CN213292823U - Boxing manipulator with rotation function - Google Patents
Boxing manipulator with rotation function Download PDFInfo
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- CN213292823U CN213292823U CN202021503790.2U CN202021503790U CN213292823U CN 213292823 U CN213292823 U CN 213292823U CN 202021503790 U CN202021503790 U CN 202021503790U CN 213292823 U CN213292823 U CN 213292823U
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Abstract
The utility model discloses a boxing manipulator with a rotating function, which comprises a rotating cylinder and a profiling block, wherein the rotating cylinder is used for driving the manipulator to rotate along a preset angle; the manipulator further has degrees of freedom in the X-direction and the Z-direction. X, Z is used for driving the manipulator to move towards the module, and the device has simple structure and accurate positioning. The manipulator snatchs the product and accomplishes the vanning, has replaced artifical vanning, has improved work efficiency, can carry out long-time operation. The structure that uses revolving cylinder accomplishes the vanning, has avoided product and carton length and width size to mismatch, the appearance of the vanning failure condition. The connecting mode uses welding spare more, simple structure, and intensity is high, and the module can steady motion, has guaranteed the vanning precision. The nylon material is adopted to carry out profiling according to the appearance of the product, thereby avoiding the scratch of the product and increasing the grabbing area.
Description
Technical Field
The utility model relates to an automated production assembly field, concretely relates to vanning manipulator with rotation function.
Background
Automatic production technology develops day by day, and the vanning to the product in the existing technique utilizes manual work or module to drive manipulator and case unpacking and sealing machine cooperation and accomplish the vanning.
When utilizing the module to drive the manipulator and vanning, because product length and width size does not correspond with carton length and width size, and the module can only be at XZ axle horizontal motion, can not satisfy the rotatory certain angle of manipulator condition of vanning, need increase rotary device to the carton, accomplish the vanning, change structure complicacy, the cost is higher.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model provides a vanning manipulator with rotation function to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a boxing manipulator with a rotating function comprises a manipulator body, a rotating cylinder and a profiling block, wherein the rotating cylinder is used for driving the manipulator body to rotate along a preset angle, and the profiling block is installed at one end of the manipulator body; the manipulator further has degrees of freedom in the X-direction and the Z-direction. The manipulator further comprises an X-direction module which is erected on the gantry support and used for providing X-axis driving force for the manipulator body, and a Z-direction module which is connected to the X-direction module and used for providing Z-axis driving force for the manipulator body.
In a further embodiment, the manipulator body rotates around the Z axis in an X-Y plane under the driving of the rotating cylinder, so that the position of the manipulator body is adjusted in the X-Y axis direction, the deviation is reduced, and the boxing is facilitated.
In a further embodiment, in the working state, the motion surface formed by the motion of the contour block is parallel to the X-Y surface; under the condition that horizontal clamping and carrying are needed, namely, when the product cannot tilt in the Z-axis direction, the vertical alignment of the product can be kept through the structure and the motion design of the contour block.
In a further embodiment, the rotary cylinder is detachably connected with the robot body. The mechanical hand body or the profiling block is replaced, so that one machine with multiple purposes or parts can be updated.
In further embodiment, Z passes through the fix with screw to the module by the module connecting piece to module and X, and Z is connected with the servo motor who takes the band-type brake to module and X respectively to module one end to being furnished with many rings of absolute value formula encoders, can realizing the accurate location to the manipulator position, the quick function of operating steadily uses and takes band-type brake servo motor to prevent that the back product of outage from receiving the risk that gravity influences the whereabouts.
In a further embodiment, the manipulator body further comprises a three-axis telescopic cylinder connected with the Z-direction module through a cylinder fixing plate, and a gripper connecting piece fixed at one end of an output rod of the three-axis telescopic cylinder; and the rotating cylinder is fixed at the lower part of the gripper connecting piece. Through the stretching of the three-shaft telescopic cylinder, the gripper can move back and forth. The gripper connecting piece is formed by welding carbon steel, and has a simple structure and high strength.
In a further embodiment, pneumatic fingers are respectively mounted on two sides of the lower portion of the rotary cylinder through flange connecting plates, the two pneumatic fingers move in the opposite direction or in the opposite direction, and each pneumatic finger is respectively fixed with an extended connecting block. The rotary air cylinder adopts a gear rack structure, the rotation is stable, the machining precision of the rotary workbench is high, the positioning is accurate, the installation is convenient, and the rotation angle range is 0-190 degrees. The rotation of the rotary cylinder can enable the pneumatic finger to complete rotation at a certain angle, and the rotation angle of the pneumatic finger can be controlled by controlling the rotation angle of the rotary cylinder. The connecting block is connected with the pneumatic finger through the screw, so that the grabbing range of the pneumatic finger is enlarged, and the stroke of the air cylinder is enlarged to a certain extent.
In a further embodiment, the profiling block is made of nylon materials and is connected with the connecting block through screws, the profiling block is replaced according to the shape of a clamped workpiece, the structure of the profiling block is changed according to the shape of a product, and the probability of scratching of the product is reduced.
