WO2020169092A1

WO2020169092A1 - Material grabbing unit, material grabbing preparation device and packaging machine

Info

Publication number: WO2020169092A1
Application number: PCT/CN2020/076298
Authority: WO
Inventors: 李泽伟
Original assignee: 青岛萨沃特机器人有限公司
Priority date: 2019-02-22
Filing date: 2020-02-22
Publication date: 2020-08-27

Abstract

A material grabbing unit (1), a material grabbing preparation device (2) and a packaging machine, comprising: first driving members (11) and second driving members (12) that intersect, machine frames (13) connected to the second driving members (12), first rotary driving members (14) provided on the machine frames, and clamping assemblies (15) connected to the first rotary driving members. The present material grabbing unit may grab materials at different angles and different positions, and at the same time, may effectively control the maximum distance between a first clamping member (151) and a second clamping member (152), so that the material grabbing unit may grab materials from material boxes of different sizes.

Description

Material grabbing unit, material grabbing preparation device and packaging machine

This patent application requires the priority of Chinese patent applications filed on February 22, 2019 with application numbers 201910132564.3 and 201920229994.2, and applications filed on October 28, 2019 with numbers 201921830359.6, 201911030983.2, 201911030987.0, 201921830787.9, 201921832973.6, 201911031906.9, The full text of this application is incorporated herein by reference.

Technical field

This application belongs to the technical field of handling equipment, and specifically relates to a material grabbing unit, a material grabbing preparation device and a packaging machine.

Background technique

Existing packaging machines, when grabbing materials, often can only grab horizontal or vertical materials, but many materials will have a certain inclination with the horizontal angle due to placement problems or other reasons, especially for gloves. Wait for softer materials, but the existing device cannot adapt to the needs of the above situation through simple adjustment.

Summary of the invention

The purpose of the present application is to provide a grabbing unit, including: a first driving part and a second driving part arranged crosswise, a frame connected to the second driving part, and a first rotating part arranged on the frame A driving member, a clamping assembly connected to the first rotation driving member, the clamping assembly including a first clamping member and a second clamping member that are arranged oppositely, and the first clamping member is located away from the The first limiting member on one side of the second clamping member, the first clamping member/first limiting member is provided with a first protruding member in the direction of the first limiting member/first clamping member Protruding pieces.

Preferably, the second clamping member includes a first through hole corresponding to the first protrusion member.

Preferably, it further includes a third driving member connected with the first clamping member and the second clamping member to drive the first clamping member and the second clamping member to move toward or away from each other .

Preferably, it further includes a first linkage connected with the clamping assembly, and a detection component capable of detecting the position of the first linkage, and the detection component is electrically connected with the first rotation driving component.

Preferably, the clamping assembly includes a plurality of positioning parts, and the first linkage member includes a slot hole connected with one or more of the positioning parts.

The application also provides a material grab preparation device, including the grab unit described above, and further includes a base and a compaction unit, the base is provided with a material storage unit, the compaction unit includes a fixing frame, and a first Vertical cylinder, the connecting end of the first vertical cylinder is connected to the fixing frame, the telescopic end of the vertical cylinder is connected with a pressing claw for compacting materials, the material storage unit is located under the pressing claw of the compacting unit, the first vertical cylinder The pressing claw is driven to reciprocate linearly along the vertical direction, and the pressing claw moves toward the material storage unit to compact the materials stored on the material storage unit.

Preferably, the base further includes a support plate, the support plate is provided with a first slide rail and a first air cylinder, the first slide rail is provided with a first slide block, and the telescopic end of the first air cylinder is connected with the first slide block. The air cylinder drives the first sliding block to reciprocate linearly along the first sliding rail, and the material storage unit is arranged on the first sliding block.

Preferably, the material storage unit includes a second rotary drive member and a material seat, the connecting end of the second rotary drive member is connected to the first sliding block, the drive end of the second rotary drive member is connected to the material seat, and the The drive end drives the material base to rotate.

Preferably, the material seat is set as a first connecting block, the lower part of the first connecting block is connected with the driving end of the second rotary drive member, and the upper part of the first connecting block is provided with several fixed blocks, and the several fixed blocks are arranged in a row A gap is set between the two on the same horizontal surface.

Preferably, limit posts are provided on the fixed blocks on both sides.

