CN107640363A - A kind of industrial robot is uncapped clip loading system - Google Patents
A kind of industrial robot is uncapped clip loading system Download PDFInfo
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- CN107640363A CN107640363A CN201710941189.8A CN201710941189A CN107640363A CN 107640363 A CN107640363 A CN 107640363A CN 201710941189 A CN201710941189 A CN 201710941189A CN 107640363 A CN107640363 A CN 107640363A
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Abstract
Uncapped clip loading system the invention discloses a kind of industrial robot, including frame, it is rack-mounted send case structure, be installed on send on case structure cap-opening mechanism, in sending the case structure and being arranged at of grabbing above case structure to send testing agency below case structure；The gift box of non-mounted box is positioned over by grabbing case structure and send case structure front end, and by the gift box of mounted box from giving case structure end to take away；Detected by testing agency and carry out sending box when gift box reaches and send case structure front end, gift box reaches to be stopped sending box when sending case structure end；Carry out mounted box away is taken the gift box lid on gift box by cap-opening mechanism, treats to carry out closing lid after mounted box.The present invention realizes liberation worker labour, improves mounted box efficiency of uncapping, and guarantee is uncapped stably, and closing lid is complete.
Description
Technical field
Uncap Cartoning Technique field the present invention relates to robot grip box, uncapped mounted box more particularly to a kind of industrial robot
System.
Background technology
With the development of society and the continuous progress of science and technology, robot gradually replaces many manually-operated processes, such as removed
General procedure needed for the factory works such as fortune, stacking, has effectively liberated many labours.But dress of the prior art of uncapping
Cartridge device generally coordinates manual work using conveyer, although solving the transportation function of goods, reduces manual labor, according to
So existing needs artificial detection, manual sorting, manual assembly, the situation of artificial mounted box, and its root problem is not solved, still needed
Want staff to stay in beside machine to carry out mounted box of uncapping, consume substantial amounts of labour, and simultaneously by the way of artificial enter
Row is uncapped mounted box, when operating between it is long be that staff opens because the phenomenon for mounted box efficiency step-down of uncapping just occurs in fatigue
Easily malfunctioned when covering lid.
The content of the invention
For drawbacks described above, it is an object of the invention to propose that a kind of industrial robot is uncapped clip loading system, worker is liberated
Labour, mounted box efficiency of uncapping is improved, guarantee is uncapped stably, and closing lid is complete.
To use following technical scheme up to this purpose, the present invention：
A kind of industrial robot is uncapped clip loading system, including frame, rack-mounted sent case structure, is installed on and send box
Cap-opening mechanism in mechanism, in sending the case structure and being arranged at of grabbing above case structure to send testing agency below case structure；
It is described to send case structure to include conveyer belt, the transmission motor for driving conveyer belt, fixed dam and fixed cylinder；The biography
Band is sent to be arranged on the both sides of frame, and the transmission end of tape is fixedly installed fixed dam；The fixed cylinder fixes peace
End loaded on frame both sides, and positioned at the front of fixed dam, for gift box to be fixed to clamp；
The cap-opening mechanism includes folder lid cylinder, renovates cylinder, folder lid air cylinder fixed plate, connecting plate and folder lid baffle plate；It is more
Folder lid air cylinder fixed plate is provided between the individual connecting plate, and the folder lid air cylinder fixed plate is horizontally located at transmission end of tape
Top；The folder lid cylinder is installed on above the both ends of folder lid air cylinder fixed plate；The folder lid baffle plate is fixedly connected the folder
Tight cylinder, and below the both ends of folder lid air cylinder fixed plate；The cylinder of renovating is connected with one end of connecting plate；Pass through driving
Folder lid cylinder drives folder lid baffle plate to prop up the outstanding gift box lid edge of gift box；The driving renovates cylinder and drives folder lid
Baffle plate stirs laterally removes gift box lid, and carries out mounted box to gift box by mounted box robot；
The case structure of grabbing is used to the gift box of non-mounted box being positioned over conveyer belt front end and the gift box by mounted box
Taken away from transmission end of tape；
The testing agency includes first sensor, second sensor and control device；The first sensor is arranged at
Below conveyer belt front end；The second sensor is arranged at below transmission end of tape；The control device passes through first sensor
Signal open transmission motor；The control device stops transmission motor by the signal of second sensor.
