CN210998762U

CN210998762U - Mechanical arm for grabbing plastic lunch box

Info

Publication number: CN210998762U
Application number: CN201921825733.3U
Authority: CN
Inventors: 沈关
Original assignee: Taizhou Shangling New Material Technology Co ltd
Current assignee: Taizhou Shangling New Material Technology Co ltd
Priority date: 2019-10-28
Filing date: 2019-10-28
Publication date: 2020-07-14
Anticipated expiration: 2029-10-28

Abstract

The utility model discloses a mechanical arm for grabbing plastic meal boxes, belonging to the technical field of plastic meal box production equipment, its technical scheme main points are including the frame, be provided with slide mechanism and arm in the frame, the arm includes the mechanism of snatching that snatchs the plastics cutlery box, the drive snatchs the push mechanism that the mechanism reciprocated along vertical direction and drives push mechanism, snatch the feed mechanism that the mechanism is close to or keeps away from to plastics cutlery box initial position, it includes the arm body of vertical setting to snatch the mechanism, be located arm body lower extreme and can follow 90 transpositions of overturning and set up the vacuum chuck on the transposable, vacuum chuck includes the connector and sets up the plastics sucking disc on the connector, set up the first gas duct that leads to plastics sucking disc on the lateral wall of connector, it still includes the trachea of connecting on first gas duct outer port and connects the vacuum generating device on the trachea to snatch the mechanism. The utility model discloses a stroke is longer, and is fast, efficient moreover.

Description

Mechanical arm for grabbing plastic lunch box

Technical Field

The utility model belongs to the technical field of plastics cutlery box production facility, specific is a robotic arm for snatching plastics cutlery box.

Background

The plastic meal box is required to be taken out in time after being extruded and formed by the die so as to be convenient for the extrusion die to work again, the plastic meal box is directly ejected out and fall into the collecting box by the ejection mechanism on the die in the traditional production mode, however, the method is not only low in efficiency, but also unsanitary, therefore, an integrated mechanical arm appears, the plastic meal box is taken out by replacing the ejection mechanism or manually by the mechanical arm, the strokes of some existing mechanical arms are short, the volume of the extrusion die for production is large, the plastic meal box can only be placed on the side edge of the die after being taken out, and the plastic meal box needs to be manually carried to the conveying belt.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robotic arm for snatching plastics cutlery box to the technical problem that above-mentioned exists, this robotic arm stroke is longer, and is fast moreover, efficient.

The purpose of the utility model is realized like this: a mechanical arm for grabbing plastic meal boxes comprises a rack, wherein a sliding mechanism moving along the horizontal direction and a mechanical arm arranged on the sliding mechanism are arranged on the rack, the mechanical arm comprises a grabbing mechanism for grabbing the plastic lunch box, a pushing mechanism for driving the grabbing mechanism to move up and down along the vertical direction, and a feeding mechanism for driving the pushing mechanism and the grabbing mechanism to move close to or away from the initial position of the plastic lunch box, the grabbing mechanism comprises a vertically arranged mechanical arm body, a rotary seat which is positioned at the lower end of the mechanical arm body and can turn over along 90 degrees, and a vacuum sucker arranged on the rotary seat, the vacuum chuck comprises a connector and a plastic chuck arranged on the connector, a first air passage leading to the plastic chuck is arranged on the side wall of the connector, the gripping mechanism further comprises an air pipe connected to the outer port of the first air passage and a vacuum generating device connected to the air pipe.

By adopting the technical scheme, after the plastic meal box is extruded and formed by the extrusion die, the feeding mechanism can drive the pushing mechanism and the grabbing mechanism to move towards the plastic meal box, the grabbing mechanism grabs the plastic meal box, then the feeding mechanism makes return motion, then the pushing mechanism drives the grabbing mechanism to move upwards, after the top end is reached, the sliding mechanism can drive the feeding mechanism, the pushing mechanism, the grabbing mechanism and the plastic meal box to move away from the extrusion die, after the plastic meal box is moved to a certain position, the pushing mechanism drives the grabbing mechanism to move downwards, and the grabbing mechanism places the plastic meal box on the conveying belt; the grabbing mechanism moves in a mode that during feeding, the rotary seat is turned over in the vertical direction, so that the vacuum suction disc is right opposite to the plastic lunch box, then the vacuum generating device works, the air pipe sucks air, negative pressure is generated between the plastic suction disc and the plastic lunch box, and the plastic lunch box is adsorbed on the plastic suction disc; during the unloading, vacuum generator carries out work, and the trachea is given vent to anger to make plastics cutlery box break away from the plastics sucking disc and fall into on the conveyer belt, this working method is efficient, and the structure is still comparatively simple moreover, and has realized the displacement of longer stroke.

