CN215794738U

CN215794738U - Two-axis robot packaging control device

Info

Publication number: CN215794738U
Application number: CN202122051250.6U
Authority: CN
Inventors: 曾国艺; 游含沛
Original assignee: Quanzhou Kesheng Packaging Machinery Co ltd
Current assignee: Quanzhou Kesheng Packaging Machinery Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2022-02-11
Anticipated expiration: 2031-08-27

Abstract

The utility model relates to the technical field of packaging equipment, in particular to a two-axis robot packaging control device which comprises a rack, an input conveyer belt is arranged on the frame, a packing conveyer belt is arranged on one side of the input conveyer belt on the frame, the frame is provided with an image device for identifying the input conveyer belt and packaging the conveyer belt articles, the frame is provided with two-shaft mechanical arms, the two-axis robot arm comprises an X-axis motion mechanism, a Z-axis motion mechanism, a manipulator arranged at the bottom of the Z-axis motion mechanism and a driving mechanism, the X-axis motion mechanism comprises a transverse sliding rod, a cross rod seat and a transverse sliding block, the cross rod seat and the transverse sliding block are arranged at the two ends of the transverse sliding rod, the Z-axis movement mechanism comprises a longitudinal sliding seat and a longitudinal sliding rod which are arranged on a transverse sliding block, and the driving mechanism comprises a driving wheel mechanism, a driven belt wheel and an open belt, wherein the driving wheel mechanism is independently arranged on the transverse rod seat, and the driven belt wheel and the open belt are arranged at the upper end of the longitudinal sliding rod. It has solved the technical problem that efficiency is lower and the centre gripping drops.

Description

Two-axis robot packaging control device

Technical Field

The utility model relates to the technical field of packaging equipment, in particular to a two-axis robot packaging control device.

Background

At present, the chinese patent application No.: CN201621066499.7 discloses diaxon material taking manipulator, including the support with horizontal migration's moving mechanism on the support, its characterized in that: the rack and the guide rail are arranged on the bracket; the moving mechanism comprises a transmission part and a lifting mechanism connected with the transmission part, wherein the transmission part comprises a sliding seat clamped on the guide rail in a sliding manner, a first driving motor for driving the sliding seat to move horizontally and a connecting arm connected with the lifting mechanism; the lifting mechanism comprises a lifting rod and a second driving motor for driving the lifting rod to stretch up and down, and the tail end of the lifting rod is provided with a sucker connecting seat.

Above-mentioned diaxon material taking manipulator simple structure for general diaxon material taking manipulator structure, when its article carried out the centre gripping and removes, need carry out the displacement of longitudinal direction again after the removal completion in horizontal direction usually, its stroke is far away, influences efficiency to a certain extent, and when the switching of displacement direction, has the moment of pausing, causes the drop of centre gripping article easily.

SUMMERY OF THE UTILITY MODEL

Therefore, in order to solve the above problems, the present invention provides a two-axis robot packing control device, which solves the technical problems of low efficiency and clamping falling.

In order to achieve the purpose, the utility model adopts the following technical scheme: the utility model provides a diaxon robot packing controlling means, includes the frame, be equipped with the input conveyer belt in the frame, it is equipped with the packing conveyer belt to lie in input conveyer belt one side in the frame, input conveyer belt and packing conveyer belt direction of delivery are opposite, be equipped with the image device that is used for discerning input conveyer belt and packing conveyer belt article in the frame, be equipped with the diaxon robot arm that is used for transferring the article on the input conveyer belt to the packing conveyer belt in the frame, the diaxon robot arm includes X axle motion, Z axle motion, locates the manipulator of Z axle motion bottom and drive X axle motion, the actuating mechanism of Z axle motion activity, X axle motion includes horizontal slide bar, locates the horizontal pole seat at horizontal slide bar both ends and locates the horizontal slider on the horizontal slide bar, Z axle motion is including vertical slide, the vertical slider of locating on the horizontal slider, But the vertical slide bar in the vertical slide is located to the slidable, actuating mechanism is including independently locating drive wheel mechanism on the horizontal pole seat respectively, locating the driven pulleys of vertical slide bar upper end and parcel drive wheel mechanism, driven pulleys's opening belt, the both ends of opening belt are fixed in vertical slide bar lower extreme both sides.

