CN107697334A - A kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine - Google Patents
A kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine Download PDFInfo
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- CN107697334A CN107697334A CN201710851706.2A CN201710851706A CN107697334A CN 107697334 A CN107697334 A CN 107697334A CN 201710851706 A CN201710851706 A CN 201710851706A CN 107697334 A CN107697334 A CN 107697334A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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Abstract
The present invention provides a kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine, wherein：A kind of manipulator applied to Full-automatic box filling machine includes spacing mechanism, equidistant drive device, the bag compression frameworks such as robot gantry, Pneumatic clamping jaw, manipulator, multiple Pneumatic clamping jaws are installed on the robot gantry, the spacing mechanisms such as manipulator are connected on multiple Pneumatic clamping jaws, equidistant drive device is installed on the spacing mechanisms such as the manipulator, the bag compression framework is arranged on the both sides of robot gantry, including bag pressing installing plate, bag pressing cylinder and bag pressing plate, the bag pressing installing plate is connected on robot gantry；A kind of Full-automatic box filling machine of the present invention conveys crated product by timesharing pipeline, carton is conveyed by carton pipeline and opens the case mouth of carton, pass through the position of moving cart mobile elevating machine, pass through the position of elevating mechanism mobile manipulator, then incasement operation is completed by manipulator, it is reasonable in design, realize fast automatic vanning.
Description
Technical field
The present invention relates to boxing apparatus technical field, more particularly to it is a kind of applied to the manipulator of Full-automatic box filling machine and one
Kind Full-automatic box filling machine.
Background technology
Recrater is that a kind of product by packless product either inner wrapping is semi-automatic or be automatically loaded transportation and packing
A kind of equipment, its operation principle is that by certain arrangement mode and product is quantitatively fitted into case into (corrugated case, plastic box, support
Disk), and the opening portion of case is closed or secured.According to the requirement of recrater, it should have forming paper box (or opening carton),
Metering, the function of vanning, some are also equipped with sealing or tying up function.
Through retrieval, the utility model patent that Chinese Patent Application No. is 201621364241.5 discloses a kind of recrater.
Including frame, the first longeron and the second longeron are installed in the middle part of frame, at the middle part of the first longeron and the head end frame of frame
Carton platform is installed between the middle part of frame, cardboard box conveying belt is installed between the middle part of two longerons, in the second longeron
Middle beam is installed between the middle part of the end frame of portion and frame；Lifting mobile device is installed at the top of frame, should
Device includes the gear-box and axle bed installed in frame top both ends, the driven gear on the driving gear and axle bed of gear-box
Between be provided with chain, straight track is also equipped with the top of frame, in addition to the top cross-bar fixed with chain, at top
The both ends of crossbeam are provided with the roller rolled along track, and the motor of sliding tooth roller box is also equipped with the top of frame；At top
Lower section in the middle part of crossbeam is provided with lift cylinder, and folder bottle mobile device is provided with the bottom of the piston rod of lift cylinder；In
It is provided with portion's crossbeam and send bottle.Only by sending bottle and folder bottle mobile device to move bottle to be cased and be fitted into case in fact
Existing automatic boxing function, and automatically can not open chest, boxing efficiency is low.
Through retrieval, to disclose paper for daily use automatic for the utility model patent that Chinese Patent Application No. is 201520750288.4
Recrater, including mounting bracket, carton pipeline is installed in the mounting bracket, cross is installed on the top of the mounting bracket
Module, grabbing device is installed on the cross module and moved up and down by cross module driving, described
Carton expanding device is installed above carton pipeline, charging conveying is installed above the side of carton pipeline one
Band.By the co-operating of grabbing device and expanding device, so as to realize automatically casin.Can not be by product according to vanning process
Time timesharing conveys, and can cause to treat that crated product is accumulated, have a strong impact on vanning effect.
To sum up, existing recrater is complicated, the incomplete problem of function, can not realize quick vanning function.
The content of the invention
It is an object of the invention to provide a kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine,
Possess the advantages of fast automatic vanning, solve the problems, such as that prior art can not realize fast automatic vanning.
A kind of Full-automatic box filling machine according to embodiments of the present invention, the Full-automatic box filling machine include：
One big frame, is fastened in infrastructure, including rectangular frame, and the both sides at the top of the rectangular frame are provided with and led
Rail；
One timesharing pipeline, the rear side in big frame, for conveying crated product, including timesharing pipeline machine
Frame, timesharing belt conveyor, delivery vehicles, servo drive, the timesharing belt conveyor are arranged in timesharing pipeline frame,
The delivery vehicles are arranged on corresponding timesharing belt conveyor, and the servo drive connects with the transmission of timesharing belt conveyor
Connect；
One carton pipeline, the front side in big frame, for conveying carton and opening the case mouth of carton, including paper
Case conveying frame, case mouth push aside frame, two allocate drive device, two allocate mechanism, interrupter, guardrail mechanism, carton
Position-limit mechanism, the case mouth push the surface that frame is arranged on carton conveyor frame aside, allocate drive device for two and set respectively
The left and right sides end of frame is pushed aside in case mouth, and the drive device of allocating allocates mechanism, the interrupter provided with corresponding
Pushed aside installed in case mouth in frame, and interrupter is allocated positioned at two and conveyed between drive device and downwardly positioned at carton
Frame upper paper box case mouth；The guardrail mechanism is arranged on the front and rear sides above carton conveyor frame, the carton position-limit mechanism
Bottom in carton conveyor frame, for limiting cartons position；
One moving cart, it is slidably mounted on the guide rail of big frame top, including vehicle frame and drive car, for moving
The position of dynamic elevating mechanism；
One elevating mechanism, installed in the front side of moving cart, including elevator platform and lifting drive, for machinery
Hand carries out descending operation；
It is a kind of applied to Full-automatic box filling machine and can in a row in order and efficiently complete incasement operation a manipulator, pacify
Mounted in the bottom of elevating mechanism, for crated product to be loaded in carton, including robot gantry, Pneumatic clamping jaw, manipulator etc.