The utility model discloses further set up to: vacuum chuck has four and is located respectively four end angle departments of bottom plate, still set up the second air flue of intercommunication first air flue on the connector, four the connector establishes ties in proper order through the connecting pipe, last trachea of vacuum generating device is connected in one of them on the connector on the vacuum chuck.

By adopting the technical scheme, the four vacuum suckers are arranged, so that the grabbing mechanism can grab the four plastic lunch boxes, and the production efficiency is improved; the four vacuum chucks are connected in series through the connecting pipes, so that only one air pipe is needed to be connected with the vacuum generating device, and the equipment cost is saved.

The utility model discloses further set up to: the plastic sucker is divided into a connecting part, a compression part communicated with the connecting part and an adsorption part communicated with the compression part, and the connecting part is sleeved on the connecting head and then communicated with the first air passage.

Through adopting above-mentioned technical scheme, connecting portion are used for the cover to establish on the connector, and when producing the negative pressure in the plastics sucking disc, the absorption portion snatchs the plastics cutlery box, and the compression portion can extrude connecting portion when the negative pressure crescent to produce deformation, thereby avoid the absorption portion to act on the suction of plastics cutlery box too big, and lead to the plastics cutlery box to appear warping.

The utility model discloses further set up to: the swivel mount including set up in upset motor on the arm body, set up in on the arm body and with the gear transmission case that the upset motor output shaft links to each other, with the rotation connecting seat that the gear transmission case output shaft links to each other and be fixed in the bottom plate that rotates the connecting seat lower extreme, vacuum chuck set up in on the lower terminal surface of bottom plate.

By adopting the technical scheme, the rotating direction of the output shaft of the turnover motor is not consistent with the turnover direction of the rotary connecting seat, so that the gear transmission box is arranged; after the turnover motor works, the output shaft on the gear transmission box also rotates simultaneously, and drives the rotary connecting seat and the bottom plate to turn over, so that the vacuum chuck on the lower end face of the bottom plate faces to the plastic lunch box.

The utility model discloses further set up to: the feeding mechanism comprises a guide pillar, two rotating wheels, an outer gear belt and a driving motor, wherein the two rotating wheels are arranged at the upper end and the lower end of the guide pillar, the outer gear belt is sleeved on the two rotating wheels, the driving motor drives one of the two rotating wheels to rotate, the mechanical arm is arranged on the guide pillar in a sliding mode in the vertical direction, a transmission rack is arranged on the side wall of the mechanical arm body in the length direction of the mechanical arm body, and the transmission rack is meshed with the outer rack belt.

Through adopting above-mentioned technical scheme, first driving system drives first sliding seat and slides on the slide rail, make the arm body just to plastics cutlery box after, driving motor drives two and rotates wheel and outer rack strip and rotate, make the arm body downstream, and make vacuum chuck just to plastics cutlery box, then second driving system drives the second sliding seat and slides on first sliding seat, make the arm body be close to plastics cutlery box, and make the plastics sucking disc on the vacuum sucking disc hug closely in plastics cutlery box, then vacuum generator works, vacuum sucking disc snatchs plastics cutlery box, the structure is comparatively simple, and work efficiency is high.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic view of a connection structure of the sliding mechanism and the mechanical arm of the present invention;

fig. 3 is a schematic structural view of the gripping mechanism of the present invention;

FIG. 4 is a schematic structural view of the vacuum chuck of the present invention;

FIG. 5 is a schematic view of the internal structure of the vacuum chuck of the present invention;

the reference numbers in the figures are: 1. a frame; 11. a slide rail; 2. a sliding mechanism; 21. a first sliding seat; 3. a mechanical arm; 31. a grabbing mechanism; 311. a mechanical arm body; 3111. a drive rack; 312. rotating; 3121. turning over a motor; 3122. a gear transmission case; 3123. rotating the connecting seat; 3124. a base plate; 313. a vacuum chuck; 3131. a connector; 3132. a plastic sucker; 3133. a first air passage; 3134. a second air passage; 3135. a connecting pipe; 3136. a connecting portion; 3137. a compression section; 3138. an adsorption part; 314. an air tube; 32. a pushing mechanism; 321. a guide post; 322. a rotating wheel; 323. an outer toothed strip; 33. a feed mechanism; 331. and a second sliding seat.

