CN217867230U - Special robot hand is prepared to material overlap joint flow material - Google Patents
Special robot hand is prepared to material overlap joint flow material Download PDFInfo
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- CN217867230U CN217867230U CN202222192347.3U CN202222192347U CN217867230U CN 217867230 U CN217867230 U CN 217867230U CN 202222192347 U CN202222192347 U CN 202222192347U CN 217867230 U CN217867230 U CN 217867230U
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- 239000000463 material Substances 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000003860 storage Methods 0.000 claims description 20
- 230000003139 buffering effect Effects 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 13
- 238000002360 preparation method Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- 241000208125 Nicotiana Species 0.000 description 3
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Abstract
The utility model provides a material overlap joint flow material prepares special robot hand, include: the swinging box is arranged on one side of the wallboard; the output end of the revolution driving mechanism is connected with one end of the swinging box and is used for driving the swinging box to rotate; the clamping mechanism is rotatably arranged at the other end of the swing box and comprises a swing arm rotatably connected with the swing box, a finger seat arranged on the swing arm, a plate shaft rotatably connected with the swing arm, a finger plate arranged on the plate shaft and matched with the finger seat to achieve the clamping purpose, and a rotary driving assembly connected with the swing arm and used for driving the plate shaft to rotate; and the autorotation driving mechanism is arranged in the swing box and is used for driving the swing arm to rotate. The utility model discloses simple structure, convenient to use, swing arm can be revolved along with the pendulum case, can the rotation again, and swing arm home range is big, and gesture, the angle of wandering is nimble, and fixture's centre gripping effect is stable, reliable, guarantees when handling different materials and carrying out different operations, and more wandering is enough.
Description
Technical Field
The utility model relates to a banded material machine-shaping equipment technical field of tobacco industry, concretely relates to material overlap joint flow material prepares special machine hand.
Background
At present, when the belt head of the belt-shaped material is pulled, manual operation can only be adopted mostly, the belt head of a new belt-shaped material needs to be pulled to a splicing device for standby by manpower, a film for splicing needs to be pulled to the splicing device for standby by the manpower, and when the belt head of the belt-shaped material is pulled by the manpower, the old belt-shaped material still normally works for ensuring the production efficiency, so that certain potential safety hazards exist in the manual pulling process, and the belt head pulling process is manually operated, low in efficiency and high in labor intensity. With the development of science and technology, the requirement on the automation degree of cigarette production equipment in the tobacco industry is higher and higher, the dependence on manpower is less and less, and the development of automatic tobacco production is severely restricted by the existing method for manually drawing the belt head.
Therefore, it is desirable to provide a material preparation robot for a material overlapping process to solve the existing problems.
Disclosure of Invention
In view of this, the utility model provides a material overlap joint flow material prepares special purpose machinery hand, and the gesture of wandering away, angle are nimble, and the centre gripping effect is stable, reliable, guarantees when handling different materials and carrying out different operations that wander edge more is more surplus.
In order to achieve the technical effects, the utility model provides a material overlap joint flow material prepares special purpose machinery hand adopts following technical scheme:
a material lap joint process material preparation special purpose machinery hand includes:
the swinging box is arranged on one side of the wall plate;
the revolution driving mechanism is arranged on the wall plate, and the output end of the revolution driving mechanism is connected with one end of the swing box and is used for driving the swing box to rotate;
the clamping mechanism is rotationally arranged at the other end of the swing box and comprises a swing arm rotationally connected with the swing box, a finger seat arranged on the swing arm, a plate shaft rotationally connected with the swing arm, a finger plate arranged on the plate shaft and matched with the finger seat to achieve the purpose of clamping, and a rotary driving assembly connected with the swing arm and used for driving the plate shaft to rotate;
and the rotation driving mechanism is arranged in the swing box and is used for driving the swing arm to rotate.
Furthermore, the rotation driving mechanism comprises a rotation buffering assembly sleeved on the swing arm and a rotation driving assembly arranged in the swing box and used for driving the rotation buffering assembly to rotate.
