CN215095936U - Carton board snatchs manipulator - Google Patents
Carton board snatchs manipulator Download PDFInfo
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- CN215095936U CN215095936U CN202120648622.0U CN202120648622U CN215095936U CN 215095936 U CN215095936 U CN 215095936U CN 202120648622 U CN202120648622 U CN 202120648622U CN 215095936 U CN215095936 U CN 215095936U
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Abstract
The utility model discloses a carton board grabbing manipulator, which belongs to the technical field of carton board production equipment and comprises a base frame, wherein a lifting cylinder is arranged on the base frame, the lifting cylinder is provided with a cylinder rod which vertically extends downwards, a vertical movable hanging rack is arranged on the cylinder rod, two linear modules are symmetrically and respectively arranged at the left side part and the right side part of the vertical movable hanging rack, each linear module is provided with a sliding block which can be horizontally moved, and a hook is arranged on the sliding block; the base frame installation is dialled the board cylinder, dials the board cylinder and locates between the sharp module of bilateral symmetry, and the jar pole of dialling the board cylinder is the same with the activity of the slider of sharp module and moves the direction, dials the jar pole installation shifting block of board cylinder, and the shifting block passes through screw thread installation screw rod driving lever, the vertical setting of axis of screw rod driving lever, and the position sensor who obtains base frame and carton board position vertical position is installed to the lower part of base frame. This manipulator can carry out one by one to the carton board and stably snatch, and grab and hold stably, can not cause harmful effects to snatching the carton board.
Description
Technical Field
The utility model belongs to the technical field of packaging product production facility, especially, relate to a carton board snatchs manipulator.
Background
The cardboard is also called corrugated cardboard, which is a basic material for making cartons. In the production and processing or transferring process, the corrugated boards are stacked vertically and in a layered manner. At present, an automatic mechanical arm capable of grabbing corrugated boards one by one is rarely arranged in the existing automatic equipment, and manual work and one-by-one moving fetching are needed in some production links. The method not only has high labor intensity, but also increases the labor cost. Vacuum chuck is the main solution of snatching face-shaped material in present automation equipment as grabbing the part, but because corrugated board single-sheet weight is little, the face is soft, and the face is attached with the dust usually, regard as grabbing the part with vacuum chuck, not only poor stability snatchs insecurely, and the face easily appears and inhales the trace, influences product quality. Other solutions need to be sought.
SUMMERY OF THE UTILITY MODEL
Problem to prior art exists, the utility model provides a carton board that does not have the problem of the automatic manipulator that is fit for carton board and snatchs among the solution prior art snatchs manipulator.
The utility model discloses a realize like this, a carton board snatchs manipulator, its characterized in that: the lifting air cylinder is arranged on the base frame, the lifting air cylinder is provided with a cylinder rod which extends downwards and vertically, the cylinder rod is provided with a vertical movable hanging frame, the left side part and the right side part of the vertical movable hanging frame are symmetrically and respectively provided with two linear modules, each linear module is provided with a sliding block which can move horizontally, and each sliding block is provided with a hook; the improved carton board pulling device is characterized in that a board pulling cylinder is installed on the base frame and is arranged between the bilaterally symmetrical straight line modules, a cylinder rod of the board pulling cylinder is identical to the moving direction of a sliding block of the straight line module, a cylinder rod installing pulling head of the board pulling cylinder is installed on the pulling head, the pulling head is installed through threads and is provided with a screw rod pulling rod, the axis of the screw rod pulling rod is vertically arranged, and a position sensor for acquiring the vertical position of the base frame and the carton board is installed on the lower portion of the base frame.
The utility model discloses a manipulator suitable for plate body snatchs is particularly useful for carton board and snatchs one by one, compares traditional manual operation, and degree of automation is high, and is efficient, reduces the cost of labor. Compared with the solution that the vacuum chuck is used as the grabbing part commonly adopted in the prior art, the technical scheme adopts the 'support' to replace the 'suction' in principle, not only is the grabbing process stable and reliable, but also the bad influence on the surface of the carton board caused by the grabbing action is avoided to the maximum extent.
In the above technical scheme, preferably, the base frame is a planar plate, the lifting cylinder is fixed at the center of the base frame, the base frame is provided with a plurality of guide holes which are arranged around the lifting cylinder, vertical guide rods are assembled in the guide holes, and the lower ends of the vertical guide rods are fixed with the vertical movable hanging frame.
