CN210480210U - Unstacking and grabbing device matched with robot - Google Patents
Unstacking and grabbing device matched with robot Download PDFInfo
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- CN210480210U CN210480210U CN201920405456.4U CN201920405456U CN210480210U CN 210480210 U CN210480210 U CN 210480210U CN 201920405456 U CN201920405456 U CN 201920405456U CN 210480210 U CN210480210 U CN 210480210U
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Abstract
The utility model discloses a match in grabbing device that breaks a jam of robot, include: mounting bracket, one side of mounting bracket is provided with vacuum chuck subassembly and sucking disc lift actuating mechanism, sucking disc lift actuating mechanism is used for driving on the vacuum chuck subassembly, go up and down, vacuum chuck in the vacuum chuck subassembly can firmly adsorb on the side of the single package material in becoming the buttress material, the top of vacuum chuck subassembly is provided with the clamp plate, the clamp plate is driven by clamp plate lift actuating mechanism, the clamp plate can downstream keep off the top at the single package material of being adsorbed by vacuum chuck to pressing, the both sides of tip are provided with the slide rail respectively under the mounting bracket, all be provided with the slider on the slide rail of every side, the bottom of mounting bracket is provided with takes out the board, take out board and slider fixed connection, still be provided with on the mounting bracket and take out. The utility model has the advantages that: can cooperate the robot to realize snatching single package material to unstacking has saved a large amount of manpowers, has improved the efficiency of unstacking again greatly.
Description
Technical Field
The utility model relates to a beverage package production facility technical field, concretely relates to grabbing device breaks a jam.
Background
With the continuous development of the beverage industry, the variety and the specification of the beverage are more and more. In order to facilitate the distinction, beverages are generally stacked according to types and specifications in the storage process. Beverage bottles are usually packed as single packs of material which are then stacked into a complete stack of material.
When the beverage that the stack is good is loading, usually all break a jam through the manual work, and this kind of mode of breaking a jam is not only intensity of labour big, and the inefficiency of breaking a jam simultaneously to the people leads to the loading inefficiency.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that needs to solve is: the utility model provides a match in unstacking grabbing device of robot, it can effectively improve the efficiency of unstacking.
In order to solve the above problem, the utility model adopts the following technical scheme: a destacking gripping device adapted to be coupled to a robot, comprising: the vacuum sucking disc lifting driving mechanism is used for driving the vacuum sucking disc assembly to lift up and down, the vacuum sucking discs in the vacuum sucking disc assembly can be firmly adsorbed on the side surfaces of single-package materials in stacked materials, a pressing plate is arranged above the vacuum sucking disc assembly and driven by the pressing plate lifting driving mechanism, the pressing plate driving mechanism can drive the pressing plate to lift up and down, the pressing plate can move downwards to be pressed and blocked at the top of the single-package materials adsorbed by the vacuum sucking discs, sliding rails are respectively arranged on two sides of the lower end of the mounting frame, a sliding block is arranged on each sliding rail, a drawing plate is arranged at the bottom of the mounting frame and fixedly connected with the sliding blocks, a drawing plate driving mechanism is further arranged on the mounting frame and can drive the drawing plate to slide outwards from the bottom of the mounting frame and be positioned below the single-package materials adsorbed by the vacuum sucking discs, Or slide inward to retract to the bottom of the mount.
Further, aforementioned a suit is in grabbing device that breaks a jam of robot, wherein, the vacuum chuck subassembly includes: the vacuum sucker is arranged on the sucker mounting plate; the sucking disc lifting drive mechanism includes: two installation axles that set up from top to bottom all are provided with two synchronous pulley on every installation axle, and the one-to-one about the synchronous pulley all is provided with the hold-in range on every corresponding pair of synchronous pulley, and the installation axle that is located the top is by motor drive, the hold-in range all with sucking disc mounting panel fixed connection, the hold-in range can drive the sucking disc mounting panel under the drive of motor and reciprocate.