Furthermore, the rotary buffering assembly comprises a large gear, a spring and a force storage plate, the large gear is movably sleeved outside the swing arm, the force storage plate is fixedly sleeved on the swing arm, a plurality of grooves are symmetrically formed in the large gear, the spring is arranged in the grooves, flanges inserted into the grooves are arranged on the force storage plate, and the force storage plate is in certain pressure contact with the large gear under the action of spring force.
Furthermore, the rotation driving assembly comprises a second motor and a pinion, the second motor is arranged inside the swing box, the pinion is connected with the output end of the second motor and rotates coaxially, and the pinion is meshed with the gearwheel.
Further, the last fixed connection mounting panel of power storage plate, the rotation driving subassembly is including setting up the air motor on the mounting panel, and the output and the board axle transmission of air motor are connected.
Furthermore, revolution actuating mechanism is including rotating the output shaft that sets up on the wallboard, set up on the wallboard and be used for driving the output shaft and use its axis as the rotatory revolution drive assembly of center, the output shaft is connected with the end of pendulum case.
Further, revolution drive assembly includes seat box, first motor, first gear and second gear, the seat box sets up on the wallboard, first motor sets up in the seat box outside, first gear is connected and the two coaxial rotation with the output of first motor, second gear and output shaft connection and the two coaxial rotation, first gear and second gear all are located the seat box and the two meshes.
The above technical scheme of the utility model at least including following beneficial effect:
1. the utility model discloses simple structure, convenient to use sets up revolution actuating mechanism, rotation actuating mechanism and fixture for the swing arm can revolve along with the pendulum-box, can rotate again, and swing arm home range is big, and the gesture of wandering away, angle are nimble, and fixture's centre gripping effect is stable, reliable, guarantees when handling different materials and carrying out different operations that the wandering edge is more surplus;
2. the rotation driving mechanism comprises a rotation buffering assembly sleeved on the swing arm and a rotation driving assembly arranged in the swing box and used for driving the rotation buffering assembly to rotate, the rotation driving assembly drives the rotation buffering assembly to rotate, so that the aim of driving the swing arm to rotate is fulfilled, and meanwhile, the rotation buffering assembly can play a role in buffering, so that the swing arm has a certain rotation movement allowance;
3. the air motor works to drive the plate shaft to rotate, so that the finger plate is driven to rotate along with the plate shaft, the finger plate is matched with the finger seat to achieve the purpose of clamping, the driving is stable and reliable, and the clamping effect is stable and reliable.
Drawings
Fig. 1 is a schematic structural view of a material preparation special robot in a material overlapping process in an embodiment of the present invention;
fig. 2 is a perspective view of the revolution driving mechanism in the embodiment of the present invention;
fig. 3 is a plan view of fig. 1 (the revolution driving mechanism is not shown);
fig. 4 is a perspective view of a material preparation robot (revolution driving mechanism is not shown) in an embodiment of the present invention.
In the figure:
1. a wallboard;
2. a revolution driving mechanism; 21. a bearing seat; 22. an output shaft; 23. a seat box; 24. a first motor; 25. a first gear; 26. a second gear;
3. placing the box;
4. a clamping mechanism; 41. swinging arms; 42. a plate shaft; 43. a finger seat; 44. a fingerboard; 45. an air motor;
5. a rotation driving mechanism; 51. a second motor; 52. a seat plate; 53. a pinion gear; 54. a supporting base; 55. a bull gear; 56. a spring; 57. a force storage plate; 58. and (7) mounting the plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived from the description of the embodiments of the present invention by a person skilled in the art, are within the scope of the present invention.
