CN109396782B

CN109396782B - robot for assembling packaging tank and using method thereof

Info

Publication number: CN109396782B
Application number: CN201811304583.1A
Authority: CN
Inventors: 陈英兰
Original assignee: Nanjing Lian Ke Coating Material Co Ltd
Current assignee: Nanjing Lian Ke coating material Co., Ltd.
Priority date: 2018-11-04
Filing date: 2018-11-04
Publication date: 2019-12-17
Anticipated expiration: 2038-11-04
Also published as: CN109396782A

Abstract

the utility model discloses a robot for the assembly of packaging tank body has solved the difficult problem that can not invert the assembly to the packaging tank body, and this robot for the assembly of packaging tank body holds the mechanism including bearing the weight of the mechanism and dress, through the interoperation of drive box, slip table, clamping jaw, slider, drive gear etc. can assemble the inversion of the packaging tank body very light on the assembly jig, has solved the problem that the assembly can't be invertd to the packaging tank body, very big has alleviateed operating cost, has reduced the harm to operating personnel. The whole device has the advantages of close structural matching, simple components, low cost, high efficiency, good solution of the difficult problem that the packaging tank body cannot be inverted for assembly operation, and very high practicability and universality.

Description

Robot for assembling packaging tank and using method thereof

Technical Field

the invention relates to the field of assembly, in particular to a robot for assembling packaging tanks.

background

the packaging can (can) is a packaging container with a can body, the cross sections of the can body are approximately the same, the can neck is short, and the inner diameter of the can neck is slightly smaller than that of the can body or no can neck is formed. The packaging cans are widely used in daily life and production practice, however, for most of packaging can bodies, code spraying or nicking treatment is often carried out on the bottoms of the can bodies to indicate production date or other information. Consequently when spouting sign indicating number or nick operation, the processing is invertd to the packaging tank body to convenient operation, and the operation is all handed the jar body of operating personnel and is spouted a sign indicating number nick operation many times, and the operation is got up and is wasted time and energy, and unable accurate completion location operation moreover, especially often can take place the operation deviation, causes serious dangerous hidden danger to operating personnel's hand, has seriously influenced work efficiency. Therefore, in view of the current situation, it is urgently needed to develop a robot for assembling a packaging can body so as to meet the requirement of practical use.

Disclosure of Invention

Accordingly, in view of the disadvantages in the related art, examples of the present invention are provided to substantially solve one or more problems due to limitations and disadvantages of the related art, to substantially improve safety and reliability, and to effectively protect equipment.

According to the technical scheme provided by the invention, the robot for assembling the packaging can body comprises a bearing mechanism and a holding mechanism, the bearing mechanism comprises an underframe, a carrying platform is arranged at the middle position of the underframe, a packaging can body placing and transporting platform is arranged on the carrying platform, a transporting groove is arranged at the middle part of the packaging can body placing and transporting platform, a transporting component is arranged in the transporting groove, the transporting component is used for transporting the packaging can body under the control of a control component, a placing table is arranged at one side of the carrying platform, an assembling frame is arranged on the placing table, a plurality of buckle strips are uniformly arranged on the assembling frame at intervals, the top ends of the buckle strips are flush with the upper surface of the transporting platform, a clamping boss is respectively arranged at the front and the rear positions of the upper surface of the placing table, clamping grooves matched with the clamping bosses are respectively arranged at the front and the rear positions of the assembling frame, the clamping bosses are, two parallel slide rails are longitudinally arranged from top to bottom of an upright post, a sliding table is arranged on the slide rails in a sliding fit manner, a platform is arranged at the top of the upright post, a driving motor is arranged on the platform, a driving rod of the driving motor penetrates through the platform to be connected with the sliding table, at least 2 groups of sliding columns are connected to the front portion of the sliding table, the sliding table is connected with a driving box body through the sliding columns, a driving assembly is arranged inside the driving box body, the driving shaft penetrates through the upper surface of the driving box body to be connected with a driving gear, the driving shaft is controlled by the driving assembly, a sliding chute is arranged on the upper surface of the driving box body, a sliding block is detachably arranged in the sliding chute, one surface of the sliding block, facing to the driving gear, is provided with hobbing which is meshed with the driving gear, the lower surface of the driving box body is, the clamping assembly comprises a clamping jaw capable of being opened and closed, a controller capable of controlling the clamping jaw to be opened and closed is arranged inside the rectangular long box, a fixing table is arranged on the stand column below the platform and fixedly connected with the sliding block through a fixing piece, and a motor base for fixing the driving motor is further arranged on the platform.

