CN111591505A - Manipulator clamping jaw device for grabbing tundish box and using method thereof - Google Patents

Abstract

The invention discloses a manipulator clamping jaw device for grabbing a tundish box, which comprises a clamping jaw mechanism for clamping the tundish box, a supporting frame arranged on the clamping jaw mechanism, and a driving mechanism for driving the clamping jaw mechanism to move; the supporting frame is slidably mounted on the connecting plate; the driving mechanism comprises a driving motor, a driving belt pulley set, a driven belt pulley set, a driving block and a spring hook, wherein the driving block and the spring hook are slidably mounted on the driving belt pulley set, the driving belt pulley set and the driven belt pulley set are arranged in parallel, an output shaft of the driving motor is connected with the driving belt pulley set, the spring hook is arranged on one side of the driving block, and a sliding part on each clamping jaw is in sliding fit with the driven belt pulley set. The drive block area spring hanger motion, and the connecting plate is hooked in the couple, and the connecting plate moves along linear slide rail under the drive of driven hold-in range to make two clamping jaw relative motion and press from both sides tight well package medicine box, realize the accurate well package medicine box of snatching, compare with traditional manual mode of snatching, production efficiency is high.

Description

Manipulator clamping jaw device for grabbing tundish box and using method thereof

Technical Field

The invention belongs to the technical field of medicine box packaging equipment, and particularly relates to a manipulator clamping jaw device for grabbing a medicine box in a tundish manner and a using method of the manipulator clamping jaw device.

Background

The medicine outer package is mainly in a paper box form, and the shape of the medicine outer package is basically a cuboid, so that the medicine outer package is convenient to pack. At present, in a pharmaceutical factory, medicines are loaded into the medicine boxes, then the medicine boxes (namely the Chinese medicine packing boxes) are loaded into the paper boxes, sealed and packed, and then delivered from a factory, the traditional boxing operation is that a plurality of medicine boxes are manually placed into the paper boxes and arranged, the labor intensity of workers is high, and the boxing efficiency is low. Some also adopt the conveyer belt mode of carrying on the market, but all are semi-automatic production lines, need personnel to carry out auxiliary operation in the middle of, consume more manpower and materials.

Therefore, in view of the above technical problems, there is a need to develop a device for automatically packing a medicine box by a matching robot for grabbing the medicine box.

Disclosure of Invention

The invention aims to provide a manipulator clamping jaw device for grabbing a tundish box, which is simple in structure and operation, can overcome product tolerance and is high in production efficiency, and a using method thereof.

The technical scheme of the invention is as follows:

a manipulator clamping jaw device for grabbing a tundish box comprises a clamping jaw mechanism for clamping the tundish box, a supporting frame arranged on the clamping jaw mechanism, and a driving mechanism for driving the clamping jaw mechanism to move;

the clamping jaw mechanism comprises two clamping jaws, a connecting plate is mounted at the top of each clamping jaw, two linear slide rails are symmetrically mounted at two ends of the top of each connecting plate, a supporting sheet is mounted in the middle of the top of each connecting plate, one end of each supporting sheet is connected with the connecting plate, and a sliding part matched with the driving mechanism is formed at the other end of each supporting sheet and used for driving the clamping jaws to move under the action of the driving mechanism;

the supporting frame is slidably mounted on the connecting plate, and sliding blocks which are matched with the linear sliding rails to slide are symmetrically arranged at the bottom of the supporting frame so that the clamping jaw mechanism can move along the linear sliding rails;

actuating mechanism includes driving motor, driving pulley group, driven pulley group, slidable mounting drive block and spring hook on driving pulley group, driving motor installs on the support frame, driving pulley group installs respectively on braced frame with the band pulley of driven pulley group, and this driving pulley group and driven pulley group parallel arrangement, driving motor's output shaft and driving pulley group are connected, spring hook sets up one side of drive block, every slider on the clamping jaw respectively with driven pulley group sliding fit, under driving motor's drive, the drive block slides along driving hold-in range and drives spring hook and remove and hook a connecting plate, another connecting plate synchronous relative movement of drive slidable mounting on driven hold-in range to make two clamping jaws press from both sides tight medicine box along linear slide rail relative movement.

