CN218560338U

CN218560338U - Automatic boxing equipment

Info

Publication number: CN218560338U
Application number: CN202223161003.2U
Authority: CN
Inventors: 林真权; 汪畅; 卢建彬; 毛彬全; 孔德焰
Original assignee: Foshan Hannan Intelligent Equipment Co ltd
Current assignee: Foshan Hannan Intelligent Equipment Co ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-03-03
Anticipated expiration: 2032-11-28

Abstract

The utility model discloses an automatic vanning equipment, including grabbing case manipulator mechanism, it includes the manipulator to grab case manipulator mechanism, the manipulator includes the mounting bracket, first grabhook, the second grabhook, first guide rail, the second guide rail, first driver and a plurality of second driver, first guide rail and second guide rail all are provided with two at least, two first guide rails all are fixed in the right side of mounting bracket front end, two second guide rails all are fixed in the left side of mounting bracket front end, but install in two first guide rails the installation department of first grabhook horizontal slip, but install in two second guide rails the installation department of second grabhook horizontal slip, first driver is fixed in the installation department of first grabhook, the drive shaft of first driver is fixed in the installation department of second grabhook, the installation department of first grabhook and second grabhook is fixed with the second driver respectively. This application has been solved and has been used traditional manipulator to snatch the in-process article case of article case and drop because of the manipulator snatchs the shakiness, leads to the problem of article case damage.

Description

Automatic boxing equipment

Technical Field

The utility model relates to a manipulator snatchs technical field, specifically is an automatic vanning equipment.

Background

In the process of packing and transporting the articles, the types of the articles are firstly identified and classified, then the articles of the same type are loaded into the same box for packaging, and finally the articles packed in the box are grabbed by the manipulator and stacked on a conveying line for transportation. In the process of grabbing the article box by using the traditional manipulator, the article box often falls off due to unstable grabbing of the manipulator, and the article box is damaged.

SUMMERY OF THE UTILITY MODEL

To the above defect, the utility model provides an automatic vanning equipment, aim at have solved the in-process that uses traditional manipulator to snatch the article case, and the article case often can drop because the manipulator snatchs the shakiness, leads to the problem that the article case damaged.

To achieve the purpose, the utility model adopts the following technical proposal:

the automatic boxing equipment comprises a boxing conveying frame, a box grabbing manipulator mechanism, manipulator conveying rails and belt conveying lines, wherein a plurality of boxing conveying frames are arranged;

the box grabbing mechanical arm mechanism is arranged on the mechanical arm conveying rail in a left-right moving mode, and the belt conveying line is arranged on the rear side of the left end of the mechanical arm conveying rail;

the box grabbing manipulator mechanism comprises a manipulator, the manipulator comprises a mounting frame, a first gripper, a second gripper, a first guide rail, a second guide rail, a first driver, a plurality of second drivers, a first gripper mounting frame and a second gripper mounting frame, at least two first guide rails and at least two second guide rails are arranged, and the first guide rails and the second guide rails are arranged along the left and right directions;

the two first guide rails are fixed on the right side of the front end of the mounting frame, the two second guide rails are fixed on the left side of the front end of the mounting frame, the first gripper mounting frame is installed at the rear end of the first gripper, and the first gripper is installed on the two first guide rails in a left-right sliding mode through the first gripper mounting frame; the second gripper mounting frame is mounted at the rear end of the second gripper, the second gripper is mounted on the two second guide rails in a left-right sliding mode through the second gripper mounting frame, the first driver is fixed to the first gripper mounting frame, the driving shaft of the first driver is fixed to the second gripper mounting frame, the first gripper mounting frame and the second gripper mounting frame are respectively fixed with the second driver, and the driving shaft of the second driver can touch the front end of the mounting frame.

Preferably, the second driver is mounted at a rear end of the mounting bracket.

Preferably, still include and press from both sides the case subassembly, press from both sides the case subassembly and include two splint and two third drivers, two splint install respectively in the vanning carriage left and right sides, two the drive shaft of third driver is fixed in two respectively splint.

Preferably, the height of the boxing transport frame is gradually reduced from front to back.