Furthermore, a plurality of positioning circles which are equidistant are arranged on the transportation assembly, and the packaging tank body is placed on the positioning circles.

Further, the middle part of placing the platform is equipped with sunken interval, and the lower part of assembly jig is equipped with the base, and the base is placed in sunken interval, and the base both sides are connected with adsorbs the knot, and the distance between the adjacent hasp strip is greater than the width of microscope carrier.

Further, the fixed station is located the top of slip table.

Furthermore, a detection sensor is arranged on the clamping assembly, and scale marks are arranged on the driving gear.

Further, the microscope carrier includes the rotatable curb plate of connecting in the chassis both sides, and the upper portion of two curb plates is connected with places the board, places the board and is used for placeeing the packing tank body and places transportation platform, and the microscope carrier still includes the rotatable intermediate lamella that sets up at the chassis of one end, and the intermediate lamella is located between the curb plate, and the other end of intermediate lamella is connected on placing the board.

Furthermore, the lower part of the buckle strip is in a shape of a trapezoid, the upper part of the buckle strip is in a shape of a rectangle, and a bulge is arranged at the transition position of the trapezoid and the rectangle.

Furthermore, the positioning circle at the rightmost end and the hasp strip at the rearmost end are positioned on the same horizontal line, and the distance between the circle center of the positioning circle at the rightmost end and the top center point of the hasp strip at the rearmost end is equal to the distance between the center points of the two clamping jaws.

further, the centre gripping subassembly includes the centre gripping cylinder, and opening and shutting of cylinder control clamping jaw, the cylinder is controlled by the inside controller of the long case of rectangle. .

The robot for assembling the packaging tank body comprises a bearing mechanism and a holding mechanism, and the packaging tank body can be easily assembled on the assembling frame in an inverted manner through the cooperative operation of a driving box body, a sliding table, a clamping jaw, a sliding block, a driving gear and the like, so that the problem that the packaging tank body cannot be assembled in an inverted manner is solved, the operation cost is greatly reduced, and the harm to operators is reduced. The whole device has the advantages of close structural matching, simple components, low cost, high efficiency, good solution of the difficult problem that the packaging tank body cannot be inverted for assembly operation, and very high practicability and universality.

Drawings

FIG. 1 is a schematic view of the present invention.

Fig. 2 is a schematic structural side view of the present invention.

Fig. 3 is a schematic structural plan view of the present invention.

Fig. 4 is a schematic view of a holding mechanism of the present invention.

Fig. 5 is a schematic view of the assembly operation of the present invention.

Detailed Description

the present invention will be further described with reference to the following specific examples.

the present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention. The application of the principles of the present invention will be further described with reference to the accompanying drawings and specific embodiments.

The robot for assembling the packaging tank body comprises a bearing mechanism and a holding mechanism.

Bear the mechanism and include chassis 1, the middle part position department of chassis 1 is equipped with microscope carrier 2, it places transport platform 3 to be equipped with the packing tank body on microscope carrier 2, the middle part that transport platform 3 was place to the packing tank body is equipped with the conveyer trough, be equipped with the transportation subassembly in the conveyer trough, the transportation subassembly can be for the transmission band, chain etc., thereby the transportation subassembly is used for transporting the packing tank body through control assembly's control, the process of how to control the transportation subassembly through control assembly is known content to the operating personnel who has relevant knowledge, this is no longer repeated again. And, be equipped with the equidistant location circle of a plurality of on the transportation subassembly, the packing tank body is placed on the location circle, will have better reference like this, and the accuracy improves greatly.

One side of microscope carrier 2 is equipped with places platform 4, places and has placed assembly jig 5 on the platform 4, and even interval is equipped with a plurality of hasp strip on the assembly jig 5, and is no longer than 4 in principle, and too much can lead to the drive box to move the excessive distance forward, and the stability of whole device must not guarantee.

The top end of the buckle strip is flush with the upper surface of the transportation platform 3, so that the clamping process can be ensured not to collide.

wherein, place 4 upper surfaces of platform front and back position punishment and do not be equipped with a card protruding, position department is equipped with the draw-in groove with the protruding looks adaptation of card respectively around the assembly jig 5, the protruding joint of card is in the draw-in groove, the middle part of placing platform 4 is equipped with sunken interval, the lower part of assembly jig 5 is equipped with the base, the base is placed in sunken interval, the base both sides are connected with to adsorb and detain, the purpose that the setting adsorbs the knot is the stability of further guaranteeing the assembly jig, prevent that the in-process of assembly from taking place to rock, distance between the adjacent hasp strip is greater than the width of microscope carrier 2, just so can not make the clamping jaw bump with the microscope carrier in the assembling process, the influence of reasonable.