A material lap joint process material preparation special purpose robot hand includes:
the swinging box 3 is arranged on one side of the wall plate 1;
the revolution driving mechanism 2 is arranged on the wallboard 1, and the output end of the revolution driving mechanism 2 is connected with one end of the swing box 3 and is used for driving the swing box 3 to rotate;
the clamping mechanism 4 is rotationally arranged at the other end of the swing box 3, and the clamping mechanism 4 comprises a swing arm 41 rotationally connected with the swing box 3, a finger seat 43 arranged on the swing arm 41, a plate shaft 42 rotationally connected with the swing arm 41, a finger plate 44 arranged on the plate shaft 42 and matched with the finger seat 43 to achieve the purpose of clamping, and a rotary driving assembly connected with the swing arm 41 and used for driving the plate shaft 42 to rotate;
and a rotation driving mechanism 5, wherein the rotation driving mechanism 5 is arranged in the swing box 3 and is used for driving the swing arm 41 to rotate.
Specifically, as shown in fig. 1-4, a material lap joint process material preparation special robot comprises a swing box 3 installed on one side of a wall plate 1. The wall plate 1 is provided with a revolution driving mechanism 2, and the output end of the revolution driving mechanism 2 is connected with one end of the swing box 3 and is used for driving the swing box 3 to rotate. The other end of the swing box 3 is rotatably provided with a clamping mechanism 4, the clamping mechanism 4 comprises a swing arm 41 which is rotatably connected with the swing box 3, a finger seat 43 which is fixedly arranged on the swing arm 41, a plate shaft 42 which is rotatably connected with the swing arm 41, a finger plate 44 which is fixedly arranged on the plate shaft 42 and is matched with the finger seat 43 to achieve the clamping purpose, and a rotary driving assembly which is connected with the swing arm 41 and is used for driving the plate shaft 42 to rotate. A rotation driving mechanism 5 for driving the swing arm 41 to rotate is installed in the swing box 3. The utility model discloses simple structure, convenient to use sets up revolution actuating mechanism 2, rotation actuating mechanism 5 and fixture 4 for swing arm 41 can be along with the revolution of pendulum-box 3 together, can rotate again, and swing arm 41 home range is big, and gesture, the angle of wandering away are nimble, and fixture 4's centre gripping effect is stable, reliable, guarantees when handling different materials and carrying out different operations, and more wandering away is more marginal.
The rotation driving mechanism 5 comprises a rotation buffering assembly sleeved on the swing arm 41 and a rotation driving assembly installed in the swing box 3 and used for driving the rotation buffering assembly to rotate. The rotation drive assembly drives the rotary buffering assembly to rotate, so that the purpose of driving the swing arm 41 to rotate is achieved, and meanwhile, the rotary buffering assembly can play a role in buffering, so that the swing arm 41 has certain rotary movement allowance. The rotary buffering assembly comprises a large gear 55, a spring 56 and a force storage plate 57, wherein the large gear 55 is movably sleeved outside the swing arm 41, the force storage plate 57 is fixedly sleeved on the swing arm 41, two grooves are symmetrically formed in the large gear 55, the spring 56 is positioned in the grooves, flanges inserted into the grooves are extended on the force storage plate 57, and the force storage plate 57 is in certain pressure contact with the large gear 55 under the action of the spring 56, so that the elastic buffering purpose is achieved.
The rotation driving component comprises a second motor 51 and a small gear 53, the second motor 51 is installed inside the swing box 3 through a seat plate 52, the small gear 53 is connected with the output end of the second motor 51 and rotates coaxially, and the small gear 53 is meshed with a large gear 55. The second motor 51 works to drive the small gear 53 to rotate, the small gear 53 is meshed with the large gear 55 to drive the large gear 55 to rotate, and the driving is stable and reliable.
The bottom of the power storage plate 57 is fixedly connected with a mounting plate 58, the rotary driving assembly comprises an air motor 45 mounted at the bottom of the mounting plate 58, and the output end of the air motor 45 faces upwards and is connected with the plate shaft 42 through a coupler. The air motor 45 can drive the plate shaft 42 to rotate, so as to drive the finger plate 44 to rotate along with the plate shaft 42, and the finger plate 44 is matched with the finger seat 43 to achieve the purpose of clamping, and the air motor is stable and reliable in driving and stable and reliable in clamping effect.