In the above technical solution, preferably, the vertical movable rack is a rectangular frame.
In the above technical solution, preferably, the hook is of an L-shaped structure, the hook includes a vertical rod connected to the slider and a hook rod perpendicular to the vertical rod, the hook rod is provided with a roller, and an axis of the roller is horizontally arranged.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the vertical movable hanging rack of the present invention;
fig. 3 is a schematic structural view of the middle hook of the present invention.
In the figure, 1, a base frame; 2. a lifting cylinder; 3. a vertical movable hanging rack; 4. a vertical guide bar; 5. a linear module; 6. hooking; 7. a roller; 8. a plate shifting cylinder; 9. a shifting block; 10. and the screw rod deflector rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
For the problem of the automatic manipulator that does not have among the prior art and be fit for the carton board and snatch, the utility model particularly provides a carton board snatchs manipulator, and this manipulator can carry out one by one to the carton board and stably snatch, and grab and hold stably, can not lead to the fact harmful effects to snatching the carton board. For further explanation of the structure of the present invention, the following detailed description is made with reference to the accompanying drawings:
referring to fig. 1-3, a carton board grabbing robot includes a base frame 1, in this embodiment, the base frame 1 is a horizontal rectangular plate. The base frame 1 is used as a bearing part of other parts of the mechanical arm and can be arranged on a gantry crane of a factory building or other equipment with a transfer function. The base frame 1 is provided with a lifting cylinder 2, the lifting cylinder 2 is provided with a cylinder rod which extends and retracts vertically downwards, and the cylinder rod is provided with a vertical movable hanging frame 3. Specifically, the lifting cylinder 2 fixes the center of the base frame 1 through a screw, a plurality of guide holes are formed in the base frame 1, and the guide holes are formed by surrounding the lifting cylinder and are vertical through holes distributed in four matrixes. The vertical guide rod 4 is assembled in the guide hole, the vertical guide rod 4 can move along the vertical axis under the guide effect of the guide hole, and the vertical movable hanging frame 3 is fixed at the lower end of the vertical guide rod 4. The lifting cylinder 2 drives the vertical movable hanging rack 3 to move up and down, and the vertical guide rod 4 ensures stable action of the vertical movable hanging rack 3. In this embodiment, the vertical movable hanging rack 3 is a rectangular frame, and the middle part of the rectangular frame is a plate body part connected with the cylinder rod of the lifting cylinder 2 and the vertical guide rod 4.
Two straight line modules 5 are symmetrically and respectively installed at the left side and the right side of the vertical movable hanging rack 3, namely, the left side and the right side of the vertical movable hanging rack 3 are respectively provided with two straight line modules 5 which are vertically fixed at each side, the two straight line modules 5 at the same side are horizontally arranged in parallel, and the straight line modules 5 are conventional components. The linear module 5 is provided with a sliding block which can move horizontally and is provided with a hook 6. The hook 6 is of an L-shaped structure, the hook 6 comprises a vertical rod body connected with the sliding block and a hook rod perpendicular to the vertical rod body, and the hook rod is perpendicular to the vertical rod body and extends towards the inner side of the vertical movable hanging rack 3 to form a hook-shaped structure for hooking the carton board. Hook rods of hooks 6 arranged on the four linear modules 5 are positioned on the same horizontal plane, and the carton board supported by the hook rods is kept horizontal. In this embodiment, the roller 7 is installed on the hook rod, the axis of the roller 7 is horizontally arranged, specifically, the roller 7 which can rotate around the hook rod is installed on the hook rod through a bearing, and the design of the roller is to reduce the friction force between the hook and the supported carton board in the horizontal moving process.
The board cylinder 8 is dialled in the installation of bed frame 1, dials between the sharp module of bilateral symmetry, dials the jar pole of board cylinder 8 and moves the direction the same with the activity of the slider of sharp module, dials the jar pole installation shifting block 9 of board cylinder 8, and shifting block 9 passes through screw thread installation screw rod driving lever 10, the vertical setting of axis of screw rod driving lever 10. Specifically, the shifting plate cylinder 8 is fixed at the edge of the base frame 1 through a screw, the shifting plate cylinder 8 is provided with a cylinder rod which is horizontally stretched towards the outer side of the base frame 1, the cylinder rod is fixed with the shifting head 9 through a screw, the shifting head 9 is provided with a threaded hole in the vertical direction, a screw rod shifting rod 10 is assembled in the threaded hole, the screw rod shifting rod 10 is rotated, and the downward extending length of the screw rod shifting rod 10 can be adjusted.