The loading and holding mechanism comprises a stand column 6 positioned at the rear part of the chassis 1, two parallel slide rails are longitudinally arranged on the top-down of the stand column 6, a sliding table 7 is arranged on the slide rails in a sliding fit mode, a platform is arranged at the top of the stand column 6, a driving motor is arranged on the platform, a driving rod of the driving motor penetrates through the platform to be connected with the sliding table 7, at least 2 groups of sliding columns are connected to the front part of the sliding table 7, and the sliding table 7 is connected with a driving box body 8.

8 inside drive assembly that are equipped with of drive box, drive shaft 9 passes the upper surface of drive box 8 and links to each other with drive gear 10, drive shaft 9 is controlled by drive assembly, be equipped with the spout on the upper surface of drive box 8, the separable slider 11 that is equipped with in the spout, slider 11 is equipped with the hobbing towards drive gear 10's one side, the hobbing meshes with drive gear 10, be equipped with the scale mark on the drive gear 10, the distance of drive box displacement forward just can read out through the scale mark is audio-visual like this, make drive box displacement distance can obtain high accurate control.

The lower surface of the driving box body 8 is connected with a rectangular long box 12 through a driving rotating body, the rectangular long box 12 can rotate under the control of the driving rotating body, and the driving rotating body is controlled by a driving assembly.

The both ends of the long case 12 of rectangle are equipped with a centre gripping subassembly 13 respectively, and centre gripping subassembly 13 is equipped with the controller that steerable clamping jaw opened and shut including the clamping jaw that can open and shut, the long incasement portion of rectangle, is equipped with the detection sensor on the centre gripping subassembly 13, can survey the position of the transportation of the packaging can body in real time, and the precision improves greatly.

The upright 6 below the platform is provided with a fixed platform 13, the fixed platform 13 is fixedly connected with the sliding block 11 through a fixing piece, the fixed platform 13 is positioned above the sliding table 7, and the platform is also provided with a motor base 14 for fixing the driving motor 8.

As preferred technical scheme, microscope carrier 2 includes the rotatable curb plate of connecting in 1 both sides of chassis, the upper portion of two curb plates is connected with places the board, place the board and be used for placeeing the packing tank body and place transportation platform 3, microscope carrier 2 still includes the rotatable intermediate lamella that sets up at chassis 1 of one end, the intermediate lamella is located between the curb plate, the other end of intermediate lamella is connected on putting the board, rotation through the microscope carrier, can adjust the packing tank body and place the position that transportation platform located, place transportation platform to the packing tank body of bigger size, can make the microscope carrier descend to suitable height.

As the preferred technical scheme, the lower part of the buckle strip is a trapezoid, the upper part of the buckle strip is rectangular, so that the buckle strip can be well adapted to the shape of the tank body, and the transition position of the trapezoid and the rectangle is also provided with a bulge, so that effective friction can be formed on the surface of the inner wall of the tank body, the pushing pressure can be improved, and the stability of the whole assembly is ensured.

As preferred technical scheme, in jar body direction of transportation, the trapezoidal and rectangle boundary line of the central line of transport groove and the hasp strip of rearmost end is located same water flat line, that is to say, central line and boundary line are the collineation, and like this, the clamping jaw just can be accurate carry out centre gripping and assembly operation to the distance between the centre of a circle of the location circle of rightmost end and the hasp strip top central point of rearmost end is equal with the distance between two clamping jaw central points, can guarantee the accurate centre gripping of two clamping jaws.

As preferred technical scheme, centre gripping subassembly 13 includes the centre gripping cylinder, and the opening and shutting of clamping jaw is controlled to the cylinder, and the cylinder is controlled by the inside controller of rectangular long case 12, can also take other transmission modes of course, and this no longer gives details again.

As a further embodiment, the assembly robot is used in the following steps:

A. The packaging tank bodies to be assembled are placed on the transportation assembly in the transportation groove of the transportation platform, and each packaging tank body is ensured to be placed on the positioning circle of the transportation assembly,

B. the assembly frame is placed on the placing table, the base of the assembly frame is ensured to be placed in the concave area of the placing table, meanwhile, the clamping groove of the assembly frame is ensured to be clamped in the clamping protrusion of the placing table, the adsorption buckle of the assembly frame is manually pressed, so that the assembly frame is stably matched with the placing table,

C. The driving motor is started, the driving rod of the driving motor drives the sliding table to move downwards along the sliding rail of the upright post, the sliding table drives the driving box body to move to a specified position and then pauses, and it needs to be noted that the sliding table is connected with the driving box body through the sliding post, so the driving box body also moves along with the sliding table, moreover, the sliding groove on the upper surface of the driving box body and the sliding block are arranged in a separable mode, and the sliding block is fixedly arranged with the fixed table, so when the driving box body moves downwards, the driving box body is gradually separated from the sliding block, and certainly, the hobbing teeth of the driving gear and the sliding block are also gradually separated.

