CN221163614U

CN221163614U - Flexible package clamping manipulator

Info

Publication number: CN221163614U
Application number: CN202323211651.9U
Authority: CN
Inventors: 刘日景; 刘日晓
Original assignee: Guangxi Architecture Control Intelligent Technology Co ltd
Current assignee: Guangxi Architecture Control Intelligent Technology Co ltd
Priority date: 2023-11-27
Filing date: 2023-11-27
Publication date: 2024-06-18
Anticipated expiration: 2033-11-27

Abstract

The utility model discloses a flexible package clamping manipulator, which relates to the technical field of manipulators and comprises a back plate and a flange, wherein the flange is fixedly arranged on the back plate; the support plates are arranged below the backboard at intervals parallel to the backboard, hook plates are arranged below the backboard, a first driving device is arranged below the backboard, a push plate is arranged on the support plates in a sliding mode, and a second driving device is arranged on the push plate. According to the utility model, the flexible package product is moved to the supporting plate in a way of hooking and pulling the flexible package product towards the direction of the supporting plate by utilizing the hooking plate, the flexible package is grabbed and transported by the supporting plate in a way of consigning, and the flexible package product is pushed away from the supporting plate by the pushing plate after the flexible package product is transported to a designated position by the manipulator, so that the flexible package product is taken down from the supporting plate; the situation that the flexible package product is extruded and broken when the flexible package product is grabbed is avoided, and the damage caused by uneven stress of the flexible package product in the grabbing and transferring process is avoided.

Description

Flexible package clamping manipulator

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to a flexible package clamping manipulator.

Background

The mechanical arm is a common mechanical device in the assembly line operation process, simulates the action of a human hand to automatically grasp the object, has the advantages of high accuracy and strong working continuity, and can greatly improve the production efficiency. However, a general manipulator can only clamp the solid, when the produced product is a soft package product, the soft package product is deformed in the clamping process, so that the phenomenon of unstable grabbing easily occurs, and meanwhile, if the grabbing force of the manipulator is too large, the soft package is easily crushed; and the surface of the manipulator is generally not smooth in order to improve the grabbing stability, so that the conditions of soft package damage and leakage of objects in the package easily occur under the action of gravity of the package and the clamping force of the manipulator in the process of grabbing and lifting the soft package by the manipulator.

In order to improve the grabbing stability of the manipulator to the flexible package articles and reduce the situation that the manipulator damages the flexible package when grabbing the flexible package, the flexible package clamping manipulator is provided.

Disclosure of utility model

The utility model aims to improve the grabbing stability of the manipulator on flexible package objects and reduce the damage of the flexible package when the manipulator grabs the flexible package, thereby improving the application effect of the manipulator on a flexible package production line.

The specific technical scheme is as follows:

The flexible package clamping manipulator comprises a back plate and a flange plate used for connecting a mechanical arm, wherein the flange plate is fixedly arranged on the back plate; the flexible package is characterized in that supporting plates are arranged below the back plate at intervals and parallel to the back plate, the supporting plates are used for bearing flexible package products, hook plates used for hooking the flexible package products are arranged below the back plate, first driving devices used for driving the hook plates to move linearly towards the supporting plates are arranged below the back plate, pushing plates used for pushing the flexible package products into the supporting plates are arranged on the supporting plates in a sliding mode, and second driving devices used for driving the pushing plates to move linearly are arranged on the pushing plates.

Preferably, the three sides of the supporting plate are vertically and fixedly provided with side plates, an opening is formed on one side of the supporting plate, which is not provided with the side plates, the opening faces the direction of the hook plate, and the driving directions of the first driving device and the second driving device are all along the direction of the opening of the side plates

Preferably, an arc-shaped guide block is fixed at the bottom of one side of the opening of the supporting plate, and the arc-shaped guide block is bent downwards.

Preferably, the arc-shaped guide block is made of soft rubber.

Preferably, the second driving device is horizontally mounted on the side plate.

Preferably, an inclined included angle is formed between the hook plate and the horizontal plane, the upper side of the hook plate is a straight line section, the lower side of the hook plate is an arc section, a concave opening of the arc section faces the opening direction of the side plate, the straight line section of the hook plate is rotationally connected to the first driving device and can swing up and down, and a spring is arranged between the straight line section of the hook plate and the bottom of the back plate.