Preferably, the pressing pawl includes a plurality of pressing members connected with the first vertical cylinder, and the pressing members are arranged at intervals to cooperate with the fixed block.

Compared with the prior art, the beneficial effects of this application are:

The grab unit can grab materials placed at different angles. In addition, through the arrangement of the first protruding piece, the maximum distance between the first clamping piece and the second clamping piece can be effectively controlled, and materials can be grabbed from material boxes of different sizes through simple adjustment.

Description of the drawings

Fig. 1 is a structural schematic diagram 1 of an embodiment of a grab unit;

Figure 2 is a schematic structural diagram 2 of an embodiment of a grab unit;

Figure 3 is a partial enlarged view of part A in Figure 1;

Figure 4 is a partial enlarged view of part B in Figure 2;

Fig. 5 is a schematic diagram of a structure of a clamping piece according to an embodiment;

Figure 6 is a schematic structural diagram of an embodiment of a material grabbing preparation device;

Figure 7 is a partial enlarged view of part C in Figure 6;

Figure 8 is a partial enlarged view of part D in Figure 6;

Figure 9 is a schematic structural diagram of a material grabbing preparation device according to another embodiment;

FIG. 10 is a structural schematic diagram 1 of an embodiment of a material transfer unit;

FIG. 11 is a schematic structural diagram 2 of a material transfer unit according to an embodiment;

Fig. 12 is a structural diagram 1 of a material transfer unit according to another embodiment;

FIG. 13 is a schematic structural diagram 2 of a material transfer unit according to another embodiment;

Figure 14 is a partial enlarged view of part E in Figure 11;

15 is a schematic diagram of the structure of the jaw cylinder and the transmission mechanism of an embodiment;

Numbers in the figure: 1 grab unit, 11 first drive, 12 second drive, 13 frame, 14 first rotation drive, 15 clamping assembly, 1501 clamping part, 151 first clamping, 152 The second clamping member, 1521 first through hole, 153 first limiting member, 154 first protruding member, 155 third driving member, 156 positioning portion, 157 connecting portion, 1571 rotation center, 16 first linkage member, 161 slots, 17 detection parts, 171 induction slots, 18 installation parts, 2 material grab preparation device, 3 pre-compression unit, 31 base, 311 support plate, 312 first slide rail, 313 first cylinder, 314 first slide Block, 32 material storage unit, 321 second rotary drive, 322 material seat, 3221 first connection block, 3222 fixed block, 3223 limit column, 33 compaction unit, 331 fixed frame, 332 first vertical cylinder, 333 Pressing jaw, lower pressing piece 334, 4 material transfer unit, 41 gripping assembly, 411 third rotation drive, 412 gripping hand, 4121 gripping cylinder, 4122 gripping jaw, 41221 cross bar, 41222 gripping part, 4123 transmission Mechanism, 4124 pressure plate, 42 horizontal movement assembly, 421 second slide rail, 4211 elastic limit member, 422 horizontal cylinder, 423 second sliding block, 43 vertical movement assembly, 431 second connecting block, 432 second vertical cylinder , 433 third slide rail, 434 second cylinder, 435 third slider, mechanical frame 44.

detailed description

The technical solutions of the present application will be described in detail below in conjunction with specific embodiments. However, it should be understood that without further description, elements, structures and features in one embodiment can also be beneficially combined into other embodiments.

In the description of this application, it should be understood that the terms "first" and "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features.

In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "bottom", "inner", etc. are based on the orientation or positional relationship shown in FIG. In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The described implementations are merely descriptions of the preferred implementations of the application, and are not intended to limit the scope of the application. Without departing from the design spirit of the application, various modifications made by those of ordinary skill in the art to the technical solutions of the application And improvements should fall within the scope of protection determined by the claims of this application.

1 to 4, the present invention proposes a grabbing unit 1, including a first driving part 11 and a second driving part 12 arranged crosswise, and a frame 13 connected to the second driving part 12 is arranged in the The first rotating drive member 14 on the frame 13, the clamping assembly 15 connected to the first rotating drive member 14, the clamping assembly 15 includes a first clamping member 151 and a second clamping member 151 and a second clamping member arranged oppositely A member 152, a first limiting member 153 located on the side of the first clamping member 151 away from the second clamping member 152, and the first clamping member 151/the first limiting member 153 is provided with A first protrusion 154 protruding toward the first limiting member 153/first clamping member 151.

