CN105692263B - A kind of robot clamp - Google Patents
A kind of robot clamp Download PDFInfo
- Publication number
- CN105692263B CN105692263B CN201610177324.1A CN201610177324A CN105692263B CN 105692263 B CN105692263 B CN 105692263B CN 201610177324 A CN201610177324 A CN 201610177324A CN 105692263 B CN105692263 B CN 105692263B
- Authority
- CN
- China
- Prior art keywords
- paper
- lower installation
- installation board
- sucker
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0816—Suction grippers separating from the top of pile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
- B65H29/26—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles
- B65H29/32—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles from pneumatic, e.g. suction, carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/10—Selective handling processes
- B65H2301/15—Selective handling processes of sheets in pile or in shingled formation
- B65H2301/152—Selective handling processes of sheets in pile or in shingled formation of sheets piled horizontally or vertically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2801/00—Application field
- B65H2801/81—Packaging machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
A kind of robot clamp, including upper mounting plate (1), lower installation board (4), the link block (3) being connected between lower installation board, the wrapping paper sucker (7) being arranged among lower installation board (4) bottom is arranged on the separation cardboard sucker (9) of lower installation board (4) bottom side；Laser range finder (2) is equipped between upper lower installation board, it is located at wrapping paper sucker (7) both sides in lower installation board (4) bottom equipped with paper pressing jar (5), laser range finder (2) is translated by Translation cylinder (6) etc..The beneficial effects of the invention are as follows：By the use of the fixture, can realize accessory package it is full-automatic unpack, carry, the function for the paper that is recycled and packaged, greatly reduce the labor intensity of personnel, and improve the level of industrial automation.For the present situation of material, a kind of fixture carried, unpacked suitable for square auxiliary material designed.This clamp structure Sizes, it is easy to maintain.
Description
Technical field
The invention belongs to robot clamp more particularly to it is a kind of for carry, the robot clamp for square auxiliary material of unpacking.
Background technology
At present, packing machine is widely used between the volume hired car of each tobacco factory in the whole nation, the accessory package of packing machine by manually unpacking,
Unpacking is simultaneously carried in entering on material conveyer, and loaded in a polybag, polybag is reloaded into a carton four bag accessory packages.
The packaging efficiency of packing machine is 400/minute, but needs to be torn open before entering packing machine due to its accessory package
The hard works such as bag, unpacking, carrying are accomplished manually.The single auxiliary material in project scene is surrounded by wrapping paper 625 and opens, in a packing case
Shared wrapping paper 2500 is opened, these basic conditions mean that a worker needs to complete per hour the unpacking of 10 casees accessory packages, unpacking, together
When complete the carrying of 40 bag accessory packages, therefore packing machine pan feeding part optimized just have its necessity.If it can use entirely certainly
Dynamic pan feeding mode then can largely mitigate the labor intensity of personnel.
The content of the invention
The object of the present invention is to provide it is a kind of for carry, the robot clamp for material of unpacking.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of robot clamp, the invention is characterised in that：It includes upper mounting plate, lower installation board, is connected to installation up and down
Link block between plate, the wrapping paper sucker being arranged among lower installation board bottom are arranged on dividing for lower installation board bottom side
Every cardboard sucker；Laser range finder is equipped between upper lower installation board, is located at wrapping paper sucker both sides in lower installation board bottom and sets
There is paper pressing jar, laser range finder is translated by Translation cylinder；It is additionally provided in lower installation board bottom and rotatably cuts mechanism of paper, in separating tissue
Plate sucker side is connected with blade of cutting a sheet of paper and cuts mechanism of paper, and electromagnetism valve island, vacuum generator are separately installed on upper mounting plate；Its
In, upper mounting plate is fixed at robot mounting flange entire fixture being connected with robot by screw；Lower installation board
It is connected by link block with upper mounting plate.
It is of the invention rotatably cut mechanism of paper by guiding bar, the tool apron being located in guiding bar, tool apron telescoping cylinder, fractional motor, with
The circular shear blade of fractional motor connection and motor fixed plate composition；Being rotated by fractional motor drives circular shear blade to rotate.
The present invention cut a sheet of paper blade cut mechanism of paper by installing plate, the pressing plate on installing plate, be connected to installing plate back
Cutter knife mechanism installing plate, the tool apron telescoping cylinder being connected on cutter knife mechanism installing plate set blade on a mounting board, are connected to peace
The wrapping paper directing plate composition at loading board back.
The mechanism of paper of the invention that rotatably cuts cuts mechanism of paper using the connection structure that can be exchanged with blade of cutting a sheet of paper.
The present invention is equipped with buffer head on the head of paper pressing jar cylinder rod, and the material of buffer head is silicon rubber.
Tool apron telescoping cylinder of the present invention, always in retracted mode, starts during fixture carries material when cutting mechanism of paper
When stretch out, cut paper work after the completion of retract again.