Preferably, the box grabbing manipulator mechanism further comprises a base and a mechanical arm, one end of the mechanical arm is rotatably connected to the base, and the other end of the mechanical arm is connected with the top end of the mounting rack.

Preferably, the device further comprises a sliding base, a fourth driver, a rack and a gear; the rack is arranged inside the manipulator conveying track from left to right, the sliding base can be arranged on the manipulator conveying track in a left-right sliding mode, the base is fixed on the sliding base, the fourth driver is vertically arranged on the sliding base, a driving shaft of the fourth driver penetrates through the top surface and the bottom surface of the sliding base, the driving shaft of the fourth driver is fixed with the gear, and the gear is meshed with the rack.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

1. through setting up in this scheme grab punch-out equipment manipulator mechanism can realize snatching and placing the automation of article case, can effectively improve the efficiency of vanning, saves the labour.

2. Through setting up first driver and second driver, can realize first gripper and the second gripper steadily snatch the article case, prevent that the article case from dropping easily.

Drawings

FIG. 1 is a schematic view of the construction of an automatic boxing apparatus;

FIG. 2 is an enlarged view of a portion of area A of FIG. 1;

FIG. 3 is a schematic structural diagram of one embodiment of the present invention;

FIG. 4 is a schematic view of the robot;

fig. 5 is a schematic structural diagram of an embodiment of the present invention;

fig. 6 is a schematic view of the structure of the first gripper mounting.

Wherein, 1, a boxing conveying frame; 2. a box grabbing manipulator mechanism; 3. a manipulator conveying track; 4. a belt conveyor line; 5. a box clamping assembly; 6. a sliding base; 7. a fourth driver; 8. a rack; 9. a gear; 10. a guide roller; 21. a base; 22. a mechanical arm; 23. a manipulator; 51. a splint; 52. a third driver; 231. a mounting frame; 232. a first gripper; 233. a second gripper; 234. a first guide rail; 235. a second guide rail; 236. a first driver; 237. a second driver; 238. a first gripper mounting; 239. a second gripper mounting bracket.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the drawings.

In the description of the present invention, it is to be understood that the terms "length", "middle", "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "spliced" and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

An automatic boxing device comprises a boxing conveying frame 1, a box grabbing manipulator mechanism 2, manipulator conveying rails 3 and a belt conveying line 4, wherein a plurality of boxing conveying frames 1 are arranged;

the box packing conveying frames 1 are arranged side by side from left to right, the box packing conveying frames 1 are used for conveying article boxes, the manipulator conveying rails 3 are arranged on the rear sides of the box packing conveying frames 1, the manipulator conveying rails 3 are arranged in the left-right direction, the box grabbing manipulator mechanism 2 is arranged on the manipulator conveying rails 3 in a manner of moving left and right, and the belt conveying line 4 is arranged on the rear side of the left end of the manipulator conveying rails 3;

the box grabbing manipulator mechanism 2 comprises a manipulator 23, wherein the manipulator 23 comprises a mounting frame 231, a first gripper 232, a second gripper 233, a first guide rail 234, a second guide rail 235, a first driver 236, a plurality of second drivers 237, a first gripper mounting frame 238 and a second gripper mounting frame 239, at least two first guide rails 234 and at least two second guide rails 235 are arranged, and the first guide rails 234 and the second guide rails 235 are arranged along the left-right direction;

the two first rails 234 are fixed to the right side of the front end of the mounting frame 231, the two second rails 235 are fixed to the left side of the front end of the mounting frame 231, the first gripper mounting frame 238 is mounted to the rear end of the first gripper 232, and the first gripper 232 is slidably mounted to the two first rails 234 left and right by the first gripper mounting frame 238; the second gripper mounting bracket 239 is mounted at the rear end of the second gripper 233, the second gripper 233 is slidably mounted on the two second rails 235 left and right by the second gripper mounting bracket 239, the first driver 236 is fixed to the first gripper mounting bracket 238, the driving shaft of the first driver 236 is fixed to the second gripper mounting bracket 239, the second driver 237 is fixed to each of the first gripper mounting bracket 238 and the second gripper mounting bracket 239, and the driving shaft of the second driver 237 can touch the front end of the mounting bracket 231.