Preferably, it is described to send case structure also to include electrical machine belt pulley, driving wheel, driven pulley and main shaft；
The driving wheel is installed on frame both-side ends, and passes through main shaft synchronous axial system between the driving wheel；It is described from
Driving wheel is installed on frame both sides front end, and is wrapped conveyer belt on the driven pulley and driving wheel；The electrical machine belt pulley includes
Lower electrical machine belt pulley, upper electrical machine belt pulley and timing belt；The timing belt is connected to the lower electrical machine belt pulley and upper electrical machine belt pulley simultaneously；
The transmission motor is arranged at below frame, and the lower electrical machine belt pulley is connected to the transmission motor, lower electrical machine belt pulley and upper
Electrical machine belt pulley passes through timing belt synchronous axial system；The main shaft is connected to electrical machine belt pulley and driving wheel simultaneously, and the driving wheel leads to
Cross main shaft and upper electrical machine belt pulley synchronous axial system.
Preferably, the case structure of grabbing includes robotic arm and robot clamp；The robot clamp is installed on robotic arm
Front end；The robot clamp is fixed small including bottom plate, fixed grip box plate, movable grip box plate, the first fixation platelet, second
Plate, grab box cylinder, guide rail and sliding block；
The bottom plate is installed on the front end of the robotic arm；The first fixation platelet is fixedly installed in bottom plate one end both sides
Lower section；The guide rail is installed on the bottom plate other end down either side；The sliding block is movably installed on guide rail；Described second
Fixed platelet is fixedly installed in sliding block；The fixed grip box plate is fixed on bottom plate by the first fixation platelet；The movable grip box
Plate is fixed on sliding block by the second fixation platelet；The box cylinder of grabbing is installed on below bottom plate, and grabbing box cylinder by driving drives
Sliding block is on guide rail to movement at fixed grip box plate so that fixed grip box plate and movable grip box plate cooperate and capture gift box.
Preferably, it is described to send case structure also to include guardrail board；The guardrail board is fixedly installed in the frame by screw
Both sides, and be vertically placed to the outer side edges of conveyer belt two.
Preferably, the cap-opening mechanism also includes base and renovates air cylinder fixed plate；The floor installation in frame two
On side, the base lower end is fixedly connected frame, and upper end is flexibly connected the connecting plate；It is described to renovate air cylinder fixed plate peace
A side-lower loaded on frame, and the cylinder lower end of renovating is connected to renovate air cylinder fixed plate, upper end is connected to connecting plate
One end；The connecting plate includes left connection board and right connection board；The right connection board and base junction are run-on point, and described
One end that cylinder front end is renovated with the right connection board is connected；Renovating cylinder by driving drives right connection board using run-on point in
The heart stirs laterally；Optical axis is provided between the right connection board and left connection board, and the left connection board passes through optical axis and the right side
Connecting plate synchronously stirs.
Preferably, the testing agency also includes electronic box and electric door；The electronic box is arranged at below frame, and the control
Device processed is fixedly installed in electronic box；Electric door is additionally provided with outside the electronic box, the electric door is connected by hinge with electronic box
Connect.
Preferably, chain guard is provided with outside the electrical machine belt pulley, the chain guard is wrapped in the lower electrical machine belt pulley, upper electricity simultaneously
Machine belt wheel and timing belt.
Preferably, the cap-opening mechanism is additionally provided with protective cover；The protective cover is covered with the connecting plate, light simultaneously
Axle, folder lid air cylinder fixed plate, folder lid baffle plate and folder lid cylinder.
Preferably, one end of the connecting plate is fixedly connected the base, is set below the other end of the connecting plate
Limited location base；The limiting plate is fixedly installed in the both sides of the frame.
Preferably, the limiting plate upper end is provided with anticollison block.
The technique effect of the present invention：The system avoids the need for artificial detection, people's work point by the setting of full-automation
Pick, manual assembly, the situation of artificial mounted box, liberate worker labour, the process of simultaneity factor also improves product dress
Box efficiency, this system clamps gift box lid edge outstanding on gift box by pressing from both sides lid baffle plate in addition, while passes through fixation
Mounted box is renovated in cylinder clamping gift box, realization, and guarantee process of uncapping is more stable, is not in that gift box is crooked or even by folder lid
The phenomenon that baffle plate folder is walked, shunk additionally by cylinder dead electricity is renovated, ensure that folder lid baffle plate returns to original position, ensure that conjunction
Lid is complete.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the one of embodiment of the present invention；
Fig. 2 is the side view for sending case structure and cap-opening mechanism of the one of embodiment of the present invention；
Fig. 3 is the structural representation one for sending case structure and cap-opening mechanism of the one of embodiment of the present invention；
Fig. 4 is the structural representation two for sending case structure and cap-opening mechanism of the one of embodiment of the present invention
Fig. 5 is the structural representation for sending case structure of the one of embodiment of the present invention；
Fig. 6 is the side view for sending case structure of the one of embodiment of the present invention；
Fig. 7 is the structural representation of the robot clamp of the one of embodiment of the present invention；
Fig. 8 is the structural representation of the cap-opening mechanism of the one of embodiment of the present invention；
Fig. 9 is the structural representation two of the cap-opening mechanism of the one of embodiment of the present invention；
Figure 10 is the gift box schematic diagram of the one of embodiment of the present invention.