Spacing mechanism, equidistant drive device, bag compression framework, multiple Pneumatic clamping jaws, multiple Pneumatic clamping jaws are installed on the robot gantry
Equidistant drive device, the bag compression framework installation are installed on the spacing mechanisms such as spacing mechanism, the manipulator such as upper connection manipulator
In the both sides of robot gantry, including bag pressing installing plate, bag pressing cylinder and bag pressing plate, the bag pressing installing plate is connected to manipulator
In frame, the bag pressing installing plate connects bag pressing plate, the one end of the bag pressing plate away from rotating shaft and bag pressing cylinder by rotating shaft
Output end is connected, and the other end and the cylinder saddle of the bag pressing cylinder are rotatablely connected, and the cylinder saddle is fastened on bag pressing installation
On plate.
On the basis of such scheme, the both sides in the middle part of the rectangular frame are provided with separation frame, and the separation frame is in H types.
On the basis of such scheme, the quantity of the timesharing belt conveyor is four, on every two timesharing belt conveyors
Interval is provided with delivery vehicles, and the delivery vehicles include the conveyor hopper that the cross section that 11*2 blocks are arranged side by side is in matrix, institute
The bottom for stating conveyor hopper is securedly mounted on timesharing belt conveyor by connecting plate, realizes the crated product clamping for treating gripping
Position-limiting action.
On the basis of such scheme, the carton conveyor frame includes rectangular frame, is fastened on rectangular frame top
Conveying roller group, be fastened on the mounting brackets of both sides at the top of rectangular frame, the both sides of the mounting bracket, which are provided with, is used for nonfloating rail
The guardrail mechanism locking bed of mechanism, is provided with mounting bracket cylinder on the mounting bracket, the both sides of the mounting bracket cylinder be provided with
The both sides of mounting bracket cylinder are provided with the slide bar that cooperation is slided up and down with the mounting bracket, the output end connection of the mounting bracket cylinder
Supporting plate, top and the supporting plate of the slide bar are fastenedly connected, and the bottom that the supporting plate pushes frame aside with case mouth offsets, and is used for
Support case mouth pushes frame aside and adjusts its height.
On the basis of such scheme, the drive device of allocating includes allocating drive cylinder, transmission joint element for bar and transmission
Bar, each allocating mechanism includes front and rear being arranged side by side two and allocating location-plate, two bearing blocks and for driving carton case
Mouth renovates the plate being oppositely arranged before and after two that carry out opened/closed, wherein：The plate include the first plate, second group
Plate and the arc connector that arc-shaped transition connects between the first plate and the second plate；First plate and the second plate
Between keep being mutually perpendicular to shape, the second plate is oblique and pushes frame central aside towards case mouth；
It is described to allocate drive cylinder and be connected by being driven joint element for bar and drive link, the both ends of the drive link with it is right
Former and later two bearing blocks in mechanism should be allocated to be slidably connected, the location-plate bottom of allocating for each allocating mechanism is pushed aside with case mouth
The slide rail pushed frame central aside towards case mouth and obliquely set is equipped between frame, it is described to allocate drive cylinder driving transmission
Bar to case mouth push frame central movement aside when, each allocate the plate in mechanism under the drive of drive link along slide rail to case mouth
Push frame central movement aside.
On the basis of such scheme, the guardrail mechanism includes the outward-dipping guardrail board in both ends, guardrail fix bar, described
Guardrail board is fastenedly connected with guardrail fix bar, and the guardrail fix bar is fastenedly connected through guardrail mechanism locking bed with mounting bracket.
On the basis of such scheme, the carton position-limit mechanism includes position-limit mechanism fixed plate, limit driving device, spacing
Block, two guide rods, the output end of the limit driving device connect through the middle part of position-limit mechanism fixed plate and limited block, institute
One end of the both sides connection guide rod on limited block is stated, the other end of the guide rod passes through the guiding in position-limit mechanism fixed plate
Hole.
On the basis of such scheme, the front side of the vehicle frame is provided with track support frame, is installed on the track support frame
There is track, the track is provided with teeth groove.
On the basis of such scheme, the lifting drive include be arranged on elevator platform in lifting motor,
Drive link and drive, the lifting motor are connected by drive link and drive, the drive and the rail
Teeth groove on road is meshed.
The present invention has an advantageous effect in that compared with prior art：
The present invention is using timesharing pipeline conveying crated product, and forming at least two row, crated product coordinates machine in an orderly manner side by side
Tool hand is captured and moved and delivers into Packaging Box exactly, then is conveyed carton by carton pipeline and used and allocate driving
Device drives and opens carton case mouth, by the position of moving cart mobile elevating machine, passes through elevating mechanism mobile manipulator
Position, then by the way that manipulator can in a row in order and efficiently the incasement operation of crated product, structure design be treated in completion
Rationally, fast automatic vanning is realized.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural representation of Full-automatic box filling machine proposed by the present invention；
Fig. 2 is the structural representation of big frame；
Fig. 3 is the structural representation of timesharing pipeline；
Fig. 4 is the structural representation of carton conveyor；
Fig. 5 is the structural representation of carton conveyor frame in Fig. 4；
Fig. 6 is the structural representation of carton position-limit mechanism in Fig. 4；
Fig. 7 is part schematic top plan view in Fig. 4；
Fig. 8 is part-structure schematic diagram in Fig. 4；
Fig. 9 is the structural representation of plate；
Figure 10 is the top view of plate；
Figure 11 is the structural representation of moving cart；
Figure 12 is the structural representation of elevating mechanism；
Figure 13~14 are the structural representation of manipulator；
Figure 15 is the structural representation of the spacing mechanism such as manipulator in Figure 13 and Figure 14；
Figure 16 is the structural representation of equidistant drive device in Figure 13 and Figure 14.