In the automatic boxing equipment of the scheme, as shown in fig. 1 and 4, boxes filled with the same kind of articles are transported to the rear end of the boxing conveying frame 1 from the front end of the boxing conveying frame 1 through the guide rollers 10 of the boxing conveying frame 1. At this time, the box grabbing manipulator mechanism 2 grabs the article box. Specifically, in this embodiment, the first driver 236 and the second driver 237 are both air cylinders, and two first guide rails 234 and two second guide rails 235 are provided. Activating the first actuator 236, with the first actuator 236 fixed to the first gripper mounting bracket 238 and the drive shaft of the first actuator 236 fixed to the second gripper mounting bracket 239, allows the first gripper 232 to slide left and right along the two first rails 234 and the second gripper 233 to slide left and right along the two second rails 235, which is effective to adjust the distance between the first gripper 232 and the second gripper 233 to further grip the article box. In the process of grabbing the article box, the first gripper 232 and the second gripper 233 are often prone to shake left and right, and since the second driver 237 is fixed to the first gripper mounting frame 238 and the second gripper mounting frame 239 respectively, the driving shaft of the second driver 237 can touch the front end of the mounting frame 231, the second driver 237 is started, so that the driving shaft of the second driver 237 can be abutted against the front end of the mounting frame 231, the first gripper 232 and the second gripper 233 are further fixed, the first gripper 232 and the second gripper 233 are prevented from shaking left and right, and the article box is grabbed more stably.

After stably grabbing the article case, grab punch-out equipment manipulator mechanism 2 along manipulator conveying track 3 moves from right to left, moves to manipulator conveying track 3's left end, grab punch-out equipment manipulator mechanism 2 with the article case put things in good order belt conveyor line 4 accomplishes automatic vanning.

Further, the first gripper mount 238 is configured as shown in FIG. 6, the first gripper mount 238 is configured to mount the first gripper 232, the second gripper mount 239 is configured in accordance with the first gripper mount 238, and the second gripper mount 239 is configured to mount the second gripper 233.

Through setting up in this scheme grab punch-out equipment manipulator mechanism 2, can realize snatching and placing the automation of article case, can effectively improve the efficiency of vanning, save the labour. By providing the first driver 236 and the second driver 237, the first gripper 232 and the second gripper 233 can stably grip the article box, preventing the article box from easily falling.

Preferably, the second driver 237 is installed at the rear end of the mounting bracket 231.

In this embodiment, as shown in fig. 4 and 5, four second drivers 237 are provided, two of the second drivers 237 are respectively fixed to the mounting portions of the first gripper 232 and the second gripper 233, and the other two second drivers 237 are both mounted at the rear end of the mounting frame 231. In this embodiment, the width of the article box is 400cm and 600cm, when the first gripper 232 and the second gripper 233 grab the article box with the width of 400cm, the driving shafts of the two second drivers 237 are both in an extended state, so that the first gripper 232 and the second gripper 233 can be effectively prevented from moving close to each other, and the distance between the first gripper 232 and the second gripper 233 is ensured to be smaller than the width of the packing conveyor 1. The drive shafts of both of the second actuators 237 are then retracted, allowing the first gripper 232 and the second gripper 233 to continue to move closer together, gripping the article box.

Preferably, the boxing device further comprises a clamping assembly 5, wherein the clamping assembly 5 comprises two clamping plates 51 and two third drivers 52, the two clamping plates 51 are respectively installed at the left side and the right side of the boxing conveying frame 1, and driving shafts of the two third drivers 52 are respectively fixed on the two clamping plates 51.

In this embodiment, as shown in fig. 2, the third driver 52 is an air cylinder, when a plurality of article boxes are transported on the packing carriage 1 from the front end to the rear end at a time, the article box located in front may collide with the article box located in rear, which affects normal grasping of the article box located in rear by the box grasping robot 2, at this time, the third driver 52 fixed to the two clamp plates 51 is activated to drive the two clamp plates 51 to approach each other, so as to clamp the article box located in front, thereby preventing the article box located in front from colliding with the article box located in rear, and stabilizing grasping of the article box located in rear.

Preferably, the height of the boxing transport frame 1 is gradually reduced from front to back.