Furthermore, the unstacking and grabbing device matched with the robot is characterized in that the mounting frames on two sides of the sucker mounting plate are respectively and vertically provided with a guide slide rail, each guide slide rail is provided with a guide slide block, each guide slide block is fixedly connected with the sucker mounting plate, and the sucker mounting plate vertically moves up and down under the guide of the guide slide rails.
Further, aforementioned a match is in grabbing device that breaks a jam of robot, wherein, clamp plate lift drive mechanism includes: the lead screw is movably arranged on the mounting frame, a nut is arranged on the lead screw, the nut is fixedly connected with the pressing plate, the lead screw is driven by a rotary driving motor, the rotary driving motor drives the lead screw to come and rotate, and therefore the nut can be driven to drive the pressing plate to move up and down.
Further, aforementioned grabbing device that breaks a jam that fits in robot, wherein, the outside of clamp plate is provided with the baffle, the baffle includes that baffle connecting portion and baffle protect fender portion, the top of clamp plate is provided with top slide rail and push-and-pull cylinder, be provided with the top slider on the slide rail of top, baffle connecting portion and top slider fixed connection, push-and-pull cylinder links to each other with the baffle, under push-and-pull cylinder's drive, the baffle protects fender portion can be to keeping away from the clamp plate direction or being close to clamp plate direction round trip movement, when the baffle protects fender portion and is close to the motion of clamp plate direction, the baffle protects fender portion can closely protect the fender in the outside at the adsorbed single-packet material of vacuum chuck.
Still further, in the unstacking and grabbing device matched with the robot, the bottom of the pressing plate and the inner side of the baffle blocking part are both provided with the protection plates made of elastic materials.
Still further, the unstacking and grabbing device matched with the robot comprises a pulling plate driving mechanism, wherein the pulling plate driving mechanism is a pulling plate driving cylinder, and a piston rod of the pulling plate driving cylinder is connected with the pulling plate.
The utility model has the advantages that: the structure is simple, and the manufacture and the installation are very convenient. Secondly, can cooperate the robot to realize snatching single package material to unstacking has saved a large amount of manpowers, has improved the efficiency of unstacking again greatly. Thirdly, the inner side, the bottom and the top of the single-pack material are clamped in all directions, so that the single-pack material is firmly grabbed, and the unstacking efficiency is further improved.
Drawings
Fig. 1 is a schematic structural view of a unstacking and grabbing device matched with a robot in the utility model.
Fig. 2 is a schematic structural view of the unstacking and gripping device matched with the robot shown in the right-hand direction of fig. 1.
Fig. 3 is a schematic view of the structure shown in the sectional direction a-a in fig. 2.
FIG. 4 is a schematic view of the structure shown in the sectional direction B-B in FIG. 3.
Figure 5 is a schematic view of a complete stack of material.
Detailed Description
The invention will be described in further detail with reference to the drawings and preferred embodiments.
As shown in fig. 1, 2, 3 and 4, the unstacking gripping device matched with a robot comprises: a vacuum chuck 21 among the vacuum chuck subassembly 2 can firmly adsorb on the side of single package material 3 in whole buttress material 30, and sucking disc lift actuating mechanism is used for driving vacuum chuck subassembly 2 to go up and down, and vacuum chuck 21 among the vacuum chuck subassembly 2 is provided with vacuum chuck subassembly 2 and sucking disc lift actuating mechanism for being connected with the robot in one side of mounting bracket 1. The pressing plate 4 is arranged above the vacuum sucker component 2, the pressing plate 4 is driven by the pressing plate lifting driving mechanism, the pressing plate driving mechanism can drive the pressing plate 4 to lift up and down, and the pressing plate 4 can move downwards to press and block the top of the single-package material 3 adsorbed by the vacuum sucker 21. The both sides of tip are provided with slide rail 52 respectively under the mounting bracket 1, all be provided with slider 51 on the slide rail 52 of every side, the bottom of mounting bracket 1 is provided with takes out board 5, take out board 5 and slider 51 fixed connection, still be provided with on the mounting bracket 1 and take out board actuating mechanism, take out board actuating mechanism and can drive and take out board 5 and outwards slide and be located the below of the adsorbed single package material 3 of vacuum chuck 21 from the bottom of mounting bracket 1, or inwards slide and retrieve the bottom of mounting bracket 1. In this embodiment, the drawing plate driving mechanism is a drawing plate driving cylinder 53, and a piston rod of the drawing plate driving cylinder 53 is connected to the drawing plate 5. The piston rod of the drawing plate driving cylinder 53 extends outwards to drive the drawing plate 5 to move outwards, and the piston rod of the drawing plate driving cylinder 53 retracts inwards to drive the drawing plate 5 to retract to the bottom of the mounting frame 1.