Figure 17~20 are the structural representation of Pneumatic clamping jaw in the present invention.
Figure 21~22 are the structural representation of robot gantry in the present invention.
In figure：The big frames of 1-, 11- rectangular frames, 111- separation frames, 12- guide rails, 2- timesharing pipelines, 21- timesharing conveying
Line frame, 22- timesharing belt conveyors, 23- delivery vehicles, 231- conveyor hoppers, 232- connecting plates, 24- servo drives, 3-
Carton pipeline, 31- carton conveyor framves, 311- rectangular frames, 312- conveying roller groups, 313- mounting brackets, 3131- slide bars,
3132- supporting plates, 3133- mounting bracket cylinders, 314- guardrails mechanism locking bed, 32- case mouths push frame aside, and 33- allocates driving dress
Putting, 331- allocates drive cylinder, and 332- is driven joint element for bar, 333- drive links, and 34- allocates mechanism, and 341- allocates location-plate,
342- bearing blocks, 343- plates, the plates of 3431- first, the plates of 3432- second, 3433- arc connectors, 344- slide rails, 35-
Guardrail mechanism, 351- guardrail boards, 352- guardrail fix bars, 36- carton position-limit mechanisms, 361- position-limit mechanism fixed plates, 362- limits
Position drive device, 363- limited blocks, 364- guide rods, 37- interrupters, 4- moving carts, 41- vehicle frames, the support of 411- tracks
Frame, 412- tracks, 42- drive cars, 5- elevating mechanisms, 51- elevator platforms, 52- lifting drives, 521- transmissions
Bar, 522- drives, 6- manipulators, 61- robot gantries, the first snap block 611, the second snap block 612, the first side plate frame
613, the second side plate frame 614,62- Pneumatic clamping jaws, pneumatic clamps bluff piece 621 in first, the first inner clip rest shoe 6210, projection in first
6211, groove 6212 in first, pneumatic jaw member 622 outside first, the first outer clip rest shoe 6220, the first outer projection 6221, first
Outer groove 6222, pneumatic clamps bluff piece 623 in second, the second inner clip rest shoe 6230, projection 6231 in second, groove in second
6232, pneumatic jaw member 624, the second outer clip rest shoe 6240, the second outer projection 6241, the second outer groove 6242, circle outside second
Connecting rod 625, underdrive interconnecting piece 6261 on first, underdrive outer connector 6262 on first, connected in underdrive on second
Part 6271, underdrive outer connector 6272 on second, clamping jaw transmission bracket 628 up and down, the first guide cylinder 6281, first is oriented to
Interior cylinder 6282, the second guide cylinder 6283, second be oriented in cylinder 6284, clamping jaw up and down drive cylinder 629,63- manipulators
Deng the spacing mechanisms such as spacing mechanism, manipulator 63, short brace 631 on first, short brace 632 under first, the first long diagonal brace 633, second
Long diagonal brace 634, short brace 635 on second, short brace 636 under second, cylindrical bar connecting shaft 637, clamping drive connection plate 638, the
One side support plate 6391, the first side slide block component 6392, the second side support plate 6393, the second side slide block component 6394,64-
Equidistant drive device, the first or so clamping drive cylinder 641, the first connection pushing block 642, the first cylinder fixed side 643, second
Left and right clamps drive cylinder 644, the second connection pushing block 645, the second cylinder fixed side 646,65- bag compression frameworks, 651- bag pressings
Installing plate, 652- bag pressing cylinders, 653- bag pressing plates, 654- cylinder saddles.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Reference picture 1-22, a kind of Full-automatic box filling machine, the Full-automatic box filling machine include：
One big frame 1, is fastened in infrastructure, including rectangular frame 11, and the both sides at the top of rectangular frame 11, which are provided with, leads
Rail 12, the both sides at the middle part of rectangular frame 11 are provided with separation frame 111, and separation frame 111 is in H types；
One timesharing pipeline 2, the rear side in big frame 1, for conveying crated product, including timesharing pipeline machine
Frame 21, timesharing belt conveyor 22, delivery vehicles 23, servo drive 24, timesharing belt conveyor 22 are arranged on timesharing pipeline
In frame 21, the interval of delivery vehicles 23 is arranged on corresponding timesharing belt conveyor 22, and servo drive 24 conveys with timesharing
Belt 22 is connected, and the quantity of timesharing belt conveyor 22 is four, and interval is provided with every two timesharing belt conveyors 22
Delivery vehicles 23, delivery vehicles 23 include the conveyor hopper 231 that the cross section that 11*2 blocks are arranged side by side is in matrix, conveyor hopper
231 bottom is securedly mounted on timesharing belt conveyor 22 by connecting plate 232, realizes the crated product clamping limit for treating gripping
Position effect；
One carton pipeline 3, carton pipeline 3, the front side in big frame 1, for conveying carton and opening paper
The case mouth of case, including carton conveyor frame 31, case mouth push aside frame 32, two allocate drive device 33, two allocate mechanism 34,
Interrupter 37, guardrail mechanism 35, carton position-limit mechanism 36, case mouth push aside frame 32 installed in carton conveyor frame 31 just on
Side, allocates drive device 33 for two and is separately positioned on the left and right sides end that case mouth pushes frame 32 aside, allocate and set in drive device 33