When it cuts mechanism of paper rotatably to cut mechanism of paper, workflow is the present invention：After robot starts, folder is driven
Tool is moved to above material, and vacuum generator starts so that wrapping paper sucker generates negative pressure with separating cardboard sucker, afterwards machine
People drives fixture to move downward so that wrapping paper sucker holds separation cardboard with separating cardboard sucker, and then robot drives folder
Tool moves up, and after cardboard is put into specified recovery zone, vacuum generator is stopped, and separates cardboard and falls into recovery zone.Machine
Device people drives fixture to be moved to above material again, and after finding the center of material using laser range finder, robot drives fixture
It begins to decline, the vacuum generator of wrapping paper sucker is controlled to start to work at this time so that wrapping paper sucker generates negative pressure, holds object
The wrapping paper of material after robot obtains vacuum degree signal, is lifted up material, and while promotion, two paper pressing jars stretch out, and prevent
Only material rocks in the handling process, and then robot continues to move to, and material is positioned over appointed place.Material in place after,
Mechanism of paper startup is cut, the tool apron telescoping cylinder cut first in mechanism of paper stretches out, and fractional motor starts to rotate, and then Translation cylinder starts to move
Dynamic, band cutting blade cuts wrapping paper, at this time wrapping paper sucker sorption wrapping paper always.After the completion of cutting, robot drives fixture
Mobile, when reaching above recycling basket, vacuum generator is stopped, and wrapping paper is separated with material completion, and wrapping paper is put into back
It receives in basket.
When it cuts mechanism of paper and cuts mechanism of paper for blade of cutting a sheet of paper, workflow is the present invention：After robot starts, drive
Fixture is moved to above material, and vacuum generator starts so that wrapping paper sucker generates negative pressure, Zhi Houji with separating cardboard sucker
Device people drives fixture to move downward so that wrapping paper sucker holds separation cardboard with separating cardboard sucker, and then robot drives
Fixture moves up, and after cardboard is put into specified recovery zone, vacuum generator is stopped, and separates cardboard and falls into recovery zone.
Robot drives fixture to be moved to above material again, and after finding the center of material using laser range finder, robot drives folder
Tool is begun to decline, and the vacuum generator of wrapping paper sucker is controlled to start to work at this time so that wrapping paper sucker generates negative pressure, holds
The wrapping paper of material after robot obtains vacuum degree signal, is lifted up material, and while promotion, two paper pressing jars stretch out,
Prevent material from rocking in the handling process, then robot continues to move to, and material is positioned over appointed place.Material in place it
Afterwards, the tool apron telescoping cylinder cut first in mechanism of paper stretches out, and then Translation cylinder starts to move, and band cutting blade cuts wrapping paper, at this time
Wrapping paper sucker sorption wrapping paper always.After the completion of cutting, robot drives fixture movement, when reaching above recycling basket, vacuum
Generator is stopped, and wrapping paper is separated with material completion, and wrapping paper is put into recycling basket.
The beneficial effects of the invention are as follows：By the use of the fixture, can realize accessory package it is full-automatic unpack, carry,
Be recycled and packaged the function of paper, greatly reduces the labor intensity of personnel, and improves the level of industrial automation.For material
Present situation, a kind of fixture carried, unpacked suitable for square auxiliary material designed.This clamp structure Sizes, it is easy to maintain.
With reference to the Figure of description content that the present invention is further explained.
Description of the drawings
Fig. 1 is the front view that mechanism of paper is rotatably cut in present invention installation；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is that the present invention installs the front view that blade of cutting a sheet of paper cuts mechanism of paper；
Fig. 5 is the left view of Fig. 4；
Fig. 6 is the front view of the invention for rotatably cutting mechanism of paper；
Fig. 7 is the left view of Fig. 6；
Fig. 8 is the front view that blade of the invention of cutting a sheet of paper cuts mechanism of paper；
Fig. 9 is the left view of Fig. 8.
Specific embodiment
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of robot clamp, the invention is characterised in that：It includes upper installation
Plate 1, lower installation board 4, the link block 3 being connected between lower installation board are arranged on the wrapping paper among 4 bottom of lower installation board and inhale
Disk 7 is arranged on the separation cardboard sucker 9 of 4 bottom side of lower installation board；Laser range finder 2 is equipped between upper lower installation board,
4 bottom of lower installation board is located at 7 both sides of wrapping paper sucker equipped with paper pressing jar 5, and laser range finder 2 is translated by Translation cylinder 6；In lower peace
4 bottom of loading board, which is additionally provided with, rotatably cuts mechanism of paper 8, and being connected with blade of cutting a sheet of paper in 9 side of separation cardboard sucker cuts mechanism of paper 12,
Electromagnetism valve island 10, vacuum generator 11 are separately installed on upper mounting plate 1；Wherein, upper mounting plate 1 is fixed on machine by screw
So that entire fixture be connected with robot at people's mounting flange；Lower installation board 4 is connected by link block 3 with upper mounting plate 1.
