CN209634787U

CN209634787U - Gripper and packing machine

Info

Publication number: CN209634787U
Application number: CN201920234115.5U
Authority: CN
Inventors: 李泽伟
Original assignee: Qingdao Savot Robot Co Ltd
Current assignee: Qingdao Savot Robot Co Ltd
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2019-11-15
Anticipated expiration: 2029-02-22

Abstract

The utility model proposes a kind of gripper and packing machines.The gripper, including the first guide rail and the second guide rail arranged in a crossed manner, and the substrate that can be moved along first guide rail, rotary drive on the substrate, the first actuator being connect with the rotary drive, it is connect with first actuator with opposite or relative motion two clamping pieces, the packing machine, including above-mentioned gripper.Gripper and packing machine described in the utility model, by the way that substrate is set on the first guide rail and the second guide rail, realize the displacement in base plan, pass through the setting of rotary drive, the first actuator and clamping piece, so that after clamping piece clamps material, rotation adjusting can be carried out in the horizontal plane, to adapt to the needs of Different Package situation, and it is clamped using clamping piece, it is more stable relative to sucker, it is not easy to produce relative rotation between material when rotation, further ensures being normally carried out for vanning.

Description

Gripper and packing machine

Technical field

The utility model belongs to packing machine field more particularly to a kind of gripper and packing machine.

Background technique

Existing recrater is generally comprised by taking rectangular packet beverage as an example the production sharing multi-pass conveyed on single channel The packetizer in road, the product stacks that multichannel is entered store component at the product stacks component of required quantity, for carton, And carton is conveyed paper storehouses in place one by one, the product after stacking is transported to vanning component preforming on carton, Yi Jizhi The joint sealing component of case, wherein joint sealing component includes each position of set up box, packing group product being completely encapsulated in carton Part, the side joint sealing component with joint sealing glue sealing carton two sides and the arm of angle joint sealing with joint sealing glue sealing carton arm of angle position Component.The recrater realizes automatically casin process, time saving and energy saving, has obtained being largely market application.

Existing packing machine often only can be carried out translation, can not rotate when grabbing bottle class material, and existing bottle class Material is not the round or rectangular of standard mostly because of reasons such as personalized designs, when bottle class material is put into packing case, Need to adjust the relative angle of the material and packing case, but existing manipulator cannot be completed effectively.

Summary of the invention

The utility model in view of the above technical problems, proposes a kind of adjustable bottle class material and packing case relative position and angle The gripper and packing machine of degree.

In order to achieve the above object, the technical solution adopted in the utility model are as follows:

A kind of gripper including the first guide rail and the second guide rail arranged in a crossed manner, and can be moved along first guide rail Substrate, the rotary drive on the substrate, the first actuator being connect with the rotary drive, with described first Actuator is connected with opposite or relative motion two clamping pieces.

Preferably, the clamping piece includes the first flexure plane and tapered the second flexure plane of semicircle of semi- cylindrical, Second flexure plane is set to side of first flexure plane far from first actuator.

Preferably, further including set on the turntable between first actuator and the rotary drive, with described turn The STATEMENT OF FEDERALLY SPONSORED of disk connection, and the first detection piece for detecting the STATEMENT OF FEDERALLY SPONSORED position, first detection piece and the rotation Turn actuator to be electrically connected to close the rotary drive.

Preferably, the STATEMENT OF FEDERALLY SPONSORED includes the STATEMENT OF FEDERALLY SPONSORED ontology connecting with the turntable, and it is set to the STATEMENT OF FEDERALLY SPONSORED Ontology one end and to close to the orientation substrate protrusion bending part.

Preferably, first actuator is claw type cylinder.

Preferably, further including two connecting plates being connect with the substrate, the connection being connect with two connecting plates Frame, the connection frame are connect with first guide rail.

Preferably, further include connect with the connection frame with drive that the connection frame moves along first guide rail Two actuators, and connect with first guide rail to drive first guide rail to drive along the third that second guide rail moves Part.

Preferably, second actuator and the third actuator are electric cylinders.

Preferably, first guide rail and second guide rail are vertically arranged.

A kind of packing machine, including gripper described in any one as above.

Compared with prior art, it the advantages of the utility model and has the active effect that

Gripper described in the utility model realizes that substrate is flat by the way that substrate to be set on the first guide rail and the second guide rail Displacement on face, by the setting of rotary drive, the first actuator and clamping piece, so that clamping material in clamping piece Afterwards, rotation adjusting can be carried out in the horizontal plane, to adapt to the needs of Different Package situation, and pressed from both sides using clamping piece It takes, more stable relative to sucker, when rotation is not easy to produce relative rotation between material, further ensures the normal of vanning It carries out.

