CN111186610A - Multifunctional packaging mechanical arm - Google Patents
Multifunctional packaging mechanical arm Download PDFInfo
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- CN111186610A CN111186610A CN201911373958.4A CN201911373958A CN111186610A CN 111186610 A CN111186610 A CN 111186610A CN 201911373958 A CN201911373958 A CN 201911373958A CN 111186610 A CN111186610 A CN 111186610A
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- packaging
- arm
- seat
- manipulator
- mounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional packaging mechanical arm which comprises a working frame and a mechanical arm, wherein a mounting frame is arranged on the inner side of the working frame, the mechanical arm is mounted on the mounting frame, a conveying belt is arranged at the bottom of the working frame, a guiding conveying belt is arranged on one side of the working frame, which is far away from the mechanical arm, the bottom of the guiding conveying belt is fixedly connected with the working frame through a triangular reinforcing frame, the mechanical arm comprises a mounting seat and a rotary telescopic arm, the rotary telescopic arm adopts a hydraulic telescopic rod, and the rear side of the rotary telescopic arm is mounted on the mounting seat. This multi-functional packing manipulator has reached and to have carried out the purpose of packing the transport to the wrapping bag of multiple difference to can adapt to different positions, the transport of the packing article of different angles, whole work does not need artifical the intervention, carries more convenience, improves work efficiency, has reduced workman's intensity of labour, has improved production value.
Description
Technical Field
The invention relates to the technical field of packaging machinery, in particular to a multifunctional packaging manipulator.
Background
The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. Although the manipulator is not as flexible as a human hand, it has the characteristics of repeated work and labor, no fatigue, danger resistance, and larger force for grabbing heavy objects than the human hand, so the manipulator has received attention from many departments and is more and more widely used.
However, the manipulator is suitable for the high-tech field, some restrictions are difficult to avoid in some aspects, in an automatic packaging device, the grabbing and clamping of the packaging bag is an important packaging process, the packaging bag is generally made of flexible materials, the shape control is difficult in the packaging process, particularly in the bag sleeving type packaging operation, in order to form a specific packaging bag shape, the grabbing and clamping operation of the packaging bag is difficult, manual operation is adopted in the traditional method, or a set of specific clamping and grabbing device is specially designed, the device is complex in structure and poor in universality, and the requirements of other packaging occasions are difficult to meet.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a multifunctional packaging manipulator which solves the problems of poor universality, difficulty in grabbing and clamping operation and low working efficiency of manual operation.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a multifunctional packaging mechanical arm comprises a working frame and a mechanical arm, wherein a mounting frame is arranged on the inner side of the working frame, the mechanical arm is mounted on the mounting frame, a conveying belt is arranged at the bottom of the working frame, a guiding conveying belt is arranged on one side of the working frame, which is away from the mechanical arm, the bottom of the guiding conveying belt is fixedly connected with the working frame through a triangular reinforcing frame, the mechanical arm comprises a mounting seat and a rotary telescopic arm, the rotary telescopic arm adopts a hydraulic telescopic rod, the rear side of the rotary telescopic arm is mounted on the mounting seat, a mounting rear seat is arranged on the rear side of the rotary telescopic arm, the mounting rear seat is mounted on the mounting seat through a damping rotating shaft, a telescopic rod is arranged on the front side of the rotary telescopic arm, a rotating motor is mounted inside one side of the telescopic rod, which is away, and a packaging manipulator is installed on the outer side of the rotating seat, and an output shaft of the rotating motor is fixedly connected with the rotating seat.
Preferably, the damping axis of rotation extends to the mount pad outside, driven sprocket is installed to the position that the damping axis of rotation is located the mount pad outside, mount pad internally mounted has the positioning motor, the auto-lock reduction gear is installed to the output shaft of positioning motor, the drive sprocket is installed to the position that the mount pad outside corresponds driven sprocket, drive sprocket installs on the output shaft of auto-lock reduction gear, be connected through the chain rotation between drive sprocket and the driven sprocket.
Preferably, the rotating motor is a stepping motor, and the positioning motor is a stepping motor.
Preferably, the inner side of the packaging mechanical arm is provided with an inner mounting frame, and the middle parts of the packaging mechanical arm and the inner mounting frame are fixedly connected with a rotating shaft of the rotating seat through mounting bolts.
Preferably, the outer side of the packaging mechanical arm is fixedly connected with a mechanical arm seat, the bottom of the mechanical arm seat is provided with a packaging mechanical main arm, the lower portion of the packaging mechanical main arm is rotatably connected with a packaging mechanical auxiliary arm, the packaging mechanical main arm is rotatably connected with the packaging mechanical auxiliary arm, and an electric telescopic rod is arranged between the packaging mechanical main arm and the packaging mechanical auxiliary arm.
Preferably, two ends of the electric telescopic rod are respectively connected with the main arm of the packaging machinery and the auxiliary arm of the packaging machinery in a rotating mode, and the bottom of the auxiliary arm of the packaging machinery is provided with a rubber inner pad.
