CN207748110U - Wrapping integration apparatus based on robot technology - Google Patents
Wrapping integration apparatus based on robot technology Download PDFInfo
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- CN207748110U CN207748110U CN201721638602.5U CN201721638602U CN207748110U CN 207748110 U CN207748110 U CN 207748110U CN 201721638602 U CN201721638602 U CN 201721638602U CN 207748110 U CN207748110 U CN 207748110U
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Abstract
The utility model is related to mechanical engineerings and technical field of automation, in particular to a kind of wrapping integration apparatus based on robot technology, including：Frame body and box opening device in frame body send draw box mechanism and feed mechanism and boxing mechanism.Box opening device includes the feeding mechanism suitable for transfer plate official form for filing a lawsuit case and the unpacking mechanism suitable for unpacking to plate carton, and unpacking mechanism includes articulated robot and the unpacking component on the articulated robot；Draw box mechanism is sent, includes the connecting assembly for uncased carton of plugging into, and box assembly is sent suitable for the uncased carton of push.Feed mechanism is set in host cavity, and crated product is waited for for transmitting.Boxing mechanism includes connecing case band and vanning robot from the uncased carton for sending box assembly to transmit suitable for plugging into.The utility model is using Highgrade integration by the integrated process of unpacking and case of cardboard, and compact-sized, space is small.
Description
Technical field
The utility model is related to mechanical engineerings and technical field of automation, and robot skill is based in particular to one kind
The wrapping integration apparatus of art.
Background technology
The conveying direction of paper storehouses and carton is vertical in the unpacking mode of traditional corrugated board, therefore space.Together
When this requirement of layout type to carton of unpacking it is stringenter, it is desirable that pattern or character on carton need unification.In fact, objective
Family sometimes will appear same product from cost and the angle of management and the carton of two kinds of packing specifications or size needed to be wrapped
Dress, it is possible to will appear symmetrical pattern.Traditional opening apparatus or unpacking mode there is problem in terms of compatibility, need
Big change is compared to equipment.Small in some space layouts, the compact place of workshop can not just use such equipment.
Utility model content
The purpose of this utility model is to provide a kind of wrapping integration apparatus based on robot technology, to solve height
It is integrated ground one solve cardboard unpack and vanning the technical issues of.
What a kind of wrapping integration apparatus based on robot technology of the utility model was realized in：
A kind of wrapping integration apparatus based on robot technology, including：
Frame body has a host cavity；
Box opening device is set in the host cavity, includes suitable for the feeding mechanism of transfer plate official form for filing a lawsuit case and suitable for plate
The unpacking unpacking mechanism of carton, the unpacking mechanism include articulated robot and unpacking group on the articulated robot
Part；
Draw box mechanism is sent, is set in the host cavity, suitable for the uncased carton of unpacking mechanism of plugging into, including is used to connect
The connecting assembly of uncased carton is refuted, and box assembly is sent suitable for the uncased carton of push；
Feed mechanism is set in the host cavity, and crated product is waited for for transmitting, including one waits for crated product suitable for transmission
Cycle rotation feeding belt；And
Boxing mechanism is set in the host cavity, includes suitable for plugging into from the uncased paper for sending box assembly to transmit
Case meets case band and the vanning robot waited in crated product to uncased carton suitable for pipetting the feed mechanism transmission.
Further, the feeding mechanism includes being suitable for transmitting the transfer assembly for waiting for unpacking plate carton；The plate
Two horizontal end faces of carton are equipped with suitable for plate carton is pushed away folding with unpacking folding line；
The unpacking component includes the main absorbent module suitable for the horizontal end face of the folding line side of adsorption plate official form for filing a lawsuit case, with
And the secondary absorbent module of the horizontal end face of the above-mentioned folding line other side suitable for adsorption plate official form for filing a lawsuit case；The main absorbent module and secondary suction
Attached component is connected by a bending component, to realize that the secondary absorbent module is connected or vertical phase with the level of main absorbent module
Even；And
Articulated robot is connected with the main absorbent module, is suitable for driving main absorbent module movement.
