CN110465943A - A kind of manipulator for packed in cases production equipment - Google Patents
A kind of manipulator for packed in cases production equipment Download PDFInfo
- Publication number
- CN110465943A CN110465943A CN201910705749.9A CN201910705749A CN110465943A CN 110465943 A CN110465943 A CN 110465943A CN 201910705749 A CN201910705749 A CN 201910705749A CN 110465943 A CN110465943 A CN 110465943A
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- CN
- China
- Prior art keywords
- manipulator
- carton
- carrier
- controller
- packed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses a kind of manipulators for packed in cases production equipment, including carrier, position of manipulator adjustment structure, clamp structure and CCD camera, substandard products collection box is provided on the left of the carrier, and the left side of carrier is fixed with controller, connecting wire is connected on the outside of the controller, the position of manipulator adjustment structure is installed on the top of carrier, and position of manipulator adjustment structure is internally connected with connecting rod, the clamp structure is installed on the lower end of connecting rod, the CCD camera is installed on the lower end surface of position of manipulator adjustment structure, the center of the carrier left-hand end offers connection through-hole.This kind of manipulator can carry out automation control to carton by the controller of setting, it can be improved the degree of automation of manipulator with this, the CCD camera of installation can carry out data picture acquisition to the carton on assembly line simultaneously, controller can be facilitated to analyze the quality of carton with position with this.
Description
Technical field
The present invention relates to packed in cases process units technical field, specially a kind of machine for packed in cases production equipment
Tool hand.
Background technique
Carton: being most widely used packing articles, by materials difference, has corrugated case, single cardboard box etc., has various
Specification and model.Manipulator: can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carry object or
The automatic pilot of operational instrument.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest,
It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under hostile environment to protect personal peace
Entirely.
Traditional packed in cases machine for producing tool hand only has simple clamping action when in use, and can not be to flowing water
The incorrect carton in position carries out position adjustment on line, while can not detect when in use to the quality of carton, Er Qiejian
Substandard product at survey can not also carry out picking out operation, for this purpose, it is proposed that a kind of practicability is higher to be used for packed in cases
The manipulator of production equipment.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulators for packed in cases production equipment, to solve above-mentioned background skill
The traditional packed in cases machine for producing tool hand proposed in art only has simple clamping action when in use, and can not convection current
The incorrect carton in position carries out position adjustment on waterline, while can not detect when in use to the quality of carton, and
Substandard product at detection can not also carry out the problem of picking out operation.
To achieve the above object, the invention provides the following technical scheme: a kind of machinery for packed in cases production equipment
Hand, including carrier, position of manipulator adjustment structure, clamp structure and CCD camera are provided with substandard products on the left of the carrier
Collection box, and the left side of carrier is fixed with controller, and connecting wire, the manipulator are connected on the outside of the controller
Position adjustment structure is installed on the top of carrier, and position of manipulator adjustment structure is internally connected with connecting rod, the folder
The lower end that structure is installed on connecting rod is held, the CCD camera is installed on the lower end surface of position of manipulator adjustment structure, the carrying
The center of frame left-hand end offers connection through-hole.
Preferably, the position of manipulator adjustment structure includes bearing beam, servo motor, drives screw rod and loose slot,
And the lower end surface of bearing beam offers loose slot, the bearing beam has end is internal to be equipped with servo motor, and servo electricity
The output end of machine is connected with driving screw rod.
Preferably, rotational structure is constituted between the servo motor and driving screw rod, and is driven between screw rod and connecting rod
Connection be threadedly coupled.
Preferably, the clamp structure includes carrier bar, electric pushrod and sliding rail, and the left and right ends of carrier bar are respectively mounted
There is electric pushrod, and the output end of electric pushrod is connected with sliding rail.
Preferably, the electric pushrod is by constituting slide construction, and electric pushrod and clamping between sliding rail and clamping hand
Hand has been symmetrical set two groups.