Packing machine described in the utility model, including above-mentioned gripper are led by the way that substrate is set to the first guide rail and second On rail, the displacement in base plan is realized, by the setting of rotary drive, the first actuator and clamping piece, so that pressing from both sides After component clamps material, rotation adjusting can be carried out in the horizontal plane, to adapt to the needs of Different Package situation, and used Clamping piece is clamped, more stable relative to sucker, and when rotation is not easy to produce relative rotation between material, is further ensured that Vanning is normally carried out.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of gripper described in the utility model；

Fig. 2 is the partial enlarged view at the A of gripper shown in this Fig. 1；

In above each figure: 10, substrate；20, the first guide rail；30, the second guide rail；40, rotary drive；50, the first driving Part；60, clamping piece；601, the first flexure plane；602, the second flexure plane；70, turntable；80, STATEMENT OF FEDERALLY SPONSORED；801, STATEMENT OF FEDERALLY SPONSORED ontology； 802, bending part；90, the first detection piece；100, connecting plate；110, connection frame；120 second actuators；130, third actuator.

Specific embodiment

In the following, the utility model is specifically described by illustrative embodiment.It should be appreciated, however, that not having In the case where being further discussed below, element, structure and features in an embodiment can also be advantageously incorporated into other implementations In mode.

In the description of the present invention, it should be noted that term "inner", "outside", "upper", "lower", "front", "rear" etc. The orientation or positional relationship of instruction is positional relationship based on the figure, is merely for convenience of description the utility model and simplification Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation Make, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " are only used for description mesh , it is not understood to indicate or imply relative importance.

With reference to Fig. 1-2, the utility model proposes a kind of grippers, including the first guide rail 20 arranged in a crossed manner and the second guide rail 30, and the substrate 10 that can be moved along first guide rail 20, the rotary drive 40 on the substrate 10, with the rotation The first actuator 50 for turning the connection of actuator 40, connect with opposite or relative motion two clampings with first actuator 50 Part 60, the rotary drive 40 can select rotary cylinder or motor etc., select as needed, 20 He of the first guide rail Second guide rail 30 is arranged in a crossed manner, to realize the Bit andits control in plane, first actuator 50 is preferably claw type gas Cylinder, control is simpler and light-weight, and at low cost, first guide rail 20 and second guide rail 30 are preferably vertically set It sets, applicable rectangular coordinate system, convenient for regulation and calculates.

Gripper described in the utility model is realized by the way that substrate 10 to be set on the first guide rail 20 and the second guide rail 30 Displacement in 10 plane of substrate, by the setting of rotary drive 40, the first actuator 50 and clamping piece 60, so that in clamping After part 60 clamps material, rotation adjusting can be carried out in the horizontal plane, to adapt to the needs of Different Package situation, and used Clamping piece 60 is clamped, more stable relative to sucker, and when rotation is not easy to produce relative rotation between material, is further protected Being normally carried out for vanning is demonstrate,proved.

Further, the first flexure plane 601 of the clamping piece 60 including semi- cylindrical and tapered second curved of semicircle Curved surface 602, second flexure plane 602 is set to side of first flexure plane 601 far from first actuator 50, described The setting of first flexure plane 601 clamps the clamping piece 60 at the bottle neck of bottled material, second flexure plane 602 setting allows the clamping piece 60 to clamp the expanding place below bottled bottle for material neck, both will not influence described first The normal operation of flexure plane 601 is also possible to prevent shaking of the bottled material in moving process, with first flexure plane 601 Cooperate and complete clamping, clamping is stable and efficient.

It further, further include the turntable 70 being set between first actuator 50 and the rotary drive 40, with The STATEMENT OF FEDERALLY SPONSORED 80 that the turntable 70 connects, and the first detection piece 90 for detecting 80 position of STATEMENT OF FEDERALLY SPONSORED, described first Detection piece 90 and the rotary drive 40 are electrically connected to close the rotary drive 40, by above-mentioned setting, can be incited somebody to action The rotation angle and range of the turntable 70 are limited, to limit the rotational angle and range of the clamping piece 60, thus anti- Only material rotation is excessive, prevent material with packing case angle is not corresponding happens, described first detects 90 can be as needed Selection, such as laser detection or electromagnetic detection.

