CN214325466U - Equal-height type inverted-hanging boxing robot system - Google Patents
Equal-height type inverted-hanging boxing robot system Download PDFInfo
- Publication number
- CN214325466U CN214325466U CN202023223080.7U CN202023223080U CN214325466U CN 214325466 U CN214325466 U CN 214325466U CN 202023223080 U CN202023223080 U CN 202023223080U CN 214325466 U CN214325466 U CN 214325466U
- Authority
- CN
- China
- Prior art keywords
- small arm
- large arm
- swing driving
- driving mechanism
- boxing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Container Filling Or Packaging Operations (AREA)
Abstract
The utility model relates to a robot, in particular to equal altitude type inverse hanging vanning robot system. The automatic boxing system comprises a gantry frame, boxing robots and a conveying line, wherein the gantry frame stretches across two sides of the conveying line, and a plurality of boxing robots are hung upside down on the top of the gantry frame; the boxing robot comprises a large arm, a small arm, a tail end connecting part, a large arm swing driving mechanism, a small arm swing driving mechanism and a crank connecting rod mechanism, wherein the large arm swing driving mechanism and the small arm swing driving mechanism are arranged on a gantry frame; the output end of the small arm swing driving mechanism is hinged with the small arm through a crank connecting rod mechanism. The utility model discloses a diaxon mode of hanging upside down, novel structure, precision height, fast, stability is high, the fault rate is low, each part cooperation is inseparable, coordinate the function, mobility, flexibility are high, application scope is wide.
Description
Technical Field
The utility model relates to a robot, in particular to equal altitude type inverse hanging vanning robot system.
Background
At present, the boxing of most bottles is finished by manpower, and the boxing is finished by the manpower, so that the efficiency is low, the requirement of mass production cannot be met, and the production cost is high. To meet the production requirements, boxing equipment has been used, and machines have been used to replace human labor. However, the traditional box filling machine is complex in mechanical structure, low in equipment operation speed, low in precision, high in failure rate, poor in stability, high in energy consumption and maintenance cost, large in occupied area, inconvenient to transport and install, very limited in application range, low in box filling efficiency and high in production cost.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a high type inverse hanging vanning robot system to solve current vanning machine application scope and very limit, the problem that vanning efficiency is low and manufacturing cost is high.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an equal-height type inverted hanging boxing robot system comprises a gantry frame, boxing robots and a conveying line, wherein the gantry frame stretches across two sides of the conveying line, and a plurality of boxing robots are inversely hung at the top of the gantry frame;
the boxing robot comprises a large arm, a small arm, a tail end connecting part, a large arm swing driving mechanism, a small arm swing driving mechanism and a crank connecting rod mechanism, wherein the large arm swing driving mechanism and the small arm swing driving mechanism are arranged on the gantry frame, one end of the large arm is connected with the output end of the large arm swing driving mechanism, and the other end of the large arm is sequentially hinged with the small arm and the tail end connecting part; the output end of the small arm swing driving mechanism is hinged with the small arm through a crank connecting rod mechanism.
The boxing robot further comprises a balance connecting rod mechanism, wherein the balance connecting rod mechanism comprises a front connecting rod, a triangular piece and a rear connecting rod, the triangular piece is hinged to the hinged shaft of the large arm and the hinged shaft of the small arm, one end of the front connecting rod and one end of the rear connecting rod are hinged to two ends of the triangular piece respectively, the other end of the front connecting rod is connected with the tail end connecting part, and the other end of the rear connecting rod is hinged to the gantry frame.
The crank connecting rod mechanism comprises a crank and a small arm connecting rod, wherein one end of the crank is connected with the output end of the small arm swing driving mechanism, the other end of the crank is connected with one end of the small arm connecting rod, and the other end of the small arm connecting rod is hinged with the middle position of the small arm.
The rotation axes of the large arm swing driving mechanism and the small arm swing driving mechanism are collinear.
The large arm swing driving mechanism comprises a large arm swing driving motor and a large arm swing driving speed reducer, the large arm swing driving speed reducer is installed at the top of the gantry frame, an input shaft of the large arm swing driving speed reducer is connected with an output shaft of the large arm swing driving motor, and an output shaft of the large arm swing driving speed reducer is connected with the large arm.
The small arm swing driving mechanism comprises a small arm swing driving motor and a small arm swing driving speed reducer, the small arm swing driving speed reducer is installed at the top of the gantry frame, and an input shaft is connected with an output shaft of the small arm swing driving motor; and an output shaft of the small arm swinging drive speed reducer is connected with the crank connecting rod mechanism.