Mechanism 34 is allocated corresponding to having, interrupter 37 is pushed aside in frame 32 installed in case mouth, and interrupter 37 is allocated positioned at two
It is located between drive device 33 and downwardly the upper paper box case mouth of carton conveyor frame 31；Guardrail mechanism 35 conveys installed in carton
The front and rear sides of the top of frame 31, carton position-limit mechanism 36 is arranged on the bottom in carton conveyor frame 31, for limiting carton
Position；Carton conveyor frame 31 includes rectangular frame 311, the conveying roller group 312 for being fastened on the top of rectangular frame 311, tight
Gu the mounting bracket 313 in the top both sides of rectangular frame 311, the both sides of mounting bracket 313 are provided with for nonfloating rail mechanism 35
Guardrail mechanism locking bed 314, is provided with mounting bracket cylinder 3133 on mounting bracket 313, the both sides of mounting bracket cylinder 3133 be provided with
Mounting bracket 313 slides up and down the slide bar 3131 of cooperation, the output end connection supporting plate 3132 of mounting bracket cylinder 3133, slide bar 3131
Top be fastenedly connected with supporting plate 3132, the bottom that supporting plate 3132 pushes frame 32 aside with case mouth offsets, for supporting case mouth
Push frame 32 aside and adjust its height；Allocating drive device 33 includes allocating drive cylinder 331, transmission joint element for bar 332 and passes
Lever 333, each allocating mechanism 34 includes front and rear being arranged side by side two and allocating 341, two bearing blocks 342 of location-plate and use
The plate 343 being oppositely arranged before and after two that carry out opened/closed is renovated in driving carton case mouth, wherein：Plate 343 includes the
One plate 3431, the second plate 3432 and between the first plate 3431 and the second plate 3432 arc-shaped transition connect arc
Connector 3433；Keep being mutually perpendicular to shape between first plate 3431 and the second plate 3432, the second plate 3432 is oblique
And push the center of frame 32 aside towards case mouth；Allocate drive cylinder 331 and connected by being driven joint element for bar 332 with the transmission of drive link 333
Connect, the both ends of drive link 333 are allocated former and later two bearing blocks 342 in mechanism 34 and be slidably connected with corresponding, each allocate machine
Structure 34 allocate the bottom of location-plate 341 and case mouth is pushed aside and is equipped with that to push the center of frame 32 aside towards case mouth inclined between frame 32
Shape set slide rail 344, allocate drive cylinder 331 drive drive link 333 to case mouth push aside the center of frame 32 movement when, Mei Gefen
The plate 343 dialled in mechanism 34 is pushed the center of frame 32 aside to case mouth along slide rail 344 under the drive of drive link 333 and moved；Shield
Column mechanism 35 includes the outward-dipping guardrail board 351 in both ends, guardrail fix bar 352, and guardrail board 351 and guardrail fix bar 352 are tight
It is solidly connected, guardrail fix bar 352 is fastenedly connected through guardrail mechanism locking bed 314 with mounting bracket 313；Carton position-limit mechanism 36 wraps
363, two position-limit mechanism fixed plate 361, limit driving device 362, limited block guide rods 364 are included, limit driving device 362
Output end is connected through position-limit mechanism fixed plate 361 with the middle part of limited block 363, the both sides connection guide rod on limited block 363
364 one end, the other end of guide rod 364 pass through the pilot hole in position-limit mechanism fixed plate 361；
One moving cart 4, it is slidably mounted on the guide rail 12 at the big top of frame 1, including vehicle frame 41 and drive car
42, for the position of mobile elevating machine 5, the front side of vehicle frame 41 is provided with track support frame 411, pacifies on track support frame 411
Equipped with track 412, track 412 is provided with teeth groove；
One elevating mechanism 5, installed in the front side of moving cart 4, including elevator platform 51 and lifting drive 52, it is used for
Descending operation is carried out to manipulator 6, lifting drive 52 includes lifting motor, the transmission being arranged in elevator platform 51
Bar 521 and drive 522, lifting motor are connected by drive link 521 and drive, drive 522 and track 412
On teeth groove be meshed；
As shown in Figure 13~22：Applied to a kind of manipulator of Full-automatic box filling machine of the present invention include robot gantry 61,
The spacing mechanisms such as Pneumatic clamping jaw 62, manipulator 63, equidistant drive device 64, bag compression framework 65, install on the robot gantry 61
There are multiple Pneumatic clamping jaws 62, connected on multiple Pneumatic clamping jaws 62 on the spacing mechanisms such as spacing mechanism 63, the manipulator 63 such as manipulator
Equidistant drive device 64 is installed, the bag compression framework 65 is arranged on the both sides of robot gantry 61, including bag pressing installing plate
651st, bag pressing cylinder 652 and bag pressing plate 653, the bag pressing installing plate 651 are connected on robot gantry 61, the bag pressing installation
Plate 651 connects bag pressing plate 653 by rotating shaft, and the one end of the bag pressing plate 653 away from rotating shaft and the output end of bag pressing cylinder 652 connect
Connect, the other end and the cylinder saddle 654 of the bag pressing cylinder 652 are rotatablely connected, and the cylinder saddle 654 is fastened on bag pressing installation
On plate 651.