Specifically, as shown in fig. 1, the height of the boxing transport frame 1 is gradually reduced from front to back, so that the article boxes on the boxing transport frame 1 are automatically transported under the action of gravity.

Preferably, the box grabbing manipulator mechanism 2 further comprises a base 21 and a mechanical arm 22, one end of the mechanical arm 22 is rotatably connected to the base 21, and the other end of the mechanical arm 22 is connected to the top end of the mounting frame 231.

In this embodiment, as shown in fig. 3, the base 21 is arranged to enable the robot arm 22 to support and rotate more stably, and the robot arm 22 is arranged to enable the robot arm 23 to move to any position, so that the robot arm 23 can grab and stack the article boxes.

Preferably, the device further comprises a sliding base 6, a fourth driver 7, a rack 8 and a gear 9; the rack 8 is arranged inside the manipulator conveying track 3 from left to right, the sliding base 6 is arranged on the manipulator conveying track 3 in a left-right sliding manner, the base 21 is fixed on the sliding base 6, the fourth driver 7 is vertically arranged on the sliding base 6, a driving shaft of the fourth driver 7 penetrates through the top surface and the bottom surface of the sliding base 6, the gear 9 is fixed on the driving shaft of the fourth driver 7, and the gear 9 is meshed with the rack 8.

In this embodiment, as shown in fig. 3, the fourth driver 7 is a motor, and when the box grabbing manipulator mechanism 2 grabs the article box, the fourth driver 7 is activated, the fourth driver 7 drives the gear 9 to rotate, the gear 9 moves left and right along the rack 8, so that the slide base 6 can slide left and right on the manipulator conveying rail 3, and the box grabbing manipulator mechanism 2 can stack the article box on the belt conveying line 4.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive step, and these embodiments are all intended to fall within the scope of the present invention.

Claims

1. The utility model provides an automatic vanning equipment which characterized in that: the box packing machine comprises a box packing conveying frame, a box grabbing manipulator mechanism, manipulator conveying rails and belt conveying lines, wherein a plurality of box packing conveying frames are arranged;

the two first guide rails are fixed on the right side of the front end of the mounting frame, the two second guide rails are fixed on the left side of the front end of the mounting frame, the first gripper mounting frame is mounted at the rear end of the first gripper, and the first gripper is mounted on the two first guide rails in a left-right sliding manner through the first gripper mounting frame; the second gripper mounting frame is mounted at the rear end of the second gripper, the second gripper is mounted on the two second guide rails in a left-right sliding mode through the second gripper mounting frame, the first driver is fixed to the first gripper mounting frame, the driving shaft of the first driver is fixed to the second gripper mounting frame, the first gripper mounting frame and the second gripper mounting frame are respectively fixed with the second driver, and the driving shaft of the second driver can touch the front end of the mounting frame.

2. An automatic boxing apparatus in accordance with claim 1, wherein: the second driver is installed at the rear end of the mounting frame.

3. An automatic boxing apparatus in accordance with claim 1, wherein: still including pressing from both sides the case subassembly, press from both sides the case subassembly and include two splint and two third drivers, two splint install respectively in the vanning carriage left and right sides, two the drive shaft of third driver is fixed in two respectively splint.

4. An automatic boxing apparatus in accordance with claim 1, wherein: the height of the boxing transport frame is gradually reduced from front to back.

5. An automatic boxing apparatus in accordance with claim 1, wherein: the box grabbing manipulator mechanism further comprises a base and a mechanical arm, one end of the mechanical arm is rotatably connected to the base, and the other end of the mechanical arm is connected with the top end of the mounting rack.

6. An automatic boxing apparatus in accordance with claim 5, wherein: the device also comprises a sliding base, a fourth driver, a rack and a gear; the rack is arranged inside the manipulator conveying track from left to right, the sliding base can be arranged on the manipulator conveying track in a left-right sliding mode, the base is fixed on the sliding base, the fourth driver is vertically arranged on the sliding base, a driving shaft of the fourth driver penetrates through the top surface and the bottom surface of the sliding base, the driving shaft of the fourth driver is fixed with the gear, and the gear is meshed with the rack.