Further, the main absorbent module include several main suckers suitable for adsorption plate official form for filing a lawsuit case, be assemblied in it is described more
Main connecting plate that is on the machine of joint and being connected with the main sucker, and be assemblied on the main sucker and promote mainly plate；
The adsorption plane of the main sucker promotes mainly end face of the plate relative to plate carton described in protruding from；And
It is described pair absorbent module include it is several suitable for the accessory sucker of adsorption plate official form for filing a lawsuit case, for fixing several accessory suckers
Secondary connecting plate, and the secondary push plate that is assemblied on the accessory sucker；
It is connected by bending component between the main connecting plate and secondary connecting plate.
Further, it is described bending component include one be connected with the main connecting plate positioned at the main connecting plate with it is described
The link between plate, the rotation seat being fixed on the link, the V-type frame being rotationally connected on the rotation seat are promoted mainly,
And the telescopic cylinder being connected with V-type frame one end；
The fixing end of the telescopic cylinder is connect by a connecting shaft with the link；And
The V-type frame includes base portion and two tip extensions being connected respectively with base portion, and one of tip extension is stretched with described
The telescopic end of contracting cylinder is rotatedly connected；Another tip extension is connected with the secondary connecting plate；The wing being connected with the secondary connecting plate
End is using the arcuate structure to turn up.
Further, the articulated robot is by machine shaft one, machine shaft two, machine shaft three, machine shaft four, machine shaft
Five and machine shaft six be in turn connected to form six axis rotational structures；Wherein
The machine shaft six is connect with main connecting plate；
The machine shaft six can be relative to five rotation of machine shaft；The machine shaft five can be relative to four rotation of machine shaft；With
And the machine shaft four can be relative to three rotation of machine shaft.
Further, the transfer assembly includes one group of support base disposed in parallel suitable for accommodating plate-shaped carton, institute
It states the both ends of support base along its length and is respectively equipped with a rotating wheel；
The support base and the feeding belt and to connect case band parallel；And
It is respectively arranged between the rotating wheel at support base both ends and is arranged with a conveyer belt, which is set in the support
On pedestal, i.e., being moved to articulated robot for plate carton is driven by the cycle rotation of conveyer belt.
Further, the connecting assembly includes being suitable for absorbent module of the absorption through the uncased carton of box opening device, with
And it is used to support the supporting rack of the fixed connecting assembly；
It is described that send box assembly include being suitable for by servo driver drives making its cycle rotation set on support frame as described above bottom
Conveyer belt, i.e. support frame as described above is suitable for synchronizing conveyer belt being followed to move；And
The case band that connects is equipped with several vanning stations for fixing uncased carton.
It is further, described that send draw box mechanism further include that one be assemblied on support frame as described above by rotation axis can be relative to rotation
The pushing frame of the dynamic V-type of shaft rotation, the pushing frame includes the pedestal being connected with the rotation axis, and be connected respectively with pedestal
Two flanks to turn up, one flank are connected by a rotating connector with the telescopic end of a driving cylinder, another flank connection
There is a compression bar for being suitable for push plate official form for filing a lawsuit case；I.e.
When compression bar touches plate carton, driving cylinder stretches out, and driving compression bar push plate official form for filing a lawsuit case makes plate carton edge
Folding line fold molding.
Further, the feed mechanism is set between the feeding mechanism and boxing mechanism and the feed mechanism
The uncased carton that one is suitable for adsorbing on the articulated robot is formed between the bottom of the frame body to pass through with transmission
To the activity interval of the connecting assembly.
Further, the wrapping integration apparatus further includes being set in host cavity and being located at feed mechanism and recrater
Joint sealing mechanism above structure.
