CN218614160U

CN218614160U - Unpacking manipulator

Info

Publication number: CN218614160U
Application number: CN202223085342.7U
Authority: CN
Inventors: 陈志东; 吴初满
Original assignee: Wenzhou Dasong Machinery Technology Co ltd
Current assignee: Wenzhou Dasong Machinery Technology Co ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-03-14
Anticipated expiration: 2032-11-18

Abstract

The utility model discloses a manipulator for unpacking, which relates to the mechanical field of unpacking, comprising a sucker component and a driving mechanism, wherein a first driving piece and a second driving piece are arranged on a first mounting rack, one end of a first swing arm is connected with the output end of the first driving piece, and the other end of the first swing arm is hinged on a triangular plate, two ends of a first connecting rod are respectively hinged with the first mounting rack and the triangular plate, one end of a second swing arm is connected with the output end of the second driving piece, and the other end of the second swing arm is hinged with one end of a second connecting rod; be equipped with the articulated third connecting rod of connecting the two between second mounting bracket and the triangular plate, the other end of second connecting rod with the intermediate position of third connecting rod is articulated, first swing arm and first connecting rod are in parallel state when the swing always. The utility model has the advantages of quick response of opening the box, small action inertia and good practicability.

Description

Unpacking manipulator

Technical Field

The utility model relates to an unpacking machinery, concretely relates to unpacking manipulator.

Background

The purpose of the case unpacking machine is to take out the case blanks from the case blank storage warehouse and form the case blanks, and the step is very important and directly influences the subsequent case packing process. If the box unpacking machine cannot properly mold the box blank, the subsequent processes cannot be performed.

Most of the existing box unpacking machines adopt a driving sucker of a driving mechanism to carry out box unpacking actions, such as a box unpacking mechanism of a box unpacking machine disclosed in a notice date 2022.05.27 with a notice number of CN 1111699714B; however, the case unpacking machine not only needs to open and form the case blank, but also needs to convey the opened case blank to a subsequent station, that is, the driving mechanism drives the suction cup to perform the case unpacking action, and after the case unpacking is completed, the formed case blank still needs to be protected and conveyed into the conveying channel, and the existing driving mechanism generally adopts two sets of linear motion mechanisms to realize the action, that is, the linear motion mechanism which drives the suction cup to suck the case blank and the linear motion mechanism which drives the suction cup to convey the formed case blank into the conveying mechanism. And in the two sets of linear motion mechanisms, one set of linear motion mechanism is arranged on the second set of linear motion mechanism and is driven by the second set of linear motion mechanism to act, and components such as connecting wires of the set of linear motion mechanism need to be provided with drag chains so as to be convenient for the components to move along with the second set of linear motion mechanism, and the second set of linear motion mechanism drives the first set of linear motion mechanism to move together and also needs to drive the sucker mechanism to move, so that the borne components have larger weight and larger motion inertia, are not easy to control, and are easy to break down after long-time operation.

SUMMERY OF THE UTILITY MODEL

In order to overcome the not enough of background art, the utility model provides an unpacking response is fast, and action inertia is little, the unpacking manipulator that the practicality is good.

The utility model discloses the technical scheme who adopts: a box opening manipulator comprises a sucker component and a driving mechanism, wherein the driving mechanism comprises a first mounting frame, a second mounting frame, a triangular plate, a first swing arm, a second swing arm, a first connecting rod, a second connecting rod, a first driving piece and a second driving piece, the first driving piece and the second driving piece are mounted on the first mounting frame, one end of the first swing arm is connected with the output end of the first driving piece, the other end of the first swing arm is hinged to the triangular plate, two ends of the first connecting rod are hinged to the first mounting frame and the triangular plate respectively, one end of the second swing arm is connected with the output end of the second driving piece, and the other end of the second swing arm is hinged to one end of the second connecting rod; be equipped with the articulated third connecting rod of connecting the two between second mounting bracket and the triangular plate, the other end of second connecting rod with the intermediate position of third connecting rod is articulated, first swing arm and first connecting rod are in parallel state when the swing always.