The big arm is of a notch structure, and the small arm and the crank connecting rod mechanism are accommodated in the notch of the big arm.
The conveying lines comprise bottle conveying lines and box conveying lines which are arranged in parallel, and the bottle conveying lines are used for conveying bottles; the box conveying line is used for conveying boxes, and the boxing robot is used for loading bottles into the boxes.
The equal-height type inverse-hanging boxing robot system further comprises an end effector, wherein the end effector is connected with the end connecting part and is used for picking and releasing the bottles.
The bottle conveying line and the box conveying line are equal in height.
The utility model provides a pair of equal altitude type inverse-hanging vanning robot system adopts the diaxon inverse-hanging mode, novel structure, precision height, fast, stability is high, the fault rate is low, each part cooperation is inseparable, coordinate the function, mobility, flexibility are high, and application scope is wide.
The utility model discloses for the lift axle of cartesian robot, the utility model discloses a folding motion arm is fit for the strict application scene of floor height restriction more.
Drawings
Fig. 1 is one of isometric views of an equal-height inverted boxing robot system of the present invention;
FIG. 2 is an enlarged view taken at I in FIG. 1;
fig. 3 is a second isometric view of an equal-height type inverted boxing robot system of the present invention;
FIG. 4 is an enlarged view taken at II in FIG. 3;
fig. 5 is a schematic view of the working state of the equal-height type inverse-hanging boxing robot system of the present invention.
In the figure: the automatic bottle conveying device comprises a gantry frame 1, a large arm swing driving motor 2, a large arm swing driving speed reducer 3, a large arm 4, a small arm swing driving motor 5, a small arm swing driving speed reducer 6, a bottle 7, a box 8, a crank 9, a small arm connecting rod 10, a small arm 11, a tail end connecting part 12, a front connecting rod 13, a triangular piece 14, a rear connecting rod 15, a tail end actuator 16, a bottle conveying line 17 and a box conveying line 18.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-4, the utility model provides an equal-height type inverted hanging boxing robot system, which comprises a gantry frame 1, boxing robots and a conveying line, wherein the gantry frame 1 spans two sides of the conveying line, and a plurality of boxing robots are inversely hung on the top of the gantry frame 1; the boxing robot comprises a large arm 4, a small arm 11, a tail end connecting part 12, a large arm swing driving mechanism, a small arm swing driving mechanism and a crank connecting rod mechanism, wherein the large arm swing driving mechanism and the small arm swing driving mechanism are arranged on the gantry frame 1, one end of the large arm 4 is connected with the output end of the large arm swing driving mechanism, and the other end of the large arm 4 is sequentially hinged with the small arm 11 and the tail end connecting part 12; the output end of the small arm swing driving mechanism is hinged with the small arm 11 through a crank connecting rod mechanism.
On the basis of the above embodiment, the boxing robot further comprises a balance link mechanism, and the balance link mechanism can enable the tail end connecting part 12 to be always kept in a horizontal state, that is, the tail end connecting part 12 can only translate and cannot rotate. Specifically, as shown in fig. 2, the balance link mechanism includes a front link 13, a triangular member 14 and a rear link 15, wherein the triangular member 14 is hinged to the hinge shafts of the large arm 4 and the small arm 11, one end of the front link 13 and one end of the rear link 15 are respectively hinged to both ends of the triangular member 14, the other end of the front link 13 is connected to the terminal connection portion 12, and the other end of the rear link 15 is hinged to the gantry frame 1.
In an embodiment of the present invention, the rotation axis collineation of the large arm swing driving mechanism and the small arm swing driving mechanism. Specifically, as shown in fig. 2, the boom swing driving mechanism includes a boom swing driving motor 2 and a boom swing driving reducer 3, the boom swing driving reducer 3 is installed on the top of the gantry frame 1, the input shaft is connected to the output shaft of the boom swing driving motor 2, and the output shaft of the boom swing driving reducer 3 is connected to the boom 4. The small arm swing driving mechanism comprises a small arm swing driving motor 5 and a small arm swing driving speed reducer 6, the small arm swing driving speed reducer 6 is installed at the top of the gantry frame 1, and an input shaft is connected with an output shaft of the small arm swing driving motor 5; the output shaft of the small arm swing driving speed reducer 6 is connected with a crank connecting rod mechanism. Wherein the rotation axes of the large arm swing driving motor 2, the large arm swing driving speed reducer 3, the small arm swing driving motor 5 and the small arm swing driving speed reducer 6 are collinear.