Furthermore, the driving wheel mechanism comprises a driving belt wheel in transmission connection with the opening belt and a driving motor for driving the driving belt wheel.

Furthermore, four limiting wheels are arranged in the longitudinal sliding seat, and limit the open belt to be in a cross posture.

Further, the imaging device is a high-definition camera.

Furthermore, a rotating mechanism is arranged between the longitudinal sliding rod and the manipulator, and the rotating mechanism is a rotating cylinder.

By adopting the technical scheme, the utility model has the beneficial effects that:

1. the X-axis motion mechanism and the Z-axis motion mechanism can be controlled to move simultaneously through the drive mechanism of the two-axis robot arm, the two drive wheel mechanisms independently arranged on the drive mechanism can control the two-axis robot arm to move when moving at different speeds, meanwhile, the transfer of articles on the input conveyor belt to the packaging conveyor belt is completed through the manipulator, and the X-axis motion mechanism and the Z-axis motion mechanism are controlled to move, so that the transfer route of the articles can be an arc line, the route is shorter, the efficiency can be effectively improved, the steering pause is not needed in the transfer process, and the articles on the manipulator can be effectively prevented from falling off; through setting up the article that image device distinguishable input sent the area, the diaxon robotic arm carries out snatching of product according to the discernment result and transfers, simultaneously, input conveyer belt and packing conveyer belt direction of delivery are opposite, and image device distinguishable packing condition of article on the packing conveyer belt, if there is the packing condition mistake, can feed back the signal to in the next process.

2. The opening belt can be effectively limited by the limiting wheel, and the influence on the transmission precision due to the overlarge vibration in the transmission process of the opening belt is effectively prevented.

3. The inclined product can be adjusted through the rotating mechanism according to the feedback signal of the imaging device, so that the consistency of the packaged product is higher.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic left side view of the structure of FIG. 1;

fig. 3 is a schematic top view of fig. 1.

Detailed Description

The utility model will now be further described with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 3, the embodiment provides a two-axis robot packing control device, which includes a frame, an input conveyor belt 1 is disposed on the frame, a packing conveyor belt 2 is disposed on one side of the input conveyor belt 1 on the frame, the input conveyor belt 1 and the packing conveyor belt 2 have opposite conveying directions, an imaging device 3 for identifying articles on the input conveyor belt 1 and the packing conveyor belt 2 is disposed on the frame, a two-axis robot arm 4 for transferring articles on the input conveyor belt 1 to the packing conveyor belt 2 is disposed on the frame, the two-axis robot arm 4 includes an X-axis moving mechanism 41, a Z-axis moving mechanism 42, a manipulator 43 disposed at the bottom of the Z-axis moving mechanism 42, and a driving mechanism 44 for driving the X-axis moving mechanism 41 and the Z-axis moving mechanism 42 to move, the X-axis moving mechanism 41 includes a transverse sliding rod 411, cross rod seats 412 disposed at two ends of the transverse sliding rod 411, and a transverse sliding block 413 disposed on the transverse sliding rod, the Z-axis moving mechanism 42 includes a longitudinal sliding base 421 disposed on the lateral sliding block 413, and a longitudinal sliding rod 422 slidably disposed in the longitudinal sliding base 421, the driving mechanism 44 includes a driving wheel mechanism 441 independently disposed on the transverse rod base 412, a driven pulley 442 disposed at the upper end of the longitudinal sliding rod 422, and an open belt 443 wrapping the driving wheel mechanism 441 and the driven pulley 442, and both ends of the open belt 443 are fixed to both sides of the lower end of the longitudinal sliding rod 422.