Wherein：Frame 1, send case structure 2, cap-opening mechanism 3, grabs case structure 4, testing agency 5, protective cover 6, conveyer belt 20,
Transmit motor 21, electrical machine belt pulley 22, fixed dam 23, fixed cylinder 24, driving wheel 25, driven pulley 26, main shaft 27, guardrail board
28, chain guard 29, base 30, folder lid cylinder 31, cylinder 32 is renovated, folder lid air cylinder fixed plate 33, air cylinder fixed plate 34 is renovated, connects
Plate 35, folder lid baffle plate 36, optical axis 37, limiting plate 38, anticollison block 39, robotic arm 40, robot clamp 41, first sensor
50, second sensor 51, control device 52, electronic box 53, electric door 54, lower electrical machine belt pulley 220, upper electrical machine belt pulley 221, timing belt
222, left connection board 350, right connection board 351, run-on point 352, bottom plate 410, fixed grip box plate 411, movable grip box plate 412, the
One fixes platelet 413, and second fixes platelet 414, grabs box cylinder 415, guide rail 416, sliding block 417.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
A kind of industrial robot is uncapped clip loading system, as shown in Fig. 1-Figure 10, including frame 1, giving in frame 1
Case structure 2, be installed on send on case structure 2 cap-opening mechanism 3, in sending grabbing case structure 4 and being arranged above case structure 2 to send box
The testing agency 5 of the lower section of mechanism 2；
It is described to send case structure 2 to include conveyer belt 20, the transmission motor 21 for driving conveyer belt 20, fixed dam 23 and fixed gas
Cylinder 24；The conveyer belt 20 is arranged on the both sides of frame 1, and the end of the conveyer belt 20 is fixedly installed fixed dam 23；
The fixed cylinder 24 is fixedly installed in the end of the both sides of frame 1, and positioned at the front of fixed dam 23, for gift box to be consolidated
Clamp is tight；
The cap-opening mechanism 3 includes folder lid cylinder 31, renovates cylinder 32, folder lid air cylinder fixed plate 33, connecting plate 35 and folder
Lid baffle plate 36；Folder lid air cylinder fixed plate 33, and the water of folder lid air cylinder fixed plate 33 are provided between multiple connecting plates 35
Level land is located above the end of conveyer belt 20；The folder lid cylinder 31 is installed on above the both ends of folder lid air cylinder fixed plate 33；It is described
Folder lid baffle plate 36 is fixedly connected the clamping cylinder, and below the both ends of folder lid air cylinder fixed plate 33；It is described to renovate gas
Cylinder 32 is connected with one end of connecting plate 35；By driving folder lid cylinder 31 to drive folder lid baffle plate 36 to prop up the outstanding gift of gift box
The sub- edge of product lid；The driving, which renovates cylinder 32 and drives folder lid baffle plate 36 to stir laterally, removes gift box lid, and passes through
Mounted box robot carries out mounted box to gift box；
The case structure 4 of grabbing is used to the gift box of non-mounted box being positioned over the front end of conveyer belt 20 and the gift by mounted box
Box is taken away from the end of conveyer belt 20；
The testing agency 5 includes first sensor 50, second sensor 51 and control device 52；The first sensor
50 are arranged at below the front end of conveyer belt 20；The second sensor 51 is arranged at below the end of conveyer belt 20；The control device
52 open transmission motor 21 by the signal of first sensor 50；The control device 52 is stopped by the signal of second sensor 51
Only transmit motor 21.