In the technical scheme, the clamping jaw includes first clamping jaw and second clamping jaw, first connecting plate is installed at the top of first clamping jaw, install first supporting plate in the middle of the top of first connecting plate, the one end and the first connecting plate of first supporting plate are connected, and the other end is formed with and from the first slider of driven pulley group matched with, the second connecting plate is installed at the top of second clamping jaw, install the second backing sheet in the middle of the top of second connecting plate, the one end and the second connecting plate of second backing sheet are connected, and the other end is formed with and from driven pulley group matched with second slider.

In the above technical solution, the driving pulley set includes two driving pulleys and a driving synchronous belt installed between the driving pulleys, the two driving pulleys are installed on the supporting frame, one of the driving pulleys is connected with the output shaft of the driving motor, and the other driving pulley is connected with the encoder.

In the above technical solution, the driven pulley set is installed on the central axis of the support frame, the driven pulley set includes two driven pulleys and a driven synchronous belt installed between the driven pulleys, and the two driven pulleys are symmetrically installed on the support frame.

In the technical scheme, the first sliding part is slidably mounted on one side of the driven synchronous belt, and the second sliding part is slidably mounted on the other side of the driven synchronous belt, so that the first sliding part and the second sliding part are arranged in a staggered manner to respectively drive the two clamping jaws to move relatively.

In the technical scheme, the spring hook comprises a barrel, a spring and a hook, the spring is installed in the barrel, the hook is symmetrically installed at two ends of the spring, the hook is arranged on the outer side of the barrel, and the barrel is fixedly installed on one side, close to the driven synchronous belt, of the driving block.

In the above technical scheme, a transition piece is installed between the sliding block and the supporting frame.

In the above technical solution, the support frame is provided with a plurality of reinforcing plates for reinforcing the support frame.

In the technical scheme, a plurality of reinforcing ribs are arranged between each clamping jaw and the connecting plate to enhance the installation strength.

In the above technical solution, a connecting member is formed at the top of the supporting frame for connecting with an external robot.

Another object of the present invention is to provide a method for using a robot based gripper device, comprising the steps of:

(1) starting a driving motor, driving a driving belt wheel to rotate by the driving motor, and moving a driving block and a spring hook towards the second connecting plate 8 under the action of a driving synchronous belt until the spring hook hooks the second connecting plate 8;

(2) the driving motor rotates reversely to drive the driving block to move backwards, the spring hook hooks the second connecting plate 8 to move towards the direction of the first connecting plate, and the first sliding piece on the first connecting plate and the second sliding piece on the second connecting plate move relatively on the driven synchronous belt, so that the first clamping jaw and the second clamping jaw are driven to move relatively;

(3) the two clamping jaws stop passively after encountering the middle packing box in the relative movement process, and the spring deforms to provide clamping force, so that the first clamping jaw and the second clamping jaw grab and clamp the middle packing box to be transported.

The invention has the advantages and positive effects that

1. Make the drive block take the spring hanger motion under driving motor's effect, the couple hooks and drives the connecting plate after the connecting plate under the effect of driven hold-in range and moves along linear slide rail to make two clamping jaw relative motion and press from both sides tight well package medicine box, realize accurately snatching well package medicine box, compare with traditional manual mode of snatching, effectively reduce staff intensity of labour, production efficiency is high.

2. When two clamping jaws relative motion, the deformation that the spring produced provides the clamp force for pressing from both sides tightly to can overcome the tolerance of product, improve the precision of snatching.

3. The supporting frame can be matched with an external manipulator, automatic boxing is realized by matching with a robot, and the production efficiency is greatly improved.

Drawings

FIG. 1 is a schematic structural view of a robot clamping jaw apparatus of the present invention;

fig. 2 is a bottom view of the robot gripping device of the present invention;

FIG. 3 is a schematic view of the jaw mechanism of the present invention;

FIG. 4 is a schematic view of the jaw mechanism of the present invention;

FIG. 5 is a schematic view showing the construction of a support frame (a half of the support frame mounted with a driving motor) according to the present invention;

FIG. 6 is a structural view of a support frame (the other half of the support frame with an encoder mounted thereon) in the present invention;

fig. 7 is a schematic structural diagram of the linear guideway of the present invention.