Compared with the prior art, the utility model has the beneficial effects that:

1. According to the utility model, the flexible package product is moved to the supporting plate in a way of hooking and pulling the flexible package product towards the direction of the supporting plate by utilizing the hooking plate, the flexible package is grabbed and transported by the supporting plate in a way of consigning, and the flexible package product is pushed away from the supporting plate by the pushing plate after the flexible package product is transported to a designated position by the manipulator, so that the flexible package product is taken down from the supporting plate; the situation that the flexible package product is extruded and broken when the flexible package product is grabbed is avoided, and meanwhile, the hook plate, the push plate and the supporting plate are flat, so that the flexible package product is not damaged due to uneven stress of the flexible package product in the process of grabbing and transporting the flexible package product.

2. The side plates are arranged around the supporting plate, so that when the flexible package product is hooked on the supporting plate by the hook plates, the deformation of the product is prevented, the partial area of the flexible package product is separated from the hanging side of the supporting plate and extrudes the side edge of the supporting plate, the flexible package product is prevented from being scratched and damaged by the edge of the supporting plate in the transferring process, the situation that the flexible package product falls off from the supporting plate due to unstable gravity center after being deformed and partially hung is avoided, and the stability of the manipulator in transferring the flexible package product is improved.

3. The guide block is arranged at the opening side of the supporting plate, the guide block can prevent the flexible package product from contacting the side edge of the supporting plate when the flexible package product is conveyed to or pushed down from the supporting plate, the flexible package product is prevented from being scratched and damaged by the side edge of the supporting plate, the using effect of the manipulator on the flexible package product is further improved, the guide block is made of soft rubber, the flexible package product is further prevented from being scratched, the guide block is bent downwards, the guide block can deform when contacting the conveying belt, and the guide block is ensured to be clung to the conveying belt; the problem that the guide block cannot be fully contacted with the conveyor belt to cause a gap between the guide block and the conveyor belt is avoided, so that a flexible package product is deformed and clamped into the gap when being sent to the supporting plate and is damaged under the tension of the hook plate is avoided, and the stability of the manipulator in grabbing and transferring the flexible package product is further ensured.

Drawings

FIG. 1 is a perspective view of the present utility model;

fig. 2 is a perspective view of the internal structure of the present utility model;

FIG. 3 is a left side view of the present utility model;

Fig. 4 is a schematic diagram of the operation of the utility model when gripping a flexible package.

In the attached drawings, 1, a backboard; 2. a flange plate; 3. a supporting plate; 4. a hook plate; 5. a first driving device; 6. a push plate; 7. a second driving device; 8. a side plate; 9. a guide block; 10. and (3) a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The terms "first," "second," "third," and the like, if any, are used for descriptive purposes only and for distinguishing between technical features and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1 to 4, a flexible package clamping and grabbing manipulator comprises a back plate 1 and a flange plate 2, wherein the flange plate 2 is used for connecting a mechanical arm and is fixedly installed on the back plate 1; the flange plate 2 is connected with the mechanical arm, the mechanical arm controls the mechanical arm to move, the supporting plate 3 is arranged below the back plate 1 at intervals parallel to the back plate 1, the supporting plate 3 is welded with the back plate 1 together through reinforcing steel bars, the supporting plate 3 is used for bearing flexible package products, a hook plate 4 used for hooking and pulling the flexible package products is arranged below the back plate 1, a first driving device 5 used for driving the hook plate 4 to move linearly towards the direction of the supporting plate 3 is arranged below the back plate 1, the first driving device 5 can be a point-acting guide rail or an electric cylinder or other device or mechanism capable of driving objects to move linearly, a pushing plate 6 used for pushing the flexible package products into the supporting plate 3 is arranged on the supporting plate 3 in a sliding mode, the pushing plate 6 is perpendicular to the upper surface of the supporting plate 3, the working surface of the pushing plate 6 is opposite to the working surface of the hook plate 4, a second driving device 7 used for driving the pushing plate 6 to move linearly is arranged on the pushing plate 6, the second driving device 7 is identical to the first driving device 5, the first driving device 5 can be a point-acting guide rail or an electric cylinder or other device or mechanism capable of driving objects to move linearly, and the first driving device 5 is parallel to the driving direction of the driving device 7.