In a further embodiment, the gantry support is welded with a plurality of carbon steel plates, and the carbon steel plates and the X-direction module are fixed through screws. The mode of welding the square tube and the carbon steel plate in a combined mode is adopted, the structure is simple and reliable, and the strength of the whole structure is improved.
In a further embodiment, in the working state, the motion plane formed by the motion of the contour block is parallel to the X-Y plane. Under the condition that horizontal clamping and carrying are needed, namely, when the product cannot tilt in the Z-axis direction, the vertical alignment of the product can be kept through the structure and the motion design of the contour block.
Has the advantages that: the utility model discloses a vanning manipulator with rotation function uses X, Z to drive the manipulator motion to the module, simple structure, accurate location. The manipulator snatchs the product and accomplishes the vanning, has replaced artifical vanning, has improved work efficiency, can carry out long-time operation. The structure that uses revolving cylinder accomplishes the vanning, has avoided product and carton length and width size to mismatch, the appearance of the vanning failure condition. The connecting mode uses welding spare more, simple structure, and intensity is high, and the module can steady motion, has guaranteed the vanning precision. The nylon material is adopted to carry out profiling according to the appearance of the product, thereby avoiding the scratch of the product and increasing the grabbing area.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of a local structure of the middle gripper of the present invention.
Fig. 3 is a schematic structural diagram of the X-direction module according to the present invention.
The figures are numbered: the device comprises a cylinder fixing plate 1, a Z-direction module 2, a servo motor 201, a module connecting piece 202, a drag chain 203, a base 204, an X-direction module 3, a gantry support 4, a gripper 5, a three-axis telescopic cylinder 6, a gripper connecting piece 7, a rotary cylinder 8, a pneumatic finger 9, a connecting block 10 and a profiling block 11.
Detailed Description
The utility model has the advantages of low efficiency, high cost and low safety for the prior manual packing; the mould group boxing can not meet the defect that the boxing can not be completed by converting a certain angle, the boxing manipulator with the rotating function is designed, the manipulator mainly comprises a pneumatic finger, a profiling block is locked on the pneumatic finger, the profiling block can be changed according to different products and working conditions, the pneumatic finger is driven by a rotating cylinder to complete a rotating angle, the manipulator can rotate any angle under the stroke of the rotating cylinder, the movement is flexible, and the manipulator is suitable for grabbing various products; rotatory manipulator horizontal vertical motion on the module, the motion is simple, and is efficient, and is with low costs, has solved single state and has snatched and can not match with the long wide size of carton, and artifical vanning inefficiency scheduling problem.
The first embodiment is as follows:
the utility model relates to a packing manipulator with rotation function comprises cylinder fixed plate 1, Z to module 2, X to module 3, gantry support 4, tongs 5, 6 six parts of triaxial telescopic cylinder.
As shown in fig. 1, the cylinder fixing plate 1 is made of aluminum alloy, the weight of the Z-direction module is reduced, and the cylinder fixing plate 1 is fixedly connected with the Z-direction module 2 and the three-axis telescopic cylinder 6 through bolts. Z passes through the fix with screw to module 2 and X to module 3 by module connecting piece 202, and Z adopts square pipe and carbon steel plate combination welded mode to module 2 and X to module 3 longmen support 4, and simple structure is reliable, and longmen support 4 welds has polylith carbon steel plate, and carbon steel plate and X pass through the fix with screw to module 3, have increased the intensity of overall structure. And a rotating cylinder 8 is arranged at one end of the three-shaft telescopic cylinder 6, and the gripper 5 is arranged at one end of the rotating cylinder 8.
Example two:
on the basis of the first embodiment, the structure of the two pairs of grippers of the first embodiment is further described: as shown in fig. 2, the hand grip 5 comprises a hand grip connecting member 7, a pneumatic finger 9, a connecting block 10 and a contour block 11. The gripper connecting piece 7 is respectively connected with the three-shaft telescopic cylinder 6 and the rotary cylinder 8 through pins and screws, and the gripper can move back and forth due to the telescopic effect of the three-shaft telescopic cylinder 6. The gripper connecting piece 7 is formed by welding carbon steel, and has a simple structure and high strength. The rotary cylinder 8 adopts a gear rack structure, the rotation is stable, the machining precision of the rotary workbench is high, the positioning is accurate, the installation is convenient, and the rotation angle range is 0-190 degrees. Pneumatic finger 9 passes through pin and screw fastening with revolving cylinder 8 by the flange joint board, and revolving of revolving cylinder 8 can make pneumatic finger accomplish the rotation of certain angle, can accomplish the control of the rotation angle of pneumatic finger 9 through the angle of control revolving cylinder 8 gyration. The connecting block 10 is connected with the pneumatic finger 9 through a screw, so that the grabbing range of the pneumatic finger is enlarged, and the stroke of the air cylinder is enlarged to a certain extent. The shape-imitating block 11 is made of nylon materials and is connected with the connecting block 10 through screws, the structure of the shape-imitating block can be changed according to the appearance of a product, and the probability of scratching the product is reduced.