In the figure:

1. linear slide rail 2, encoder 3, driven band pulley

4. Driving motor 5, first connecting plate 6, first clamping jaw

7. Reinforcing plate 8, second connecting plate 9, first supporting sheet

10. First slider 11, driven synchronous belt 12, braced frame

13. Slider 14, driving pulley 15 and transition piece

16. Reinforcing rib 17, driving synchronous belt 18 and driving block

19. Spring hook 20, second clamping jaw 21, second sliding part

Detailed Description

The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.

Example 1

As shown in the figure, the manipulator clamping jaw device for grabbing the tundish box comprises a clamping jaw mechanism for clamping the tundish box, a supporting frame 12 arranged on the clamping jaw mechanism, and a driving mechanism for driving the clamping jaw mechanism to move;

the clamping jaw mechanism comprises two clamping jaws, a connecting plate is mounted at the top of each clamping jaw, two linear slide rails 1 are symmetrically mounted at two ends of the top of each connecting plate, a supporting sheet is mounted in the middle of the top of each connecting plate, one end of each supporting sheet is connected with the connecting plate, and a sliding part matched with the driving mechanism is formed at the other end of each supporting sheet and used for driving the clamping jaws to move under the action of the driving mechanism;

the supporting frame 12 is slidably mounted on the connecting plate, and sliding blocks 13 which are matched with the linear sliding rail 1 to slide are symmetrically arranged at the bottom of the supporting frame 12 so that the clamping jaw mechanism moves along the linear sliding rail 1;

the driving mechanism comprises a driving motor 4 (a brushless motor is adopted, the model is 57BL52-212), a driving pulley set, a driven pulley set, a driving block 18 and a spring hook 19 which are slidably mounted on the driving pulley set, the driving motor 4 is mounted on a support frame, pulleys of the driving pulley set and the driven pulley set are respectively mounted on a support frame 12, the driving pulley set and the driven pulley set are arranged in parallel, an output shaft of the driving motor 4 is connected with the driving pulley set, the spring hook 19 is arranged on one side of the driving block 18, a sliding part on each clamping jaw is respectively in sliding fit with the driven pulley set, under the driving of the driving motor 4, the driving block 18 slides along the driving synchronous belt 17 to drive the spring hook 19 to move and hook a connecting plate, and drives another connecting plate slidably mounted on the driven synchronous belt 11 to synchronously move relatively, so that the two clamping jaws move relatively along the linear slide rail 1 to clamp the medicine box.

Further say, the clamping jaw includes first clamping jaw 6 and second clamping jaw 20, first connecting plate 5 is installed at the top of first clamping jaw 6, install first supporting plate 9 in the middle of the top of first connecting plate 5, the one end and the first connecting plate 5 of first supporting plate 9 are connected, and the other end is formed with the first slider 10 with driven pulley group matched with, second connecting plate 8 is installed at the top of second clamping jaw 20, install the second backing sheet in the middle of the top of second connecting plate 8, the one end and the second connecting plate 8 of second backing sheet are connected, and the other end is formed with and drives driven pulley group matched with second slider 21.

Further, the support frame 12 includes a first support frame 12 and a second support frame 12, the first support frame 12 is disposed above the first connection plate 5, and the second support frame 12 is disposed above the second connection plate 8.

Further, the driving pulley set comprises two driving pulleys 14 and a driving synchronous belt 17 (adopting an S-tooth synchronous belt) installed between the driving pulleys 14, two driving pulleys 14 are respectively installed on the first supporting frame 12 and the second supporting frame 12, one of the driving pulleys 14 is connected with an output shaft of the driving motor 4, the driving motor 4 is installed on the first supporting frame 12, the other driving pulley 14 is connected with the encoder 2, the encoder 2 is installed on the second supporting frame 12, and the encoder 2 is used for detecting the rotating position of the driving synchronous belt 17 so as to control the operation of the driving motor 4.

Further, the driven pulley set is installed on the central axis of the support frame 12, the driven pulley set includes two driven pulleys 3 and a driven synchronous belt 11 installed between the driven pulleys 3, and the two driven pulleys 3 are respectively installed on the first support frame 12 and the second support frame 12.