The lower part of the base frame 1 is provided with a position sensor for acquiring the vertical position of the base frame 1 and the carton plate. In the present embodiment, an infrared sensor is used.
The working mode of the manipulator is as follows: the manipulator moves to the upper side of the stacked carton boards, the screw rod deflector rod and the hook are located on two sides of the upper side of the carton boards, the manipulator moves downwards, the moving position is obtained by the position sensor and set in the control system, the descending position of the manipulator requires that the lower end of the screw rod deflector rod is ensured to descend to the side portion of the top-layer carton board, and the hook rod of the hook descends to the lower side of the top-layer carton board. After the manipulator descends to the set position, the manipulator is wholly transversely moved, the screw rod driving lever pushes the top layer carton board to be transversely moved, the end part of the transversely moved carton board corresponding to the hook rod is transversely moved to the upper part of the hook rod, the vertical movable hanger is moved upwards, the hook supports the carton board to remove the end, a group of hooks on two sides support the other end of the carton board through the transverse movement, the whole bearing on the carton board is sequentially grabbed, the manipulator drives the carton board to the placing position, the hooks on two sides move in the opposite direction of the moving image away, and the manipulator places the carton.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides a carton board snatchs manipulator which characterized in that: the lifting device comprises a base frame (1), wherein a lifting cylinder (2) is installed on the base frame (1), the lifting cylinder (2) is provided with a cylinder rod which vertically stretches downwards, a vertical movable hanging frame (3) is installed on the cylinder rod, two linear modules (5) are symmetrically and respectively installed on the left side part and the right side part of the vertical movable hanging frame (3), each linear module (5) is provided with a sliding block which can move horizontally, and a hook (6) is installed on each sliding block; the utility model discloses a carton board, including bed frame (1), group, the board cylinder (8) are installed and are dialled board cylinder (8), dial between the sharp module of bilateral symmetry, the jar pole of group board cylinder (8) is the same with the activity of the slider of sharp module (5) and moves the direction, dial the jar pole installation shifting block (9) of board cylinder (8), shifting block (9) are through screw thread installation screw rod driving lever (10), the vertical setting of axis of screw rod driving lever (10), the position sensor who obtains bed frame (1) and carton board position vertical position is installed to the lower part of bed frame (1).
2. The carton board gripping robot of claim 1, wherein: the lifting mechanism is characterized in that the base frame (1) is a plane plate body, the lifting cylinder (2) is fixed at the center of the base frame (1), a plurality of guide holes are formed in the base frame (1) and are provided with rings, the lifting cylinder (2) is provided with the guide holes, vertical guide rods (4) are assembled in the guide holes, and the lower ends of the vertical guide rods (4) are fixed to the vertical movable hanging frame (3).
3. The carton board gripping robot of claim 1, wherein: the vertical movable hanging rack (3) is a rectangular frame.
4. The carton board gripping robot of claim 1, wherein: couple (6) are L shape structure, couple (6) including with the slider is connected the vertical body of rod and with vertical body of rod vertically hook rod, hook rod installation roller (7), the axis level setting of roller (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120648622.0U CN215095936U (en) | 2021-03-30 | 2021-03-30 | Carton board snatchs manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120648622.0U CN215095936U (en) | 2021-03-30 | 2021-03-30 | Carton board snatchs manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215095936U true CN215095936U (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120648622.0U Active CN215095936U (en) | 2021-03-30 | 2021-03-30 | Carton board snatchs manipulator |
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| CN (1) | CN215095936U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086728A (en) * | 2021-03-30 | 2021-07-09 | 天津市华明永盛包装制品有限公司 | Corrugated container board bearing formula is moved one by one and is got device |
-
2021
- 2021-03-30 CN CN202120648622.0U patent/CN215095936U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086728A (en) * | 2021-03-30 | 2021-07-09 | 天津市华明永盛包装制品有限公司 | Corrugated container board bearing formula is moved one by one and is got device |
| CN113086728B (en) * | 2021-03-30 | 2023-10-27 | 天津市华明集团有限公司 | Corrugated board bearing type sheet-by-sheet moving and taking device |
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