The robotic arm 40 is driven above robot clamp 41 to gift box, gift box is picked up, the subsequent band of robotic arm 40
Above mobile robot fixture 41 to the front end of conveyer belt 20, the robot clamp 41 unclamps gift box and gift box is positioned over into transmission
With 20 front end, subsequent robotic arm 40 drives robot clamp 41 to rise；
The first sensor 50 receives gift box and reaches the signal of the front end of conveyer belt 20, and transmits the signal to electricity
Motor operating is opened by the control centre of case 53, the control centre of the electronic box 53, the motor motor belt wheel 22 rotate into
And drive conveyer belt 20 to move, and when the conveyer belt 20 transports gift box to 20 end of conveyer belt, the second sensor
51 sense that gift box reaches the signal of the end of conveyer belt 20, and transmit the signal to the control centre of electronic box 53, electronic box
53 control centre stops motor operating, and then controls conveyer belt 20 to stop movement, and the fixed dam 23 is arranged at conveyer belt
20 ends are used to stop that gift box moves forward, the phenomenon for avoiding gift box from dropping, while the fixed cylinder 24 must be electric,
To intermediary movements so as to fix and clamp gift box；
After the second sensor 51 senses the signal that gift box reaches simultaneously, the folder lid cylinder 31 must be electric, into
Between motion drive the folder lid baffle plate 36 to touch the gift box toward intermediary movements, the folder lid baffle plate 36 and prop up gift simultaneously
The outstanding gift box lid edge of product box, it is described renovate cylinder 32 it is electric after, pass through the connecting plate 35 drive folder lid cylinder
Fixed plate 33 flips to the outside motion, then the folder lid baffle plate 36 will clamp gift box lid to do outside flip-flop movement from
And gift box lid is opened, and it is described to renovate the dead electricity of cylinder 32 after waiting gift box mounted box, folder lid is driven by connecting plate 35
Air cylinder fixed plate 33 is made to motion is turned inside out, so as to drive folder sheet plate to do to medial motion, so as to close gift box lid；
Then, the dead electricity of folder lid cylinder 31, toward folder lid 33 liang of lateral movements of air cylinder fixed plate, while the folder lid baffle plate 36 is driven toward folder
The 33 liang of lateral movements of lid air cylinder fixed plate, so as to unclamp gift box lid, while the dead electricity of fixed cylinder 24, outside lateral movement from
And unclamp gift box, now, it is described renovate cylinder 32 it is electric, drive the fixed dam 23 of folder lid cylinder 31 to do by connecting plate 35
Flip to the outside motion, and then the robotic arm 40 drives robot clamp 41 to move to above gift box, grips gift box, will
It is positioned over rest area；The system avoids the need for artificial detection, manual sorting by the setting of full-automation, manual assembly,
The situation of artificial mounted box, liberate worker labour, the process of simultaneity factor also improves product mounted box efficiency, in addition this
System clamps gift box lid edge outstanding on gift box by pressing from both sides lid baffle plate 36, while clamps gift by fixed cylinder 24
Mounted box is renovated in product box, realization, and guarantee process of uncapping is more stable, is not in that gift box is crooked or even press from both sides by folder lid baffle plate 36
Phenomenon, shunk additionally by the dead electricity of cylinder 32 is renovated, ensure that folder lid baffle plate 36 returns to original position, ensure that closing lid is complete
It is whole.
Further description, as shown in figure 5, described send case structure 2 also to include electrical machine belt pulley 22, driving wheel 25, driven
Wheel 26 and main shaft 27；
The driving wheel 25 is installed on the both-side ends of frame 1, and passes through the synchronous axial system of main shaft 27 between the driving wheel 25；
The driven pulley 26 is installed on the both sides front end of frame 1, and is wrapped conveyer belt 20 on the driven pulley 26 and driving wheel 25；Institute
Stating electrical machine belt pulley 22 includes lower electrical machine belt pulley 220, upper electrical machine belt pulley 221 and timing belt 222；The timing belt 222 connects simultaneously
The lower electrical machine belt pulley 220 and upper electrical machine belt pulley 221；The transmission motor 21 is arranged at the lower section of frame 1, and the lower motor
Belt wheel 220 is connected to the transmission motor 21, and lower electrical machine belt pulley 220 and upper electrical machine belt pulley 221 turn by the way that timing belt 222 is synchronous
It is dynamic；The main shaft 27 is connected to electrical machine belt pulley 221 and driving wheel 25 simultaneously, and the driving wheel 25 passes through main shaft 27 and upper motor
The synchronous axial system of belt wheel 221.