The utility model embodiment has the advantages that：Using Highgrade integration by the unpacking and crater of cardboard
Sequence integration, compact-sized, space is small, and the workshop suitable for different workshops is made to use.It is integrated using robot technology
Control system so that the operability of equipment is stablized, and efficiency improves.Opening for corrugated board is realized by using articulated robot
Case, speed of not only unpacking is fast, and flexibility is high, and is applicable to the corrugated board of different size specification.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 shows the first visual angle of the wrapping integration apparatus provided by the utility model based on robot technology
Structural schematic diagram；
Second visual angle of Fig. 2 shows the provided by the utility model wrapping integration apparatus based on robot technology
Structural schematic diagram；
Fig. 3 shows the third visual angle of the wrapping integration apparatus provided by the utility model based on robot technology
Structural schematic diagram；
Fig. 4 show the wrapping integration apparatus feeding mechanism provided by the utility model based on robot technology and
The structural schematic diagram for the mechanism that unpacks；
Fig. 5 shows the portions A enlarged drawing in Fig. 4；
Fig. 6 shows the unpacking component of the wrapping integration apparatus provided by the utility model based on robot technology
Original state schematic diagram before unpacking；
Fig. 7 shows the unpacking component of the wrapping integration apparatus provided by the utility model based on robot technology
End-state schematic diagram after unpacking；
Fig. 8 shows the bending component of the wrapping integration apparatus provided by the utility model based on robot technology
Structural schematic diagram；
What Fig. 9 showed the wrapping integration apparatus provided by the utility model based on robot technology send draw box mechanism
With the structural schematic diagram of boxing mechanism；
What Figure 10 showed the wrapping integration apparatus provided by the utility model based on robot technology send punch-out equipment
The structural schematic diagram of structure.
In figure：Frame body 1, feeding mechanism 2, send draw box mechanism 4, feed mechanism 5, feeding belt 51, boxing mechanism at the mechanism 3 that unpacks
6, case robot 7, activity interval 8, joint sealing mechanism 9, main sucker 101, main connecting plate 102, promote mainly plate 104, accessory sucker 201,
Secondary connecting plate 203, secondary push plate 205, link 301, rotation seat 302, V-type frame 303, telescopic cylinder 305, connecting shaft 308, base portion
3031, tip extension 3032, machine shaft 1, machine shaft 2 402, machine shaft 3 403, machine shaft 4 405, machine shaft 5 407,
Machine shaft 6 408, rotating wheel 502, plate carton 600, folding line 601, long end face 603, short end face 605, is inhaled at support base 501
Attached component 701, conveyer belt 705, connects case band 802, pedestal 901, rotation axis 902, flank 903, driving cylinder at supporting rack 703
905, compression bar 908, rotating connector 910.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with this practicality
The technical solution in the utility model embodiment is clearly and completely described in attached drawing in novel embodiment, shows
So, described embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on this practicality
Embodiment in novel, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Therefore, the detailed description of the embodiment of the utility model provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the utility model of protection is sought, but is merely representative of the selected embodiment of the utility model.Based on the utility model
In embodiment, the every other implementation that those of ordinary skill in the art are obtained without creative efforts
Mode shall fall within the protection scope of the present invention.
Embodiment 1：
Shown in please referring to Fig.1 to Fig.3, the utility model provides a kind of wrapping integration based on robot technology and sets
It is standby, including：Frame body 1 and 600 box opening device of plate carton in frame body 1 send draw box mechanism 4 and feed mechanism and vanning
Mechanism.
There is frame body 1 host cavity, the outside of host cavity to be equipped with several protective doors（It is not marked in figure, to show host cavity
Internal structure, protective door have carried out hiding processing）.
Box opening device is set in host cavity, includes suitable for the feeding mechanism 2 of transfer plate official form for filing a lawsuit case 600 and suitable for plate
The unpacking unpacking mechanism 3 of carton 600, the mechanism 3 that unpacks include articulated robot and unpacking on the articulated robot
Component.Two horizontal end faces of plate carton 600 are equipped with suitable for plate carton 600 is pushed away folding with unpacking folding line 601.