See Fig. 7, Fig. 8, the present invention rotatably cuts mechanism of paper 8 and stretched by guiding bar 19, the tool apron being located in guiding bar 19, tool apron
Contracting cylinder 15, fractional motor 22, the circular shear blade 21 coupled with fractional motor 22 and motor fixed plate 20 form；Band is rotated by fractional motor
Dynamic circular shear blade rotation.
The present invention cut a sheet of paper blade cut mechanism of paper 12 by installing plate 13, the pressing plate 14 on installing plate 13, be connected to installation
The cutter knife mechanism installing plate 17 at 13 back of plate, the tool apron telescoping cylinder 15 being connected on cutter knife mechanism installing plate 17 are located at installing plate
Blade 16 on 13, the wrapping paper directing plate 18 for being connected to 13 back of installing plate form.
The mechanism of paper 8 of the invention that rotatably cuts cuts mechanism of paper 12 using the connection structure that can be exchanged with blade of cutting a sheet of paper.
The present invention is equipped with buffer head on the head of 5 cylinder rod of paper pressing jar, and the material of buffer head is silicon rubber.
Tool apron telescoping cylinder 15 of the present invention, always in retracted mode, opens during fixture carries material when cutting mechanism of paper
It is stretched out when dynamic, cuts paper work and retract again after finishing.
When it cuts mechanism of paper rotatably to cut mechanism of paper 8, workflow is the present invention：After robot starts, drive
Fixture is moved to above material, and vacuum generator 11 starts so that and wrapping paper sucker 7 generates negative pressure with separating cardboard sucker 9, it
Robot drives fixture to move downward afterwards so that wrapping paper sucker 7 holds separation cardboard with separating cardboard sucker 9, then machine
People drives fixture to move up, and after cardboard is put into specified recovery zone, vacuum generator is stopped, and separates cardboard and falls into recovery area
In domain.Robot drives fixture to be moved to above material again, after finding the center of material using laser range finder 2, robot
Fixture is driven to begin to decline, the vacuum generator of wrapping paper sucker 9 is controlled to start to work at this time so that wrapping paper sucker 9 generates
Negative pressure holds the wrapping paper of material, after robot obtains vacuum degree signal, is lifted up material, while promotion, two pressures
Paper cylinder 5 stretches out, and prevents material from rocking in the handling process, and then robot continues to move to, and material is positioned over appointed place.Object
After expecting position, mechanism of paper startup is cut, the tool apron telescoping cylinder 15 cut first in mechanism of paper stretches out, and fractional motor 22 starts to rotate, into
And Translation cylinder starts to move, band cutting blade cuts wrapping paper, at this time wrapping paper sucker sorption wrapping paper always.After the completion of cutting,
Robot drives fixture movement, and when reaching above recycling basket, vacuum generator is stopped, and wrapping paper is separated with material completion,
Wrapping paper is put into recycling basket.
When it cuts mechanism of paper and cuts mechanism of paper 12 for blade of cutting a sheet of paper, workflow is the present invention：After robot starts, band
Dynamic fixture is moved to above material, and vacuum generator 11 starts so that and wrapping paper sucker 7 generates negative pressure with separating cardboard sucker 9,
Robot drives fixture to move downward afterwards so that wrapping paper sucker 7 holds separation cardboard, Ran Houji with separating cardboard sucker 9
Device people drives fixture to move up, and after cardboard is put into specified recovery zone, vacuum generator is stopped, and separates cardboard and falls into recycling
In region.Robot drives fixture to be moved to above material again, after finding the center of material using laser range finder 2, machine
People drives fixture to begin to decline, and the vacuum generator of wrapping paper sucker 9 is controlled to start to work at this time so that wrapping paper sucker 9 produces
Raw negative pressure holds the wrapping paper of material, after robot obtains vacuum degree signal, is lifted up material, while promotion, two
Paper pressing jar 5 stretches out, and prevents material from rocking in the handling process, and then robot continues to move to, and material is positioned over appointed place.
Material in place after, the tool apron telescoping cylinder 15 cut first in mechanism of paper stretches out, and then Translation cylinder starts to move, band cutting blade cut
Wrapping paper, at this time wrapping paper sucker sorption wrapping paper always.After the completion of cutting, robot drives fixture movement, reaches recycling basket
During top, vacuum generator is stopped, and wrapping paper is separated with material completion, and wrapping paper is put into recycling basket.