Preferably, the controller includes the single-chip microcontroller and touch screen of model 80C51, and controller is led by connection
Connection between line and servo motor, CCD camera and electric pushrod is to be electrically connected, and the structure of connecting wire is spiral
Structure.
Compared with prior art, the beneficial effects of the present invention are:
Manipulator of this kind for packed in cases production equipment can carry out automation control to carton by the controller of setting,
It can be improved the degree of automation of manipulator with this, and the single-chip microcontroller by installing inside controller can be to the paper detected
Case quality is analyzed, and judges whether carton is qualified with this；
The position of manipulator can be adjusted in position of manipulator adjustment structure, be able to drive manipulator operation with this, in this way
Manipulator can be made to carry out position adjusting to the incorrect carton in position, guarantee that carton is on exact position with this, thus
Convenient for the fluency of entire assembly line operation；
The CCD camera of installation can carry out data picture acquisition to the carton on assembly line simultaneously, can facilitate controller pair with this
The quality of carton is analyzed with position, and the setting of clamp structure can clamp carton, can be facilitated to quality not with this
Qualified carton carries out picking rejecting, substantially increases working efficiency of this kind for the manipulator of packed in cases production equipment.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is left view structural representation of the present invention；
Fig. 3 is side structure schematic view inside clamp structure of the present invention.
In figure: 1, carrier；2, substandard products collection box；3, controller；4, position of manipulator adjustment structure；401, carrying is horizontal
Beam；402, servo motor；403, screw rod is driven；404, loose slot；5, connecting rod；6, clamp structure；601, carrier bar；602, electric
Dynamic push rod；603, sliding rail；7, hand is clamped；8, CCD camera；9, connecting wire；10, through-hole is connected.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the present invention provides a kind of technical solution: a kind of manipulator for packed in cases production equipment,
Including carrier 1, substandard products collection box 2, controller 3, position of manipulator adjustment structure 4, bearing beam 401, servo motor 402,
Drive screw rod 403, loose slot 404, connecting rod 5, clamp structure 6, carrier bar 601, electric pushrod 602, sliding rail 603, clamping hand
7, CCD camera 8, connecting wire 9, connection through-hole 10, the left side of the carrier 1 is provided with substandard products collection box 2, and carrier 1
Left side be fixed with controller 3, the outside of the controller 3 is connected with connecting wire 9, the position of manipulator adjustment structure
4 be installed on the top of carrier 1, and position of manipulator adjustment structure 4 is internally connected with connecting rod 5, the position of manipulator
Adjustment structure 4 includes bearing beam 401, servo motor 402, driving screw rod 403 and loose slot 404, and under bearing beam 401
End face offers loose slot 404, and the bearing beam 401 has end is internal to be equipped with servo motor 402, and servo motor 402
Output end be connected with driving screw rod 403, constitute rotational structure between the servo motor 402 and driving screw rod 403, and drive
Connection between screw rod 403 and connecting rod 5 is to be threadedly coupled, position of manipulator adjustment structure 4 can position to manipulator into
Row is adjusted, and is able to drive manipulator operation with this, manipulator can be made to carry out position adjusting to the incorrect carton in position in this way,
Guarantee that carton is on exact position with this, consequently facilitating the fluency of entire assembly line operation；
The clamp structure 6 is installed on the lower end of connecting rod 5, and the clamp structure 6 includes carrier bar 601,602 and of electric pushrod
Sliding rail 603, and the left and right ends of carrier bar 601 are mounted on electric pushrod 602, and the output end connection of electric pushrod 602
Have a sliding rail 603, the electric pushrod 602 by constituting slide construction between sliding rail 603 and clamping hand 7, and electric pushrod 602 with
Clamping hand 7 has been symmetrical set two groups, and the setting of clamp structure 6 can clamp carton, can be facilitated to quality not with this
Qualified carton carries out picking rejecting, to improve working efficiency of this kind for the manipulator of packed in cases production equipment；
The CCD camera 8 is installed on the lower end surface of position of manipulator adjustment structure 4, the center of 1 left-hand end of carrier
Connection through-hole 10 is offered, the controller 3 includes the single-chip microcontroller and touch screen of model 80C51, and controller 3 passes through company
Connecing the connection between conducting wire 9 and servo motor 402, CCD camera 8 and electric pushrod 602 is to be electrically connected, and connecting wire
9 structure is helical structure, can carry out automation control to carton by the controller 3 of setting, can be improved machinery with this
The degree of automation of hand, and the single-chip microcontroller by installing inside controller 3 can analyze the carton quality detected,
The progress data picture of the carton on assembly line can be adopted with this come the CCD camera 8 for judging whether carton is qualified, while installing
Collection, can facilitate controller 3 to analyze the quality of carton with position with this.