It is described to send case structure 2 by driving wheel 25, driven pulley 26, main shaft 27, conveyer belt 20, transmission motor 21 and electrical machine belt pulley
22 compositions, when the first sensor 50 senses that gift box reaches the signal of the front end of conveyer belt 20, will be transmitted signals to
Control centre in electronic box 53, then the control centre in the electronic box 53, which may turn on, transmits motor 21, the transmission motor
The 21 lower electrical machine belt pulleys 220 of driving start to rotate, because the timing belt 222 is connected to the lower electrical machine belt pulley 220 and upper simultaneously
Electrical machine belt pulley 221, the then meeting of upper electrical machine belt pulley 221 are connected to simultaneously with the lower synchronous axial system of electrical machine belt pulley 220, the main shaft 27
Driving wheel 25 and upper electrical machine belt pulley 221；Then driving wheel 25 and upper electrical machine belt pulley 221 synchronous axial system, the driving wheel 25 are set
The both-side ends of frame 1 are placed in, the driven pulley 26 is arranged at the both sides front end of frame 1, and on the driven pulley 26 and driving wheel 25
All it is wrapped the conveyer belt 20；When the driving wheel 25 rotates, the driven pulley 26 can also be carried out together by conveyer belt 20
Step rotates, and as a same reason after the second sensor 51 senses the signal that gift box reaches, the conveyer belt 20 will stop
Only；
The stability in transmit process is on the one hand ensure that by this laddering conveyer, on the other hand by described in
Sensor, transmission motor 21 and electronic box 53 are arranged at the lower section of frame 1, and electrical machine belt pulley 22 is arranged at into the side of frame 1, the frame
1 top only sets the space for by driving wheel 25, driven pulley 26 and conveyer belt 20, reducing equipment while causes equipment more
There is normative and aesthetic property.
Further description, as shown in Figure 1 and Figure 7, the case structure 4 of grabbing include robotic arm 40 and robot clamp
41；The robot clamp 41 is installed on the front end of robotic arm 40；The robot clamp 41 includes bottom plate 410, fixed grip box
Plate 411, movable grip box plate 412, first fix platelet 413, second and fix platelet 414, grab box cylinder 415, guide rail 416 and sliding block
417；
The bottom plate 410 is installed on the front end of the robotic arm 40；The first fixation platelet 413 is fixedly installed in bottom plate
410 one end down either sides；The guide rail 416 is installed on the other end down either side of bottom plate 410；The sliding block 417 is movable
Ground is installed on guide rail 416；The second fixation platelet 414 is fixedly installed in sliding block 417；The fixed grip box plate 411 passes through
One fixation platelet 413 is fixed on bottom plate 410；The movable grip box plate 412 is fixed on sliding block 417 by the second fixation platelet 414；
The box cylinder 415 of grabbing is installed on the lower section of bottom plate 410, by driving grab box cylinder 415 with movable slider 417 on guide rail 416 to
Moved at fixed grip box plate 411 so that fixed grip box plate 411 and movable grip box plate 412 cooperate and capture gift box.
The robot clamp 41 fixes platelet by bottom plate 410, fixed grip box plate 411, movable grip box plate 412, first
413rd, the second fixation platelet 414, grab box cylinder 415, guide rail 416 and sliding block 417 and formed, when the robot clamp 41 is placed in
When above gift box, move vertically downward, fixed grip box plate 411 and movable grip box plate 412 are located at gift box both sides, described to grab box
Cylinder 415 it is electric, then drive sliding block 417 move on guide rail 416 to the direction of fixed grip box plate 411, so that the activity
Grip box plate 412 is synchronized with the movement by the second fixation platelet 414 with sliding block 417, then the movable grip box plate 412 is also to described solid
The direction of clamp box plate 411 is moved, and the fixed grip box plate 411 and movable grip box plate 412 are mutually close to and clamp gift box, so as to
Realize the gripping to gift box.
Further description, as shown in figure 3, described send case structure 2 also to include guardrail board 28；The guardrail board 28 passes through
Screw is fixedly installed in the both sides of the frame 1, and is vertically placed to described 20 liang of outer side edges of conveyer belt.
The both sides of the frame 1 are additionally provided with the guardrail board 28, and the guardrail is fixedly mounted by screw and put vertically
In the outward side of conveyer belt 20, in the case where ensureing not influenceing gift box transport, prevent gift box in transportation
Deviate former track, avoid the phenomenon that gift box drops in transportation, guarantee takes being normally carried out for lid mounted box.