Specifically, the first driving part 11 and the second driving part 12 can be electric cylinders, air cylinders or other driving methods, so that the frame 13 can be controlled to move to a preset position according to a certain movement track. Here, the first driving parts 11 and The second driving members 12 are preferably arranged perpendicular to each other, so that the rectangular coordinate system can be used for adjustment and control, and calculation and adjustment are more convenient. The first rotating drive member 14 drives the clamping assembly 15 to rotate so that it can be grasped and placed at different angles. The first rotary driving member 14 may be a rotary cylinder, or a rotary electric cylinder, or other driving methods, which can be selected as required. As shown in FIG. 3, the first clamping member 151 is provided with a first protrusion 154 protruding toward the first limiting member 153, or the first limiting member 153 is provided with a The first protrusion 154 of the first clamping member 151 is used to limit the distance between the first clamping member 151 and the first limiting member 153, thereby limiting the first clamping member The maximum displacement between 151 and the second clamping member 152. Two first limiting members 153 can be provided, which are respectively located on both sides of the first clamping member 151 and the second clamping member 152, and two first protruding members 154 can also be provided to symmetrically restrict the two clamping members. Maximum displacement between fittings. The first protrusion 154 is preferably a screw threaded through the first clamping member 151 or the first limiting member 153, and the first clamping member 151 and the first limiting member 153 can be adjusted by adjusting the protrusion height of the screw. Therefore, the maximum distance between the first clamping piece 151 and the second clamping piece 152 is adjusted. The first clamping member 151 and the second clamping member 152 are preferably linked.

Further, as shown in FIG. 3, the second clamping member 152 includes a first through hole 1521 corresponding to the first protrusion 154, so that the first protrusion 154 will not affect the The clamping of the first clamping piece 151 and the second clamping piece 152 does not limit the minimum distance between the first clamping piece 151 and the second clamping piece 152. If two first protruding members 154 are provided, the first clamping member 151 is also provided with corresponding first through holes 1521. When the first protrusion 154 passes through the first clamping member 151, if the first protrusion 154 extends between the first clamping member 151 and the second clamping member 152, the first clamping member 151 When clamped with the second clamping member 152, the first protrusion 154 passes through the first through hole 1521, and the clamping of the first clamping member 151 and the second clamping member 152 is not affected.

Further, as shown in FIG. 3, the first clamping member 151 and the second clamping member 152 are elongated panels arranged oppositely, so that materials can be clamped from a material box of a certain depth and put into a material box of a certain depth. The packing box or packing box will not be deeply affected by the shape of the packing box or packing box, and the application range is wide. In order to adapt to different materials, the ends of the first clamping piece 151 and the second clamping piece 152 can also be connected to other parts that match the material. For example, the ends of the first clamping piece 151 and the second clamping piece 152 can be clamped. The semi-arc clamping portion 1501 for holding the bottle neck is shown in FIG. 5.

Further, as shown in FIG. 3, it further includes a third driving member 155 connected to the first clamping member 151 and the second clamping member 152 to drive the first clamping member 151 and the The second clamping member 152 moves toward or away from each other, thereby completing the clamping work. The third driving member 155 is preferably a claw cylinder, which has a simple structure, light weight and easy control.

Further, as shown in FIG. 4, it further includes a first linkage member 16 connected with the clamping assembly 15, and a detection member 17 capable of detecting the position of the first linkage member 16, and the detection member 17 is connected to the The first rotation driving member 14 is electrically connected, so that the rotation range of the clamping assembly 15 can be controlled, and excessive rotation of the clamping assembly 15 can prevent the packaging box or the packaging box from being damaged. In this embodiment, the detection member 17 is a detection sensor. When the first linkage member 16 enters the monitoring range, the detection member 17 sends an electrical signal to the first rotary drive member 14, and the first rotary drive member 14 stops, thereby limiting the clamping The rotation range of the component 15.

Specifically, as shown in FIG. 4, the detection element 17 may be a photoelectric switch, which has a sensing slot 171. When the first linkage 16 is located in the sensing slot 171, the photoelectric switch sends an electrical signal to the first rotation driving element 14. , The first rotation driving member 14 stops. The detection part can also choose a magnetic switch or other detection sensors.

