CN213974636U

CN213974636U - Plasticine grabbing device

Info

Publication number: CN213974636U
Application number: CN202022446794.8U
Authority: CN
Inventors: 王志刚; 孟祥升; 尚波; 范明庆
Original assignee: Qingdao Xinghua Intelligent Equipment Co ltd
Current assignee: Qingdao Xinghua Intelligent Equipment Co ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-08-17
Anticipated expiration: 2030-10-29

Abstract

The utility model discloses a plasticine grabbing device, which comprises a top plate, clamping plates and a pressing plate, wherein a double-shaft cylinder is fixedly arranged at the center below the top plate, the front side and the rear side of the double-shaft cylinder are respectively and fixedly connected with a clamping plate I and a clamping plate II through a first cylinder connecting plate and a second cylinder connecting plate, and clamping blocks are fixedly connected below the clamping plate I and the clamping plate II through screws; two ends of the lower portion of the top plate are symmetrically provided with a cylinder I and a cylinder II, the lower ends of the cylinder I and the cylinder II are fixedly connected with a pressing block connecting plate I and a pressing block connecting plate II through cylinder connecting blocks, and the pressing block connecting plate I and the pressing block connecting plate II are in threaded connection with pressing blocks. The device makes the side wall of the jig into an arc shape similar to the shape in a bowl, and the material ejecting mechanism of the jig is changed from a plane to a convex surface, so that the problem that a pressing material is stuck on the jig during material grabbing and discharging is solved; accurate quick getting and placing plasticine on the laminating machine, can accurate efficient completion work, saved manpower and materials, improved work efficiency.

Description

Plasticine grabbing device

Technical Field

The utility model belongs to the technical field of plasticine production machinery is automatic, concretely relates to plasticine grabbing device.

Background

In the production of plasticine, the mass of plasticine is often cut into pieces of suitable size and evenly distributed on the belt line by means of a running belt line and extrusion equipment. And (4) the robot enters a robot working range, triggers a photoelectric switch, and synchronously runs along with plasticine by acquiring the numerical value of a belt line motor encoder and gradually approaches to grabbing. And after the grabbing is finished, the packaging box line is placed, and the film covering process is finished by a packaging machine.

However, in the existing equipment, the robot grabs the material space mud and sticks to the belt line and cannot grab the space mud, and the jig sticks to the side wall of the jig when opening the space mud and sticks to the material pressing mechanism when pressing the material, so that the problem that the material cannot be placed into a bowl exists.

Disclosure of Invention

In order to overcome the defects of the prior art, the side wall of the jig is made into a circular arc shape (similar to the shape of a bowl). Meanwhile, the opening is made into a structure with a large upper part and a small lower part, and the plane of the jig material ejecting mechanism is changed into a convex surface, so that the plasticine gripping device is provided.

The utility model provides a plasticine grabbing device, which comprises a top plate, clamping plates and a pressing plate, wherein a double-shaft cylinder is fixedly arranged at the center below the top plate, the front side and the rear side of the double-shaft cylinder are respectively and fixedly connected with a clamping plate I and a clamping plate II through a first cylinder connecting plate and a second cylinder connecting plate, and clamping blocks are fixedly connected below the clamping plate I and the clamping plate II through screws; two ends of the lower portion of the top plate are symmetrically provided with a cylinder I and a cylinder II, the lower ends of the cylinder I and the cylinder II are fixedly connected with a pressing block connecting plate I and a pressing block connecting plate II through cylinder connecting blocks, and the pressing block connecting plate I and the pressing block connecting plate II are in threaded connection with pressing blocks.

Furthermore, a top plate connecting cylinder connected with the robot fixing arm is welded at the center of the upper portion of the top plate integrally.

Furthermore, the joints of the first cylinder connecting plate and the second cylinder connecting plate with the clamping plate I and the clamping plate II are provided with backing plates.

Furthermore, splint I and splint II are the rectangle board of bending that inside was equipped with the mounting hole, longitudinal section are the L type.

Furthermore, the central lines of the clamping plates I and II in the length direction are perpendicular to the axis of a pushing shaft of the double-shaft cylinder.

Furthermore, the clamping block comprises a half clamping block I and a half clamping block II which is symmetrically arranged with the half clamping block I.

Furthermore, the side walls of the half clamping block I and the half clamping block II are arc-shaped.

Furthermore, the pressing block is a disc-shaped wafer with a threaded column welded on the upper portion.

Further, briquetting connecting plate I and briquetting connecting plate II are the inside bar steel sheet that is equipped with the mounting hole.

Compared with the prior art, the utility model discloses an advantage and technological effect are: the side wall of the jig is made into a circular arc shape which is similar to the shape in the bowl, but the lower part of the side wall of the jig is provided with an opening. Meanwhile, the opening is made into a structure with a large upper part and a small lower part, so that the problem of material grabbing is solved. The plane of the jig material ejecting mechanism is changed into a convex surface, so that the problem that material pressing is stuck on the jig during material discharging is solved; the intelligent system of robot to and the unique function of this device, accurate quick press from both sides the plasticine and get and place on the laminating machine, the beat is 5.8 s/time, can accurate efficient accomplish work, saved manpower and materials, improved work efficiency, provide the mechanized equipment of practicality for the large-scale production of industrialization.