Claims (5)
1. a kind of robot clamp, it is characterised in that：It includes upper mounting plate (1), lower installation board (4), is connected to installation up and down
Link block (3) between plate, the wrapping paper sucker (7) being arranged among lower installation board (4) bottom, is arranged on lower installation board (4)
The separation cardboard sucker (9) of bottom side；Laser range finder (2) is equipped between upper lower installation board, in lower installation board (4) bottom
Paper pressing jar (5) is equipped with positioned at wrapping paper sucker (7) both sides, laser range finder (2) is translated by Translation cylinder (6)；In lower installation board
(4) bottom, which is additionally provided with, rotatably cuts mechanism of paper (8), and being connected with blade of cutting a sheet of paper in separation cardboard sucker (9) side cuts mechanism of paper
(12), electromagnetism valve island (10), vacuum generator (11) are separately installed on upper mounting plate (1)；Wherein, upper mounting plate (1) is logical
Screw is crossed to be fixed at robot mounting flange entire fixture being connected with robot；Lower installation board (4) passes through link block
(3) it is connected with upper mounting plate (1).
2. a kind of robot clamp as described in claim 1, it is characterised in that：Rotatably mechanism of paper (8) is cut by guiding bar
(19), the tool apron that is located in guiding bar (19), tool apron telescoping cylinder (15), fractional motor (22), the circle coupled with fractional motor (22)
Blade (21) and motor fixed plate (20) composition；Being rotated by fractional motor drives circular shear blade to rotate.
3. a kind of robot clamp as described in claim 1, it is characterised in that：Blade of cutting a sheet of paper cuts mechanism of paper (12) by installing plate
(13), the pressing plate (14) on installing plate (13), the cutter knife mechanism installing plate (17) for being connected to installing plate (13) back, connection
Tool apron telescoping cylinder (15) on cutter knife mechanism installing plate (17), the blade (16) being located on installing plate (13) are connected to installation
Wrapping paper directing plate (18) composition at plate (13) back.
4. a kind of robot clamp as described in claim 1, it is characterised in that：It is rotary to cut mechanism of paper (8) and blade of cutting a sheet of paper
Mechanism of paper (12) is cut using the connection structure that can be exchanged.
5. a kind of robot clamp as described in claim 1, it is characterised in that：It is installed on the head of paper pressing jar (5) cylinder rod
There is buffer head, the material of buffer head is silicon rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177324.1A CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177324.1A CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105692263A CN105692263A (en) | 2016-06-22 |
| CN105692263B true CN105692263B (en) | 2018-05-18 |
Family
ID=56232826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610177324.1A Active CN105692263B (en) | 2016-03-25 | 2016-03-25 | A kind of robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105692263B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106144592B (en) * | 2016-08-25 | 2019-04-23 | 云南昆船电子设备有限公司 | A kind of packer brand paper robot automatic charging fixture |
| CN107814229A (en) * | 2017-11-30 | 2018-03-20 | 云南昆船电子设备有限公司 | A kind of piece cigarette film, cardboard remove fixture automatically |
| CN108773545B (en) * | 2018-05-09 | 2024-04-26 | 晋江凯燕新材料科技有限公司 | Automatic unpacking device and method |
| CN110407010B (en) * | 2019-06-25 | 2021-03-19 | 安吉八塔机器人有限公司 | Conveying and deviation rectifying system and method suitable for elastic materials |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH694504A5 (en) * | 1999-02-19 | 2005-02-28 | Elpatronic Ag | A method for cutting metal sheets to metal strips and cutting device for its implementation. |
| CN2590878Y (en) * | 2002-12-24 | 2003-12-10 | 上海大学 | Automatic opening box device of jointed cigarette packages |
| CN201647194U (en) * | 2010-04-20 | 2010-11-24 | 河北省烟草公司沧州市公司 | Cigarette case opening knife |
| WO2012119915A1 (en) * | 2011-03-04 | 2012-09-13 | Crown Packaging Technology, Inc. | Apparatus and method for separating discs of metal from a stack of discs |
| CN103095072B (en) * | 2011-11-03 | 2015-10-07 | 胡森林 | Rotor bag paper machine |
| CN105070971B (en) * | 2015-08-13 | 2018-05-22 | 广州中国科学院沈阳自动化研究所分所 | Power battery disassembles reclaimer and method automatically |
| CN105173282B (en) * | 2015-10-10 | 2017-07-14 | 国网重庆市电力公司电力科学研究院 | The dismounting of electric energy meter packing case and recovery system |
| CN205034796U (en) * | 2015-10-11 | 2016-02-17 | 北京康泰盛威自控科技有限公司 | Be applied to carton and tear integrated device who stamps and cut rope open |
| CN205471779U (en) * | 2016-03-25 | 2016-08-17 | 云南昆船电子设备有限公司 | Robot clamp |
-
2016
- 2016-03-25 CN CN201610177324.1A patent/CN105692263B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105692263A (en) | 2016-06-22 |
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