In this embodiment, the vacuum chuck assembly 2 includes: a suction cup mounting plate 22 and a plurality of vacuum suction cups 21, the vacuum suction cups 21 being mounted on the suction cup mounting plate 22. The sucking disc lifting drive mechanism includes: two installation axles 23 that set up from top to bottom all are provided with two synchronous pulley on every installation axle 23, and the one-to-one about the synchronous pulley all is provided with hold-in range 24 on every corresponding a pair of synchronous pulley, and the installation axle 23 that is located the top is driven by motor 25, hold-in range 24 all be connected with sucking disc mounting panel 22, synchronous belt 24 can drive sucking disc mounting panel 22 and reciprocate under the drive of motor 25. The adsorption principle of the vacuum sucker 21 is simple, the vacuum sucker 21 adopts the principle of vacuum negative pressure to adsorb, the vacuum sucker is communicated with the vacuum generating device, and negative pressure can be generated in the vacuum sucker when air in the vacuum sucker is sucked away, so that the material can be adsorbed.
Still vertically respectively being provided with a direction slide rail 26 on the mounting bracket 1 of sucking disc mounting panel 22 both sides, all being provided with direction slider 27 on every direction slide rail 26, every direction slider 27 all with sucking disc mounting panel 22 fixed connection, sucking disc mounting panel 22 under the direction of direction slide rail 26 vertical upper and lower motion.
In this embodiment, the pressure plate lifting drive mechanism includes: the lead screw 41 is movably arranged on the mounting frame 1, a nut 42 is arranged on the lead screw 41, the nut 42 is fixedly connected with the pressure plate 4, the lead screw 41 is driven by a rotary driving motor 43, and the rotary driving motor 43 drives the lead screw 41 to rotate, so that the nut 42 can be driven to drive the pressure plate 4 to move up and down.
The outside of clamp plate 4 is provided with baffle 6, baffle 6 includes that baffle connecting portion 61 and baffle protect fender portion 62, the top of clamp plate 4 is provided with top slide rail 63 and push-and-pull cylinder 65, be provided with top slider 64 on the top slide rail 63, baffle connecting portion 61 and top slider 64 fixed connection, push-and-pull cylinder 65 links to each other with the baffle, under push-and-pull cylinder 65's drive, the baffle protects fender portion 62 can be to keeping away from clamp plate 4 direction or being close to clamp plate 4 direction round trip movement, when the baffle protects fender portion 62 and is close to clamp plate 4 direction motion, the baffle protects fender portion 62 and can protect the fender in the outside of the single package material 3 that is adsorbed by vacuum chuck 21. In order to improve the shielding effect, in this embodiment, the bottom of the pressing plate 4 is provided with a pressing plate protecting plate 44 made of an elastic material, and the inner side of the baffle shielding portion 62 is provided with a baffle protecting plate 621 made of an elastic material.