Furthermore, as shown in FIG. 4, the clamping assembly 15 includes a plurality of positioning portions 156, and the first linkage 16 includes a slot 161 connected to one or more positioning portions 156. The clamping assembly 15 includes a connecting portion 157 connected to the first rotation driving member 14. The first rotation driving member 14 drives the clamping assembly 15 to rotate around a rotation center 1571 located on the connecting portion 157, and the first linkage 16 The positioning portion 156 passes through the slot 161 to be positioned on the connecting portion 157 at a predetermined position, and the slot 161 is connected to the positioning portion 156 to realize the linkage between the first linkage 16 and the clamping assembly 15. In addition, the slot 161 can be connected with one or more positioning portions 156, which makes it easier to adjust the relative position of the first linkage 16 and the clamping assembly 15, and it is easier to adjust the rotation range. For example, as shown in the figure, in this embodiment, eight positioning portions 156 are provided on the clamping assembly 15. The eight positioning portions 156 are evenly distributed along a circle centered on the center of rotation 1571. The two positioning portions 156 are connected The wire and the clamping assembly 15 extend in the same direction. When the slot 161 of the first linkage is connected to the two positioning portions 156, the direction indicated by the first linkage 16 is consistent with the direction of the clamping assembly 15, and The rotation angle of the linkage 16 and the rotation angle of the clamping assembly 15 are also completely consistent. If the first linkage 16 is in the horizontal position, the clamping assembly 16 is also in the horizontal position. In FIG. 4, when the clamping assembly 15 is in the horizontal position as a whole, the first linkage 16 is also in the horizontal position, and the first linkage 16 is located in the sensing groove 171 of the detection member. At this time, the first rotation driving member 14 stops rotating. The first linkage member 16 in the horizontal position cooperates with the detection member 17 to control the rotation of the clamping assembly 15 in an angle range below the horizontal position.

The first linkage 16 selects to connect the slot 161 with one or more of the plurality of positioning portions 156 to adjust the movement range of the clamping assembly 15. For example, when the slot 161 is connected to two of the positioning parts 156, the two positioning parts 156 on the diameter of the circumference can be selected, or two on a certain intersection line can be selected, which can be set as required. The slot 161 can be arranged at a plurality of intervals, and the distance between the two is greater than or equal to the diameter of the annular array formed by the plurality of positioning portions 156, so as to achieve the same diameter as the two positioning portions of the annular array. 156 simultaneous connections. If there is one slot 161, the length of the slot 161 should be greater than or equal to the diameter of the annular array, so as to realize simultaneous connection with two positioning portions 156 on a certain diameter of the annular array. In this embodiment, a hole with a preset length is preferably used, which is more convenient for adjustment. In addition, it should be noted that the positioning portion 156 may be a protrusion, a slot or other structure, and the first linkage 16 may be connected to the positioning portion 156 by a structure such as a clamp or a bolt. Preferably, in this embodiment, the positioning portion 156 is a groove, and the first linkage 16 can be connected to the positioning portion 156 by bolts (not shown in the figure), the structure is simpler and the adjustment is convenient.

Further, as shown in FIG. 4, it also includes a mounting member 18 arranged between the detecting member 17 and the frame 13. The detecting member 17 is movably disposed on the mounting member 18, which is further convenient The adjustment of the relative position between the first linkage member 16 and the detection member 17 further facilitates the adjustment of the rotation range of the clamping assembly 15. If the detecting member 17 is adjusted downward for a certain displacement, the first linkage member 16 can continue to rotate a certain angle counterclockwise until it enters the sensing groove 171 of the detecting member, at which time the first rotary driving member 14 stops rotating.

Further, both ends of the first clamping member 151 and the second clamping member 152 away from the first rotation driving member 14 are provided with a guide surface, so that the clamping assembly 15 is horizontally grasping materials. , Can be inserted into the gap between the material and the ground or between the material and the material, so that it can be adapted to the material grabbing under various conditions.