D. starting the control assembly, transmitting the packaging tank bodies by the transport assembly under the control of the control assembly, suspending the control assembly when the detection sensor detects that the packaging tank body at the end part is transmitted to the position right below the clamping jaw, so that the transport of the transport assembly is suspended,

E. The driving motor is continuously started, the driving rod of the driving motor drives the sliding table to move downwards along the sliding rail of the upright post, the controller starts to control the clamping jaw to clamp the packaging tank body, after the clamping is finished, the driving motor is reversely controlled, the driving rod of the driving motor drives the sliding table to move upwards to a specified position along the sliding rail of the upright post,

F. The driving rotator in the driving box is started, the rectangular long box rotates under the control of the driving rotator, when the clamping jaw for clamping the packaging tank body is positioned right above the hasp strip at the rearmost end, the operation of the driving rotator is stopped, the rectangular long box does not rotate any more,

G. The driving motor is continuously started, the driving rod of the driving motor drives the sliding table to move downwards along the sliding rail of the upright post, the controller controls the clamping jaw for clamping the packaging tank body, so that the clamping jaw drives the packaging tank body to be assembled on the buckle strip at the rearmost end,

H. after the assembly is finished, the controller controls the clamping jaw above the assembly frame to loosen, reversely controls the driving motor, the driving rod of the driving motor drives the sliding table to move upwards along the sliding rail of the upright post, the driving rod of the driving motor drives the sliding table to move upwards to a specified position along the sliding rail of the upright post,

I. The control assembly is started again, the transport assembly transmits the packaging tank body under the control of the control assembly, when the detection sensor detects that the packaging tank body at the end part is transmitted to the position under the clamping jaw, the control assembly is suspended, so that the transport of the transport assembly is suspended,

J. the driving motor is continuously started, the driving rod of the driving motor drives the sliding table to move downwards along the sliding rail of the upright post, the controller starts to control the clamping jaw to clamp the packaging tank body, after the clamping is finished, the driving motor is reversely controlled, the driving rod of the driving motor drives the sliding table to move upwards to a specified position along the sliding rail of the upright post until the driving box body is completely matched with the sliding block,

K. the driving assembly in the driving box is controlled to operate, the driving assembly controls the driving shaft to rotate, the driving shaft drives the driving gear to rotate, the driving gear gradually moves forwards along the sliding block under the driving of the driving gear because the sliding block is fixed, meanwhile, the sliding table is connected with the driving box through the sliding column, the driving box is gradually separated from the sliding table under the action of the sliding column in the forward movement process of the driving box, when the driving box moves to a specified position, particularly, the packaging tank body is positioned right above the non-rightmost buckling strip, the driving of the driving gear is stopped,

L, starting a driving motor, driving a driving rod of the driving motor to drive the sliding table to move downwards along the sliding rail of the upright post, driving the driving box body to move to a specified position by the sliding table and then pausing,

M, starting a driving rotating body in the driving box body, rotating the rectangular long box under the control of the driving rotating body, stopping the operation of the driving rotating body when the clamping jaws for clamping the packaging tank body are positioned right above the corresponding hasp strips, and stopping the rotation of the rectangular long box,

And N, continuously starting the driving motor, driving the sliding table to move downwards along the sliding rail of the stand column by the driving rod of the driving motor, and controlling the clamping jaw for clamping the packaging tank body by the controller, so that the clamping jaw drives the packaging tank body to be assembled on the corresponding buckle strip.