The working principle is as follows: the mounting frame 1 is mounted on the robot. After the entire stack of material 30 has been delivered to the gripping station, gripping of the single packs of material 3 begins, typically from the top. The specific grabbing steps are as follows: firstly, the robot acts to make the sucker mounting plate 22 close to the target single-package material 3, the synchronous belt 24 drives the sucker mounting plate 22 to move up and down under the driving of the motor 25, so that the vacuum sucker 21 accurately moves to the outer side of the target single-package material 3, and the vacuum sucker 21 is firmly adsorbed on the outer side wall of the single-package material 3. The vacuum cups 21 are then moved upwards by the motor 25, thereby releasing the bottom of the single bales 3 from the stack. Then, the drawing plate driving cylinder 53 drives the drawing plate 5 to extend outwards until the drawing plate 5 is located below the adsorbed single-package material 3, the driving synchronous belt 24 of the motor 25 drives the suction cup mounting plate 22 to move downwards, so that the bottom of the adsorbed single-package material 3 falls onto the drawing plate 5, and at the moment, the vacuum suction cup 21 is kept in an adsorption state on the single-package material 3. Then, the rotary driving motor 43 acts to drive the screw rod 41 to rotate, so that the pressing plate 4 moves downwards until the pressing plate protection plate 44 at the bottom of the pressing plate 4 is tightly pressed on the top of the single-packet material 3; meanwhile, the push-pull air cylinder 65 acts to drive the baffle 6 to act until the baffle protection plate 621 on the inner side of the baffle protection part 62 is tightly pressed on the outer side of the single-package material, so that the single-package material 3 is grabbed. Finally, the robot acts to deliver the gripped single packs of material 3, so that the unstacking of the entire stack of material 30 can be completed quickly.
The utility model has the advantages that: the structure is simple, and the manufacture and the installation are very convenient. Secondly, can cooperate the robot to realize snatching single package material 3 to the unstacking has saved a large amount of manpowers, has improved the efficiency of unstacking again greatly. Thirdly, the inner side, the bottom and the top of the single-package material 3 are clamped in all directions, so that the grabbing is firm, and the unstacking efficiency is further improved.
Claims (7)
1. A destacking gripping device adapted to be coupled to a robot, comprising: mounting bracket, its characterized in that: one side of the mounting rack is provided with a vacuum sucker component and a sucker lifting driving mechanism, the sucker lifting driving mechanism is used for driving the vacuum sucker component to lift up and down, the vacuum sucker in the vacuum sucker component can be firmly adsorbed on the side surface of a single-package material in a stacked material, a pressing plate is arranged above the vacuum sucker component and driven by the pressing plate lifting driving mechanism, the pressing plate driving mechanism can drive the pressing plate to lift up and down, the pressing plate can move downwards to the position where the pressing plate is pressed and blocked at the top of the single-package material adsorbed by the vacuum sucker, two sides of the lower end of the mounting rack are respectively provided with a sliding rail, a sliding block is arranged on each sliding rail, the bottom of the mounting rack is provided with a drawing plate, the drawing plate is fixedly connected with the sliding blocks, the mounting rack is also provided with a drawing plate driving mechanism, the drawing plate driving mechanism can drive the drawing plate to slide outwards from the bottom, Or slide inward to retract to the bottom of the mount.
2. The unstacking gripping device matched with a robot as claimed in claim 1, wherein: the vacuum chuck subassembly includes: the vacuum sucker is arranged on the sucker mounting plate; the sucking disc lifting drive mechanism includes: two installation axles that set up from top to bottom all are provided with two synchronous pulley on every installation axle, and the one-to-one about the synchronous pulley all is provided with the hold-in range on every corresponding pair of synchronous pulley, and the installation axle that is located the top is by motor drive, the hold-in range all with sucking disc mounting panel fixed connection, the hold-in range can drive the sucking disc mounting panel under the drive of motor and reciprocate.
3. The unstacking gripping device matched with a robot as claimed in claim 2, wherein: still vertically respectively being provided with a direction slide rail on the mounting bracket of sucking disc mounting panel both sides, all being provided with the direction slider on the every direction slide rail, every direction slider all with sucking disc mounting panel fixed connection, the sucking disc mounting panel vertical up-and-down motion under the direction of direction slide rail.
4. A de-stacking and gripping device for a robot as claimed in claim 1, 2 or 3, wherein: the pressing plate lifting driving mechanism comprises: the lead screw is movably arranged on the mounting frame, a nut is arranged on the lead screw, the nut is fixedly connected with the pressing plate, the lead screw is driven by a rotary driving motor, the rotary driving motor drives the lead screw to come and rotate, and therefore the nut can be driven to drive the pressing plate to move up and down.
5. A de-stacking and gripping device for a robot as claimed in claim 1, 2 or 3, wherein: the outside of clamp plate is provided with the baffle, the baffle includes that baffle connecting portion and baffle protect fender portion, the top of clamp plate is provided with top slide rail and push-and-pull cylinder, be provided with the top slider on the slide rail of top, baffle connecting portion and top slider fixed connection, push-and-pull cylinder links to each other with the baffle, under push-and-pull cylinder's drive, the baffle protects fender portion can be to keeping away from the clamp plate direction or be close to clamp plate direction round trip movement, when the baffle protects fender portion and is close to the motion of clamp plate direction, the baffle protects fender portion can closely protect the outside of keeping off at the adsorbed single package material.
6. The unstacking gripping device matched with a robot as claimed in claim 5, wherein: the bottom of the pressing plate and the inner side of the baffle plate blocking part are both provided with a protective plate made of elastic materials.
7. A de-stacking and gripping device for a robot as claimed in claim 1, 2 or 3, wherein: the drawing plate driving mechanism is a drawing plate driving cylinder, and a piston rod of the drawing plate driving cylinder is connected with the drawing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920405456.4U CN210480210U (en) | 2019-03-28 | 2019-03-28 | Unstacking and grabbing device matched with robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920405456.4U CN210480210U (en) | 2019-03-28 | 2019-03-28 | Unstacking and grabbing device matched with robot |
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| Publication Number | Publication Date |
|---|---|
| CN210480210U true CN210480210U (en) | 2020-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920405456.4U Active CN210480210U (en) | 2019-03-28 | 2019-03-28 | Unstacking and grabbing device matched with robot |
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| Country | Link |
|---|---|
| CN (1) | CN210480210U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911635A (en) * | 2019-03-28 | 2019-06-21 | 江苏新美星包装机械股份有限公司 | A kind of de-stacking grabbing device being matched in robot |
| CN112079297A (en) * | 2020-09-04 | 2020-12-15 | 浙江国芯科技有限公司 | Remotely-controllable electric cart |
-
2019
- 2019-03-28 CN CN201920405456.4U patent/CN210480210U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911635A (en) * | 2019-03-28 | 2019-06-21 | 江苏新美星包装机械股份有限公司 | A kind of de-stacking grabbing device being matched in robot |
| CN109911635B (en) * | 2019-03-28 | 2024-07-02 | 江苏新美星包装机械股份有限公司 | Unstacking and grabbing device matched with robot |
| CN112079297A (en) * | 2020-09-04 | 2020-12-15 | 浙江国芯科技有限公司 | Remotely-controllable electric cart |
| CN112079297B (en) * | 2020-09-04 | 2022-05-20 | 浙江国芯科技有限公司 | Remotely-controllable electric cart |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220401 Address after: 215600 South District of Zhangjiagang Economic Development Zone, Suzhou City, Jiangsu Province (Xinjing East Road) Patentee after: Jiangsu xinmeixing Industrial Research Institute Co.,Ltd. Address before: 215600 Jiangsu xinmeixing Packaging Machinery Co., Ltd., Xinjing East Road, South District, Zhangjiagang Economic Development Zone, Suzhou City, Jiangsu Province Patentee before: JIANGSU NEWAMSTAR PACKAGING MACHINERY Co.,Ltd. |