connecting plate 10 is hinged with rotating disk 8, Ke Yiyan
The rotation of 8 axis direction of rotating disk, rotating disk 8 is fixed in support frame 2, and the connection mode of left linkages 7 is identical, heavy gas
When cylinder 6 stretches, connecting rod 7 rotates therewith, and auxiliary drives left and right clamp arm 12 to open or tighten, which makes the contraction every time of clamp arm 12
The position consistency opened, the cigarette package location of clamping are fixed, and ensure that pile type is consistent.Grip block 14 is fixed on the clip position of clamp arm, with
Lamina bale directly contacts, using the material that friction coefficient is larger.Tumble cylinder 13 one end in left and right is separately fixed at left and right clamp arm
On 12, one end is by 16 connecting trays fixture 15 of Y types knuckle joint, and pallet grippers 15 are hinged with clamp arm 12, left and right tumble cylinder 13
Pallet grippers 15 are driven to overturn when flexible, heavy cylinder 6 is flexible to drive tumble cylinder 13 to stretch together, so that pallet grippers 15 are suitable
Answer tray position.
The present embodiment is specifically mounted with the first clamping device II and the second clamping device III at the same time, can meet single bag or
The crawl requirement of double-contracting.
The utility model tears Lamina bale open clamp for stacking in robot by ring flange 1.
Claims (7)
- A kind of 1. Lamina bale unstacking and stacking machine device people's fixture, it is characterised in that including：Rack (I), ring flange (1), support frame (2), the first clamping device (II) and the second clamping device (III), ring flange (1) are used to be connected with robot, support frame (2) It is connected with ring flange (1), the first clamping device (II) and the second clamping device (III) are symmetrically installed side by side by ring flange (1) In rack (I).
- A kind of 2. Lamina bale unstacking and stacking machine device people's fixture according to claim 1, it is characterised in that first clamping Device (II) includes the line slideway (4) being connected with support frame (2), the clamp arm being connected on line slideway (4) sliding block (3) (12), one end is fixed with heavy cylinder (6) in clamp arm (12), and heavy cylinder (6) passes through big knuckle joint (9) and telescopic rod (11) one End is connected, and telescopic rod (11) other end is fixed on the other end of clamp arm (12), and heavy cylinder (6) directly drives clamp arm when flexible (12) stretch, realize the crawl of cigarette bag and placement process.
- A kind of 3. Lamina bale unstacking and stacking machine device people's fixture according to claim 2, it is characterised in that first clamping Include connecting rod (7) in device (II), connecting rod (7) one end is connected by knuckle joint (5) with clamp arm (12), and the other end passes through knuckle joint Head (5) is connected with connecting plate (10), and connecting rod (7) can be rotated along knuckle joint (5) axis direction, connecting plate (10) and rotating disk (8) Hinged, connecting plate (10) can be rotated along rotating disk (8) axis direction, and rotating disk (8) is fixed in support frame (2), weight When type cylinder (6) stretches, connecting rod (7) rotates therewith, and auxiliary drives clamp arm (12) to open or tighten, this structure makes clamp arm (12) every Secondary to shrink the position consistency opened, the cigarette package location of clamping is fixed, and ensures that pile type is consistent.
- A kind of 4. Lamina bale unstacking and stacking machine device people's fixture according to claim 3, it is characterised in that first clamping Include grip block (14) in device (II), grip block (14) is fixed on the clip position of clamp arm (12), grip block (14) and piece Cigarette cigarette bag directly contacts；Tumble cylinder (13) one end is fixed in clamp arm (12), and the other end is connected by Y types knuckle joint (16) and held in the palm Plate clamp (15), pallet grippers (15) are hinged with clamp arm (12), and pallet grippers (15) upset is driven when tumble cylinder (13) is flexible, Heavy cylinder (6) is flexible to drive tumble cylinder (13) to stretch together, to adapt to tray position, holding tray.
- A kind of 5. Lamina bale unstacking and stacking machine device people's fixture according to claim 1 or 3, it is characterised in that described first Clamping device (II) structure is identical with the second clamping device (III), is needed according to the single bag of once crawl or double-contracting, selection is only installed Using the first clamping device (II) or the two install and use at the same time.
- A kind of 6. Lamina bale unstacking and stacking machine device people's fixture according to claim 1, it is characterised in that the support frame (2) its geomery and the first clamping device (II) and the second clamping device (III) are adapted.
- A kind of 7. Lamina bale unstacking and stacking machine device people's fixture according to claim 4, it is characterised in that the grip block (14) made of the larger material of friction coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721173050.5U CN207275752U (en) | 2017-09-13 | 2017-09-13 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721173050.5U CN207275752U (en) | 2017-09-13 | 2017-09-13 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
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| CN207275752U true CN207275752U (en) | 2018-04-27 |
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| CN201721173050.5U Active CN207275752U (en) | 2017-09-13 | 2017-09-13 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
| CN109987411A (en) * | 2019-03-23 | 2019-07-09 | 凤台县农业科学研究所 | A kind of mobile device filling packet transport for cereal |
| CN110733891A (en) * | 2019-11-07 | 2020-01-31 | 云南昆船电子设备有限公司 | Automatic type thin film removing system for cigarette cartons |
| CN113291761A (en) * | 2021-06-05 | 2021-08-24 | 江西中烟工业有限责任公司 | Cigarette finished paper sliding support ex-warehouse box turnover device |
-
2017
- 2017-09-13 CN CN201721173050.5U patent/CN207275752U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458887A (en) * | 2017-09-13 | 2017-12-12 | 云南昆船电子设备有限公司 | A kind of Lamina bale unstacking and stacking machine device people's fixture |
| CN109987411A (en) * | 2019-03-23 | 2019-07-09 | 凤台县农业科学研究所 | A kind of mobile device filling packet transport for cereal |
| CN110733891A (en) * | 2019-11-07 | 2020-01-31 | 云南昆船电子设备有限公司 | Automatic type thin film removing system for cigarette cartons |
| CN113291761A (en) * | 2021-06-05 | 2021-08-24 | 江西中烟工业有限责任公司 | Cigarette finished paper sliding support ex-warehouse box turnover device |
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