For how to complete the assembly of the packaging tank body and other buckle strips, the operation can be carried out by referring to the steps until the buckle strips on the whole assembly frame are assembled, and then the code spraying or nicking operation is carried out next step.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A robot for assembling a packaging tank body comprises a bearing mechanism and a holding mechanism, wherein the bearing mechanism comprises a bottom frame, a carrying platform is arranged at the middle position of the bottom frame, a packaging tank body placing and transporting platform is arranged on the carrying platform, a transporting groove is formed in the middle of the packaging tank body placing and transporting platform, a transporting assembly is arranged in the transporting groove and is used for transporting the packaging tank body under the control of a control assembly, a placing platform is arranged on one side of the carrying platform, an assembling frame is arranged on the placing platform, a plurality of buckle strips are uniformly arranged on the assembling frame at intervals, the top ends of the buckle strips are flush with the upper surface of the transporting platform, a clamping protrusion is respectively arranged at the front position and the rear position of the upper surface of the placing platform, clamping grooves matched with the clamping protrusions are respectively arranged at the front position and the rear position of the assembling frame, the convex clamping joint is connected in the clamping groove and is characterized in that the installing and holding mechanism comprises a stand column positioned at the rear part of the chassis, two parallel slide rails are longitudinally arranged on the top-down direction of the stand column, a sliding table is arranged on the slide rails in a sliding fit manner, a platform is arranged at the top of the stand column, a driving motor is arranged on the platform, a driving rod of the driving motor penetrates through the platform and is connected with the sliding table, the front part of the sliding table is connected with at least 2 groups of sliding columns, the sliding table is connected with a driving box body through the sliding columns, a driving assembly is arranged inside the driving box body, a driving shaft penetrates through the upper surface of the driving box body and is connected with a driving gear, the driving shaft is controlled by the driving assembly, a sliding groove is arranged on the upper surface of the driving box body, and a sliding block is arranged in the sliding groove in a separable, the slider orientation drive gear's one side be equipped with the hobbing, the hobbing with drive gear meshing, the lower surface department of drive box turn through the drive and be connected with the long case of rectangle, the long case of rectangle can the drive control of turning down rotate, the drive turn by drive assembly control, the both ends of the long case of rectangle be equipped with a centre gripping subassembly respectively, the centre gripping subassembly including the clamping jaw that can open and shut, the long incasement portion of rectangle be equipped with the controller that steerable clamping jaw opened and shut, be located the stand of platform below on be equipped with the fixed station, the fixed station pass through the mounting with slider fixed connection, the platform on still be equipped with fixedly driving motor's motor cabinet.

2. A robot for assembling packaging can bodies as claimed in claim 1, wherein said transport assembly is provided with a plurality of positioning circles at equal intervals, and said packaging can bodies are placed on said positioning circles.

3. the robot for assembling the packaging can body according to claim 2, wherein a concave section is arranged in the middle of the placing table, a base is arranged on the lower portion of the assembling frame, the base is placed in the concave section, two sides of the base are connected with adsorption buckles, and the distance between the adjacent buckle strips is larger than the width of the carrying platform.

4. a robot for assembling packaging can bodies as claimed in claim 3, wherein said fixed table is located above said sliding table.

5. A robot for assembling packaging tanks as claimed in claim 4, characterized in that the gripping assembly is provided with a detection sensor, and the driving gear is provided with scale marks.

6. A robot for assembling packaging can bodies as claimed in claim 5, wherein the carrier comprises side plates rotatably connected to both sides of the base frame, the upper parts of the two side plates are connected with placing plates for placing the packaging can body placing and transporting platform, the carrier further comprises a middle plate, one end of the middle plate is rotatably arranged on the base frame, the middle plate is located between the side plates, and the other end of the middle plate is connected to the placing plates.

7. a robot for assembling packaging can bodies as claimed in claim 6, wherein the lower part of the buckle strip is trapezoidal and the upper part is rectangular, and a protrusion is arranged at the transition position of the trapezoid and the rectangle.

8. A robot for the assembly of packaging cans of claim 7 wherein the median line of the transport slot and the trapezoidal and rectangular lines of intersection of the rearmost strap are located on the same horizontal line in the direction of can transport and the distance between the center of the rightmost positioning circle and the center point of the top of the rearmost strap is the same as the distance between the center points of the two jaws.

9. A robot for assembling packaging can bodies as claimed in claim 8, wherein said gripping assembly comprises a gripping cylinder, said cylinder controlling the opening and closing of said jaws, said cylinder being controlled by a controller inside said rectangular elongated box.

10. a method for using an assembly robot, which is the robot for assembling the packaging can body of claim 9, characterized in that the assembly robot is used by the following steps:

C. The driving motor is started, the driving rod of the driving motor drives the sliding table to move downwards along the sliding rail of the upright post, the sliding table drives the driving box body to move to a designated position and then pause,

K. Operating a driving assembly in the driving box body to operate, controlling the driving shaft to rotate by the driving assembly, driving the driving gear to rotate by the driving shaft, gradually moving the driving gear forwards along the sliding block under the driving of the driving gear, simultaneously, gradually separating the driving box body from the sliding table under the action of the sliding column in the process of driving the box body to move forwards, stopping driving of the driving gear after the driving box body moves to a specified position,