Detailed Description

In order to make the technical solutions in the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings:

a mechanical arm for grabbing plastic lunch boxes is disclosed, as shown in figures 1 and 2, and comprises a rack 1, wherein a sliding mechanism 2 moving along the horizontal direction and a mechanical arm 3 arranged on the sliding mechanism 2 are arranged on the rack 1; the feeding mechanism 33 comprises a second sliding seat 331 arranged on the first sliding seat 21 and a second power system driving the second sliding seat 331 to slide, the pushing mechanism 32 comprises a vertically arranged guide post 321, two rotating wheels 322 arranged at the upper end and the lower end of the guide post 321, an external tooth strip 323 sleeved on the two rotating wheels 322 and a driving motor driving one of the rotating wheels 322 to rotate;

as shown in fig. 2 and 3, the mechanical arm 3 includes a grabbing mechanism 31 for grabbing the plastic lunch box, a pushing mechanism 32 for driving the grabbing mechanism 31 to move up and down along the vertical direction, and a feeding mechanism 33 for driving the pushing mechanism 32 and the grabbing mechanism 31 to move close to or away from the initial position of the plastic lunch box;

the grabbing mechanism 31 comprises a mechanical arm body 311 arranged on the guide post 321 in a sliding manner along the vertical direction, a rotary seat 312 which is positioned at the lower end of the mechanical arm body 311 and can turn over along 90 degrees, and a vacuum chuck 313 arranged on the rotary seat 312, wherein a transmission rack 3111 arranged along the vertical direction is arranged on the side wall of the mechanical arm body 311, and the transmission rack 3111 is meshed with the outer gear strip 323; the vacuum chuck 313 includes a connector 3131 and a plastic chuck 3132 disposed on the connector 3131, a first air passage 3133 leading to the plastic chuck 3132 is disposed on a side wall of the connector 3131, the gripping mechanism 31 further includes an air tube 314 connected to an outer port of the first air passage 3133 and a vacuum generating device connected to the air tube 314.

After the plastic meal box is extruded and formed by the extrusion die, the first power system drives the first sliding seat 21 to slide on the sliding rail 11, so that the mechanical arm 3 is right opposite to the plastic meal box, then the feeding mechanism 33 drives the pushing mechanism 32 and the grabbing mechanism 31 to move towards the plastic meal box, the grabbing mechanism 31 grabs the plastic meal box, then the feeding mechanism 33 makes return motion, then the pushing mechanism 32 drives the grabbing mechanism 31 to move upwards, after the top end is reached, the first power system operates again, the first sliding seat 21 on the sliding mechanism 2 drives the feeding mechanism 33, the pushing mechanism 32, the grabbing mechanism 31 and the plastic meal box to move away from the extrusion die, after the plastic meal box is moved to a certain position, the pushing mechanism 32 drives the grabbing mechanism 31 to move downwards, the grabbing mechanism 31 places the plastic meal box on the conveying belt, and finally the pushing mechanism 32 and the sliding mechanism 2 return to the initial position, and ready for the next job.

The pushing mechanism 32 works in such a way that the driving motor drives the two rotating wheels 322 and the external toothed belt 323 to rotate, so that the mechanical arm body 311 moves up and down in the vertical direction;

the grabbing mechanism 31 moves in such a way that when the plastic lunch box is loaded, the rotating base 312 is turned over in the vertical direction, so that the vacuum suction cup 313 faces the plastic lunch box, then the vacuum generating device works, the air pipe 314 sucks air, so that negative pressure is generated between the plastic suction cup 3132 and the plastic lunch box, and the plastic lunch box is adsorbed on the plastic suction cup 3132; during blanking, the vacuum generating device works, the air pipe 314 gives vent to air, so that the plastic lunch box is separated from the plastic sucking disc 3132 and falls onto the conveying belt, the working mode is efficient, the structure is simple, and the displacement of a long stroke is realized.

The swivel base 312 comprises a turning motor 3121 disposed on the robot arm body 311, a gear transmission case 3122 disposed on the robot arm body 311 and connected to an output shaft of the turning motor 3121, a swivel connection base 3123 connected to an output shaft of the gear transmission case 3122, and a bottom plate 3124 fixed to a lower end of the swivel connection base 3123, wherein the vacuum chuck 313 is disposed on a lower end surface of the bottom plate 3124.

Since the rotating direction of the output shaft of the turning motor 3121 is not consistent with the turning direction of the rotating connecting seat 3123, a gear transmission case 3122 is provided for this purpose; after the turning motor 3121 is operated, the output shaft of the gear transmission case 3122 also rotates at the same time, and drives the rotating connection seat 3123 and the bottom plate 3124 to turn, so that the vacuum suction cup 313 on the lower end surface of the bottom plate 3124 faces the plastic lunch box.

As shown in fig. 4 and 5, four vacuum cups 313 are respectively located at four corners of the bottom plate 3124, a second air passage 3134 connected to the first air passage 3133 is further opened on the connector 3131, the four connectors 3131 are sequentially connected in series through a connecting tube 3135, and the air tube 314 of the vacuum generating device is connected to the connector 3131 of one of the vacuum cups 313. Four vacuum suction cups 313 are provided so that the gripping mechanism 31 can grip four plastic meal boxes to improve the production efficiency; the four vacuum suction cups 313 are connected in series through the connection pipe 3135, so that only one air pipe 314 is needed to be connected with the vacuum generating device, and the equipment cost is saved.