Drawings

Fig. 1 is the overall structure schematic diagram of the gripping device of the present invention.

Fig. 2 is a side view of the gripping device of the present invention.

Fig. 3 is a partial exploded view of the gripping device of the present invention.

Fig. 4 is a schematic view of a pressing block structure of the gripping device of the present invention.

Fig. 5 is a schematic structural view of a half clamping block of the gripping device of the present invention.

Fig. 6 is a schematic structural diagram of the gripping device and the robot arm of the present invention.

1. The roof, 11, the roof connecting cylinder, 12, the biax cylinder, 121, first cylinder connecting plate, 122, second cylinder connecting plate, 123, the cylinder promotes axle I, 124, the cylinder promotes axle II, 13, cylinder I, 131, I connecting block in the cylinder, 14, cylinder II, 15, the backing plate, 2, splint I, 3, splint II, 4, briquetting connecting plate I, 5, briquetting connecting plate II, 6, the clamp splice, 61, half clamp splice I, 62, half clamp splice II, 7, the briquetting, 71, the screw post, 8, the fixed arm of robot, 9, the robot swinging boom, 10 robot supporting arm, 11, the robot mount pad, A, plasticine.

Detailed Description

The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and the detailed description.

This example illustrates that the plasticine can be gripped and placed in the plasticine packaging tank by designing gripping blocks and compacts.

In the description of the present invention, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated for convenience in describing the present invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

The invention discloses a plasticine grabbing device, which comprises a top plate, a clamping plate and a pressing plate, wherein a double-shaft cylinder 12 is fixedly arranged at the center below the top plate 1, the front side and the rear side of the double-shaft cylinder 12 are respectively and fixedly connected with the clamping plate I2 and the clamping plate II 3 through a first cylinder connecting plate 121 and a second cylinder connecting plate 122, and backing plates 15 are arranged at the joints of the first cylinder connecting plate 121 and the second cylinder connecting plate 122 with the clamping plate I2 and the clamping plate II 3, so that the mounting space between the connecting plates and the clamping plate is enlarged, and the distance between the clamping plate I2 and the clamping plate II 3 can be adjusted; splint I2 and splint II 3 are the rectangle board of bending that the inside is equipped with the mounting hole, the longitudinal section is the L type, and splint I2 and splint II 3 are rectangular shaped plate at vertical direction and horizontal direction promptly, and splint I2 and splint II 3 length direction's central line is perpendicular with the axis of the promotion axle of biax cylinder 12, the cylinder promotes the axle and promotes axle II 124 including cylinder promotion axle I123 and cylinder, and the cylinder promotes axle I123 and cylinder promotion axle II 124 first cylinder connecting block of fixed connection and second cylinder connecting block, then biax cylinder 12 can promote splint I2 and splint II 3, makes splint be close to each other or keep away from.

The plates in the vertical direction of the clamping plate I2 and the clamping plate II 3 are provided with two mounting holes which are matched with mounting holes in a first cylinder connecting plate seat 121 and a second cylinder connecting plate 122 in the double-shaft cylinder 12, and the clamping plate I2 and the clamping plate II 3 are fixedly mounted on the first cylinder connecting plate 121 and the second cylinder connecting plate 122 through screws; the board of splint I2 and splint II 3 horizontal direction is equipped with the rectangle mounting hole of a plurality of interval arrangement and the square mounting hole of interval arrangement, and the board of splint I2 and splint II 3 horizontal direction passes through rectangle mounting hole and clamp splice threaded connection, and the width of rectangle mounting hole equals with the diameter of clamp splice mounting hole, and there is the clamp splice below of splint I and splint II through screw fixed connection promptly, the clamp splice include half clamp splice I and with half clamp splice II of I symmetrical installation of half clamp splice, the lateral wall of half clamp splice I and half clamp splice II is circular-arcly, as shown in FIG. 4, become hourglass hopper-shaped after the inboard panel of half clamp splice I and half clamp splice II aligns the concatenation.

The two ends of the lower portion of the top plate 1 are symmetrically provided with a cylinder I13 and a cylinder II 14, the lower ends of the cylinder I13 and the cylinder II 14 are fixedly connected with a pressing block connecting plate I4 and a pressing block connecting plate II 5 through cylinder connecting blocks, the cylinder I connecting block 131 is as shown in figure 2, the pressing block connecting plate I4 and the pressing block connecting plate II 5 are both in threaded connection with a pressing block 7, the pressing block 7 is a disc-shaped disc with a threaded column 71 welded on the upper portion, the disc-shaped size is matched with the size of plasticine, the pressing block connecting plate I4 and the pressing block connecting plate II 5 are strip-shaped steel plates with mounting holes arranged inside, six mounting holes are arranged on the steel plate surface at intervals, as shown in figure 3, wherein the two mounting holes in the middle are fixedly arranged on the cylinder connecting block through screws, and the mounting holes at the two ends of the pressing block connecting plate I4 and the pressing block connecting plate II 5 are used for inserting the threaded column 71 above the pressing block 7, the outer side of the threaded column 71 is provided with external threads, as shown in fig. 4, the threaded column 71 penetrates through mounting holes at two ends of the briquetting connecting plate I4 and the briquetting connecting plate II 5 and then is fixed through nuts, and gaskets or nuts can be placed on the threaded column 71 before the threaded column 71 penetrates through the briquetting connecting plate to adjust the pressing height of the briquetting 7.