Example three:
on the basis of the first embodiment and the second embodiment, the structure of the third embodiment pair of Z-direction module 2 and X-direction module 3 is further described: z is to module 2 and X to module 3 with being linear guide module, and it includes base 204, base 204 upper berth is equipped with the slide rail, and module connecting piece 202 slip card is established on the slide rail, the one end of base 204 is fixed with servo motor 201, and servo motor 201's one end is connected with the servo motor 201 who takes the band-type brake respectively to be furnished with many rings of absolute value formula encoders, can realize the accurate location to the manipulator position, the quick function of steady operation uses and takes band-type brake servo motor 201 can prevent that the product from receiving the risk that gravity influences the whereabouts after the outage. The output shaft of servo motor 201 connects the shaft coupling, and the lead screw is connected to the other end of shaft coupling, screw-thread fit between the bottom of module connecting piece 202 and the lead screw just drives the lead screw and rotates after servo motor 201 outputs power, drives module connecting piece 202 by the lead screw finally and realizes the rectilinear slip. The upper part of the gantry support 4 is also paved with a drag chain 203 for passing through cables and air pipes.
In a further embodiment, in some conditions, the product to be boxed needs to be held horizontally and then boxed, and since the box itself is located at a position offset from the expected position, in particular in the X and Y axes, it needs to be rotated to align the product with the box mouth. Under the drive of the rotary cylinder, the manipulator body rotates around the Z axis in an X-Y plane, so that the position of the manipulator body is adjusted in the X-Y axis direction, the deviation is reduced, and the manipulator is convenient to pack.
When the product does not coincide with the central axis of the tank mouth, it may also be necessary to adjust the deviation in the X-axis direction, the adjustment of this deviation being achieved by the X-direction module. And will not be described in detail herein.
In a further embodiment, in the working state, the motion plane formed by the motion of the contour block 11 is parallel to the X-Y plane;
in the case of horizontal clamping and handling, i.e. when the product cannot tilt in the Z-axis direction, it is possible to maintain vertical alignment by the structural and kinematic design of the contour blocks 11.
In a further embodiment, the rotary cylinder 8 is detachably connected to the robot body. By replacing the manipulator body or the contour block 11, one machine with multiple purposes or part updating is realized.
As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a vanning manipulator with rotation function which characterized in that includes:
a manipulator body;
the rotating cylinder is used for driving the manipulator body to rotate along a preset angle so as to enable the manipulator body to reach a specified position;
the profiling block is arranged at one end of the manipulator body;
the manipulator body further comprises an X-direction module which is erected on the gantry support and used for providing X-axis driving force for the manipulator body, and a Z-direction module which is connected to the X-direction module and used for providing Z-axis driving force for the manipulator body;
z is connected with the servo motor who takes the band-type brake respectively to the one end of module and X to the module, servo motor's output is connected with many rings of absolute value formula encoders.
2. A boxing manipulator with rotation function as claimed in claim 1, wherein: and under the drive of the rotary cylinder, the manipulator body rotates around the Z axis in an X-Y plane.
3. A boxing manipulator with rotation function as claimed in claim 1, wherein: the rotary cylinder is detachably connected with the manipulator body.
4. A boxing manipulator with rotation function as claimed in claim 1, wherein: the manipulator body further comprises a three-shaft telescopic cylinder connected with the Z-direction module through a cylinder fixing plate and a gripper connecting piece fixed at one end of an output rod of the three-shaft telescopic cylinder; and the rotating cylinder is fixed at the lower part of the gripper connecting piece.
5. A boxing manipulator with rotation function as claimed in claim 1, wherein: pneumatic fingers are respectively installed on two sides of the lower portion of the rotary cylinder through flange connection plates, the two pneumatic fingers move in the opposite direction or in the opposite direction, and each pneumatic finger is respectively fixed with a connection block extending out.
6. A boxing manipulator with rotation function as claimed in claim 5, wherein: the profiling block is made of nylon materials and connected with the connecting block through screws, and the profiling block is replaced according to the appearance of a clamped workpiece.
7. A boxing manipulator with rotation function as claimed in claim 1, wherein: and the gantry support is welded with a plurality of carbon steel plates, and the carbon steel plates are fixedly connected with the X-direction module.
8. A boxing manipulator with rotation function as claimed in claim 1, wherein: under the working state, the motion surface formed by the motion of the contour block is parallel to the X-Y surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021503790.2U CN213292823U (en) | 2020-07-27 | 2020-07-27 | Boxing manipulator with rotation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021503790.2U CN213292823U (en) | 2020-07-27 | 2020-07-27 | Boxing manipulator with rotation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213292823U true CN213292823U (en) | 2021-05-28 |
Family
ID=76023434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021503790.2U Active CN213292823U (en) | 2020-07-27 | 2020-07-27 | Boxing manipulator with rotation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213292823U (en) |
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2020
- 2020-07-27 CN CN202021503790.2U patent/CN213292823U/en active Active
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