Further, the first sliding member 10 is slidably mounted on one side of the driven timing belt 11, and the second sliding member 21 is slidably mounted on the other side of the driven timing belt 11, so that the first sliding member 10 and the second sliding member 21 are alternately arranged to respectively drive the two clamping jaws to move relatively.

Further, the spring hook 19 comprises a cylinder, a spring and a hook, the spring is installed in the cylinder, the hook is symmetrically installed at two ends of the spring, the hook is arranged on the outer side of the cylinder, and the cylinder is fixedly installed on one side, close to the driven synchronous belt 11, of the driving block 18.

Further, the diameter of the spring is 0.8 mm.

Further, the total weight of the clamping jaw is 3.2kg, the size of the clamping jaw is 500 x 600 x 300mm, and the clamping jaw is made of 304 stainless steel.

The driving belt wheel 14 group and the driven belt wheel 3 group are arranged in parallel, the driving wheel slides along the driving synchronous belt 17 under the action of the driving motor 4, and the two clamping jaws are driven to move relatively along the linear sliding rail 1 under the action of the driven synchronous belt 11 under the action of the spring hook 19.

Example 2

On the basis of embodiment 1, the robot gripping jaw device of the present invention is used as follows:

(1) starting the driving motor 4, driving the driving pulley 14 to rotate by the driving motor 4, and moving the driving block 18 and the spring hook 19 in the direction towards the second connecting plate 8 under the action of the driving synchronous belt 17 until the spring hook 19 hooks the second connecting plate 8;

(2) the driving motor 4 rotates reversely to drive the driving block 18 to move backwards, the spring hook 19 hooks the second connecting plate 8 to move towards the first connecting plate 5, and the first sliding part 10 on the first connecting plate 5 and the second sliding part 21 on the second connecting plate 8 move relatively on the driven synchronous belt 11, so that the first clamping jaw 6 and the second clamping jaw 20 are driven to move relatively;

(3) the two clamping jaws stop passively after encountering a middle packing box in the relative movement process, and the spring deforms to provide clamping force, so that the first clamping jaw 6 and the second clamping jaw 20 grab and clamp the middle packing box to be transported.

First connecting plate 5 and second connecting plate 8 pass through first slider 10 and second slider 21 slidable mounting respectively on driven hold-in range 11, drive the connecting plate of one side along driven hold-in range 11 motion under spring hanger 19's effect to make the connecting plate of opposite side along with synchronous motion, so that two clamping jaws relative motion and can press from both sides tight product.

The spring can produce deformation after meetting the product to make and produce the clamp force between two clamping jaws, the product tolerance can effectively be eliminated to the spring simultaneously, thereby overcomes the problem of product tolerance through the spring, in order to realize the effect of accurately snatching middle-packing box.

Example 3

On the basis of the embodiment 1, a transition piece 15 is installed between the sliding block 13 and the supporting frame 12 to increase the height between the supporting frame 12 and the connecting plate, so that the installation positions of the driving pulley set and the driven pulley set are accurate and reasonable.

Further, a plurality of reinforcing plates 7 are mounted on the support frame 12 for reinforcing the support frame 12.

Further, a plurality of reinforcing ribs 16 are arranged between each clamping jaw and the connecting plate for enhancing the installation strength.

Further, the top of the support frame 12 is formed with a connector for connection with an external robot.

The clamping jaw device is connected with an external manipulator, and the operation of the driving motor 4 is controlled by the PLC, so that the work of grabbing the tundish box is realized, a large amount of manpower and material resources are saved, and the production efficiency is improved.

Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.

The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.

Claims (10)

1. The utility model provides a manipulator clamping jaw device for snatching middle package medicine box which characterized in that: comprises a clamping jaw mechanism for clamping a tundish box, a supporting frame arranged on the clamping jaw mechanism and a driving mechanism for driving the clamping jaw mechanism to move;

the clamping jaw mechanism comprises two clamping jaws, a connecting plate is mounted at the top of each clamping jaw, two linear slide rails are symmetrically mounted at two ends of the top of each connecting plate, a supporting sheet is mounted in the middle of the top of each connecting plate, one end of each supporting sheet is connected with the connecting plate, and a sliding part matched with the driving mechanism is formed at the other end of each supporting sheet and used for driving the clamping jaws to move under the action of the driving mechanism;

the supporting frame is slidably mounted on the connecting plate, and sliding blocks which are matched with the linear sliding rails to slide are symmetrically arranged at the bottom of the supporting frame so that the clamping jaw mechanism can move along the linear sliding rails;

actuating mechanism includes driving motor, driving pulley group, driven pulley group, slidable mounting drive block and spring hook on driving pulley group, driving motor installs on the support frame, driving pulley group installs respectively on braced frame with the band pulley of driven pulley group, and this driving pulley group and driven pulley group parallel arrangement, driving motor's output shaft and driving pulley group are connected, spring hook sets up one side of drive block, every slider on the clamping jaw respectively with driven pulley group sliding fit, under driving motor's drive, the drive block slides along driving hold-in range and drives spring hook and remove and hook a connecting plate, another connecting plate synchronous relative movement of drive slidable mounting on driven hold-in range to make two clamping jaws press from both sides tight medicine box along linear slide rail relative movement.

2. The robot gripping apparatus of claim 1, wherein: the clamping jaw includes first clamping jaw and second clamping jaw, first connecting plate is installed at the top of first clamping jaw, install first supporting plate in the middle of the top of first connecting plate, the one end and the first connecting plate of first supporting plate are connected, and the other end is formed with and is organized matched with first slider from the driven pulley, the second connecting plate is installed at the top of second clamping jaw, install the second backing sheet in the middle of the top of second connecting plate, the one end and the second connecting plate of second backing sheet are connected, and the other end is formed with and organizes matched with second slider from the driven pulley.

3. The robot gripping apparatus of claim 2, wherein: the driving pulley set comprises two driving pulleys and a driving synchronous belt arranged between the driving pulleys, the two driving pulleys are arranged on the supporting frame, one driving pulley is connected with an output shaft of the driving motor, and the other driving pulley is connected with the encoder.

4. The robot gripping apparatus of claim 3, wherein: the driven pulley set is arranged on the central axis of the support frame and comprises two driven pulleys and a driven synchronous belt arranged between the two driven pulleys, and the two driven pulleys are symmetrically arranged on the support frame.

5. The robot gripping apparatus of claim 4, wherein: first slider slidable mounting is in one side of driven hold-in range, second slider slidable mounting is in the opposite side of driven hold-in range to make first slider and the crisscross setting of second slider drive two respectively the relative motion of clamping jaw.

6. The robot gripping apparatus of claim 5, wherein: the spring hook comprises a barrel, a spring and a hook, wherein the spring is installed in the barrel, the hook is symmetrically installed at two ends of the spring, the hook is arranged on the outer side of the barrel, and the barrel is fixedly installed on one side, close to the driven synchronous belt, of the driving block.

7. The robot gripping apparatus of claim 6, wherein: and a transition piece is arranged between the sliding block and the supporting frame.

8. The robot gripping apparatus of claim 7, wherein: a plurality of reinforcing plates are mounted on the support frame for reinforcing the support frame.

9. The robot gripping apparatus of claim 8, wherein: and a plurality of reinforcing ribs are arranged between each clamping jaw and the connecting plate to enhance the mounting strength.

10. Use of a robot gripping device according to claim 9, characterized in that it comprises the following steps:

(1) starting a driving motor, driving a driving belt wheel to rotate by the driving motor, and moving a driving block and a spring hook towards the second connecting plate 8 under the action of a driving synchronous belt until the spring hook hooks the second connecting plate 8;

(2) the driving motor rotates reversely to drive the driving block to move backwards, the spring hook hooks the second connecting plate 8 to move towards the direction of the first connecting plate, and the first sliding piece on the first connecting plate and the second sliding piece on the second connecting plate move relatively on the driven synchronous belt, so that the first clamping jaw and the second clamping jaw are driven to move relatively;

(3) the two clamping jaws stop passively after encountering the middle packing box in the relative movement process, and the spring deforms to provide clamping force, so that the first clamping jaw and the second clamping jaw grab and clamp the middle packing box to be transported.

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