When the flexible packaging machine is used, the mechanical arm is used for controlling and driving the backboard 1 to move to the position right above the flexible packaging product to be transported, the flexible packaging product to be grabbed is located between the supporting plate 3 and the hook plate 4, then the mechanical arm is used for controlling the backboard 1 to move downwards until the supporting plate 3 is abutted with the conveyor belt, then the first driving device 5 is used for controlling the hook plate 4 to move towards the direction of the supporting plate 3, after the hook plate 4 moves, the flexible packaging product is hooked and pulled to the position above the supporting plate 3, then the mechanical arm is used for driving the backboard 1 and the supporting plate 3 to move towards the appointed position, and the hook plate 4 is matched with the pushing plate 6 to limit the flexible packaging product in the moving process, so that the flexible packaging product is prevented from falling. After the pallet 3 transports the flexible package product to the appointed position, the first driving device 5 drives the hook plate 4 to reset in the direction away from the pallet 3, and after the first driving device 5 resets, the second driving device 7 drives the push plate 6 to move in the direction of the hook plate 4 to push the flexible package product away from the pallet 3, so that the grabbing and transferring operation of the flexible package product is completed. Through set up layer board 3 on the manipulator and push away the flexible package product to layer board 3 top through hook plate 4, realize snatching the flexible package product, then drive layer board 3 and flexible package product by the arm and transport, because the flexible package product is kept flat on layer board 3 in the transportation process to can not take place to damage because of local atress is uneven, and push pedal 6, hook plate 4 are platy, because its area of force is great when promoting the flexible package product, also be difficult to let the flexible package product take place to damage. Meanwhile, the supporting plate 3 is used for grabbing and transferring, so that the hook plate 4 does not need to be used for forcefully extruding the flexible package product in the transferring process to improve grabbing force, and the flexible package product is further prevented from being damaged in the grabbing and transferring process.

In order to further guarantee the stability of flexible package product snatchs and in the transportation process, the trilateral vertical fixed mounting of layer board 3 has curb plate 8, and the side that curb plate 8 was not installed to layer board 3 forms the opening, and the opening is towards the direction of hook plate 4, and the drive direction of first drive arrangement 5, second drive arrangement 7 all sets up along curb plate 8 open-ended direction. Through with the trilateral enclosing of layer board 3, prevent that hook plate 4 from hooking when soft package product to layer board 3, because of the product takes place to warp, lead to the partial region of soft package product to break away from layer board 3 unsettled side of and extrusion layer board 3, avoid soft package product by layer board 3's edge fish tail damage in the transportation process, also avoid soft package product to appear because of deformation and the unstable condition that drops from layer board 3 of the unsettled back focus of part simultaneously, improved the stability when the soft package product is transported to the manipulator.

Meanwhile, an arc-shaped guide block 9 is fixed on one side of the opening of the supporting plate 3, the guide block 9 is made of soft rubber, and the arc-shaped guide block 9 is bent downwards. The guide block 9 can avoid the flexible package product from contacting the side edge of the supporting plate 3 when the flexible package product is sent to the supporting plate 3 or pushed down from the supporting plate 3, the flexible package product is prevented from being scratched and damaged by the side edge of the supporting plate 3, the using effect of the manipulator on the flexible package product is further improved, the guide block 9 is made of soft rubber, the flexible package product is further prevented from being scratched, the guide block 9 is bent downwards, the guide block 9 can deform when contacting the conveying belt, and the guide block 9 can be ensured to be clung to the conveying belt; the problem that the guide block 9 cannot fully contact the conveyor belt to cause a gap between the guide block 9 and the conveyor belt is avoided, so that a flexible package product is deformed and clamped into the gap when being sent to the upper supporting plate 3 and is damaged under the tension of the hook plate 4 is avoided, and the stability of the manipulator in grabbing and transferring the flexible package product is further ensured. In some embodiments, the rollers can be arranged on the guide blocks 9, the rotation direction of the rollers is parallel to the travelling direction of the transmission belt, the gap between the guide blocks 9 and the transmission belt can be further reduced, meanwhile, the sliding friction between the flexible package product and the guide blocks 9 is changed into rolling friction, and the stability of the manipulator in grabbing and transferring the flexible package product is ensured. Meanwhile, friction between the guide block 9 and the conveyor belt is reduced, and service lives of the guide block 9 and the conveyor belt are prolonged.