As shown in Figure 15 and Figure 17~20：The spacing mechanisms such as the manipulator 63 include short brace 631, one on one first
Short brace 632 under first, the first long diagonal brace of N roots 633, short brace 635, one piece on the second long diagonal brace of N roots 634, one second
Short brace 636, N+2 root cylindrical bars connecting shaft 637, N+2 blocks clamping driving horizontal connecting plate 638, the side support plate of N+2 blocks first under two
6391st, the first side slide block of N+2 blocks component 6392, the second side support plate of N+2 blocks 6393, N+2 blocks the second side slide block component
6394, wherein：The natural number of N >=2；
Short brace 631 is be hinged by short brace 632 under a cylindrical bar connecting shaft 637 and first on first, short oblique on second
Bar 635 is be hinged by short brace 636 under another cylindrical bar connecting shaft 637 and one second；
Short brace 631 left end of first long diagonal brace 633 adjacent thereto is hinged on first, short brace 632 and its phase under first
The adjacent left end of the second long diagonal brace 634 is hinged；
Short brace 635 right-hand member of second long diagonal brace 634 adjacent thereto is hinged on second, short brace 636 and its phase under second
The adjacent right-hand member of the first long diagonal brace 633 is hinged；
First long diagonal brace 633 passes through a cylinder by middle part the second long diagonal brace 634 adjacent thereto by middle part
Bar connecting shaft 637 is be hinged, and result in formation of N group cross-like hinge assemblies；In two adjacent groups cross-like hinge assembly：First length is oblique
The right-hand member of bar 633 is hinged with the left end of the second long diagonal brace 634, and the right-hand member of the second long diagonal brace 634 is hinged with the left end of the first long diagonal brace 633, and
These N+2 root cylindrical bars connecting shafts 637 form be located along the same line side by side；N+1 group quadric chains are so formed, and equidistant
Drive device 64 along under left and right directions driving effect, drive Pneumatic clamping jaw 62 to carry out to carry out to the left and to the right tighten up it is mobile or
Expansion movement；These cylindrical bar connecting shafts 637 are set downwards clamping driving horizontal connecting plate 638 corresponding to entrance and driven with the clamping
Dynamic horizontal connecting plate 638 is fixedly connected, and the first side has been respectively fixedly connected with every piece of clamping driving two side ends of horizontal connecting plate 638
Supporting plate 6391, the second side support plate 6393, the vertical row in these longitudinal directions of 6391 and second side support plate of the first side support plate 6393
Arrange and keep being mutually perpendicular to clamping driving horizontal connecting plate 638；
It is installed with the medial surface or lateral surface of every piece of first side support plate 6391 for being slidably matched the
First side slide block component 6392 of one guide rod component 615, in the medial surface or lateral surface of every piece of second side support plate 6393
On be installed with the second side slide block component 6394 for the second guide rod component 616 that is slidably matched；
The Pneumatic clamping jaw 62 is made up of side by side N+2 to Pneumatic clamping jaw component respectively around corresponding circular connecting rod 625,
Each pair Pneumatic clamping jaw component is around the circular phase of connecting rod 625 by pneumatic jaw member 622 outside pneumatic clamps bluff piece 621 and first in first
To setting, and in second outside pneumatic clamps bluff piece 623 and second pneumatic jaw member 624 be oppositely arranged around circular connecting rod 625 and
Into；Pneumatic clamps bluff piece 621 includes in the first inner clip rest shoe 6210, first groove in projection 6211, first in first, outside first
Pneumatic clamps bluff piece 622 includes the first outer clip rest shoe 6220, the first outer projection 6221, the first outer groove, pneumatic clamps bluff piece in second
623 include groove in projection 6231, second in the second inner clip rest shoe 6230, second, and pneumatic jaw member 624 includes second outside second
Outer clip rest shoe 6240, the second outer projection 6241, the second outer groove, circular connecting rod 625 are sequentially passed through by Pneumatic clamping jaw in first
On part 621 first in groove, the first outer groove outside first on pneumatic jaw member 622, in second on pneumatic clamps bluff piece 623
The second outer groove in second outside groove and second on pneumatic jaw member 624, the first inner clip rest shoe 6210 and the first outer clip rest shoe
The first holding tank that crated product is treated for that can clamp, the second inner clip rest shoe 6230 and the second outer clamping jaw are formed between 6220
The second holding tank that crated product is treated for that can clamp is formed between block 6240；The installation direction of projection 6211 and in first
The one outer installation direction of projection 6221 is respectively facing inside and outside opposite both direction, and the installation direction of projection 6231 and second in second
The outer installation direction of projection 6241 is respectively facing inside and outside opposite both direction；Projection 6211 in underdrive on first by connecting in first
Transmission bracket 628 is be hinged up and down for fitting 6261 and clamping jaw, and the first outer projection 6221 passes through underdrive outer connector 6262 on first
