CN215749242U

CN215749242U - Nest plate nest box grabbing device and take off groove and return nest robot

Info

Publication number: CN215749242U
Application number: CN202121918005.4U
Authority: CN
Inventors: 李伟
Original assignee: Truking Technology Ltd
Current assignee: Truking Technology Ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2022-02-08
Anticipated expiration: 2031-08-16

Abstract

The utility model discloses a nest plate nest box grabbing device which comprises a rotatable mounting seat, wherein a vacuum sucker for grabbing a nest plate is arranged at the edge of the mounting seat, and a clamping hook for grabbing a nest box is arranged on the outer side of the vacuum sucker. The utility model further discloses a groove-releasing and nest-returning robot which comprises a six-axis robot capable of lifting, translating and rotating and the nest plate nest box grabbing device, wherein the mounting seat is connected with the six-axis robot. The utility model has the advantages of simple structure, low cost, convenient use and the like.

Description

Nest plate nest box grabbing device and take off groove and return nest robot

Technical Field

The utility model relates to food and medicine packaging equipment, in particular to a nest plate nest box grabbing device and a groove-removing and nest-returning robot.

Background

The automatic lamp inspection machine is suitable for pharmaceutical enterprises to detect small-capacity conductive liquid foreign matters and container tightness, and for the automatic production of the pre-filled syringes, the nest plate full of the pre-filled syringes needs to be taken out from the nest box (i.e. nest removal), the empty nest plate is put back to the nest box (i.e. nest return), and the nest box is transported. The existing various devices have complex structures, high cost and low efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of overcoming the defects of the prior art and provides a nest plate and nest box grabbing device which is simple in structure, low in cost and convenient to use.

The utility model further provides a groove-removing and nest-returning robot comprising the nest plate nest box grabbing device.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model provides a nest plate nest box grabbing device, includes rotatable mount pad, the mount pad edge is equipped with the vacuum chuck that is used for snatching the nest plate, the vacuum chuck outside is equipped with the pothook that is used for snatching the nest box.

As a further improvement of the above technical solution: the mounting seat is of a rectangular structure, at least one vacuum sucker is arranged on each side edge, an extending portion is arranged on each side edge of the mounting seat, and the clamping hooks are arranged on the extending portions.

As a further improvement of the above technical solution: an included angle beta is formed between the clamping hook and the side edge corresponding to the mounting seat, and beta is more than 0 degree and less than 90 degrees.

As a further improvement of the above technical solution: beta is more than or equal to 10 degrees and less than or equal to 20 degrees.

As a further improvement of the above technical solution: a plurality of through holes are formed in the mounting seat.

The utility model provides a take off groove and return nest robot, includes six robots of liftable, translation and rotation, still includes foretell nest plate nest box grabbing device, the mount pad with six robots link to each other.

As a further improvement of the above technical solution: the middle part of the mounting seat is provided with a conical connecting part, and the connecting part is detachably connected with the six-axis robot.

Compared with the prior art, the utility model has the advantages that: according to the nest plate and nest box grabbing device disclosed by the utility model, the vacuum sucker is arranged at the edge of the mounting seat, and for a nest plate fully inserted with a prefilled syringe, the edge of the nest plate can be fixed by utilizing vacuum adsorption, so that the nest plate can be conveniently taken out of the nest box in the follow-up process; the mounting seat is of a rotatable structure, the clamping hooks are arranged on the outer side of the vacuum chuck, the clamping hooks can grab the edge part of the nest box in a rotating mode, and the device is simple in structure, low in cost and very convenient to use.

The groove-removing nest-returning robot disclosed by the utility model comprises the nest plate nest box grabbing device, so that the groove-removing nest-returning robot also has the advantages, and the six-axis robot drives the mounting seat, the vacuum chuck and the clamping hook on the mounting seat to integrally lift, translate and rotate, so that the separation of the nest plate from the nest box, the placement of the nest plate into the nest box and the transportation of the nest box can be effectively realized.

Drawings

Figure 1 is a schematic front view of a nest plate box gripping device of the present invention.

Figure 2 is a schematic perspective view of a nest plate and nest box gripping device of the present invention.

Fig. 3 is a schematic perspective view of a first viewing angle of the robot for releasing and returning nests in the utility model.

Fig. 4 is a schematic perspective view of the robot for releasing and returning nests in the present invention from a second perspective.

The reference numerals in the figures denote: 1. a mounting seat; 11. an extension portion; 12. a through hole; 13. a connecting portion; 2. a vacuum chuck; 3. a hook; 4. a six-axis robot; 10. a nest plate; 20. a nest box.

Detailed Description

The utility model is described in further detail below with reference to the figures and specific examples of the specification.

Fig. 1-2 show an embodiment of the nest plate nest box gripping device of the utility model, the nest plate nest box gripping device of the embodiment comprises a rotatable mounting base 1, the edge of the mounting base 1 is provided with a vacuum chuck 2 for gripping a nest plate 10, and the outer side of the vacuum chuck 2 is provided with a hook 3 for gripping a nest box 20.