Further, the STATEMENT OF FEDERALLY SPONSORED 80 includes the STATEMENT OF FEDERALLY SPONSORED ontology 801 connecting with the turntable 70, and is set to described 801 one end of STATEMENT OF FEDERALLY SPONSORED ontology and to close to 10 direction of substrate protrusion bending part 802, above structure be arranged so that described Different forms can be selected in first detection piece 90, and the position of selection detection, can detecte the STATEMENT OF FEDERALLY SPONSORED ontology as needed 801, it also can detect the bending part 802, the first detection piece 90 described herein preferably detects the bending part 802, both can be with There is the case where certain space is for detecting, preventing closer detection from generating erroneous detection generation, and save space, so that installation is more It is compact.

Further, further include two connecting plates 100 being connect with the substrate 10, connect with two connecting plates 100 The connection frame 110 connect, the connection frame 110 are connect with first guide rail 20, and the setting of the connecting plate 100 extends institute The distance between clamping piece 60 and first guide rail 20 are stated, so that the clamping piece 60 can be adapted for more packing feelings Condition, the setting of the connection frame 110, so that above structure is more stable, it is not in the rolling of connecting plate 100 during clamping Dynamic situation occurs, so that more stable in operation process.

It further, further include being connect with the connection frame 110 to drive the connection frame 110 along first guide rail 20 the second mobile actuators 120, and connect with first guide rail 20 to drive first guide rail 20 along described second The mobile third actuator 130 of guide rail 30, is moved to preset position in plane to control the connection frame 110, thus by institute It states clamping piece 60 and is moved to preset position, second actuator 120 and the third actuator 130 are both preferably electric cylinders, So as to control the precise displacement of the connection frame 110, and only controlled by electric signal.

The utility model also proposes a kind of packing machine, including gripper described in any one as above, by by substrate 10 On the first guide rail 20 and the second guide rail 30, the displacement in 10 plane of substrate is realized, driven by rotary drive 40, first The setting of moving part 50 and clamping piece 60, so that rotation tune can be carried out in the horizontal plane after clamping piece 60 clamps material Section to adapt to the needs of Different Package situation, and is clamped using clamping piece 60, rotation more stable relative to sucker It produces relative rotation between Shi Buyi and material, further ensures being normally carried out for vanning.

The above descriptions are merely preferred embodiments of the present invention, is not to make other forms to the utility model Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent The equivalent embodiment of variation is applied to other fields, but all without departing from the content of the technical scheme of the utility model, according to this reality With novel technical spirit any simple modification, equivalent variations and remodeling to the above embodiments, it is practical new to still fall within this The protection scope of type technical solution.

Claims

1. a kind of gripper, which is characterized in that including the first guide rail and the second guide rail arranged in a crossed manner, and can be along described first The mobile substrate of guide rail, the rotary drive on the substrate, the first actuator being connect with the rotary drive, with The first actuator connection is with opposite or relative motion two clamping pieces.

2. gripper according to claim 1, which is characterized in that the clamping piece includes the first bending of semi- cylindrical Face and tapered the second flexure plane of semicircle, second flexure plane are set to first flexure plane far from first driving The side of part.

3. gripper according to claim 1, which is characterized in that further include being set to first actuator and the rotation Turntable between actuator, the STATEMENT OF FEDERALLY SPONSORED being connect with the turntable, and the first detection for detecting the STATEMENT OF FEDERALLY SPONSORED position Part, first detection piece and the rotary drive are electrically connected to close the rotary drive.

4. gripper according to claim 3, which is characterized in that the STATEMENT OF FEDERALLY SPONSORED includes the linkage connecting with the turntable Part ontology, and set on STATEMENT OF FEDERALLY SPONSORED ontology one end and to close to the orientation substrate protrusion bending part.

5. gripper according to claim 3, which is characterized in that first actuator is claw type cylinder.

6. gripper according to claim 1, which is characterized in that it further include two connecting plates being connect with the substrate, The connection frame connecting with two connecting plates, the connection frame are connect with first guide rail.

7. gripper according to claim 6, which is characterized in that further include being connect with the connection frame to drive the company The second actuator that frame is moved along first guide rail is connect, and is connect with first guide rail to drive first guide rail edge The mobile third actuator of second guide rail.

8. gripper according to claim 7, which is characterized in that second actuator and the third actuator are Electric cylinders.

9. gripper according to claim 1, which is characterized in that first guide rail and second guide rail are vertically set It sets.

10. a kind of packing machine, which is characterized in that including the gripper as described in claim any one of 1-9.