As shown in Figures 6 to 8, the second embodiment of the present application proposes a material grab preparation device 2, which includes the aforementioned grab unit 1, and also includes a pre-loading unit for storing and pre-pressing materials for the grab unit 1. The compression unit 3, the pre-compression unit 3 includes a base 31 and a compaction unit 33, the base 31 is provided with a material storage unit 32, the compaction unit 33 includes a fixing frame 331, and a first vertical cylinder 332 is arranged under the fixing frame 331, The connecting end of the first vertical cylinder 332 is connected to the fixing frame 331, the telescopic end of the first vertical cylinder 332 is connected with a pressing claw 333 for compacting materials, and the material storage unit 32 is located below the pressing claw 333 of the compacting unit 33, The first vertical air cylinder 332 drives the pressing pawl 333 to reciprocate linearly along the vertical direction, and the pressing pawl 333 moves toward the material storage unit 32 to compact the materials stored on the material storage unit 32. The first vertical cylinder 332 is connected to the fixing frame 331, and the pressing pawl 333 is connected to the first vertical cylinder 332, and can be driven by the first vertical cylinder 332 to make a reciprocating linear movement in the vertical direction. The material storage unit 32 is provided At a position corresponding to the pressing claw 333 on the base 31, the pressing claw 333 is driven by the first vertical cylinder 332 to move toward the material storage unit 32, thereby compacting the material, and facilitating the grasping unit 1 to grasp the compacted material.

The material grasping preparation device provided in this embodiment compacts the material through the cooperation of the compaction unit and the material storage unit, and then the grasping unit clamps the compacted material away, completing the storage, compaction, and clamping of the material process. The compaction unit compacts the material before the material is grasped by the material grasping unit to prevent the inconvenience in the mechanical production process due to the loose material that cannot be grasped.

As shown in FIG. 6, the base 31 further includes a supporting plate 311. The supporting plate 311 is provided with a first sliding rail 312 and a first air cylinder 313. The first sliding rail 312 is provided with a first sliding block 314. The telescopic end is connected to the first sliding block 314. The first air cylinder 313 drives the first sliding block 314 to reciprocate linearly along the first sliding rail 312. The material storage unit 32 is provided on the first sliding block 314, so the first sliding block 314 can The animal material storage unit 32 reciprocates linearly along the first slide rail 312. It should be noted that the supporting plate 311, the first sliding rail 312, the first cylinder 313, and the first sliding block 314 can be provided in multiples, which are specifically set according to actual needs. As shown in FIG. 6, in this embodiment, the supporting plate 311, the first sliding rail 312, the first air cylinder 313, and the first sliding block 314 can all be set to two.

In the material grabbing preparation device of this embodiment, the material to be transferred is placed on the material storage unit 32 by the previous transport unit. The material storage unit 32 is driven by the first air cylinder 313 to slide along the first slide block 314. The rail 312 slides to a set position, which can be a position corresponding to the pressing claw 333 and the gripping unit 1. On the one hand, it is convenient for the pressing claw 333 to compact materials, and on the other hand, it is convenient for the gripping unit 1 to grab The material in the material storage unit 32. The pressing claw 333 used for compacting materials is driven by the first vertical cylinder 332 to move down, and the required transfer materials are compacted on the material storage unit 32, and the grasping unit 1 is taken away by the clamping assembly 15. The design of the two-layer support plate saves the occupied area of the machine and improves the efficiency of transferring materials.

Further, as shown in FIG. 6, the material storage unit 32 includes a second rotary driving member 321 and a material seat 322. The connecting end of the second rotary driving member 321 is connected to the first sliding block 314, and the driving of the second rotary driving member 321 The end is connected with the material base 322, and the driving end of the second rotary driving member 321 drives the material base 322 to rotate, so that the material base 322 rotates to a position convenient for clamping and taking in the next step. The second rotary driving member 321 is configured as a rotary cylinder or a motor, which can be used instead according to different requirements.

Further, as shown in FIG. 7, the material seat 322 is configured as a connecting block, that is, the material seat 322 includes a first connecting block 3221, and the lower part of the first connecting block 3221 is connected to the driving end of the second rotary driving member 321. A plurality of fixing blocks 3222 are arranged on the upper part of a connecting block 3221, and the fixing blocks 3222 are arranged on the same horizontal surface and there is a gap between them. There are multiple first connecting blocks 3221, each first connecting block 3221 is connected to a fixed block 3222, and a gap is provided between every two adjacent first connecting blocks 3221. The first clamping piece 11 and the second clamping piece 152 of the grabbing unit 1 respectively pass through the gap between the first connecting block 3221 and the fixing block 3222 from both sides of the fixing block 3222, and directly contact the material, thereby clamping The material on the fixed block 3222 realizes the transfer of the material on the material seat 322. The fixing blocks 3222 on both sides are provided with limit posts 3223. The limit posts 3223 can be arranged in a cylinder with four in number, which can prevent materials from tilting or falling, stabilize the position of the materials on the fixed block 3222, thereby reducing the difficulty of gripping materials and improving the efficiency of material transfer.