The X-axis movement mechanism 41 and the Z-axis movement mechanism 42 can be controlled to move simultaneously through the driving mechanism 44 of the two-axis robot arm 4, the two driving wheel mechanisms 441 independently arranged on the driving mechanism 44 can control the two-axis robot arm 4 to move when moving at different speeds, meanwhile, the manipulator 43 is used for transferring articles on the input conveyor belt 1 to the packaging conveyor belt 2, and the X-axis movement mechanism 41 and the Z-axis movement mechanism 42 are controlled to move, so that the transferring route of the articles can be an arc line, the route is shorter, the efficiency can be effectively improved, the steering pause is not needed in the transferring process, and the articles on the manipulator 43 can be effectively prevented from falling off; through setting up the article that image device 3 distinguishable input was sent the area, diaxon robotic arm 4 carries out snatching transferring to the product according to the discernment result, simultaneously, input

conveyer belt

1 and 2 transport direction of packing conveyer belt are opposite, and image device 3 distinguishable packing condition of article on the packing conveyer belt 2, if there is the packing condition mistake, can feed back the signal to in the next process.

The driving wheel mechanism 441 comprises a driving pulley 441a in transmission connection with the open belt 443 and a driving motor 441b for driving the driving pulley 441 a.

Four limiting wheels 421a are provided in the longitudinal slide 421, and the limiting wheels 421a limit the open belt 443 to a cross posture.

The open belt 443 can be effectively limited by the limiting wheel 421a, and the influence of excessive vibration on the transmission precision of the open belt 443 during the transmission process can be effectively prevented.

The imaging device 3 is a high-definition camera.

A rotating mechanism 5 is arranged between the longitudinal sliding rod 422 and the manipulator 43, and the rotating mechanism 5 is a rotating cylinder.

The inclined product can be adjusted through the rotating mechanism 5 according to the feedback signal of the imaging device 3, so that the consistency of the packaged product is higher.

The working mode of the utility model is as follows:

the input conveyer belt 1 runs, the imaging device 3 judges the position and the conveying posture of a product on the input conveyer belt 1, the driving mechanism 44 of the two-axis robot arm 4 is used for controlling the displacement of the X-axis movement mechanism 41 and the Z-axis movement mechanism 42 at the same time, the position of the mechanical arm 43 is adjusted through the rotating mechanism 5 to grab the product, the product is placed into a packaging box of the packaging conveyer belt 2 through the displacement of the two-axis robot arm 4, the packaging conveyer belt 2 moves towards the imaging device 3, and the imaging device 3 judges the packaging condition in the packaging box and feeds back signals to a later process.

While the utility model has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. A two-axis robot packing control device is characterized in that: comprises a frame, an input conveying belt is arranged on the frame, a packaging conveying belt is arranged on one side of the input conveying belt on the frame, the conveying direction of the input conveying belt is opposite to that of the packaging conveying belt, an imaging device for identifying the input conveying belt and packaging conveying belt articles is arranged on the frame, a two-shaft mechanical arm for transferring the articles on the input conveying belt to the packaging conveying belt is arranged on the frame, the two-shaft mechanical arm comprises an X-shaft motion mechanism, a Z-shaft motion mechanism, a mechanical arm arranged at the bottom of the Z-shaft motion mechanism, and a driving mechanism for driving the X-shaft motion mechanism and the Z-shaft motion mechanism to move, the X-shaft motion mechanism comprises a transverse slide bar, transverse bar seats arranged at two ends of the transverse slide bar, and a transverse slide block arranged on the transverse slide bar, the Z-shaft motion mechanism comprises a longitudinal slide seat arranged on the transverse slide block, and a longitudinal slide bar arranged in the longitudinal slide seat in a sliding manner, the driving mechanism comprises a driving wheel mechanism, a driven belt wheel and an opening belt, the driving wheel mechanism is arranged on the upper end of the longitudinal sliding rod, the opening belt wraps the driving wheel mechanism and the driven belt wheel, and the two ends of the opening belt are fixed on the two sides of the lower end of the longitudinal sliding rod.

2. A two-axis robot packing control device according to claim 1, characterized in that: the driving wheel mechanism comprises a driving belt wheel in transmission connection with the opening belt and a driving motor for driving the driving belt wheel.

3. A two-axis robot packing control device according to claim 1, characterized in that: four limiting wheels are arranged in the longitudinal sliding seat, and the limiting wheels limit the open belt into a cross-shaped posture.

4. A two-axis robot packing control device according to claim 1, characterized in that: the imaging device is a high-definition camera.

5. A two-axis robot packing control device according to claim 1, characterized in that: and a rotating mechanism is arranged between the longitudinal sliding rod and the manipulator, and the rotating mechanism is a rotating cylinder.