Revolution driving mechanism 2 includes output shaft 22 rotatably mounted on wall plate 1 through bearing seat 21, revolution driving assembly mounted on wall plate 1 and used for driving output shaft 22 to rotate by using its central axis as center, and output shaft 22 is connected with end portion of pendulum box 3. The revolution driving component comprises a seat box 23, a first motor 24, a first gear 25 and a second gear 26, the seat box 23 is installed on the wall plate 1, the first motor 24 is installed outside the seat box 23, the first gear 25 is connected with the output end of the first motor 24 and rotates coaxially with the first gear, the second gear 26 is connected with the output shaft 22 and rotates coaxially with the second gear, and the first gear 25 and the second gear 26 are both positioned in the seat box 23 and are meshed with each other. The first motor 24 works, the first gear 25 and the output end of the first motor 24 rotate coaxially, the first gear 25 is meshed with the second gear 26, and the output shaft 22 and the second gear 26 rotate coaxially, so that the swing box 3 is driven to rotate, the driving is stable and reliable, and the transmission effect is good.
The utility model discloses a theory of operation/application method:
the second gear 26, the output shaft 22 and the swing box 3 are fixedly connected into a whole, and form a rotation pair with the bearing seat 21, which is a first degree of freedom, and the first motor 24 transmits power through the first gear 25. The supporting seat 54 is installed on the swing box 3, the part of the shaft of the swing arm 41 extending into the two forms a rotation pair with the two, which is the second degree of freedom, and the second motor 51 outputs power to the small gear 53 and drives the rotation through the large gear 55 engaged with the small gear 53. Two grooves for accommodating springs 56 are formed in the large gear 55, two flanges extending out of the force storage plate 57 are inserted into the grooves, and the force storage plate 57 is in certain pressure contact with the large gear 55 under the action of the springs 56. The bull gear 55 and the support 54 form a revolute pair about the second degree of freedom rotation center. The shaft head of the swing arm 41 passes through the force storage plate 57 to be connected with the mounting plate 58, and the mounting plate 58 is fixedly connected with the force storage plate 57, so that the whole large gear 55 part forms a whole body rotating around the second degree of freedom rotation center. The air motor 45 on the mounting plate 58 is connected with the plate shaft 42 through the eccentric hole on the plate by a coupling, the exposed part of the plate shaft 42 is connected with a finger plate 44 which is the third degree of freedom, namely the finger of a robot hand, and the finger plate is controlled by the on-off air to open and close the finger plate 44 and is matched with a finger seat 43 fixedly arranged on the swing arm 41, so that the clamping and the picking of materials are realized.
The utility model discloses the main executive task of robot hand is respectively to pick up the sticky tape, lay the sticky tape, the coil of paper is opened a book, the thin slice pulls, and each kind of task all has higher requirement to its gesture angle. The first motor 24 drives the first degree of freedom to rotate, and the swinging box 3 can move among the functional modules such as the adhesive tape, the unreeling module and the splicing module, so that the material transfer is realized. The second degree of freedom controlled by the second motor 51 allows for flexibility in the position and angle of the swing arm 41, which makes the robot more free in handling different materials and performing different operations. It should be noted that, when the robot performs the uncoiling task at the uncoiling station, the requirement for the angle of the swing arm 41 is very high, otherwise the success rate of clamping will be affected. Due to the structural particularity of the robot hand, a simple control algorithm is allowed to be adopted, the swing arm 41 reaches a specified vacant position at a certain angle, then the linear module is enabled to drive the bobbin to dive downwards, the bobbin touches the finger seat 43 on the swing arm 41, the swing arm 41 rotates under the buffering of the spring 56 to trigger the switch, the linear module stops, the angle of the swing arm 41 is the expected optimal picking posture, the air motor 45 is ventilated, and the finger plate 44 clamps the thin sheets onto the finger seat 43, so that the uncoiling is completed.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate medium, and may be used for communicating the inside of two elements or for interacting with each other, unless otherwise specifically defined, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to the specific circumstances.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a material overlap joint flow material prepares special robot hand which characterized in that includes:
the swinging box (3), the swinging box (3) is arranged on one side of the wallboard (1);
the revolution driving mechanism (2), the revolution driving mechanism (2) is arranged on the wallboard (1), and the output end of the revolution driving mechanism (2) is connected with one end of the swing box (3) and is used for driving the swing box (3) to rotate;
the clamping mechanism (4) is rotatably arranged at the other end of the swing box (3), and the clamping mechanism (4) comprises a swing arm (41) rotatably connected with the swing box (3), a finger seat (43) arranged on the swing arm (41), a plate shaft (42) rotatably connected with the swing arm (41), a finger plate (44) arranged on the plate shaft (42) and matched with the finger seat (43) to achieve the clamping purpose, and a rotary driving assembly connected with the swing arm (41) and used for driving the plate shaft (42) to rotate;
and the rotation driving mechanism (5) is arranged in the swing box (3) and is used for driving the swing arm (41) to rotate.