Further, as shown in FIG. 7, the pressing claw 333 includes a plurality of pressing members 334 connected to the first vertical cylinder 332. The pressing members 334 are arranged at intervals and cooperate with the fixing block 3222. That is, a gap is provided between the adjacent lower pressing pieces 334, and the lower pressing piece 334 can be clamped with the fixed block 3222 under the driving of the first vertical cylinder 332 to compact the material on the fixed block 3222 and press down The gap between the pieces 334 allows the first clamping piece 151 and the second clamping piece 152 to pass through and directly contact the material to clamp the material, which is convenient for the material gripping unit 1 to clamp the compacted material. As shown in Figure 8, when the pressing claw 333 drives the pressing piece 334 to compact the material, the gaps between the pressing piece 334, the fixing block 3222 and the connecting block 3221 are aligned, and the aligned gap allows the first clamping piece 151 and the second clamping piece 151 to The clamping piece passes through to grab the compacted material on the material seat 322.

In order to supply material to the material storage unit, as shown in FIG. 9, the material grasping preparation device provided by the present application further includes a material transfer unit 4, and the material transfer unit 4 includes a grasping assembly 41, a horizontal movement assembly 42 and a vertical movement Component 43. As shown in FIG. 10 and FIG. 11, this embodiment provides a material transfer unit 4, wherein the gripping assembly 41 includes a third rotation driving member 411 and a gripper 412, and the connecting end of the third rotation driving member 411 Connected to the vertical moving assembly 43, the rotating end of the third rotating drive member 411 is connected to the gripper 412, the horizontal moving assembly 42 drives the vertical moving assembly 43 to reciprocate horizontally, and the vertical moving assembly 43 drives the third rotation The driving member 411 reciprocates vertically in a straight line, and the third rotary driving member 411 drives the gripper 412 to rotate. The material grab preparation device provided in this embodiment includes a material transfer unit, which can be realized to supply materials to the material storage unit. The material transfer unit can put the material to be transferred on the material storage unit, which realizes the automatic transfer of materials and realizes material grabbing. Automatic operation of material transfer, compaction and material grabbing of the preparation device.

As shown in FIG. 10, the horizontal moving assembly 42 includes a second sliding rail 421 and a horizontal air cylinder 422. The second sliding rail 421 is provided with a second sliding block 423, and the telescopic end of the horizontal air cylinder 422 is connected to the second sliding block 423. The horizontal air cylinder 422 can drive the second sliding block 423 to move on the second sliding rail 421. 43 The vertical moving component is connected to the second sliding block 423, so that it can make a straight line reciprocating movement horizontally under the driving of the second sliding block 423. Both sides of the second slide rail 421 are provided with elastic stoppers 4211 to limit the grasping assembly 41 within a preset range, prevent mechanism failure, avoid rigid collisions during the movement of the mechanism, and achieve protection of the device and reduce noise purpose.

As shown in FIG. 10, the vertical moving assembly 43 includes a second connecting block 431 and a second vertical cylinder 432. One end of the second connecting block 431 is connected to the connecting end of the second vertical cylinder 432. The other end is connected to the second sliding rail 421 of the horizontal moving assembly, and the telescopic end of the second vertical air cylinder 432 is connected to the gripper 412. Specifically, the second vertical air cylinder 432 is connected to the second sliding block 423, so that the horizontal air cylinder 422 drives the second sliding block 423 to make a linear reciprocating movement along the horizontal, and the second sliding block 423 in turn drives the second vertical air cylinder 432 to do the same Then, the second vertical cylinder 432 drives the grasping assembly 41 to make a horizontal reciprocating linear movement. The second connecting block 431 is driven by the second vertical cylinder 432 to move synchronously. The horizontal moving assembly 42 is connected to the second connecting block 431 of the vertical moving assembly. This arrangement prevents the second sliding block 423 and the second vertical cylinder 432 from falling apart. The connection is not stable, resulting in unstable movement of the grabbing assembly 41 along the second sliding rail 421 driven by the second sliding block 423, thereby making the structure of the device more stable.