Preferably, the manipulator seat, the main packaging manipulator arm and the auxiliary packaging manipulator arm are arranged in two numbers and are symmetrically arranged along the central axis of the manipulator seat.
Preferably, an installation outer frame is arranged on the rear side of the installation seat and fixedly connected with the installation frame through an outer bolt group.
(III) advantageous effects
The invention provides a multifunctional packaging mechanical arm. The method has the following beneficial effects:
the multifunctional packaging manipulator is characterized in that a mounting seat of the manipulator is mounted on a mounting frame, when the multifunctional packaging manipulator works, a positioning motor and a hydraulic telescopic rod of a rotary telescopic arm are started, a telescopic rod contracts, the positioning motor drives a driven sprocket and the rotary telescopic arm to rotate above a conveying conveyor belt through a driving sprocket, the telescopic rod extends, the rotary motor inside the telescopic rod drives a packaging manipulator to rotate through the rotary seat, after the packaging manipulator rotates to a proper position, an electric telescopic rod between a main arm of the packaging manipulator and an auxiliary arm of the packaging manipulator works, a packaging bag is clamped through a rubber inner pad at the bottom end of the auxiliary arm of the packaging manipulator by changing an angle between the auxiliary arm of the packaging manipulator and the main arm of the packaging manipulator, the positioning motor works again, the whole manipulator rotates to the upper part, the packaging bag below is conveyed to the upper part of the guiding conveyor belt, the, the purpose of packaging and conveying multiple different packaging bags is achieved, the packaging bag conveying device can adapt to conveying of packaging objects at different positions and different angles, manual intervention is not needed in whole work, conveying is more convenient, working efficiency is improved, labor intensity of workers is reduced, and production value is improved.
Drawings
FIG. 1 is a schematic structural view of a robot according to the present invention;
FIG. 2 is a schematic structural view of a packaging robot of the present invention;
FIG. 3 is a schematic view of the overall structure of the working frame of the present invention;
fig. 4 is a partial structural view of the inside of the mounting base of the present invention.
In the figure: 1 work frame, 2 mounting brackets, 3 manipulators, 4 conveying conveyor belts, 5 guiding conveyor belts, 6, 7 mounting seats, 8 rotating telescopic arms, 9 telescopic rods, 10 rotating seats, 11 packaging manipulators, 12 rotating motors, 13 mounting rear seats, 14 driven sprockets, 15 driving sprockets, 16 mounting outer frames, 17 outer bolt groups, 18 positioning motors, 19 mounting inner frames, 20 mounting bolts, 21 manipulator seats, 22 packaging manipulator main arms, 23 packaging manipulator auxiliary arms, 24 electric telescopic rods and 25 rubber inner pads.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a multifunctional packaging mechanical arm comprises a working frame 1 and a mechanical arm 3, wherein a mounting frame 2 is arranged on the inner side of the working frame 1, the mechanical arm 3 is mounted on the mounting frame 2, a conveying conveyor belt 4 is arranged at the bottom of the working frame 1, a guide conveyor belt 5 is arranged on one side of the working frame 1, which is far away from the mechanical arm 3, the bottom of the guide conveyor belt 5 is fixedly connected with the working frame 1 through a triangular reinforcing frame 6, the mechanical arm 3 comprises a mounting seat 7 and a rotary telescopic arm 8, the rotary telescopic arm 8 adopts a hydraulic telescopic rod, the rear side of the rotary telescopic arm 8 is mounted on the mounting seat 7, a mounting rear seat 13 is arranged on the rear side of the rotary telescopic arm 8, the mounting seat 13 is mounted on the mounting seat 7 through a damping rotating shaft, a telescopic rod 9 is arranged on the front side of the rotary telescopic arm 8, a rotating motor 12 is mounted inside one side, and a packing manipulator 11 is arranged on the outer side of the rotating seat 10, and an output shaft of a rotating motor 12 is fixedly connected with the rotating seat 10.
The damping rotating shaft extends to the outer side of the mounting seat 7, the driven chain wheel 14 is installed at the position, located on the outer side of the mounting seat 7, of the damping rotating shaft, the positioning motor 18 is installed inside the mounting seat 7, the self-locking speed reducer is installed on the output shaft of the positioning motor 18, the driving chain wheel 15 is installed on the position, corresponding to the driven chain wheel 14, of the outer side of the mounting seat 7, the driving chain wheel 15 is installed on the output shaft of the self-locking speed reducer, and the driving chain wheel 15 is rotatably connected with the.
The rotary motor 12 is a stepping motor, and the positioning motor 18 is also a stepping motor.
An inner mounting frame 19 is arranged on the inner side of the packaging manipulator 11, and the middle parts of the packaging manipulator 11 and the inner mounting frame 19 are fixedly connected with a rotating shaft of the rotating seat 10 through a mounting bolt 20.
The outer side of the packaging manipulator 11 is fixedly connected with a manipulator seat 21, the bottom of the manipulator seat 21 is provided with a packaging manipulator main arm 22, the lower part of the packaging manipulator main arm 22 is rotatably connected with a packaging manipulator auxiliary arm 23, the packaging manipulator main arm 22 is rotatably connected with the packaging manipulator auxiliary arm 23, and an electric telescopic rod 24 is arranged between the packaging manipulator main arm 22 and the packaging manipulator auxiliary arm 23.