Further description, as shown in figure 9, the cap-opening mechanism 3 also includes base 30 and renovates air cylinder fixed plate 34；
The base 30 is installed on the both sides of frame 1, and the lower end of base 30 is fixedly connected frame 1, and upper end is flexibly connected institute
State connecting plate 35；The side-lower renovated air cylinder fixed plate 34 and be installed on frame 1, and the lower end of cylinder 32 of renovating connects
And renovate air cylinder fixed plate 34, upper end is connected to one end of connecting plate 35；The connecting plate 35 includes left connection board 350 and right company
Fishplate bar 351；The right connection board 351 and the junction of base 30 are run-on point 352, and described renovate the front end of cylinder 32 and the right side
One end connection of connecting plate 351；By driving renovate cylinder 32 drive right connection board 351 centered on run-on point 352 laterally
Stir；Optical axis is provided between the right connection board 351 and left connection board 350, and the left connection board 350 passes through optical axis and the right side
Connecting plate 351 synchronously stirs.
The connecting plate 35 includes left connection board 350 and right connection board 351, and the connecting plate 35 is installed on by base 30
On the both sides of the frame 1, and above the both sides of conveyer belt 20, the right connection board 351 is used as with the junction of base 30 and turned over
Run-on point 352 when turning, and renovate cylinder 32 and the right connection board 351 one section is connected, and cylinder 32 is renovated when described
It is that driving right connection board 351 first is stirred laterally when driving the connecting plate 35 to laterally rotate, and because right connection board
Optical axis is provided between 351 and left connection board 350, then during the left connection board 350 and right connection board 351 are with run-on point 352
The heart stirs laterally, can thus drive the folder lid air cylinder fixed plate 33 being installed between left connection board 350 and right connection board 351
Stir laterally, so as to ensure that the stable of flip action is carried out, and by setting optical axis then to ensure that only needing one renovates cylinder
32 be can be achieved to take lid, and one is respectively set without left and right, saves machine cost.
Further description, as Figure 1-Figure 2, the testing agency 5 also include electronic box 53 and electric door 54；It is described
Electronic box 53 is arranged at the lower section of frame 1, and the control device 52 is fixedly installed in electronic box 53；It is additionally provided with outside the electronic box 53
Electric door 54, the electric door 54 are connected by hinge with electronic box 53.
The control device 52 is installed in the electronic box 53, for distinguishing control device and transmission equipment, and passes through institute
State electronic box 53 and electric door 54 protects the control device 52, avoid the control device 52 from being gone wrong by ectocine
Phenomenon.
Further description, as shown in Fig. 2-Fig. 6, chain guard 29, the chain guard 29 are provided with outside the electrical machine belt pulley 22
It is wrapped in the lower electrical machine belt pulley 220, upper electrical machine belt pulley 221 and timing belt 222 simultaneously.
The chain guard 29 is additionally provided with outside the electrical machine belt pulley 22, the chain guard 29 is wrapped in the lower electrical machine belt pulley simultaneously
220th, upper electrical machine belt pulley 221 and timing belt 222, the lower electrical machine belt pulley 220, upper electrical machine belt pulley are protected by the chain guard 29
221 and timing belt 222, avoid the lower electrical machine belt pulley 220 from driving the upper electrical machine belt pulley 221 is synchronous to turn by timing belt 222
When dynamic, there is foreign object to cause lower electrical machine belt pulley 220 to damage when touching lower electrical machine belt pulley 220 stuck, timing belt 222 can not move then
Upper electrical machine belt pulley 221 also stops operating, and conveyer belt 20 also stops movement therewith, and ultimately resulting in transportation can not be carried out, and or
Person, which avoids foreign object from touching timing belt 222, to cause timing belt 222 crooked or even the phenomenon to come off occurs, causes electrical machine belt pulley
221 can not rotate, therefore conveyer belt 20 can not also move, or avoid foreign object from directly touching electrical machine belt pulley 221 causing
There is the phenomenon damaged in upper electrical machine belt pulley 221, then conveyer belt 20 can not also move, and so as to ensure being normally carried out for transport, ensures
Take the stable progress of lid mounted box.
Further description, as shown in Fig. 1-Fig. 9, the cap-opening mechanism 3 is additionally provided with protective cover 6；The protective cover 6
The connecting plate 35, optical axis, folder lid air cylinder fixed plate 33, folder lid baffle plate 36 and folder lid cylinder 31 are covered with simultaneously.