It is be hinged with transmission bracket above and below clamping jaw 628, wherein：Underdrive on the installation direction of underdrive interconnecting piece 6261 and first on first
The installation direction of outer connector 6262 is respectively facing inside and outside opposite both direction；Underdrive on projection 6211, first in such first
A quadric chain is formed on interconnecting piece 6261, the first outer projection 6221 and first between underdrive outer connector 6262；
Projection 6231 is be hinged with transmission bracket 628 above and below clamping jaw by underdrive interconnecting piece 6271 on second in second,
Second outer projection 6241 is be hinged with transmission bracket 628 above and below clamping jaw by underdrive outer connector 6272 on second；Wherein：Second
The installation direction of underdrive outer connector 6272 is respectively facing interior foreign minister on the upper installation direction of underdrive interconnecting piece 6271 and second
Anti- both direction；Underdrive interconnecting piece 6271 on projection 6231, second in such second, on the second outer projection 6241 and second
Another quadric chain is formed between underdrive outer connector 6272；
Transmission bracket 628 and drive cylinder above and below the clamping jaw being fixedly mounted on clamping drive connection plate 638 above and below clamping jaw
629 connections, drive cylinder 629 can drive transmission bracket 628 above and below clamping jaw to rise or decline movement to clamping jaw up and down；Driving
Transmission bracket 628 declines in moving process the clamping jaw up and down, on first on underdrive interconnecting piece 6261 and first outside underdrive
Between connector 6262, in first between 6211 and first outer projection 6221 of projection, on second underdrive interconnecting piece 6271 with
Mutually separated between projection 6231 and the second outer projection 6241 between underdrive outer connector 6272 and in second on second,
So as to realize between the first inner clip rest shoe 6210 and the first outer clip rest shoe 6220 and the second inner clip rest shoe 6230 and the second outer clip
Mutually draw close and clamp respectively between rest shoe 6240 and treat crated product；
Similarly：In driving above and below clamping jaw transmission bracket 628 to rise moving process, underdrive interconnecting piece on first
On 6261 and first between underdrive outer connector 6262, in first between 6211 and first outer projection 6221 of projection, on second
The evagination of projection 6231 and second between underdrive outer connector 6272 and in second on underdrive interconnecting piece 6271 and second
Mutually drawn close between block 6241, so as to realize between the first inner clip rest shoe 6210 and the first outer clip rest shoe 6220 and in second
It is separated from each other respectively between the outer clip rest shoe 6240 of clamping jaw block 6230 and second and clamped is treated that crated product carries out release and sent
Enter in packing case.
As shown in figure 18：Cylinder 6282, second are led in the first guiding on the top surface of transmission bracket above and below clamping jaw 628
Inside cylinder 6284 is respectively nested in the first guide cylinder 6281 being fixedly mounted on the bottom surface of clamping drive connection plate 638, the
In two guide cylinders 6283 so that clamping jaw up and down drive cylinder 629 drive clamping jaw up and down transmission bracket 628 risen or under
Remain identical in drop moving process and move up and down direction, be achieved in that limition orientation movement effect exactly.
As shown in Figure 21~22：It is installed with the left and right ends of robot gantry 61 for setting up the first guide rod group
The the first side plate frame 613 and the second side plate frame 614 of the guide rod component 616 of part 615 and second；And leaned in the top surface of robot gantry 61
Spacing the first snapping being fastened on the bottom of elevating mechanism 5 in left and right is separately provided on nearly left and right ends position
The snap block 612 of block 611 and second.
As shown in figure 16：The equidistant drive device 64 includes the first or so clamping drive cylinder 641, first and connects pushing block
642nd, the first cylinder fixed side 643, second or so clamping drive cylinder 644, second connects pushing block 645, the second cylinder is fixed
Side plate 646, the first or so clamping drive cylinder 641 and the second or so clamping drive cylinder 644 be respectively facing or so two it is opposite
Direction is arranged side by side, and the first connection pushing block 642 is fixedly mounted on the clamping drive connection plate 638 of the leftmost side, and described the
Two connection pushing blocks 645 are fixedly mounted on the clamping drive connection plate 638 of the rightmost side, positioned at the first or so clamping drive cylinder
It is capable of the First piston bar of the free telescopic moving of left and right directions and first on 641 left ends to be connected pushing block 642 and be fixedly connected, positioned at
The second piston bar for being capable of the free telescopic moving of left and right directions on two or so the clamping right-hand members of drive cylinder 644 is connected pushing block with second
645 are fixedly connected；So as to realize the spacing mechanisms such as driving manipulator 63 and these Pneumatic clamping jaws being mutually arranged side by side 62 together
Progress carries out tightening up mobile or expansion movement to the left and to the right.
Full-automatic box filling machine provided by the invention also includes a numerical control system, for providing the Full-automatic box filling machine
System control function.