Draw box mechanism 4 is sent, is set in host cavity, suitable for 3 uncased carton 600 of unpacking mechanism of plugging into, including is used to plug into
The connecting assembly of uncased carton 600, and send box assembly suitable for push uncased carton 600.
It includes the conveying for being suitable for being made by servo driver drives its cycle rotation set on 703 bottom of supporting rack to send box assembly
Band 705, i.e. supporting rack 703, which are suitable for synchronizing, follows conveyer belt 705 to move.Specifically, conveyer belt 705 is sheathed on a pair of of rotating wheel
On 502, a pair of of driving wheel includes a driving wheel and a driven wheel, and servo-driver is connected with driving wheel to drive turning for driving wheel
It is dynamic, i.e., the reciprocating movement for realizing supporting rack 703 in conveying is rotated and reverse by control driving wheel.
Feed mechanism 5 is set in the host cavity, and crated product is waited for for transmitting.Feed mechanism 5 includes one suitable for transmission
Wait for the feeding belt 51 of the cycle rotation of crated product.
Boxing mechanism 6 is set in the host cavity, includes suitable for plugging into from the uncased paper for sending box assembly to transmit
Case connects case band 802 and the vanning machine waited in crated product to uncased carton suitable for pipetting the feed mechanism transmission
People 7.
It connects case band 802 and is equipped with several vanning stations for fixing uncased carton 600.Connect case band 802 and feeding
Band 51 is arranged in parallel, convenient for the transferred product to be cased that is conveyed to feeding belt 51 to connecing case band 802.And connect case band 802 with it is defeated
Band 705 is sent to be located at same horizontal line, convenient for the transmission of plugging into of carton.Vanning robot 7 is located at feeding belt 51 and connects on case band 802
Side is suitable for wait for that crated product is transferred in the uncased carton 600 on vanning station on feeding belt 51.
Feeding mechanism 2 includes being suitable for transmitting the transfer assembly for waiting for unpacking plate carton 600, with reference to figure 9, transfer assembly packet
Include one group of support base 501 disposed in parallel suitable for accommodating plate-shaped carton 600, the both ends of support base 501 along its length
It is respectively equipped with a rotating wheel 502；And be respectively arranged between the rotating wheel 502 at 501 both ends of support base and be arranged with a conveyer belt,
The conveyer belt is set in support base 501, i.e., by the cycle rotation of conveyer belt drive plate carton 600 to multi-joint machine
Device people moves.
Support base 501 and feeding belt 51 and connect that case band 802 is parallel, and for being vertically arranged, Parallel Design has
It is compact-sized, the advantages of occupying little space, operated between support base 501 disposed in parallel and feed mechanism 5 in order to prevent
It interferes with each other, a protective plate is set between support base 501 and feeding belt 51.
Unpacking component, includes the main absorbent module of the horizontal end face of 601 side of folding line suitable for adsorption plate official form for filing a lawsuit case 600
701, and the horizontal end face of 601 other side of above-mentioned folding line suitable for adsorption plate official form for filing a lawsuit case 600 secondary absorbent module 701；Main suction
Attached component 701 is connected with secondary absorbent module 701 by a bending component, to realize secondary absorbent module 701 and main absorbent module 701
Level be connected or be vertically connected.
Refering to what is shown in Fig. 4, articulated robot, is connected with main absorbent module 701, it is suitable for that main absorbent module 701 is driven to transport
It is dynamic.Articulated robot is by machine shaft 1, machine shaft 2 402, machine shaft 3 403, machine shaft 4 405, machine shaft 5 407
It is in turn connected to form six axis rotational structures with machine shaft 6 408；Wherein machine shaft 6 408 is connect with main connecting plate 102；Machine shaft
6 408 can be relative to 5 407 rotation of machine shaft；Machine shaft 5 407 can be relative to 4 405 rotation of machine shaft；And machine shaft four
405 can be relative to 3 403 rotation of machine shaft.Articulated robot may be implemented by six axis rotational structure of gas to plate carton
600 rotation, rotation and movement.