As shown in fig. 2, in the embodiment of the present invention, the crank-link mechanism includes a crank 9 and a small arm link 10, wherein one end of the crank 9 is connected to the output end of the small arm swing driving mechanism, the other end is connected to one end of the small arm link 10, and the other end of the small arm link 10 is hinged to the middle position of the small arm 11.
As shown in fig. 2 and 4, in the embodiment of the present invention, the large arm 4 is a notch structure, and the small arm 11 and the crank link mechanism are accommodated in the notch of the large arm 4. In this embodiment, the gantry frame 1, the large arm 4, the small arm 11 and the terminal connecting portion 12 are all hollow welding bodies, and the notch configuration on the large arm 4 facilitates the multi-link coupling motion of the small arm link 10 and the small arm 11 inside the large arm.
As shown in fig. 1 and 3, a large space is provided above the conveying line from the boxing robot, so that the operation of the boxing robot is facilitated. In the embodiment of the present invention, the conveyor lines include a bottle conveyor line 17 and a box conveyor line 18 which are arranged in parallel, and the bottle conveyor line 17 is used for conveying the bottles 7; a box conveyor line 18 is used to transport the boxes 8 and a boxing robot is used to load the bottles 7 into the boxes 8.
Further, the bottle line 17 and the box line 18 are flush. The boxes 8 on the box conveying line 18 are arranged at equal intervals, and subsequent stations of the boxes 8 need to be covered due to box packaging technology, so that a box cover sealing operation space is formed.
Further, the bottle conveying lines 17 and the box conveying lines 18 can be multiple and arranged in a staggered mode, the multiple box packing robots are located at the positions, qualified through kinematics and dynamics software simulation, above the conveying lines arranged in the staggered mode, qualified standards do not interfere, and system resonance points are avoided. The conveying line can convey any production line article related to boxing, such as bottles, carton boxes, liner carton boxes and the like, and a plurality of boxing robots can synchronously act to improve the working efficiency, as shown in fig. 5.
On the basis of the above embodiment, the contour type inverse boxing robot system further comprises an end effector 16, wherein the end effector 16 is connected with the end connection part 12, and the end effector 16 is used for picking up and releasing the bottles 7. In this embodiment, the end effector 16 is a commercially available product, and has not only a bottle gripping mechanism but also a mechanism for dividing a large group of bottles 7 into a plurality of small groups, and the moving direction is a conveying line moving direction, and is generally realized by a servo moving mechanism and an encoder in the end effector 16. The end effector 16 can pick up a group of bottles 7 from the bottle conveyor line 17 and place them in N boxes 8 with a certain spacing, N being greater than or equal to 2; this embodiment is N-3.
The utility model provides an equal-height type inverted packing robot system, which adopts a two-shaft inverted packing mode, has novel structure, high precision, high speed, high stability, low failure rate, close cooperation and coordinated operation of all parts, high maneuverability and flexibility and wide application range; meanwhile, the floor area is small, and the space is saved.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. The equal-height type inverted hanging boxing robot system is characterized by comprising a gantry frame (1), boxing robots and a conveying line, wherein the gantry frame (1) stretches across two sides of the conveying line, and a plurality of boxing robots are inversely hung at the top of the gantry frame (1);
the boxing robot comprises a large arm (4), a small arm (11), a tail end connecting part (12), a large arm swing driving mechanism, a small arm swing driving mechanism and a crank connecting rod mechanism, wherein the large arm swing driving mechanism and the small arm swing driving mechanism are arranged on the gantry frame (1), one end of the large arm (4) is connected with the output end of the large arm swing driving mechanism, and the other end of the large arm (4) is sequentially hinged with the small arm (11) and the tail end connecting part (12); the output end of the small arm swing driving mechanism is hinged with the small arm (11) through a crank connecting rod mechanism.
2. The equal-height type inverted hanging boxing robot system according to claim 1, wherein the boxing robot further comprises a balance link mechanism, the balance link mechanism comprises a front link (13), a triangular piece (14) and a rear link (15), the triangular piece (14) is hinged on hinged shafts of the large arm (4) and the small arm (11), one end of the front link (13) and one end of the rear link (15) are respectively hinged with two ends of the triangular piece (14), the other end of the front link (13) is connected with the tail end connecting part (12), and the other end of the rear link (15) is hinged with the gantry frame (1).
3. The robot system for the equal-height type inverse hanging box packing as claimed in claim 1 or 2, wherein the crank-link mechanism comprises a crank (9) and a small arm link (10), wherein one end of the crank (9) is connected with the output end of the small arm swing driving mechanism, the other end of the crank is connected with one end of the small arm link (10), and the other end of the small arm link (10) is hinged with the middle position of the small arm (11).