Due to the limited movement range of the second vertical cylinder 432, the present application also provides another embodiment of the vertical movement assembly 43. Specifically, as shown in FIGS. 12 and 13, the vertical movement assembly 43 includes a third slide rail. 433 and the second air cylinder 434, the third sliding rail 433 is provided with a third sliding block 435, the third sliding block 435 can be driven by the second air cylinder 434 to move along the third sliding rail 433, the third sliding block 435 and the grasping The component 41 is connected. The third sliding rail 433 of the vertical moving assembly 43 is connected to the second sliding block 423 of the horizontal moving assembly 42, so the third sliding rail 433 can move along the second sliding rail 421 under the driving of the second sliding block 423. Both sides of the third slide rail 433 can also be provided with elastic limiters to limit the grasping components within a preset range, prevent mechanism failure, avoid rigid collisions during mechanism movement, and achieve the purpose of protecting devices and reducing noise.

The material transfer unit 4 described in the present application moves the grasping assembly 41 in the vertical direction through the vertical moving assembly 43, and drives the grasping assembly 41 to move in the horizontal direction through the horizontal moving assembly 42 to reach the material storage position. The grabbing hand 412 performs grabbing. After the grabbing is completed, the vertical moving assembly 43 acts again to lift the grabbing assembly 41 up. Subsequently, driven by the horizontal moving assembly 42, the grasping assembly 41 slides on the second sliding rail 421 along with the second sliding block 423 to the place to be transported.

In this embodiment, the third rotating drive member 411 is configured as a rotating cylinder, the connecting end of the rotating cylinder is connected with the vertical moving assembly 43, and the rotating end of the rotating cylinder is connected with the gripper 412. It should be noted that when the vertical moving assembly 43 adopts the second connecting block 431 and the second vertical cylinder 432, the rotating cylinder is directly connected to the telescopic end of the second vertical cylinder 432. When the vertical movement assembly 43 adopts the third sliding rail 433, the second air cylinder 434 and the third sliding block 435 arranged on the third sliding rail 433, as shown in FIG. 13, the rotating cylinder is connected to the third sliding block 435, Specifically, the rotating cylinder of the grasping assembly 41 is connected to the third sliding block 435 through the mechanical frame 44. The mechanical frame 44 can be provided with multiple sets of grabbing assemblies 41, and multiple rotating cylinders of the multiple sets of grabbing assemblies 41 are all connected to the mechanical frame 44, which can realize the simultaneous grabbing of the multiple grabbing assemblies 41.

As shown in Figures 12 and 14, the gripper 412 includes a clamping jaw cylinder 4121 and a clamping jaw 4122. The clamping jaws 4122 are arranged on both sides of the clamping jaw cylinder 4121. The connecting end of the clamping jaw cylinder 4121 is connected to the third rotary drive 411. , The telescopic end of the clamping jaw cylinder 4121 is connected with one end of the transmission mechanism 4123, and the other end of the transmission mechanism 4123 is connected with the clamping jaw 4122. The clamping jaw cylinder 4121 drives the transmission mechanism 4123 to drive the clamping jaw 4122 to open and close. The clamping jaw cylinder 4121 and the clamping jaw 4122 are internally connected by a transmission mechanism 4123, and the clamping jaw cylinder 4121 can drive the states of the clamping jaws 4122 on both sides through its own expansion and contraction. When the clamping jaw cylinder 4121 extends, the clamping jaws 4122 on both sides are opened; when the clamping jaw cylinder 4121 is retracted, the clamping jaws 4122 on both sides are closed.

As shown in Fig. 12, Fig. 14 and Fig. 15, the clamping jaw cylinder 4121 is provided with a pressing plate 4124 at the lower part, which is convenient for compacting the material before clamping the material, and is convenient for the gripper 412 to grasp it. The clamping jaws 4122 are arranged as a cross bar 41221 and a plurality of gripping parts 41222 arranged on the cross bar 41221. The gripping parts 41222 are arranged in a U shape to realize effective and stable gripping of materials. The cross bar 41221 of the clamping jaw is connected with the transmission mechanism 4123, and the transmission mechanism 4123 is driven by the clamping jaw cylinder 4121 to drive the cross rod 41221 to move, thereby driving the clamping portion 41222 to open and close.

Specifically, a gap is provided between every two adjacent gripping parts 41222, so that after the material is moved to the material storage unit 32, the gripping part 41222 can smoothly pass through the fixed blocks located on both sides of the material storage unit 32 when it is opened. The limit post 3223 on the 3222 loosens the material and places it on the fixed block 3222.