According to the nest plate nest box grabbing device, the vacuum suction cups 2 are arranged on the edges of the mounting seats 1, the edges of the nest plates 10, which are fully inserted with the prefilled syringes, can be fixed by vacuum adsorption, so that the nest plates 10 can be conveniently taken out of the nest box in the follow-up process, and when the nest plates 10 are released, the vacuum suction cups 2 stop adsorbing; the mounting seat 1 is a rotatable structure, the clamping hooks 3 are arranged on the outer side of the vacuum chuck 2, the clamping hooks 3 can grab the edge part of the nest box 20 in a rotating mode, and when the nest box 20 is released, the clamping hooks 3 are driven to rotate reversely, so that the honeycomb nest box is simple in structure, low in cost and very convenient to use.

Further, in this embodiment, the mounting base 1 has a rectangular structure, and each side of the mounting base 1 is provided with at least one vacuum chuck 2, each side of the mounting base 1 is provided with an extending portion 11, and the extending portion 11 is provided with a hook 3. The shape of the upper surface of the mounting seat 1 with a rectangular structure is consistent with that of the upper surfaces of the nest plate 10 and the nest box 20, and the vacuum chuck 2 and the clamping hook 3 are respectively arranged on each side edge of the mounting seat 1, so that each side edge of the nest box 10 and the nest plate 20 can be reliably grabbed.

Furthermore, an included angle beta is formed between the clamping hook 3 and the corresponding side edge of the mounting base 1 (for example, the left side edge of the mounting base 1 corresponds to the clamping hook 3 on the left side edge), beta is more than 0 degree and less than 90 degrees, namely the clamping hook 3 is obliquely arranged relative to the corresponding side edge on the mounting base 1, the mounting base 1 can conveniently drive the clamping hook 3 to hook the lower side of the edge of the nest box 20 through rotation, or the clamping hook 3 is driven to be separated from the nest box 20 through direction rotation, and the structure is simple and reliable.

Furthermore, in this embodiment, β is 12 °, the reliability is good, and the angle of rotation required to grip and release the nest box 20 is small, but in other embodiments, the inclination angle of the hook 3 may be adjusted within 10 ° to 20 °.

Further, in this embodiment, set up a plurality of through-holes 12 on the mount pad 1, can alleviate the dead weight of mount pad 1 on the one hand, on the other hand conveniently observes the condition of snatching through-hole 12.

Fig. 3 to 4 show an embodiment of the disengaging and nest-returning robot of the utility model, which includes a six-axis robot 4 capable of lifting, translating, and rotating (for example, lifting along the Z-axis, translating along the X-axis or Y-axis, and rotating around the Z-axis), and further includes the above nest plate nest box gripping device, and the mounting base 1 is connected with the six-axis robot 4.

The groove-removing nest-returning robot comprises the nest plate nest box grabbing device, so that the groove-removing nest-returning robot also has the advantages, the six-axis robot 4 drives the mounting seat 1 and the vacuum chuck 2 and the clamping hook 3 thereon to integrally lift, translate and rotate, and the separation of the nest plate 10 from the nest box 20 and the transfer of the nest plate 10 to the nest box 20 and the nest box 20 can be effectively realized.

Further, in this embodiment, 1 middle part of mount pad is equipped with coniform connecting portion 13, and connecting portion 13 can be dismantled with six robots 4 and be connected, and the connection between mount pad 1 and the six robots 4, simple structure, reliable, stability among the action process is good, wherein can dismantle the connection through realization such as fastener, conveniently change the mount pad 1 of different specifications.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the utility model, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims

1. The utility model provides a nest board nest box grabbing device which characterized in that: including rotatable mount pad (1), mount pad (1) edge is equipped with vacuum chuck (2) that are used for snatching nest board (10), vacuum chuck (2) outside is equipped with pothook (3) that are used for snatching nest box (20).

2. The nest plate nest box grasping device of claim 1, wherein: the mounting seat (1) is of a rectangular structure, at least one vacuum sucker (2) is arranged on each side edge, an extending portion (11) is arranged on each side edge of the mounting seat (1), and the clamping hooks (3) are arranged on the extending portions (11).

3. The nest plate nest box grasping device of claim 2, wherein: an included angle beta is formed between the clamping hook (3) and the side edge corresponding to the mounting seat (1), and beta is more than 0 degree and less than 90 degrees.

4. The nest plate nest box grasping device of claim 3, wherein: beta is more than or equal to 10 degrees and less than or equal to 20 degrees.

5. The nest plate nest box grasping device of claim 2, wherein: the mounting seat (1) is provided with a plurality of through holes (12).

6. The utility model provides a take off groove robot that returns nest, includes six robots (4) of liftable, translation and rotation, its characterized in that: further comprising the nest plate nest box grabbing device of any one of claims 1 to 5, wherein the mounting seat (1) is connected with the six-axis robot (4).

7. The slot-removing and nest-returning robot of claim 6, wherein: the mounting base (1) middle part is equipped with coniform connecting portion (13), connecting portion (13) with six robots (4) can be dismantled and be connected.