Part is not described in detail by the present invention, is the known technology of those skilled in the art.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of manipulator applied to Full-automatic box filling machine, it is characterised in that including robot gantry (61), Pneumatic clamping jaw
(62), the spacing mechanism such as manipulator (63), equidistant drive device (64), bag compression framework (65), pacify on the robot gantry (61)
It is equidistant that spacing mechanism (63), the manipulators such as manipulator are connected equipped with multiple Pneumatic clamping jaws (62), on multiple Pneumatic clamping jaws (62)
Equidistant drive device (64) is installed in mechanism (63), the bag compression framework (65) is arranged on the both sides of robot gantry (61),
Including bag pressing installing plate (651), bag pressing cylinder (652) and bag pressing plate (653), the bag pressing installing plate (651) is connected to machinery
On handset mounting (61), the bag pressing installing plate (651) connects bag pressing plate (653) by rotating shaft, and the bag pressing plate (653) is remote to be turned
One end of axle is connected with the output end of bag pressing cylinder (652), the other end and the cylinder saddle (654) of the bag pressing cylinder (652)
Rotation connection, the cylinder saddle (654) are fastened on bag pressing installing plate (651)；
The spacing mechanisms such as the manipulator (63) include short brace (631) on one first, short brace (632), N roots under one piece first
First long diagonal brace (633), the long diagonal brace of N roots second (634), short brace (635) on one piece second, short brace under one piece second
(636), (N+2) root cylindrical bar connecting shaft (637), (N+2) block clamping driving horizontal connecting plate (638), the first collateral support of (N+2) block
Plate (6391), (N+2) block the first side slide block component (6392), the second side support plate of (N+2) block (6393), (N+2) block second
Side slide block component (6394), wherein：The natural number of N >=2；
Short brace (631) is be hinged by short brace (632) under a cylindrical bar connecting shaft (637) and first on first, short on second
Brace (635) is be hinged by another cylindrical bar connecting shaft (637) and short brace (636) under one second；
Short brace (631) the first long diagonal brace (633) left end adjacent thereto is hinged on first, under first short brace (632) and its
Adjacent the second long diagonal brace (634) left end is hinged；
Short brace (635) the second long diagonal brace (634) right-hand member adjacent thereto is hinged on second, under second short brace (636) and its
Adjacent the first long diagonal brace (633) right-hand member is hinged；
First long diagonal brace (633) passes through a cylinder by middle part the second long diagonal brace (634) adjacent thereto by middle part
Bar connecting shaft (637) is be hinged, and result in formation of N group cross-like hinge assemblies；In two adjacent groups cross-like hinge assembly：First length
Brace (633) right-hand member is hinged with the second long diagonal brace (634) left end, and the second long diagonal brace (634) right-hand member and the first long diagonal brace (633) are left
End is be hinged, and these (N+2) root cylindrical bar connecting shafts (637) form be located along the same line side by side；(N+1) group four is so formed to connect
Linkage, and equidistant drive device (64) along under left and right directions driving effect, drive Pneumatic clamping jaw (62) carry out to the left and
Carry out to the right tightening up mobile or expansion movement；
These cylindrical bar connecting shafts (637) are set downwards clamping driving horizontal connecting plate (638) corresponding to entrance and driven with the clamping
Dynamic horizontal connecting plate (638) is fixedly connected, and the has been respectively fixedly connected with every piece of clamping driving horizontal connecting plate (638) two side ends
One side support plate (6391), the second side support plate (6393), these first side support plates (6391) and the second side support plate
(6393) longitudinal direction is vertically arranged and keeps being mutually perpendicular to clamping driving horizontal connecting plate (638)；
It is installed with the medial surface or lateral surface of every piece of first side support plate (6391) for being slidably matched first
First side slide block component (6392) of guide rod component (615), in the medial surface or outer of every piece of second side support plate (6393)
The second side slide block component (6394) for the second guide rod component (616) that is slidably matched is installed with side；
The Pneumatic clamping jaw (62) is that Pneumatic clamping jaw component is made up of side by side respectively around corresponding circular connecting rod (625) (N+2)
, each pair Pneumatic clamping jaw component be by pneumatic jaw member (622) outside pneumatic clamps bluff piece (621) in first and first around circle even
Bar (625) is oppositely arranged, and in second outside pneumatic clamps bluff piece (623) and second pneumatic jaw member (624) around circular connecting rod
(625) it is oppositely arranged；Pneumatic clamps bluff piece (621) includes projection in the first inner clip rest shoe (6210), first in first
(6211), groove in first, pneumatic jaw member (622) includes the first outer clip rest shoe (6220), the first outer projection outside first
(6221), the first outer groove, in second pneumatic clamps bluff piece (623) include the second inner clip rest shoe (6230), projection in second
(6231), groove in second, pneumatic jaw member (624) includes the second outer clip rest shoe (6240), the second outer projection outside second
(6241), the second outer groove, circular connecting rod (625) are sequentially passed through by leading in first on pneumatic clamps bluff piece (621) in first
Groove, the first outer groove outside first on pneumatic jaw member (622), in second on pneumatic clamps bluff piece (623) second in groove with
The second outer groove outside second on pneumatic jaw member (624), the first inner clip rest shoe (6210) and the first outer clip rest shoe (6220) it
Between form the first holding tank that crated product is treated for that can clamp, the second inner clip rest shoe (6230) and the second outer clip rest shoe
(6240) the second holding tank that crated product is treated for that can clamp is formed between；In first projection (6211) installation direction with
First outer projection (6221) installation direction is respectively facing inside and outside opposite both direction, and projection (6231) installation direction in second
Inside and outside opposite both direction is respectively facing with the second outer projection (6241) installation direction；Projection (6211) is by first in first
Transmission bracket (628) is be hinged up and down with clamping jaw for underdrive interconnecting piece (6261), and the first outer projection (6221) passes through about first
Being driven outer connector (6262), transmission bracket (628) is be hinged up and down with clamping jaw, wherein：Underdrive interconnecting piece (6261) on first
Installation direction is respectively facing inside and outside opposite both direction with underdrive outer connector (6262) installation direction on first；Such first
Interior projection (6211), on first underdrive interconnecting piece (6261), the first outer projection (6221) with being connected outside underdrive on first
A quadric chain is formed between part (6262)；Projection (6231) passes through underdrive interconnecting piece (6271) on second in second
It is be hinged with transmission bracket above and below clamping jaw (628), the second outer projection (6241) by underdrive outer connector (6272) on second and
Transmission bracket (628) is be hinged up and down for clamping jaw；Wherein：Underdrive interconnecting piece (6271) installation direction and about second passes on second
Dynamic outer connector (6272) installation direction is respectively facing inside and outside opposite both direction；Projection (6231) in such second, on second
Formed on underdrive interconnecting piece (6271), the second outer projection (6241) and second between underdrive outer connector (6272) another
Individual quadric chain；Above and below the upper and lower transmission bracket (628) of clamping jaw and the clamping jaw being fixedly mounted on clamping drive connection plate (638)
Drive cylinder (629) connect, clamping jaw up and down drive cylinder (629) can drive clamping jaw up and down transmission bracket (628) rise or
Decline movement；In driving above and below clamping jaw transmission bracket (628) to decline moving process, underdrive interconnecting piece on first
(6261) and on first between underdrive outer connector (6262), in first projection (6211) and the first outer projection (6221) it
Between, projection between underdrive outer connector (6272) and in second on underdrive interconnecting piece (6271) and second on second
(6231) mutually separated between the second outer projection (6241), so as to realize the first inner clip rest shoe (6210) and the first outer clamping jaw
Mutually draw close and clamp respectively between block (6220) and between the second inner clip rest shoe (6230) and the second outer clip rest shoe 6240
Treat crated product；Similarly：In driving above and below clamping jaw transmission bracket (628) to rise moving process, on first in underdrive
Projection (6211) and the first outer projection between underdrive outer connector (6262), in first on connector (6261) and first
(6221) between, on second on underdrive interconnecting piece (6271) and second between underdrive outer connector (6272) and second
Mutually drawn close between interior projection (6231) and the second outer projection (6241), so as to realize the first inner clip rest shoe (6210) and first
It is separated from each other respectively simultaneously between outer clip rest shoe (6220) and between the second inner clip rest shoe (6230) and the second outer clip rest shoe 6240
Clamped is treated that crated product carries out release and is sent into packing case.