Main absorbent module 701 includes several main suckers 101 suitable for adsorption plate official form for filing a lawsuit case 600, is assemblied in multi-joint machine
On and the main connecting plate 102 that is connected with main sucker 101, and be assemblied on main sucker 101 and promote mainly plate 104；Main sucker 101
Adsorption plane protrude from the end face for promoting mainly plate 104 relative to plate carton 600；And secondary absorbent module 701 includes several is suitable for
The accessory sucker 201 of adsorption plate official form for filing a lawsuit case 600, the secondary connecting plate 203 for fixing several accessory suckers 201, and it is assemblied in secondary suction
Secondary push plate 205 on disk 201；It is connected by bending component between main connecting plate 102 and secondary connecting plate 203.
As shown in fig.8, bending component include one be connected with main connecting plate 102 positioned at main connecting plate 102 with promote mainly plate
Link 301 between 104, the rotation seat 302 being fixed on link 301, the V-type frame being rotationally connected on rotation seat 302
303, and the telescopic cylinder 305 that is connected with 303 one end of V-type frame.The fixing end of telescopic cylinder 305 by a connecting shaft 308 with
Link 301 connects.V-type frame 303 includes base portion 3031 and two tip extensions 3032 being connected respectively with base portion 3031, wherein one
A tip extension 3032 and the telescopic end of telescopic cylinder 305 are rotatedly connected；Another tip extension 3032 is connected with secondary connecting plate 203；
The tip extension 3032 being connected with secondary connecting plate 203 is using the arcuate structure to turn up.
Refering to Fig. 6 and Fig. 7, when the telescopic rod of telescopic cylinder 305 stretches out, V-type frame 303 turns to 203 side of secondary connecting plate
Dynamic, telescopic cylinder 305 is rotated around connecting shaft 308 to be extended, and then boosts a tip extension 3032 of V-type frame 303, makes another wing tip
Portion 3032 pushes, and then the secondary absorbent module 701 being connected with the tip extension 3032 pushed is driven to rotate, and finally turning to makes to cover suction
Attached component 701 is vertical relative to main absorbent module 701；When the telescopic rod of telescopic cylinder 305 is shunk, V-type frame 303 is to flexible gas
305 side of cylinder rotates, and telescopic cylinder 305 is rotated around connecting shaft 308 to be shunk, and then presses a tip extension of V-type frame 303
3032, so that another tip extension 3032 is upwarped, and then the secondary absorbent module 701 that is connected with the tip extension 3032 upwarped is driven to rotate, most
Make secondary absorbent module 701 parallel relative to main absorbent module 701 eventually.
Refering to Fig. 6 and Fig. 7, the specific implementation principle of the unpacking component of the present embodiment is as follows：Such as by plate carton 600
Folding line 601 be set at the one third of 600 end face of plate carton, i.e., by 601 points along the crease of the end face of plate carton 600
For long end face 603 and short end face 605.Under original state, the connection parallel with secondary absorbent module 701 of main absorbent module 701, and main suction
The long end face 603 of 701 face plate carton 600 of attached component, the short end face 605 of 701 face plate carton 600 of secondary absorbent module.
Articulated robot drives the plate that the long end face 603 of 601 side of folding line of 701 adsorption plate official form for filing a lawsuit case 600 of main absorbent module makes
Carton 600 leaves transfer assembly, and folding line 601 is aligned between main absorbent module 701 and secondary absorbent module 701.Work as plate
After carton 600 thoroughly leaves transfer assembly, secondary absorbent module 701 under the action of bending component, gradually from main absorbent module
701 parallel positions tend to be vertical, during secondary absorbent module 701 is rotated relative to main absorbent module 701, secondary absorption group
Part 701 along 600 folding line of plate carton, 601 side short end face 605 generate pushing force, with secondary absorbent module 701 relative to
During main absorbent module 701 tends to be vertical, the short end face 605 of plate carton 600 is gradually vertical with long end face 603, to
Plate carton 600, which is realized, unpacks.After plate carton 600 is unpacked, 4 405 rotation of machine shaft drives main absorbent module 701 to rotate,
So that main absorbent module 701 is rotated horizontally 180 degree, realizes the synchronous rotation transposition of secondary absorbent module 701, be convenient for uncased carton
600 are transferred to connecting assembly.
Connecting assembly includes being suitable for adsorbing the absorbent module through the uncased carton of 600 box opening device of plate carton 600
701, and it is used to support the supporting rack 703 of fixed connecting assembly.
With reference to figure 10, it further includes that one be assemblied on supporting rack 703 by rotation axis 902 can be relative to rotation to send draw box mechanism 4
Axis 902 rotate V-type pushing frame, pushing frame includes the pedestal 901 being connected with rotation axis 902, and respectively with 901 phase of pedestal
Two flanks 903 to turn up even, the telescopic end phase that one flank 903 passes through a rotating connector 910 and a driving cylinder 905
Even, another flank 903 is connected with a compression bar 908 for being suitable for push plate official form for filing a lawsuit case 600；I.e. when compression bar 908 touches plate carton
When 600, driving cylinder 905 stretches out, and driving 908 push plate official form for filing a lawsuit case 600 of compression bar makes 601 fold along the crease of plate carton 600
Molding.Specifically, after uncased carton 600 is delivered to and send draw box mechanism 4 by articulated robot, due to plate carton 600
It is prefabricated with the folding line 601 suitable for fold, when compression bar 908 touches the 601 corresponding end face of folding line of 600 bottom of plate carton, is driven
Cylinder 905 of taking offence stretches out, and driving 908 push plate official form for filing a lawsuit case 600 of compression bar makes 601 fold one folding of molding along the crease of plate carton 600
Page, driving cylinder 905 bounces back, and after a folding to be done, articulated robot drives uncased carton 600 to rotate, and makes phase
The end face face compression bar 908 of folding is waited for for another after folding, repeats above-mentioned folding process.Pass through above-mentioned V-type
Pushing frame completes the fold process of a double spread of plate carton 600, after being sent into boxing mechanism 6, the double spread that has turned down
Pressing, which is positioned over, to be connect on case band 802.
Wrapping integration apparatus further includes being set in host cavity and positioned at the position of 6 top of feed mechanism 5 and boxing mechanism
Joint sealing mechanism 9 in 7 rear of vanning robot.Joint sealing mechanism 9 is waited for for being installed by vanning robot 7 in uncased carton
The joint sealing operation of carton is carried out after crated product.
Optionally, feed mechanism 5 is set between the feeding mechanism 2 and boxing mechanism 6 and bottom of feed mechanism 5 and frame body 1
The uncased carton 600 that one is suitable for adsorbing on articulated robot is formed between portion to pass through to be sent to the activity of connecting assembly
Section 8 passes through above-mentioned activity that is, after unpacking component, which realizes plate carton 600, unpacks by articulated robot absorption carton
Section 8 is sent on connecting assembly.By the way that boxing mechanism 6 to be set to the outside of feed mechanism 5, convenient for paper during vanning
Even if small exception, which occurs, in case to be adjusted by manual intervention, without entire integration apparatus is closed.
It is also optional, feeding mechanism 2 and boxing mechanism 6 can be disposed proximate to, feed mechanism 5 is set to feeding mechanism 2
Carton is sent on the connecting assembly being disposed proximate to by outside after being convenient for articulated robot absorption carton.By by feeding
Mechanism 5 is set to outside, i.e., feeding mechanism 2 and draw box mechanism 4 is sent to be disposed adjacent, be conducive to articulated robot by uncased carton
It is fed directly on connecting assembly, without pass through the activity interval 8 in the above embodiment, i.e., uncased carton is connect
It refutes efficient, the efficiency integrally cased can be improved.