Working principle: for this kind of manipulator, first can be supported whole device by carrier 1, and
Device needs to connect extraneous power supply by conducting wire at work, can be facilitated with this and is powered to whole device, when carton is flowing
When passing through on waterline, picture information collection can be carried out to carton by symmetrically arranged CCD camera 8, and pass through connecting wire 9
Controller 3 is passed data to, while the data parameters inside controller 3 can be adjusted by touch screen, controller 3
Data can be analyzed by the single-chip microcontroller of its internal model 80C51, the single-chip microcontroller of installation can send out actuator
It instructs, carton can be operated by actuator with this out, actuator includes servo motor 402 and electric pushrod 602, is opened
Dynamic servo motor 402, the work of servo motor 402 are able to drive driving screw rod 403 and rotate, drives between screw rod 403 and connecting rod 5
It is connected through a screw thread, so as to drive connecting rod 5 to move left and right in loose slot 404, and 401 energy of bearing beam installed
It is enough that entire position of manipulator adjustment structure 4 is supported, when needing to carry out carton to reject or position adjusts, start electronic
Push rod 602, electric pushrod 602 can be pushed clamping hand 7 to move on carrier bar 601 by sliding rail 603, pass through clamping hand 7
Movement clamping, can be adjusted the position of carton with this, and when carton is substandard product, clamping hand 7, can by movement
Across connection through-hole 10, the unqualified carton for clamping it is lost into substandard products collection box 2, so as to realize the entire work of manipulator
Make process, completes the use process of entire manipulator like this.
It 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 variations, modification, replacement can be carried out to these embodiments 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 (7)
1. a kind of manipulator for packed in cases production equipment, including carrier (1), position of manipulator adjustment structure (4), folder
Hold structure (6) and CCD camera (8), it is characterised in that: be provided with substandard products collection box (2) on the left of the carrier (1), and hold
The left side of carrier (1) is fixed with controller (3), is connected with connecting wire (9), the machinery on the outside of the controller (3)
Hand position adjustment structure (4) is installed on the top of carrier (1), and the company of being internally connected with of position of manipulator adjustment structure (4)
Extension bar (5), the clamp structure (6) are installed on the lower end of connecting rod (5), and the CCD camera (8) is installed on position of manipulator tune
The lower end surface of section structure (4), the center of carrier (1) left-hand end offer connection through-hole (10).
2. a kind of manipulator for packed in cases production equipment according to claim 1, it is characterised in that: the machinery
Hand position adjustment structure (4) includes bearing beam (401), servo motor (402), drives screw rod (403) and loose slot (404),
And the lower end surface of bearing beam (401) offers loose slot (404), the bearing beam (401) has internal be equipped in end to watch
It takes motor (402), and the output end of servo motor (402) is connected with driving screw rod (403).
3. a kind of manipulator for packed in cases production equipment according to claim 2, it is characterised in that: the servo
Rotational structure is constituted between motor (402) and driving screw rod (403), and drives the connection between screw rod (403) and connecting rod (5)
To be threadedly coupled.
4. a kind of manipulator for packed in cases production equipment according to claim 1, it is characterised in that: the clamping
Structure (6) includes carrier bar (601), electric pushrod (602) and sliding rail (603), and the left and right ends of carrier bar (601) are respectively mounted
Have electric pushrod (602), and the output end of electric pushrod (602) is connected with sliding rail (603).