2. according to a kind of manipulator applied to Full-automatic box filling machine described in claim 1, it is characterised in that installed in folder
Pawl up and down on transmission bracket (628) top surface first be oriented in cylinder (6282), second be oriented in cylinder (6284) it is nested respectively
The first guide cylinder (6281), the second guide cylinder (6283) on clamping drive connection plate (638) bottom surface is fixedly mounted on
It is interior so that transmission bracket (628) is risen or declined moving process to drive cylinder (629) driving clamping jaw to clamping jaw up and down up and down
In remain identical and move up and down direction, be achieved in that limition orientation movement effect exactly.
3. according to a kind of manipulator applied to Full-automatic box filling machine described in claim 1, it is characterised in that in manipulator
The left and right ends of frame (61) are installed with for setting up the first guide rod component (615) and the second guide rod component (616)
First side plate frame (613) and the second side plate frame (614)；And divide in robot gantry (61) top surface on the position of left and right ends
It is not provided with and is detained for spacing the first snap block (611) being fastened on elevating mechanism (5) bottom in left and right and second
Connect block (612).
4. according to a kind of manipulator applied to Full-automatic box filling machine described in claim 1, it is characterised in that described equidistant
Drive device (64) includes the first or so clamping drive cylinder (641), the first connection pushing block (642), the first cylinder fixed side
(643), the second or so clamping drive cylinder (644), the second connection pushing block (645), the second cylinder fixed side (646), first
Left and right clamping drive cylinder (641) is respectively facing two opposite directions in left and right side by side with the second or so clamping drive cylinder (644)
Set, the first connection pushing block (642) is fixedly mounted on the clamping drive connection plate (638) of the leftmost side, and described second connects
Connect pushing block (645) to be fixedly mounted on the clamping drive connection plate (638) of the rightmost side, positioned at the first or so clamping drive cylinder
(641) it is capable of the First piston bar of the free telescopic moving of left and right directions and first on left end to be connected pushing block (642) and be fixedly connected, position
Connect in being capable of the second piston bar of the free telescopic moving of left and right directions and second on second or so clamping drive cylinder (644) right-hand member
Pushing block (645) is connect to be fixedly connected；So as to realize the spacing mechanisms such as driving manipulator (63) and these be mutually arranged side by side it is pneumatic
Clamping jaw (62) carries out carrying out tightening up mobile or expansion movement to the left and to the right together.
5. a kind of Full-automatic box filling machine, including it is a kind of applied to Full-automatic box filling machine as described in claim 1,2,3 or 4
Manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710851706.2A CN107697334A (en) | 2017-09-19 | 2017-09-19 | A kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710851706.2A CN107697334A (en) | 2017-09-19 | 2017-09-19 | A kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107697334A true CN107697334A (en) | 2018-02-16 |
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ID=61173123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710851706.2A Pending CN107697334A (en) | 2017-09-19 | 2017-09-19 | A kind of manipulator applied to Full-automatic box filling machine and a kind of Full-automatic box filling machine |
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| CN (1) | CN107697334A (en) |
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| CN108436962A (en) * | 2018-03-24 | 2018-08-24 | 佛山里扬铭科技有限公司 | Manipulator Special sucking disc before novel water permeable brick |
| CN108674725A (en) * | 2018-04-26 | 2018-10-19 | 襄阳凌浩科技有限公司 | Automatic box jacketing mechanism and application |
| CN109849431A (en) * | 2018-12-10 | 2019-06-07 | 上海星派自动化股份有限公司 | A kind of pocket handle apparatus for mounting and application |
| CN111003248A (en) * | 2019-12-27 | 2020-04-14 | 重庆环视高科技有限公司 | Device, system and baling press that adjustment carton warp |
| CN113212859A (en) * | 2021-05-07 | 2021-08-06 | 江苏食品药品职业技术学院 | Boxing device is got to food clamp for food industry |
| CN113212855A (en) * | 2021-05-07 | 2021-08-06 | 江苏食品药品职业技术学院 | Material clamping device in automatic food boxing machine |
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| CN113212859A (en) * | 2021-05-07 | 2021-08-06 | 江苏食品药品职业技术学院 | Boxing device is got to food clamp for food industry |
| CN113212855A (en) * | 2021-05-07 | 2021-08-06 | 江苏食品药品职业技术学院 | Material clamping device in automatic food boxing machine |
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Application publication date: 20180216 |