It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model
Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real
It is not limited to the contents of the specification with novel technical scope, it is necessary to which its technology is determined according to right
Property range.
In the description of the present invention, it should be understood that the term of indicating position or position relationship is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than indicate or imply institute
The equipment or element of finger must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this reality
With novel limitation.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, or
The utility model product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and letter
Change description, do not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and
Operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " etc. are only used for area
Divide description, is not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the present invention unless specifically defined or limited otherwise, fisrt feature is on or below second feature
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature the
Right over two features and oblique upper, or be merely representative of fisrt feature level height and be higher than second feature.Fisrt feature is in the second spy
Under sign, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or are merely representative of fisrt feature level
Height is less than second feature.
Claims (10)
1. a kind of wrapping integration apparatus based on robot technology, which is characterized in that including：
Frame body has a host cavity；
Box opening device is set in the host cavity, includes suitable for the feeding mechanism of transfer plate official form for filing a lawsuit case and suitable for plate carton
Unpacking unpacking mechanism；The unpacking mechanism includes articulated robot and the unpacking component on the articulated robot；
Draw box mechanism is sent, is set in the host cavity, suitable for the uncased carton of unpacking mechanism of plugging into, including is used to plug into
The connecting assembly of unpacking carton, and send box assembly suitable for the uncased carton of push；
Feed mechanism is set in the host cavity, and crated product is waited for for transmitting, including one waits for following for crated product suitable for transmission
The feeding belt of ring rotation；And
Boxing mechanism is set in the host cavity, includes suitable for plugging into from the uncased carton for sending box assembly to transmit
Meet case band and the vanning robot waited in crated product to uncased carton suitable for pipetting the feed mechanism transmission.
2. the wrapping integration apparatus according to claim 1 based on robot technology, which is characterized in that the charging
Mechanism includes being suitable for transmitting the transfer assembly for waiting for unpacking plate carton；Two horizontal end faces of the plate carton are equipped with suitable
In the folding line that plate carton is pushed away folding to unpack；
The unpacking component includes the main absorbent module suitable for the horizontal end face of the folding line side of adsorption plate official form for filing a lawsuit case, Yi Jishi
Secondary absorbent module in the horizontal end face of the above-mentioned folding line other side of adsorption plate official form for filing a lawsuit case；The main absorbent module and secondary absorption group
Part is connected by a bending component, to realize that the secondary absorbent module is connected or is vertically connected with the level of main absorbent module；With
And
Articulated robot is connected with the main absorbent module, is suitable for driving main absorbent module movement.
3. the wrapping integration apparatus according to claim 2 based on robot technology, which is characterized in that the main suction
Attached component include several main suckers suitable for adsorption plate official form for filing a lawsuit case, be assemblied on the multi-joint machine and with the main sucker
Connected main connecting plate, and be assemblied on the main sucker and promote mainly plate；
The adsorption plane of the main sucker promotes mainly end face of the plate relative to plate carton described in protruding from；And
The pair absorbent module includes several accessory suckers suitable for adsorption plate official form for filing a lawsuit case, the pair for fixing several accessory suckers
Connecting plate, and the secondary push plate that is assemblied on the accessory sucker；
It is connected by bending component between the main connecting plate and secondary connecting plate.
4. the wrapping integration apparatus according to claim 3 based on robot technology, which is characterized in that the bending
Component include one be connected with the main connecting plate be located at the main connecting plate and the link promoted mainly between plate, be fixed on
Rotation seat on the link, the V-type frame being rotationally connected on the rotation seat, and be connected with V-type frame one end flexible
Cylinder；
The fixing end of the telescopic cylinder is connect by a connecting shaft with the link；And
The V-type frame includes base portion and two tip extensions being connected respectively with base portion, one of tip extension and the flexible gas
The telescopic end of cylinder is rotatedly connected；Another tip extension is connected with the secondary connecting plate；The tip extension being connected with the secondary connecting plate
Using the arcuate structure to turn up.