The hinge position of the first swing arm on the triangular disc and the hinge position of the third connecting rod on the triangular disc are arranged in a staggered mode.

Still be equipped with the articulated fourth connecting rod of connecting the two between triangle dish and the second mounting bracket, third connecting rod, fourth connecting rod, triangle dish and second mounting bracket constitute a parallelogram structure.

The sucker component comprises a first sucker frame, a third driving piece, a second sucker frame and a plurality of suckers, the first sucker frame is fixedly mounted on the second mounting frame, the third driving piece is fixedly mounted at the end part of the second mounting frame, the second sucker frame is fixedly connected with the output end of the third driving piece, and the suckers are respectively fixedly mounted on the first sucker frame and the second sucker frame.

The installation state of the first driving piece and the second driving piece on the first installation frame is in dislocation arrangement.

The utility model has the advantages that: in the technical scheme, the first driving piece drives the first swing arm to swing, the triangular disc at the tail end of the first swing arm can move along with the first swing arm, and the second mounting frame is enabled to transversely move under the action of the third connecting rod; then the second driving piece drives the second swing arm to swing, the second connecting rod exerts an acting force on the third connecting rod to enable the third connecting rod to drive the second mounting rack to move longitudinally, the two sets of actions are combined into a whole, the equipment space is greatly saved, the moving efficiency is faster, and the box unpacking machine is more suitable for being used as a box unpacking machine.

Drawings

Fig. 1 is a schematic structural diagram of a case unpacking manipulator according to an embodiment of the present invention.

Figure 2 is a top view of the unpacking robot.

Detailed Description

The embodiments of the present invention will be further explained with reference to the accompanying drawings:

as shown in the figure, the box opening manipulator comprises a sucker assembly and a driving mechanism, wherein the driving mechanism comprises a first mounting frame 1, a second mounting frame 2, a triangular disc 3, a first swing arm 4, a second swing arm 5, a first connecting rod 6, a second connecting rod 7, a first driving piece 8 and a second driving piece 9, the first driving piece 8 and the second driving piece 9 are installed on the first mounting frame 1, one end of the first swing arm 4 is connected with the output end of the first driving piece 8, the other end of the first swing arm is hinged to the triangular disc 3, two ends of the first connecting rod 6 are respectively hinged to the first mounting frame 1 and the triangular disc 3, one end of the second swing arm 5 is connected with the output end of the second driving piece 9, and the other end of the second swing arm is hinged to one end of the second connecting rod 7; a third connecting rod 10 for connecting the second mounting frame 2 and the triangular disc 3 in a hinged manner is arranged between the second mounting frame and the triangular disc, the other end of the second connecting rod 7 is hinged with the middle position of the third connecting rod 10, and the first swing arm 4 and the first connecting rod 6 are always in a parallel state when swinging; in the technical scheme, the first driving piece drives the first swing arm to swing, the triangular disc at the tail end of the first swing arm can move along with the first swing arm, and the second mounting frame is enabled to transversely move under the action of the third connecting rod; then the second driving piece drives the second swing arm to swing, the second connecting rod exerts an acting force on the third connecting rod to enable the third connecting rod to drive the second mounting rack to move longitudinally, the two sets of actions are combined into a whole, the equipment space is greatly saved, the moving efficiency is faster, and the box unpacking machine is more suitable for being used as a box unpacking machine.

The hinged position of the first swing arm 4 on the triangular disc 3 and the hinged position of the third connecting rod 10 on the triangular disc 3 are arranged in a staggered mode, as shown in fig. 2, the first swing arm and the first connecting rod are always parallel, and therefore the second mounting frame can be guaranteed to respectively complete transverse movement and longitudinal movement.