4. The contour inverted boxing robot system in accordance with claim 1 or 2, wherein rotation axes of the large arm swing driving mechanism and the small arm swing driving mechanism are collinear.
5. The equal-height type inverted boxing robot system according to claim 4, wherein the large arm swinging driving mechanism comprises a large arm swinging driving motor (2) and a large arm swinging driving speed reducer (3), the large arm swinging driving speed reducer (3) is installed at the top of the gantry frame (1), an input shaft of the large arm swinging driving speed reducer is connected with an output shaft of the large arm swinging driving motor (2), and an output shaft of the large arm swinging driving speed reducer (3) is connected with the large arm (4).
6. The equal-height type inverted boxing robot system according to claim 4, wherein the small arm swinging driving mechanism comprises a small arm swinging driving motor (5) and a small arm swinging driving speed reducer (6), the small arm swinging driving speed reducer (6) is installed at the top of the gantry frame (1), and an input shaft is connected with an output shaft of the small arm swinging driving motor (5); and an output shaft of the small arm swinging drive speed reducer (6) is connected with the crank connecting rod mechanism.
7. The equal-height type inverted boxing robot system according to claim 1, wherein the large arm (4) is of a notch-type structure, and the small arm (11) and the crank link mechanism are accommodated in a notch of the large arm (4).
8. The equal-height type upside-down boxing robot system according to claim 1, wherein the conveying lines comprise a bottle conveying line (17) and a box conveying line (18) which are arranged in parallel, and the bottle conveying line (17) is used for conveying bottles (7); the box conveying line (18) is used for conveying boxes (8), and the boxing robot is used for loading the bottles (7) into the boxes (8).
9. The contour inverted boxing robot system in accordance with claim 8, further comprising an end effector (16), the end effector (16) being connected to the end connection (12), the end effector (16) being used for picking up and releasing the bottles (7).
10. The equal-height type inverse boxing robot system according to claim 8, wherein the bottle conveying line (17) and the box conveying line (18) are equal in height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023223080.7U CN214325466U (en) | 2020-12-28 | 2020-12-28 | Equal-height type inverted-hanging boxing robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023223080.7U CN214325466U (en) | 2020-12-28 | 2020-12-28 | Equal-height type inverted-hanging boxing robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214325466U true CN214325466U (en) | 2021-10-01 |
Family
ID=77902932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023223080.7U Active CN214325466U (en) | 2020-12-28 | 2020-12-28 | Equal-height type inverted-hanging boxing robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214325466U (en) |
-
2020
- 2020-12-28 CN CN202023223080.7U patent/CN214325466U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203006505U (en) | Staking robot gripper | |
| CN109531556B (en) | Four-freedom-degree cylindrical coordinate parallel robot | |
| CN102922511A (en) | Three-move one-rotation four-freedom degree space parallel connection mechanism | |
| CN103056875A (en) | Large-work-space controllable-mechanism stacker crane | |
| CN102922512A (en) | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation | |
| CN107953339B (en) | Glass bottle sorting parallel robot with compliant structure | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN107618688A (en) | Bottled food is grouped vanning technique and boxing apparatus | |
| CN103624766A (en) | Machine vision parallel sorting robot | |
| CN104786211B (en) | A kind of Six-DOF industrial robot containing ball screw assembly, | |
| CN210480140U (en) | Rotary feeding and discharging mechanism | |
| CN214325466U (en) | Equal-height type inverted-hanging boxing robot system | |
| CN205801578U (en) | Four banding parallel robot packaging production lines | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot | |
| CN203003889U (en) | Controllable palletizing robot | |
| CN104690724A (en) | Three-freedom-degree carrying robot | |
| CN211593043U (en) | High-speed full-automatic intelligent production line for aluminum plastic aluminum bubble cap packing box | |
| CN105500350A (en) | Three-translation high-speed sorting parallel manipulator | |
| CN214325465U (en) | Drop type inverse-hanging boxing robot system | |
| CN210100826U (en) | Double-station efficient paper box forming machine | |
| CN207682393U (en) | A kind of vial sorting parallel robot with compliant structure | |
| CN212686057U (en) | Automatic case unpacking machine | |
| CN203003888U (en) | Large-workspace controllable mechanism type stacking machine | |
| CN212220682U (en) | Vertical case packer | |
| CN207346158U (en) | Bottled food is grouped boxing apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |