CN113459120A - Detection robot for detecting sealing performance of package - Google Patents
Detection robot for detecting sealing performance of package Download PDFInfo
- Publication number
- CN113459120A CN113459120A CN202110767245.7A CN202110767245A CN113459120A CN 113459120 A CN113459120 A CN 113459120A CN 202110767245 A CN202110767245 A CN 202110767245A CN 113459120 A CN113459120 A CN 113459120A
- Authority
- CN
- China
- Prior art keywords
- clamping
- detector body
- rack
- assembly
- sealability
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a detection robot for detecting the sealing performance of a package, and belongs to the technical field of robots. Comprises a frame; the detector body is arranged on the rack; at least one group of horizontal moving components arranged on the rack; the horizontal moving assembly is positioned on one side or two sides of the detector body; the number of the vertical moving assemblies is consistent with that of the horizontal moving assemblies, and the vertical moving assemblies are connected to the horizontal moving assemblies in a transmission manner; the clamping assemblies are in the same number as the vertical moving assemblies and are in transmission connection with the vertical moving assemblies; wherein the gripping assembly is provided with a gripping portion for increasing friction. The centre gripping subassembly is gone on the wrapping bag through angle and the direction of difference through absorption and centre gripping to the wrapping bag, increases to press from both sides and gets the dynamics, guarantees that the wrapping bag can not drop from pressing from both sides the subassembly because of the action of gravity.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a detection robot for detecting the sealing performance of a package.
Background
In each field of food packaging and pharmaceutical packaging, the most used packaging method is packaging using a pouch, which is low in cost, easy to control, and easy to produce. The sealing performance and the sealing strength of the packaging bag have great influence on the product quality and the quality guarantee period of packaged contents, so that the sealing performance of the packaged product needs to be detected.
In the prior art, a device for detecting the sealing performance of the package usually lacks an automatic loading and unloading device and is mostly used for manual loading and unloading, the method has low efficiency, and some systems such as the system disclosed as CN109506858A (an on-line detection system for the sealing performance of small-size flexible packaging bags) comprise a first grabbing mechanism and a second grabbing mechanism, the grabbing and lifting device is used for grabbing a packaging bag, the grabbing and lifting of the first grabbing mechanism and the second grabbing mechanism is one of a sucker type grabbing device, an electric clamping jaw or a flexible mechanical jaw, certain gas can be filled in the packaging bag filled with a product, the middle of the packaging bag swells, the edge of the packaging bag is lower than the middle position of the packaging bag to form a cambered surface, only the sucker type grabbing device, the electric clamping jaw or the flexible mechanical jaw is used for only clamping part of the surface of the packaging bag, the clamping force is not strong, and the packaging bag falls off from the grabbing mechanism due to the action of gravity in the moving process with high probability.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems, the invention provides a detection robot for detecting the sealing performance of a package.
The technical scheme is as follows: a detection robot for detecting the sealing performance of a package comprises a rack and a detector body arranged on the rack; at least one group of horizontal moving components arranged on the rack; the horizontal moving assembly is positioned on one side or two sides of the detector body; the number of the vertical moving assemblies is consistent with that of the horizontal moving assemblies, and the vertical moving assemblies are connected to the horizontal moving assemblies in a transmission manner; the clamping assemblies are in the same number as the vertical moving assemblies and are in transmission connection with the vertical moving assemblies; wherein the clamping assembly is provided with a clamping part for increasing friction force; during the use, the clamping part centre gripping is waited to detect the object, under the interact of horizontal migration subassembly and vertical migration subassembly, wait to detect the object and be transferred to the detector body, the detector body detects.
In a further embodiment, the clamping portion comprises: the clamping jaw comprises a clamping jaw, wherein a clamping surface of the clamping jaw is inwards recessed according to a preset radian to form a clamping surface.
Through adopting above-mentioned technical scheme, the clamping face has predetermined radian, and wrapping bag self surface also has certain cambered surface, can laminate with the wrapping bag better, increases area of contact, improves the centre gripping effect.
In a further embodiment, defining the arc of the clamping surface as θ, the friction coefficient of the clamping surface as f; the following relationship is satisfied: 0 < theta ≦ arctan f.
By adopting the technical scheme, the static friction force of the packaging bag and the flexible clamping part is smaller than the maximum static friction force, and the packaging bag cannot slide with the flexible clamping part.
In a further embodiment, the clamping assembly further comprises: the mounting seat is in transmission connection with the vertical moving assembly; the driving piece is arranged on the mounting seat; the driving piece is connected to the clamping jaw in a transmission mode and is arranged to drive the clamping jaw to move back to back or oppositely.
Through adopting above-mentioned technical scheme, the clamping jaw carries out the centre gripping to the wrapping bag to the driving piece makes the clamping jaw according to the size of wrapping bag, adjusts the clamp space size of getting between two clamping jaws.
In a further embodiment, further comprising: the vacuum suckers are distributed at the bottom of the mounting seat in a matrix manner; and the air pump is connected to the vacuum chuck through a connecting pipe.
Through adopting above-mentioned technical scheme, the aspiration pump makes multiunit vacuum chuck produce the negative pressure through the connecting pipe, and vacuum chuck absorbs the wrapping bag to with the clamping jaw cooperation, press from both sides the clamp of getting the subassembly and get the dynamics, improve the wrapping bag and get the stability when being pressed from both sides.
In a further embodiment, the horizontal movement assembly comprises: the rack comprises a transverse fixing piece, a first sliding strip and a first rack which are arranged on the upper surface of the transverse fixing piece in parallel along the length direction, a second sliding strip which is arranged on one side surface of the transverse fixing piece in parallel along the length direction, a fixing plate in interference fit with the first sliding strip and the second sliding strip, a first controller connected with the fixing plate, and a first gear which is connected with the first controller and meshed with the first rack.
Through adopting above-mentioned technical scheme, the fixed plate with respectively with first draw runner and second draw runner fixed connection, make the fixed plate can slide through gear drive to first draw runner and second draw runner have shared the gravity of fixed plate simultaneously, prevent that the fixed plate from taking place the slope phenomenon because of gravity.
In a further embodiment, the vertical movement assembly comprises: the fixing bases are fixed on one side of the fixing plate, the sliding grooves are vertically formed in the fixing bases, the third sliding strips are matched with the sliding grooves, are connected to the vertical fixing pieces of the third sliding strips in an interference fit mode, are arranged along the length direction, and are meshed with the second gear of the second rack and the second controller of the second gear in a transmission mode.
Through adopting above-mentioned technical scheme, gear drive makes vertical mounting slide on vertical direction to the subassembly can be moved in vertical direction to the clamp is got in the drive, improves holistic automation efficiency.
In a further embodiment, the manipulator is further included, and the manipulator is composed of the horizontal moving assembly, the vertical moving assembly and the clamping assembly.
Through adopting above-mentioned technical scheme, the manipulator can absorb and press from both sides the wrapping bag and get to drive the wrapping bag and move in vertical direction and horizontal direction.
In a further embodiment, the detector body inlet is provided with an infeed conveyor belt and the detector body outlet is provided with an outfeed conveyor belt.
Through adopting above-mentioned technical scheme, press from both sides the wrapping bag that the subassembly clamp was got, move to the feeding conveyer belt through horizontal migration subassembly and vertical removal subassembly on, convey to detector body entry, after finishing, detect the back that finishes, detector body export is transferred to exit conveyor, and exit conveyor carries out the conveying to the wrapping bag again.
In a further embodiment, the manipulator is arranged above the discharging conveyor belt, the manipulator is electrically connected with the detector body, and the manipulator clamps and removes the package which does not meet the preset quality standard according to the detection result of the detector body.
By adopting the technical scheme, the packaging bags move from the outlet of the detector body to the discharging conveyor belt, the manipulator above the discharging conveyor belt and close to the outlet of the detector body clamps and removes the packaging bags which do not meet the sealing detection quality standard according to the instruction; the packaging bags meeting the sealing detection quality standard are conveyed into the collecting box through the discharging conveyor belt.
Has the advantages that: vacuum chuck absorbs the wrapping bag, and the clamping jaw is according to wrapping bag size adjustment flexible clamp and is got the angle of portion for flexible clamp is got the portion and can is laminated wrapping bag surface, and it gets to assist the clamp to get, increases to get the dynamics of getting, guarantees that the wrapping bag can not drop from getting the subassembly because of the action of gravity.
Drawings
Fig. 1 is a schematic structural view of the gripping assembly of the present invention.
Figure 2 is a schematic view of the jaw configuration of the present invention.
Fig. 3 is a schematic view of the robot structure of the present invention.
Fig. 4 is a partial structural schematic diagram of the present invention.
Fig. 5 is a schematic structural diagram of the present invention.
Each of fig. 1 to 5 is labeled as: the device comprises a mounting seat 1, a clamping jaw 2, a fixing part 21, a rotating part 22, a flexible clamping part 23, a vacuum chuck 3, a connecting pipe 4, a transverse fixing part 5, a first rack 6, a first slide bar 7, a fixing plate 8, a first controller 9, a first gear 10, a second slide bar 11, a fixing seat 12, a third slide bar 13, a vertical fixing part 14, a second rack 15, a second gear 16, a second controller 17, a feeding conveyor belt 18, a discharging conveyor belt 19, a detector body 20 and a manipulator 21.
Detailed Description
In order to solve the problems in the prior art, the applicant has conducted in-depth analysis on various existing schemes, which are specifically as follows:
the packaging method of packaging bags occupies a large proportion in the fields of food packaging, medicine packaging and the like, and products are put into the packaging bags and are inflated with specific gas so as to achieve the purpose of ensuring the quality of the products. If the sealing performance of the packaging bag is poor or poor, the quality of the product can be affected when specific gas escapes from the packaging bag or outside air enters the packaging bag, and the sealing performance of the packaging bag needs to be detected in order to know the condition of the packaging bag in time and guarantee the quality of the product. The packing bag filled with the product is inflated, so that the middle of the packing bag is bulged, the bulging degree of the edge is lower than that of the middle position, and a cambered surface is formed. In the prior art, for example, publication No. CN109506858A discloses an online detection system for the sealing performance of a small-sized flexible packaging bag, which includes a first grabbing mechanism and a second grabbing mechanism for grabbing the packaging bag, wherein the grabbing mechanism of the first grabbing mechanism and the grabbing mechanism of the second grabbing mechanism is one of a suction cup type grabbing tool, an electric clamping jaw or a flexible mechanical jaw. Only one of a sucker type gripping apparatus, an electric clamping jaw or a flexible mechanical claw is used, only part of the surface of the packaging bag can be gripped, the gripping force is not strong, the packaging bag is separated from the gripping mechanism due to the action of gravity in the moving process with a high probability, the packaging bag is easy to break due to the material of the packaging bag, if the gripping force is increased, the great pressure is applied to the packaging bag and exceeds the strength of the packaging bag, and therefore the packaging bag is easy to break.
To this end, the applicant proposes a solution, as shown in fig. 1 to 5, in which the present embodiment provides an inspection robot for inspecting the tightness of packages, comprising a frame, a detector body 20, two sets of horizontal moving assemblies, two sets of vertical moving assemblies, and two sets of gripping assemblies. The detector body 20 is arranged on the rack, the horizontal moving assemblies are arranged on the rack, and the two groups of horizontal moving assemblies are respectively positioned on two sides of the detector body 20. When setting up, two sets of horizontal migration subassemblies set up for mutually perpendicular, and the centre gripping of waiting to detect the object for on the equidirectional not provides convenient, is applicable to the object transportation that waits to detect on two at least directions simultaneously. The horizontal moving assembly moves in the horizontal direction, the vertical moving assembly is connected to the horizontal moving assembly in a transmission mode, the vertical moving assembly moves in the vertical direction, and the clamping assembly is connected to the vertical moving assembly in a transmission mode.
In a further embodiment, the clamping assembly realizes the vertical and horizontal upward movement of the object to be detected under the combined action of the horizontal moving assembly and the vertical moving assembly, and the object to be detected is transferred to the detector body 20, so that the detector body 20 can detect the object to be detected conveniently.
In order to increase the gripping force of the object to be inspected (especially for flexible packages, such as bags), in the present embodiment, the gripping assembly is provided with a gripping portion for increasing the friction force; the clamping portion includes: the clamping jaw comprises a clamping jaw 2, and a clamping surface of the clamping jaw 2 is inwards recessed according to a preset radian to form a clamping surface. During the centre gripping, will wait to detect the object and carry out effective contact through being the clamping face of sunken setting, greatly increased clamping area to the centre gripping dynamics has been increased.
In order to further increase the friction force during clamping, the radian of a clamping surface is defined as theta, and the friction coefficient of the clamping surface is defined as f; the following relationship is satisfied: 0 < theta ≦ arctan f. In the clamping process, the clamping surface and the surface of the packaging bag are relatively static, the friction force is static friction force, when the clamping surface and the surface of the packaging bag are in a relative sliding critical state, tan phi m = f, phi m is a friction angle of the clamping surface, f is a static friction coefficient of the clamping surface, and in order to enable the packaging bag to be static in the clamping surface and not slide, the radian of the clamping surface or an included angle 0 < theta > to be less than or equal to phi m formed by the highest point and the lowest point of the clamping surface 23 is required, namely 0 < theta > to be less than or equal to arctan f.
In order to increase the gripping force from the other side, in a further embodiment the gripping assembly further comprises a mounting base 1, two sets of gripping jaws 2, a plurality of sets of vacuum suction cups 3, a connecting tube 4 and a suction pump. The vacuum bag packaging machine is characterized in that the mounting seat 1 is arranged below the vertical moving assembly, a plurality of groups of vacuum suckers 3 are uniformly mounted along the length direction of the mounting seat 1, the vacuum suckers 3 are connected in series or distributed in a matrix form through connecting pipes 4, one end of each connecting pipe 4 is connected with an air pump (not shown in the drawing), the other end of each connecting pipe 4 is connected with an air nozzle cover (not shown in the drawing), the vacuum suckers 3 are aligned to the middle position of a packaging bag, the air pumps are started, and the vacuum suckers 3 generate negative pressure to suck up the middle position of the packaging bag; the clamping jaws 2 are fixed at two ends of the mounting seat 1, the clamping jaws 2 are electric clamping jaws and comprise a fixing portion 21, a rotating portion 22 and a flexible clamping portion 23, the fixing portion 21 is fixedly connected with the mounting seat 1, the rotating portion 22 is in pin connection with the fixing portion 21, the flexible clamping portion 23 is fixedly connected with the rotating portion 22, the rotating portion 22 rotates to enable the clamping jaws 2 to integrally have a certain rotational degree of freedom and can be adjusted according to the size of a packaging bag or a product, the surface of the flexible rotating portion 22 has a certain radian, when the vacuum suction disc 3 sucks the middle position of the packaging bag, the flexible rotating portion 22 clamps the edge position of the packaging bag, an auxiliary effect is achieved, and the packaging bag is prevented from sliding off the vacuum suction disc 3 due to overlarge gravity; under another condition, the part that vacuum chuck 3 was inhaled is not the intermediate position of wrapping bag, is other positions, and the clamping jaw 2 at both ends can carry out the centre gripping to the wrapping bag, because wrapping bag self surface has certain radian, and the portion 23 sets up to certain radian is got to the flexible clamp of clamping jaw 2, can laminate with the wrapping bag surface, has reached better clamp and has got the effect. The friction coefficient of the surface of the flexible clamping part 23 is within a certain range, and the friction force between the surface of the flexible clamping part 23 and the surface of the packaging bag is large in the range, so that the possibility that the packaging bag slides from the flexible clamping part 23 is reduced.
In a further embodiment, in order to realize the automation of clamping, reduce the manual work and reduce the cost and improve the detection efficiency, the following technical scheme is proposed in the embodiment:
the horizontal moving assembly comprises a transverse fixing piece 5, a first slide bar 7, a second slide bar 11, a first rack 6, a fixing plate 8, a first controller 9 and a first gear 10. The transverse fixing piece 5 is connected with a frame through a bolt or welded, the transverse fixing piece 5 is in a cuboid shape and comprises a horizontal plane and a vertical plane, a first rack 6 and a first slide bar 7 are fixed on the horizontal plane, the first rack 6 and the first slide bar 7 are parallel, a second slide bar 11 is fixed on the vertical plane (one side surface), a fixing plate 8 is in an L shape and comprises a horizontal part and a vertical part, a sliding seat a (the drawing is drawn and not marked) matched with the first slide bar 7 is fixedly arranged on the inner surface of the horizontal part, the sliding seat a slides on the first slide bar 7, a sliding seat b matched with the second slide bar 11 is fixedly arranged on the inner surface of the vertical part, the sliding seat b slides on the second slide bar 11, a first controller 9 is fixed on the outer surface of the horizontal part of the fixing plate 8, a first gear 10 is connected with the first controller 9 and meshed with the first gear 10, the first controller 9 is electrically connected with a detector body 20, and is connected with a power unit. The first controller 9 is started to drive the first gear 10 to rotate, the first gear 10 is meshed with the first rack 6, and through gear transmission, the fixing plate 8 can reciprocate along the length directions of the first slide bar 7 and the second slide bar 11, so that the clamping assembly is driven to reciprocate. Through setting up the slip of two draw runners on parallel direction, dispersed the focus of fixed plate 8 for be not a cantilever beam structure between fixed plate 8 and the horizontal mounting 5, increase the stability of fixed plate 8, and can offset the unstable influence of part gear and rack in the meshing transfer process. The phenomenon of side turning is prevented from occurring under the gravity of the object to be detected, and the stability is improved.
In this embodiment, the first controller 9 can be implemented by selecting a driving motor.
In order to make the clamping assembly move in the vertical direction and improve the automation of the clamping assembly, the following scheme is designed in the embodiment:
in a further embodiment, the vertical movement assembly comprises a fixed base 12, a third slide bar 13, a vertical fixing 14, a second rack bar 15, a second gear 16 and a second controller 17. Two sets of fixing bases 12 fixed mounting have opened the spout at the surface fixing base 12 of the vertical portion of fixed plate 8, third draw runner 13 and spout adaptation and with spout sliding connection, can slide in the spout, vertical fixing member 14 is the cuboid form, one side and third draw runner 13 fixed connection, 15 fixed mounting of second rack is on other faces of vertical fixing member 14, second gear 16 and 15 meshing of second rack, second controller 17 is connected with second gear 16, 17 fixed mounting of second controller is at the surface of the vertical portion of fixed plate 8, also be in fixing base 12 one side, second controller 17 and 20 electric connection of detector body, and be connected with drive unit. The second controller 17 controls the second gear 16 to rotate, the second gear 16 is meshed with the second rack 15, and the second rack 15 is driven to reciprocate in the vertical direction through gear transmission, so that the vertical fixing piece 14 and the clamping assembly below the vertical fixing piece 14 are driven to reciprocate in the vertical direction.
In the present embodiment, the second controller 17 is a drive motor.
In a further embodiment, the manipulator 21 is composed of a horizontal moving assembly, a vertical moving assembly and a clamping assembly, and the manipulator 21 can suck and clamp the packaging bag and drive the packaging bag to move in the vertical direction and the horizontal direction.
In a further embodiment, an infeed conveyor 18 is provided at the inlet of the detector body 20 and an outfeed conveyor 19 is provided at the outlet of the detector body 20. The packaging bags clamped by the clamping assembly are moved to the feeding conveyor belt 18 through the horizontal moving assembly and the vertical moving assembly and conveyed to the inlet of the detector body 20, after the detection is finished, the outlet of the detector body 20 is conveyed to the discharging conveyor belt 19 after the detection is finished, and the discharging conveyor belt 19 conveys the packaging bags.
In a further embodiment, after the package bag passes through the detector body 20 to detect the tightness, the package bag will come out from the outlet of the detector body 20 and move to the discharging conveyor belt 19, at this moment, the package bag conveyed by the discharging conveyor belt 19 includes the package bag which does not conform to the sealing detection quality standard and the package bag which conforms to the sealing detection quality standard, if the package bag which does not conform to the sealing detection quality standard cannot be removed in time, the package bags which do not conform to the sealing detection quality standard and the package bags which conform to the sealing detection quality standard are mixed together and collected, the overall quality is affected, in order to solve the problem and reduce the manual work, the following technical scheme is designed in the embodiment:
the manipulator 21 is arranged above the discharging conveyor belt 19, the manipulator 21 is electrically connected with the detector body 20, the manipulator 21 works according to the indication of the detection result of the detector body 20, the packaging bags which do not accord with the preset quality standard are clamped and removed, and the packaging bags which accord with the preset quality standard are conveyed into a qualified product collecting box (not shown in the drawing) along with the discharging conveyor belt 19. The overall quality of the packaging bag is improved, and products which do not meet the quality requirement are reduced.
The working principle is as follows: starting a driving switch of the horizontal moving assembly and the vertical moving assembly, moving the vertical fixing piece 14 downwards in the sliding chute through the third sliding strip 13 so as to drive the clamping assembly to move downwards, stopping moving downwards when the vacuum sucker 3 contacts the surface of the packaging bag, starting the air pump, generating suction force by the vacuum sucker 3 to suck the packaging bag, starting a controller of the clamping jaw 2, adjusting the angle of the flexible clamping part 23 according to the size of the packaging bag by the clamping jaw 2, attaching and clamping the flexible clamping part 23 to the edge position of the packaging bag, moving the vertical fixing piece 14 upwards, moving the vertical fixing piece to the direction of the feeding conveyor belt 18 through the first sliding strip 7 and the second sliding strip 11, placing the packaging bag on the feeding conveyor belt 18, conveying the packaging bag into an inlet of the detector body 20 by the feeding conveyor belt 18, carrying out tightness detection after the packaging bag enters the detector body 20, moving the packaging bag from an outlet of the detector body 20 to the discharging conveyor belt 19 after the detection is finished, a manipulator 21 above the discharge conveyor belt 19 and close to the outlet of the detector body 20 clamps and removes the packaging bags which do not meet the sealing detection quality standard according to instructions; the packaging bags meeting the sealing detection quality standard are conveyed into the collecting box through the discharging conveyor belt 19.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (10)
1. The utility model provides a detection robot of detection package leakproofness, includes the frame, its characterized in that:
the detector body is arranged on the rack;
at least one group of horizontal moving components arranged on the rack; the horizontal moving assembly is positioned on one side or two sides of the detector body;
the number of the vertical moving assemblies is consistent with that of the horizontal moving assemblies, and the vertical moving assemblies are connected to the horizontal moving assemblies in a transmission manner;
the clamping assemblies are in the same number as the vertical moving assemblies and are in transmission connection with the vertical moving assemblies;
wherein the gripping assembly is provided with a gripping portion for increasing friction.
2. The inspection robot for inspecting the sealability of packages according to claim 1, wherein:
the clamping portion includes: the clamping jaw comprises a clamping jaw, wherein a clamping surface of the clamping jaw is inwards recessed according to a preset radian to form a clamping surface.
3. The inspection robot for inspecting the sealability of packages according to claim 2, wherein:
defining the radian of the clamping surface as theta and the friction coefficient of the clamping surface as f; the following relationship is satisfied: 0 < theta ≦ arctan f.
4. The inspection robot for inspecting the sealability of packages according to claim 2, wherein:
the clamping assembly further comprises:
the mounting seat is in transmission connection with the vertical moving assembly;
the driving piece is arranged on the mounting seat; the driving piece is connected to the clamping jaw in a transmission mode and is arranged to drive the clamping jaw to move back to back or oppositely.
5. The inspection robot for inspecting the sealability of packages according to claim 4, wherein:
further comprising:
the vacuum suckers are distributed at the bottom of the mounting seat in a matrix manner;
and the air pump is connected to the vacuum chuck through a connecting pipe.
6. The inspection robot for inspecting the sealability of packages according to claim 1, wherein:
the horizontal movement assembly includes: the rack comprises a transverse fixing piece, a first sliding strip and a first rack which are arranged on the upper surface of the transverse fixing piece in parallel along the length direction, a second sliding strip which is arranged on one side surface of the transverse fixing piece in parallel along the length direction, a fixing plate in interference fit with the first sliding strip and the second sliding strip, a first controller connected with the fixing plate, and a first gear which is connected with the first controller and meshed with the first rack.
7. The inspection robot for inspecting the sealability of packages according to claim 6, wherein:
the vertical movement assembly includes: the fixing bases are fixed on one side of the fixing plate, the sliding grooves are vertically formed in the fixing bases, the third sliding strips are matched with the sliding grooves, are connected to the vertical fixing pieces of the third sliding strips in an interference fit mode, are arranged along the length direction, and are meshed with the second gear of the second rack and the second controller of the second gear in a transmission mode.
8. The inspection robot for inspecting the sealability of packages according to any of claims 1 to 7, further comprising a manipulator, characterized in that:
the manipulator consists of the horizontal moving assembly, the vertical moving assembly and the clamping assembly.
9. The inspection robot for inspecting the sealability of packages according to claim 8, wherein:
the detector body inlet is provided with a feeding conveyor belt, and the detector body outlet is provided with a discharging conveyor belt.
10. The inspection robot for inspecting the sealability of a package according to claim 9, wherein:
the manipulator is arranged above the discharging conveyor belt and is electrically connected with the detector body, and packages which do not accord with the preset quality standard are clamped and removed by the manipulator according to the detection result of the detector body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110767245.7A CN113459120A (en) | 2021-07-07 | 2021-07-07 | Detection robot for detecting sealing performance of package |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110767245.7A CN113459120A (en) | 2021-07-07 | 2021-07-07 | Detection robot for detecting sealing performance of package |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113459120A true CN113459120A (en) | 2021-10-01 |
Family
ID=77878861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110767245.7A Withdrawn CN113459120A (en) | 2021-07-07 | 2021-07-07 | Detection robot for detecting sealing performance of package |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113459120A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944955A (en) * | 2024-03-27 | 2024-04-30 | 河北金环包装有限公司 | Charging and plastic packaging integrated machine and charging and plastic packaging method thereof |
| CN117961868A (en) * | 2024-04-02 | 2024-05-03 | 四川航天拓达玄武岩纤维开发有限公司 | Manipulator for processing high-pressure pipe |
-
2021
- 2021-07-07 CN CN202110767245.7A patent/CN113459120A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944955A (en) * | 2024-03-27 | 2024-04-30 | 河北金环包装有限公司 | Charging and plastic packaging integrated machine and charging and plastic packaging method thereof |
| CN117961868A (en) * | 2024-04-02 | 2024-05-03 | 四川航天拓达玄武岩纤维开发有限公司 | Manipulator for processing high-pressure pipe |
| CN117961868B (en) * | 2024-04-02 | 2024-06-04 | 四川航天拓达玄武岩纤维开发有限公司 | Manipulator for processing high-pressure pipe |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113459120A (en) | Detection robot for detecting sealing performance of package | |
| CN109911260B (en) | Automatic packaging machine for measuring horizontal straight line of multi-station filling weight of prefabricated bag | |
| CN109677687A (en) | A kind of mounted box equipment of unpacking automatically | |
| CN212196024U (en) | Stamp envelope packaging equipment | |
| CN115196110A (en) | Adjusting device and packaging system with same | |
| CN214452300U (en) | Block food packaging machine | |
| CN110844192A (en) | Labeling, bag making and packaging production line | |
| CN208007408U (en) | A kind of automatic production line for urine cup packaging | |
| CN215418262U (en) | Preparation system for fuel cell | |
| CN213008998U (en) | Carbide blade dress box system under vision system control | |
| CN209905827U (en) | Bottle stacking machine for beer glass bottles | |
| CN210192019U (en) | Automatic packaging film corner cutting machine for packaging box | |
| CN112758443A (en) | Automatic packaging system suitable for engineering plastic accessories | |
| CN116374303B (en) | Biological freeze-drying microsphere assembly device and biological freeze-drying microsphere assembly machine | |
| CN216376113U (en) | Automatic material collecting device for punching circular aluminum plate | |
| CN217837470U (en) | Battery module steel band packing apparatus | |
| CN213735658U (en) | Full-automatic packaging line of iron powder trade | |
| CN219487826U (en) | Specification material loading subassembly | |
| CN215884281U (en) | Bag feedway is used in kit packing | |
| CN217649734U (en) | Automatic conveying and feeding mechanism for packaging bags | |
| CN210943758U (en) | Multi-cavity bag tray unloading machine | |
| CN215044323U (en) | Passing product blanking assembly and inductance coil detection packaging device | |
| CN217673626U (en) | Centrifuge tube packaging machine | |
| CN215155899U (en) | Hose seals membrane and twists lid all-in-one | |
| CN220701526U (en) | Automatic packaging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211001 |