In order to avoid that the second drive means 7 occupy space of the pallet 3, leaving more space for the pallet 3 to accommodate the flexible packaged product, the second drive means 7 are mounted horizontally on the side plates 8. Simultaneously, set up second drive arrangement 7 on curb plate 8, can also avoid second drive arrangement 7 and soft package product contact, avoid soft package product to be scratched, further guaranteed the manipulator and snatched stability when transporting soft package product.

In order to further improve the result of use of manipulator, form the slope contained angle between hook plate 4 and the horizontal plane, the upside of hook plate 4 is the straightway, and the downside of hook plate 4 is the arc section, and the arc section can improve the atress condition when hook plate 4 draws flexible package product hook, and the sunken mouth of arc section is towards the opening direction of curb plate 8, and the straightway rotation of hook plate 4 is connected on first drive arrangement 5 and can swing from top to bottom, is provided with spring 10 between the straightway of hook plate 4 and the backplate 1 bottom. The trend that spring 10 kept hook plate 4 to promote downwards ensures that the arc section of hook plate 4 can both stabilize the contact conveyer belt surface when snatching the flexible packaging product, avoids hook plate 4 to only can hook the upside of flexible packaging product and can't appear with the condition that flexible packaging product pulled towards layer board 3 direction, because layer board 3 has thickness, spring 10 can also let the arc section of hook plate 4 can upwards extrude spring 10 when moving to 9 departments of guide block lift up to the top that is located layer board 3 is moved, lets hook plate 4 can limit flexible packaging product better, avoids the flexible packaging product to drop in the transportation process.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, but rather should be construed in view of the appended claims.

Claims

1. The flexible package clamping manipulator comprises a back plate (1) and a flange plate (2) for connecting a mechanical arm, wherein the flange plate (2) is fixedly arranged on the back plate (1); the method is characterized in that: the utility model discloses a flexible package product, including backplate (1), backplate (1) below, backplate (1) interval installation have layer board (3), layer board (3) are used for bearing flexible package product, backplate (1) below is provided with hook plate (4) that are used for hooking flexible package product, backplate (1) below is provided with first drive arrangement (5) that are used for driving hook plate (4) towards layer board (3) direction rectilinear motion, slide on layer board (3) and be provided with push pedal (6) that are used for pushing away in layer board (3) with flexible package product, be provided with on push pedal (6) and be used for driving push pedal (6) rectilinear motion's second drive arrangement (7).

2. The flexible package pinch grip robot of claim 1, wherein: the three-side vertical fixed mounting of layer board (3) has curb plate (8), the one side that curb plate (8) was not installed to layer board (3) forms the opening, and the direction of opening orientation hook plate (4), the drive direction of first drive arrangement (5), second drive arrangement (7) all sets up along curb plate (8) open-ended direction.

3. The flexible package pinch grip robot of claim 2, wherein: an arc-shaped guide block (9) is fixed at the bottom of one side of the opening of the supporting plate (3), and the arc-shaped guide block (9) is bent downwards.

4. A flexible package pinch grip robot as set forth in claim 3, wherein: the arc-shaped guide block (9) is made of soft rubber.

5. The flexible package pinch grip robot of claim 2, wherein: the second driving device (7) is horizontally arranged on the side plate (8).

6. The flexible package pinch grip robot of claim 1, wherein: the inclined angle is formed between the hook plate (4) and the horizontal plane, the upper side of the hook plate (4) is a straight line section, the lower side of the hook plate (4) is an arc section, a concave opening of the arc section faces the opening direction of the side plate (8), the straight line section of the hook plate (4) is rotationally connected to the first driving device (5) and can swing up and down, and a spring (10) is arranged between the straight line section of the hook plate (4) and the bottom of the back plate (1).