In the process of gripping materials, the gripper 412 is driven by the third rotating drive member 411 to align the material to be gripped. Before gripping the material by the gripper 412, the pressing plate 4124 first compacts the material to prevent the material from tilting. As a result, the material cannot be clamped normally. After compaction, the clamping jaw 4122 is driven by the clamping jaw cylinder 4121 to perform the clamping action. It is worth mentioning that by setting the rotation distance of the third rotary driving member 411, the gripper 412 can be driven to rotate at different angles to meet different task requirements.

The material grasping preparation device 2 provided in this application realizes the transportation of the material to be grasped through the material transfer unit 4, compacts the material to be grasped through the pre-pressing unit 3, and grasps and presses the material from the pre-pressing unit 3 through the grasping unit 1 Real materials, transport the materials to the packaging box for packaging.

Further, it also includes a control unit, which is respectively signally connected with the horizontal movement assembly 42, the vertical movement assembly 43 and the grasping assembly 41, and the control unit controls the movement and movement stroke of the entire material transfer unit 4.

The third embodiment of the present application proposes a packaging machine, which includes the material grabbing preparation device 2 described above.

Claims

A grabbing unit, which is characterized in that it comprises a first driving part and a second driving part arranged crosswise, a frame connected to the second driving part, and a first rotary driving part arranged on the frame, A clamping assembly connected to the first rotation driving member, the clamping assembly including a first clamping member and a second clamping member that are arranged oppositely, and the first clamping member is located away from the second clamping member The first limiting member on one side of the joining member, the first clamping member/first limiting member is provided with a first protruding member protruding in the direction of the first limiting member/first clamping member .
The grabbing unit according to claim 1, wherein the second clamping member includes a first through hole corresponding to the first protrusion member.
The gripping unit according to claim 1, further comprising a third driving member connected with the first clamping member and the second clamping member to drive the first clamping member and The second clamping members move toward or away from each other.
The grabbing unit according to claim 1, further comprising a first linkage member connected with the clamping assembly, and a detection member capable of detecting the position of the first linkage member, the detection member and the The first rotation driving member is electrically connected.
The gripping unit according to claim 4, wherein the clamping assembly includes a plurality of positioning portions, and the first linkage member includes a slot hole connected with one or more of the positioning portions.
A material grab preparation device, characterized by comprising the grab unit according to any one of claims 1 to 5, further comprising a base and a compaction unit, the base is provided with a material storage unit, and the compaction unit includes a fixing frame, A first vertical cylinder is arranged under the fixed frame, the connecting end of the first vertical cylinder is connected with the fixed frame, the telescopic end of the vertical cylinder is connected with a pressing claw for compacting materials, and the material storage unit is located at the pressing claw of the compacting unit Below, the first vertical air cylinder drives the pressing pawl to reciprocate linearly in the vertical direction, and the pressing pawl moves toward the material storage unit to compact the materials stored on the material storage unit.
The material grab preparation device according to claim 6, wherein the base further comprises a support plate, the support plate is provided with a first slide rail and a first cylinder, the first slide rail is provided with a first sliding block, The telescopic end of an air cylinder is connected with the first sliding block, the first air cylinder drives the first sliding block to make a linear reciprocating movement along the first sliding rail, and the material storage unit is arranged on the first sliding block.
The material grab preparation device according to claim 7, wherein the material storage unit comprises a second rotary drive member and a material seat, the connecting end of the second rotary drive member is connected to the first sliding block, and the second rotary drive member The driving end of the second rotating drive member is connected with the material base, and the driving end of the second rotating drive member drives the material base to rotate.
The material grabbing preparation device according to claim 8, wherein the material seat is configured as a first connecting block, and the lower part of the first connecting block is connected to the driving end of the second rotating drive member, and the first connecting block A number of fixed blocks are arranged on the upper part, and the several fixed blocks are arranged on the same horizontal surface and there is a gap between the two.
The material grabbing preparation device according to claim 9, characterized in that the fixed blocks on both sides are provided with limit posts.
The material grasping preparation device according to claim 9, wherein the pressing claw comprises a plurality of pressing members connected with the first vertical cylinder, and the pressing members are arranged at intervals to cooperate with the fixed block.