5. a kind of manipulator for packed in cases production equipment according to claim 4, it is characterised in that: described electronic
Push rod (602) is by constituting slide construction, and electric pushrod (602) and clamping hand (7) between sliding rail (603) and clamping hand (7)
It has been symmetrical set two groups.
6. a kind of manipulator for packed in cases production equipment according to claim 1, it is characterised in that: the control
Device (3) includes the single-chip microcontroller and touch screen of model 80C51, and controller (3) passes through connecting wire (9) and servo motor
(402), the connection between CCD camera (8) and electric pushrod (602) is and is electrically connected, and the structure of connecting wire (9) is
Helical structure.
7. a kind of manipulator for packed in cases production equipment according to claim 1, it is characterised in that: the machine
The working principle of tool hand are as follows: whole device can be supported by carrier (1) first, and device needs at work
Extraneous power supply is connected by conducting wire, can be facilitated with this and whole device is powered, when carton passes through on assembly line, is passed through
Symmetrically arranged CCD camera (8) can carry out picture information collection to carton, and be passed data to by connecting wire (9)
Controller (3), while data parameters that can be internal to controller (3) by touch screen are adjusted, controller (3) passes through it
The single-chip microcontroller of internal model 80C51 can analyze data, and the single-chip microcontroller of installation, which can issue actuator, to be instructed,
Carton can be operated by actuator with this, actuator includes servo motor (402) and electric pushrod (602), starting
Servo motor (402), servo motor (402) work is able to drive driving screw rod (403) rotation, driving screw rod (403) with connect
Bar is connected through a screw thread between (5), so as to drive connecting rod (5) to move left and right in loose slot (404), and install
Bearing beam (401) can be supported entire position of manipulator adjustment structure (4), when need to carry out carton reject or position
When setting adjusting, start electric pushrod (602), electric pushrod (602) can push clamping hand (7) carrying by sliding rail (603)
Bar moves on (601), and the movement by clamping hand (7) clamps, and can be adjusted to the position of carton with this, when carton is not conform to
When lattice product, clamping hand (7) can pass through connection through-hole (10) by movement, and the unqualified carton for clamping it is lost into substandard products
Collection box (2) completes the use process of entire manipulator so as to realize the entire workflow of manipulator like this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910705749.9A CN110465943A (en) | 2019-08-01 | 2019-08-01 | A kind of manipulator for packed in cases production equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910705749.9A CN110465943A (en) | 2019-08-01 | 2019-08-01 | A kind of manipulator for packed in cases production equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110465943A true CN110465943A (en) | 2019-11-19 |
Family
ID=68508495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910705749.9A Pending CN110465943A (en) | 2019-08-01 | 2019-08-01 | A kind of manipulator for packed in cases production equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110465943A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889392A (en) * | 2020-07-30 | 2020-11-06 | 南阳师范学院 | Sorting device based on information communication |
| CN113245209A (en) * | 2020-06-23 | 2021-08-13 | 苏州穗柯智能科技有限公司 | Fork formula automatic sorting equipment |
| CN115008388A (en) * | 2022-07-06 | 2022-09-06 | 东莞快灵通卡西尼电子科技有限公司 | Automatic assembly machine for producing table lamp |
-
2019
- 2019-08-01 CN CN201910705749.9A patent/CN110465943A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245209A (en) * | 2020-06-23 | 2021-08-13 | 苏州穗柯智能科技有限公司 | Fork formula automatic sorting equipment |
| CN111889392A (en) * | 2020-07-30 | 2020-11-06 | 南阳师范学院 | Sorting device based on information communication |
| CN115008388A (en) * | 2022-07-06 | 2022-09-06 | 东莞快灵通卡西尼电子科技有限公司 | Automatic assembly machine for producing table lamp |
| CN115008388B (en) * | 2022-07-06 | 2023-09-26 | 东莞快灵通卡西尼电子科技有限公司 | Automatic assembly machine for producing desk lamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191119 |
|
| WD01 | Invention patent application deemed withdrawn after publication |