The protective cover 6 is additionally provided with the cap-opening mechanism 3, and the protective cover 6 is covered with the connecting plate simultaneously
35th, optical axis, folder lid air cylinder fixed plate 33, folder lid baffle plate 36 and folder lid cylinder 31, the connecting plate is protected by the protective cover 6
35th, optical axis, folder lid air cylinder fixed plate 33, folder lid baffle plate 36 and folder lid cylinder 31, on the one hand avoid robot clamp 41 and are moving
The phenomenon of cap-opening mechanism 3 is directly contacted during dynamic, foreign object has on the other hand been also prevent and has fallen on cap-opening mechanism 3, avoided
The phenomenon that foreign object is fallen on the moving direction position of folder lid cylinder 31, so as to have impact on folder lid, cause folder lid or even do not clamp
The problem of lid, occurs.
Further description, as shown in figure 9, one end of the connecting plate 35 is fixedly connected the base 30, it is described
Limiting plate 38 is provided with below the other end of connecting plate 35；The limiting plate 38 is fixedly installed in the both sides of the frame 1.
One end of the left connection board 350 and right connection board 351 is connected to the base 30, and is installed on by base 30
The top of conveyer belt 20, and then it is provided with limiting plate below the other end of the left connection board 350 and right connection board 351
38, the limiting plate 38 is fixedly installed in frame 1, and the He of left connection board 350 is avoided by the limiting plate 38
The phenomenon of conveyer belt 20 is directly contacted during 351 inside side oscillation of right connection board, ensures that air cylinder fixed plate is always positioned at conveyer belt
20 tops, ensure to take the stable progress of lid.
Further description, as shown in figure 9, the upper end of the limiting plate 38 is provided with anticollison block 39.
The upper end of the limiting plate 38 is provided with anticollison block 39, avoids the connecting plate 35 and directly touches spacing bottom
Seat 38 and cause the impaired phenomenon of equipment, pass through the anticollison block 39 and protect connecting plate 35 and limiting plate 38.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
- The clip loading system 1. a kind of industrial robot is uncapped, it is characterised in that：Including frame, it is rack-mounted send case structure, Be installed on send on case structure cap-opening mechanism, in sending the case structure and being arranged at of grabbing above case structure to send inspection below case structure Survey mechanism；It is described to send case structure to include conveyer belt, the transmission motor for driving conveyer belt, fixed dam and fixed cylinder；The conveyer belt It is arranged on the both sides of frame, and the transmission end of tape is fixedly installed fixed dam；The fixed cylinder is fixedly installed in The end of frame both sides, and positioned at the front of fixed dam, for gift box to be fixed to clamp；The cap-opening mechanism includes folder lid cylinder, renovates cylinder, folder lid air cylinder fixed plate, connecting plate and folder lid baffle plate；Multiple institutes State and folder lid air cylinder fixed plate is provided between connecting plate, and the folder lid air cylinder fixed plate is horizontally located on transmission end of tape Side；The folder lid cylinder is installed on above the both ends of folder lid air cylinder fixed plate；The folder lid baffle plate is fixedly connected the clamping Cylinder, and below the both ends of folder lid air cylinder fixed plate；The cylinder of renovating is connected with one end of connecting plate；Pressed from both sides by driving Lid cylinder drives folder lid baffle plate to prop up the outstanding gift box lid edge of gift box；The driving renovates cylinder and drives folder lid gear Plate stirs laterally removes gift box lid, and carries out mounted box to gift box by mounted box robot；The case structure of grabbing is used to the gift box of non-mounted box being positioned over conveyer belt front end and by the gift box of mounted box from biography End of tape is sent to take away；The testing agency includes first sensor, second sensor and control device；The first sensor is arranged at transmission Below band front end；The second sensor is arranged at below transmission end of tape；The letter that the control device passes through first sensor Number open transmission motor；The control device stops transmission motor by the signal of second sensor.
- The clip loading system 2. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：It is described to send case structure also Including electrical machine belt pulley, driving wheel, driven pulley and main shaft；The driving wheel is installed on frame both-side ends, and passes through main shaft synchronous axial system between the driving wheel；The driven pulley Frame both sides front end is installed on, and conveyer belt is wrapped on the driven pulley and driving wheel；The electrical machine belt pulley includes lower electricity Machine belt wheel, upper electrical machine belt pulley and timing belt；The timing belt is connected to the lower electrical machine belt pulley and upper electrical machine belt pulley simultaneously；It is described Transmission motor is arranged at below frame, and the lower electrical machine belt pulley is connected to the transmission motor, lower electrical machine belt pulley and upper motor Belt wheel passes through timing belt synchronous axial system；The main shaft is connected to electrical machine belt pulley and driving wheel simultaneously, and the driving wheel passes through master Axle and upper electrical machine belt pulley synchronous axial system.