The plastic sucker 3132 is divided into a connecting portion 3136, a compressing portion 3137 connected to the connecting portion 3136, and an absorbing portion 3138 connected to the compressing portion 3137, wherein the connecting portion 3136 is sleeved on the connecting head 3131 and is connected to the first air passage 3133. Connecting portion 3136 is used for the cover to establish on connector 3131, when producing the negative pressure in sucking disc 3132, absorption portion 3138 snatchs the plastic cutlery box, and compression portion 3137 can extrude connecting portion 3136 when the negative pressure crescent to produce deformation, effectively avoided absorption portion 3138 to act on the too big back of suction on the plastic cutlery box, and lead to the plastic cutlery box to appear warping.

The above embodiments are only preferred embodiments of the present invention, not all embodiments, and other embodiments obtained based on the above embodiments by those skilled in the art without any creative work shall fall within the protection scope of the present invention, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. A mechanical arm for grabbing plastic meal boxes comprises a rack (1) and is characterized in that a sliding mechanism (2) moving in the horizontal direction and a mechanical arm (3) arranged on the sliding mechanism (2) are arranged on the rack (1), the mechanical arm (3) comprises a grabbing mechanism (31) for grabbing plastic meal boxes, a pushing mechanism (32) for driving the grabbing mechanism (31) to move up and down in the vertical direction and a feeding mechanism (33) for driving the pushing mechanism (32) and the grabbing mechanism (31) to be close to or far away from the initial position of the plastic meal boxes, the grabbing mechanism (31) comprises a vertically arranged mechanical arm body (311), a rotary seat (312) positioned at the lower end of the mechanical arm body (311) and capable of overturning at 90 degrees and a vacuum sucker (313) arranged on the rotary seat (312), the vacuum sucker (313) comprises a connector (3131) and a plastic sucker (3132) arranged on the connector (3131), the side wall of the connector (3131) is provided with a first air passage (3133) leading to the plastic sucker (3132), and the grabbing mechanism (31) further comprises an air pipe (314) connected to the outer port of the first air passage (3133) and a vacuum generating device connected to the air pipe (314).

2. A robot arm for grasping plastic lunch boxes as claimed in claim 1, wherein: the swivel base (312) comprises a turnover motor (3121) arranged on the mechanical arm body (311), a gear transmission case (3122) arranged on the mechanical arm body (311) and connected with an output shaft of the turnover motor (3121), a rotating connecting base (3123) connected with an output shaft of the gear transmission case (3122), and a bottom plate (3124) fixed to the lower end of the rotating connecting base (3123), wherein the vacuum chuck (313) is arranged on the lower end face of the bottom plate (3124).

3. A robot arm for grabbing a plastic lunch box as claimed in claim 2, wherein: vacuum chuck (313) have four and are located respectively four extreme angle departments of bottom plate (3124), still set up second air flue (3134) of intercommunication first air flue (3133) on connector (3131), four connector (3131) is established ties through connecting pipe (3135) in proper order, trachea (314) on the vacuum generating device connect in one of them on connector (3131) on vacuum chuck (313).

4. A robot arm for grasping plastic lunch boxes as claimed in claim 1, wherein: the plastic sucker (3132) is divided into a connecting part (3136), a compressing part (3137) communicated with the connecting part (3136) and an adsorbing part (3138) communicated with the compressing part (3137), and the connecting part (3136) is sleeved on the connecting head (3131) and then communicated with the first air passage (3133).

5. A robot arm for grasping plastic lunch boxes as claimed in claim 1, wherein: the mechanical arm comprises a rack (1), a sliding rail (11) arranged along the horizontal direction is arranged on the rack (1), the sliding mechanism (2) comprises a first sliding seat (21) arranged on the sliding rail (11) and a first power system for driving the first sliding seat (21) to slide, the feeding mechanism (33) comprises a second sliding seat (331) arranged on the first sliding seat (21) and a second power system for driving the second sliding seat (331) to slide, the pushing mechanism (32) comprises a vertically arranged guide pillar (321), two rotating wheels (322) arranged at the upper end and the lower end of the guide pillar (321), an external toothed strip (323) sleeved on the two rotating wheels (322) and a driving motor for driving one of the rotating wheels (322) to rotate, the mechanical arm body (311) is arranged on the guide pillar (321) in a sliding manner along the vertical direction, and a transmission rack (3111) arranged along the length direction of the mechanical arm body (311) is arranged on the side wall of the mechanical arm body (311), the transmission rack (3111) is engaged with the external toothed belt (323).