A fourth connecting rod 11 which is hinged and connected with the triangular disc 3 and the second mounting frame 2 is further arranged between the triangular disc 3 and the second mounting frame 2, and the third connecting rod 10, the fourth connecting rod 11, the triangular disc 3 and the second mounting frame 2 form a parallelogram structure; the triangular plate, the first connecting rod and the fourth connecting rod in the embodiment further enhance the running stability of the whole manipulator.

The suction cup assembly comprises a first suction cup frame 12, a third driving piece 13, a second suction cup frame 14 and a plurality of suction cups 15, the first suction cup frame 12 is fixedly installed on the second installation frame 2, the third driving piece 13 is fixedly installed at the end part of the second installation frame 2, the second suction cup frame 14 is fixedly connected with the output end of the third driving piece 13, and the suction cups 15 are respectively and fixedly installed on the first suction cup frame 12 and the second suction cup frame 14; the sucking disc on the first sucking disc frame adsorbs one side lateral wall of box, the third driving piece drives sucking disc on the second sucking disc frame and does 90 upset actions for first sucking disc frame, adsorbs another lateral wall of box, can unpack better, guarantees to unpack smoothly.

In addition, the first suction cup frame is always parallel to the right edge of the first mounting frame and the right edge of the triangular plate when moving, and the right edge of the first mounting frame and the right edge of the triangular plate are shown in fig. 2.

The installation state of first driving piece 8 and second driving piece 9 on first mounting bracket 1 is dislocation set, and relative setting about first driving piece and the second driving piece after dislocation set are not restricted to be located, also can set up side by side, saves equipment space height greatly.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The skilled person should know that: although the present invention has been described with reference to the above embodiments, the inventive concept is not limited to the above embodiments, and any modifications using the inventive concept are intended to be included within the scope of the present patent claims.

Claims

1. The utility model provides a manipulator of unpacking, includes sucking disc subassembly and actuating mechanism, its characterized in that: the driving mechanism comprises a first mounting frame (1), a second mounting frame (2), a triangular disc (3), a first swing arm (4), a second swing arm (5), a first connecting rod (6), a second connecting rod (7), a first driving piece (8) and a second driving piece (9), wherein the first driving piece (8) and the second driving piece (9) are installed on the first mounting frame (1), one end of the first swing arm (4) is connected with the output end of the first driving piece (8), the other end of the first swing arm is hinged to the triangular disc (3), two ends of the first connecting rod (6) are respectively hinged to the first mounting frame (1) and the triangular disc (3), one end of the second swing arm (5) is connected with the output end of the second driving piece (9), and the other end of the second swing arm is hinged to one end of the second connecting rod (7); be equipped with articulated third connecting rod (10) of connecting the two between second mounting bracket (2) and triangular plate (3), the other end of second connecting rod (7) with the intermediate position of third connecting rod (10) is articulated, first swing arm (4) and first connecting rod (6) are in parallel state when the swing always.

2. The case unpacking manipulator according to claim 1, characterized in that: the hinge position of the first swing arm (4) on the triangular disc (3) and the hinge position of the third connecting rod (10) on the triangular disc (3) are arranged in a staggered mode.

3. The case unpacking manipulator according to claim 1, characterized in that: still be equipped with articulated fourth connecting rod (11) of connecting the two between triangle dish (3) and second mounting bracket (2), third connecting rod (10), fourth connecting rod (11), triangle dish (3) and second mounting bracket (2) constitute a parallelogram structure.

4. The case unpacking manipulator according to claim 1, wherein: the sucker component comprises a first sucker frame (12), a third driving piece (13), a second sucker frame (14) and a plurality of suckers (15), the first sucker frame (12) is fixedly installed on a second installation rack (2), the third driving piece (13) is fixedly installed at the end part of the second installation rack (2), the second sucker frame (14) is fixedly connected with the output end of the third driving piece (13), and the suckers (15) are respectively fixedly installed on the first sucker frame (12) and the second sucker frame (14).

5. The case unpacking manipulator according to claim 1, characterized in that: the first driving piece (8) and the second driving piece (9) are arranged on the first mounting frame (1) in a staggered mode.