- The clip loading system 3. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：It is described to grab case structure bag Include robotic arm and robot clamp；The robot clamp is installed on the front end of robotic arm；The robot clamp include bottom plate, Fixed grip box plate, movable grip box plate, the first fixation platelet, second fix platelet, grab box cylinder, guide rail and sliding block；The bottom plate is installed on the front end of the robotic arm；The first fixation platelet is fixedly installed under the both sides of bottom plate one end Side；The guide rail is installed on the bottom plate other end down either side；The sliding block is movably installed on guide rail；Described second is solid Determine platelet and be fixedly installed in sliding block；The fixed grip box plate is fixed on bottom plate by the first fixation platelet；The movable grip box plate Sliding block is fixed on by the second fixation platelet；The box cylinder of grabbing is installed on below bottom plate, and grabbing box cylinder by driving drives cunning Block is on guide rail to movement at fixed grip box plate so that fixed grip box plate and movable grip box plate cooperate and capture gift box.
- The clip loading system 4. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：It is described to send case structure also Including guardrail board；The guardrail board is fixedly installed in the both sides of the frame by screw, and is vertically placed to the conveyer belt two Outer side edges.
- The clip loading system 5. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：The cap-opening mechanism is also Including base and renovate air cylinder fixed plate；For the floor installation on the both sides of frame, the base lower end is fixedly connected machine Frame, upper end are flexibly connected the connecting plate；The side-lower renovated air cylinder fixed plate and be installed on frame, and described renovate Cylinder lower end is connected to renovate air cylinder fixed plate, and upper end is connected to one end of connecting plate；The connecting plate include left connection board and Right connection board；The right connection board and base junction be run-on point, and cylinder front end and the right connection board of renovating One end connects；Renovating cylinder by driving drives right connection board to be stirred laterally centered on run-on point；The right connection board and Optical axis is provided between left connection board, and the left connection board is synchronously stirred by optical axis with right connection board.
- The clip loading system 6. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：The testing agency is also Including electronic box and electric door；The electronic box is arranged at below frame, and the control device is fixedly installed in electronic box；The electricity Electric door is additionally provided with outside case, the electric door is connected by hinge with electronic box.
- The clip loading system 7. a kind of industrial robot according to claim 2 is uncapped, it is characterised in that：Outside the electrical machine belt pulley Chain guard is provided with, the chain guard is wrapped in the lower electrical machine belt pulley, upper electrical machine belt pulley and timing belt simultaneously.
- The clip loading system 8. a kind of industrial robot according to claim 1 is uncapped, it is characterised in that：The cap-opening mechanism is also It is provided with protective cover；The protective cover is covered with the connecting plate, optical axis, folder lid air cylinder fixed plate, folder lid baffle plate and folder simultaneously Lid cylinder.
- The clip loading system 9. a kind of industrial robot according to claim 5 is uncapped, it is characterised in that：The one of the connecting plate End is fixedly connected the base, and limiting plate is provided with below the other end of the connecting plate；The limiting plate fixes peace Both sides loaded on the frame.
- The clip loading system 10. a kind of industrial robot according to claim 9 is uncapped, it is characterised in that：The limiting plate Upper end is provided with anticollison block.
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| CN201710941189.8A CN107640363B (en) | 2017-10-11 | 2017-10-11 | Industrial robot uncaps boxing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710941189.8A CN107640363B (en) | 2017-10-11 | 2017-10-11 | Industrial robot uncaps boxing system |
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| CN107640363B CN107640363B (en) | 2023-06-30 |
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| CN114715480A (en) * | 2022-05-04 | 2022-07-08 | 展一智能科技(东台)有限公司 | Method for opening packing box |
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| CN107640363B (en) | 2023-06-30 |
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Address after: 528225 A1 Factory Building, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Applicant after: Guangdong Huibo Robot Technology Co.,Ltd. Address before: 528225 Room A208 and A209, Research Building A, Nefo High-tech Think Tank Center, Nanhai Software Science Park, Shishan Town, Foshan City, Guangdong Province Applicant before: FOSHAN KINGPENG ROBOT TECHNOLOGY Co.,Ltd. |
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