The integrative welding in top center of roof 1 has the roof connecting cylinder 11 of being connected with robot fixed arm 8, the middle part of roof connecting cylinder 11 is equipped with the pinhole, can closely fix roof connecting cylinder 11 in the below of robot fixed arm 8, the one end fixedly connected with robot swinging boom 9 of roof 1 is kept away from to robot fixed arm 8, the below and the robot support arm 10 of robot swinging boom 9 rotate to be connected, and robot swinging boom 9 can be according to setting for the angle freely rotating in robot support arm 10 top, and the below of robot support arm 10 is robot mount pad 11, according to the plasticine production requirement, installs the robot device in corresponding position.

The working principle is as follows: and putting the space mud into an extruder, and extruding the space mud by rotating a blade through the extruder to flow out of a long-strip-shaped space mud with the diameter of 35mm from a lower port. And then cutting the space mud into sections by using a cutter, controlling the distance between the space mud to be 82mm by controlling the speed of a belt line and the cutter, facilitating the grabbing of a robot, and carrying out the grabbing of the plasticine A and the work of putting the plasticine A into a film laminating machine by the robot through a tracking system with the beat of 5.8 s/time.

The plasticine base 11 is arranged on a robot arm between a conveyor belt and a film laminating machine, when the robot grabs plasticine on the conveyor belt, a robot rotating arm 9 drives a robot fixed arm 8 to a corresponding conveyor belt position, when a tracking system of the robot tracks the plasticine A, as the robot fixed arm 8 is fixedly connected with a top plate 1 in a grabbing device, the grabbing device starts to work, a pushing shaft of a double-shaft cylinder 12 starts to contract inwards, a half clamping block I and a half clamping block II gradually approach to clamp the plasticine, a control program in the robot receives a motion command of the clamped plasticine, next mechanical arm rotation is carried out, the command of the plasticine to be placed in a film laminating groove is placed, then the robot rotating arm rotates into the film laminating groove where the plasticine is placed in the film laminating machine, the pushing shaft of the double-shaft cylinder 12 pushes the half clamping block I61 and the half clamping block II 62 to be separated, meanwhile, the cylinders of the cylinder I13 and the cylinder II 14 push the pressing block 7 to be pushed downwards axially, so that the plasticine A is pressed into the corresponding film coating groove.

The above-mentioned embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a plasticine grabbing device, includes roof, splint and clamp plate, its characterized in that: a double-shaft cylinder is fixedly arranged at the center below the top plate, the front side and the rear side of the double-shaft cylinder are respectively and fixedly connected with a clamping plate I and a clamping plate II through a first cylinder connecting plate and a second cylinder connecting plate, and clamping blocks are fixedly connected below the clamping plate I and the clamping plate II through screws; two ends of the lower portion of the top plate are symmetrically provided with a cylinder I and a cylinder II, the lower ends of the cylinder I and the cylinder II are fixedly connected with a pressing block connecting plate I and a pressing block connecting plate II through cylinder connecting blocks, and the pressing block connecting plate I and the pressing block connecting plate II are in threaded connection with pressing blocks.

2. A plasticine gripping apparatus according to claim 1, characterised in that: and a top plate connecting cylinder connected with the robot fixing arm is integrally welded at the center of the upper part of the top plate.

3. A plasticine gripping apparatus according to claim 1, characterised in that: the first cylinder connecting plate and the second cylinder connecting plate are provided with backing plates at the joints of the clamping plates I and the clamping plates II.

4. A plasticine gripping apparatus according to claim 1 or 3, wherein: splint I and splint II are the rectangle board of bending that the inside is equipped with the mounting hole, longitudinal section is the L type.

5. A plasticine gripping apparatus according to claim 3, wherein: the central lines of the clamp plates I and II in the length direction are perpendicular to the axis of a pushing shaft of the double-shaft cylinder.

6. A plasticine gripping apparatus according to claim 1, characterised in that: the clamping block comprises a half clamping block I and a half clamping block II symmetrically installed with the half clamping block I.

7. A plasticine gripping apparatus according to claim 6, wherein: the side walls of the half clamping block I and the half clamping block II are arc-shaped.

8. A plasticine gripping apparatus according to claim 1, characterised in that: the pressing block is a disc-shaped wafer with a threaded column welded on the upper portion.

9. A plasticine gripping apparatus according to claim 1, characterised in that: briquetting connecting plate I and briquetting connecting plate II are the inside strip steel sheet that is equipped with the mounting hole.