2. The special material preparation robot for the material overlapping process according to claim 1, wherein the rotation driving mechanism (5) comprises a rotation buffering assembly sleeved on the swing arm (41), and a rotation driving assembly arranged in the swing box (3) and used for driving the rotation buffering assembly to rotate.
3. The special material preparation manipulator in the material overlapping process according to claim 2, wherein the rotary buffering assembly comprises a large gear (55), a spring (56) and a force storage plate (57), the large gear (55) is movably sleeved outside the swing arm (41), the force storage plate (57) is fixedly sleeved on the swing arm (41), a plurality of grooves are symmetrically formed in the large gear (55), the spring (56) is arranged in the grooves, flanges inserted into the grooves are arranged on the force storage plate (57), and the force storage plate (57) and the large gear (55) are in certain pressure contact under the action of the spring (56).
4. The special material preparation robot for the material overlapping process according to claim 3, wherein the autorotation driving assembly comprises a second motor (51) and a small gear (53), the second motor (51) is arranged inside the swing box (3), the small gear (53) is connected with the output end of the second motor (51) and coaxially rotates, and the small gear (53) is meshed with the large gear (55).
5. The special material preparation robot arm for the material overlapping process according to claim 3, wherein the force storage plate (57) is fixedly connected with a mounting plate (58), the rotary driving assembly comprises an air motor (45) arranged on the mounting plate (58), and an output end of the air motor (45) is in transmission connection with the plate shaft (42).
6. The material lap joint process material preparation special robot of claim 1, characterized in that, the revolution driving mechanism (2) comprises an output shaft (22) rotatably arranged on the wall plate (1), a revolution driving component arranged on the wall plate (1) and used for driving the output shaft (22) to rotate by taking the central axis thereof as the center, and the output shaft (22) is connected with the end of the swing box (3).
7. The special material preparation robot for the material overlapping process according to claim 6, wherein the revolution driving component comprises a seat box (23), a first motor (24), a first gear (25) and a second gear (26), the seat box (23) is arranged on the wall plate (1), the first motor (24) is arranged outside the seat box (23), the first gear (25) is connected with an output end of the first motor (24) and rotates coaxially with the first motor, the second gear (26) is connected with the output shaft (22) and rotates coaxially with the first motor, and the first gear (25) and the second gear (26) are both located in the seat box (23) and are meshed with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222192347.3U CN217867230U (en) | 2022-08-19 | 2022-08-19 | Special robot hand is prepared to material overlap joint flow material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222192347.3U CN217867230U (en) | 2022-08-19 | 2022-08-19 | Special robot hand is prepared to material overlap joint flow material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217867230U true CN217867230U (en) | 2022-11-22 |
Family
ID=84077094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222192347.3U Active CN217867230U (en) | 2022-08-19 | 2022-08-19 | Special robot hand is prepared to material overlap joint flow material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217867230U (en) |
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2022
- 2022-08-19 CN CN202222192347.3U patent/CN217867230U/en active Active
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