5. the wrapping integration apparatus according to claim 2 based on robot technology, which is characterized in that more passes
Section robot is in turn connected to form by machine shaft one, machine shaft two, machine shaft three, machine shaft four, machine shaft five and machine shaft six
Six axis rotational structures；Wherein
The machine shaft six is connect with main connecting plate；
The machine shaft six can be relative to five rotation of machine shaft；The machine shaft five can be relative to four rotation of machine shaft；And institute
Stating machine shaft four can be relative to three rotation of machine shaft.
6. the wrapping integration apparatus according to claim 2 based on robot technology, which is characterized in that the transmission
Component includes one group of support base disposed in parallel suitable for accommodating plate-shaped carton, the both ends of the support base along its length
It is respectively equipped with a rotating wheel；
The support base and the feeding belt and to connect case band parallel；And
It is respectively arranged between the rotating wheel at support base both ends and is arranged with a conveyer belt, which is set in the support base
On, i.e., being moved to articulated robot for plate carton is driven by the cycle rotation of conveyer belt.
7. the wrapping integration apparatus according to claim 1 based on robot technology, which is characterized in that described to plug into
Component includes being suitable for absorbent module of the absorption through the uncased carton of box opening device, and be used to support the fixed connecting assembly
Supporting rack；
It is described that send box assembly include being suitable for by servo driver drives making the defeated of its cycle rotation set on support frame as described above bottom
Band, i.e. support frame as described above is sent to be suitable for synchronizing that conveyer belt is followed to move；And
The case band that connects is equipped with several vanning stations for fixing uncased carton.
8. the wrapping integration apparatus according to claim 7 based on robot technology, which is characterized in that described to send case
Mechanism further includes a pushing frame that the V-type that can be rotated relative to rotation axis on support frame as described above is assemblied in by rotation axis, described
Pushing frame includes the pedestal being connected with the rotation axis, and two flanks to turn up being connected respectively with pedestal, one flank
It is connected with the telescopic end of a driving cylinder by a rotating connector, another flank is connected with a pressure for being suitable for push plate official form for filing a lawsuit case
Bar；I.e.
When compression bar touches plate carton, driving cylinder stretches out, and driving compression bar push plate official form for filing a lawsuit case makes plate carton along folding
Trace fold molding.
9. the wrapping integration apparatus according to claim 1 based on robot technology, which is characterized in that the feeding
Mechanism is set to and forms one between the feeding mechanism and boxing mechanism and between the feed mechanism and the bottom of the frame body
Uncased carton suitable for being adsorbed on the articulated robot is passed through to be sent to the activity interval of the connecting assembly.
10. the wrapping integration apparatus according to claim 1 based on robot technology, which is characterized in that described to open
Dress envelope integration apparatus further includes the joint sealing mechanism being set in host cavity and above feed mechanism and boxing mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721638602.5U CN207748110U (en) | 2017-11-30 | 2017-11-30 | Wrapping integration apparatus based on robot technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721638602.5U CN207748110U (en) | 2017-11-30 | 2017-11-30 | Wrapping integration apparatus based on robot technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826329A (en) * | 2017-11-30 | 2018-03-23 | 常州华数锦明智能装备技术研究院有限公司 | Wrapping integration apparatus based on robot technology |
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2017
- 2017-11-30 CN CN201721638602.5U patent/CN207748110U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107826329A (en) * | 2017-11-30 | 2018-03-23 | 常州华数锦明智能装备技术研究院有限公司 | Wrapping integration apparatus based on robot technology |
| CN107826329B (en) * | 2017-11-30 | 2023-08-08 | 常州华数锦明智能装备技术研究院有限公司 | Opening and sealing integrated equipment based on robot technology |
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