Two ends of the electric telescopic rod 24 are respectively connected with the packaging machinery main arm 22 and the packaging machinery auxiliary arm 23 in a rotating mode, and the bottom of the packaging machinery auxiliary arm 23 is provided with a rubber inner pad 25.
The manipulator base 21, the packing manipulator main arm 22 and the packing manipulator auxiliary arm 23 are provided in two numbers and are symmetrically provided along the central axis of the manipulator base 21.
An installation outer frame 16 is arranged on the rear side of the installation seat 7, and the installation outer frame 16 is fixedly connected with the installation frame 2 through an outer bolt group 17.
When the packaging machine is used, the mounting seat 7 of the manipulator 3 is mounted on the mounting frame 2, when the packaging machine works, the positioning motor 18 and the hydraulic telescopic rod of the rotary telescopic arm 8 are started, the telescopic rod 9 is contracted, the positioning motor 18 drives the driven chain wheel 14 and the rotary telescopic arm 8 to rotate to the position above the conveying conveyor belt 4 through the driving chain wheel 15, the telescopic rod 9 is extended, the rotary motor 12 in the telescopic rod 9 drives the packaging manipulator 11 to rotate through the rotary seat 10, after the packaging manipulator 11 rotates to a proper position, the electric telescopic rod 24 between the packaging mechanical main arm 22 and the packaging mechanical auxiliary arm 23 works, by changing the angle between the packaging mechanical auxiliary arm 23 and the mechanical main arm 22, a packaging bag is clamped through the rubber inner pad 25 at the bottom end of the packaging mechanical auxiliary arm 23, the positioning motor 18 works again, the whole manipulator 3 is rotated to the upper position, and the packaging bag below, the telescopic rod 9 is extended and the packaging robot 11 releases the package on the guide conveyor 5.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a multi-functional packing machinery hand, includes work frame (1) and manipulator (3), its characterized in that: the manipulator mechanism is characterized in that a mounting frame (2) is arranged on the inner side of the working frame (1), the manipulator (3) is mounted on the mounting frame (2), a conveying and conveying belt (4) is arranged at the bottom of the working frame (1), a guiding and conveying belt (5) is arranged on one side, away from the manipulator (3), of the working frame (1), the bottom of the guiding and conveying belt (5) is fixedly connected with the working frame (1) through a triangular reinforcing frame (6), the manipulator (3) comprises a mounting seat (7) and a rotary telescopic arm (8), the rotary telescopic arm (8) adopts a hydraulic telescopic rod, the rear side of the rotary telescopic arm (8) is mounted on the mounting seat (7), a mounting rear seat (13) is arranged on the rear side of the rotary telescopic arm (8), the damping rotating and rotating shaft is mounted on the mounting seat (7), and a telescopic rod (9) is arranged on the front side of the rotary telescopic arm, one side internally mounted who rotates flexible arm (8) is kept away from in telescopic link (9) has rotation motor (12), telescopic link (9) are kept away from the one end outside of rotating flexible arm (8) and are installed and rotate seat (10), rotate seat (10) outside and install packaging machinery hand (11), rotate motor (12) output shaft and rotate seat (10) fixed connection.
2. The multi-functional packaging robot of claim 1, wherein: the damping axis of rotation extends to the mount pad (7) outside, driven sprocket (14) are installed to the position that the damping axis of rotation is located the mount pad (7) outside, mount pad (7) internally mounted has positioning motor (18), the auto-lock reduction gear is installed to the output shaft of positioning motor (18), drive sprocket (15) are installed to the position that corresponds driven sprocket (14) in the mount pad (7) outside, install on the output shaft of auto-lock reduction gear drive sprocket (15), rotate through the chain between drive sprocket (15) and driven sprocket (14) and be connected.
3. The multi-functional packaging robot of claim 2, wherein: the rotating motor (12) adopts a stepping motor, and the positioning motor (18) also adopts a stepping motor.
4. The multi-functional packaging robot of claim 1, wherein: the inner side of the packaging mechanical arm (11) is provided with an inner mounting frame (19), and the middle parts of the packaging mechanical arm (11) and the inner mounting frame (19) are fixedly connected with a rotating shaft of the rotating seat (10) through mounting bolts (20).
5. The multi-functional packaging robot of claim 1, wherein: the packaging machine is characterized in that a mechanical hand seat (21) is fixedly connected to the outer side of the packaging mechanical hand (11), a packaging mechanical main arm (22) is installed at the bottom of the mechanical hand seat (21), a packaging mechanical auxiliary arm (23) is connected to the lower portion of the packaging mechanical main arm (22) in a rotating mode, the packaging mechanical main arm (22) is connected with the packaging mechanical auxiliary arm (23) in a rotating mode, and an electric telescopic rod (24) is installed between the packaging mechanical main arm (22) and the packaging mechanical auxiliary arm (23).
6. The multi-functional packaging robot of claim 5, wherein: two ends of the electric telescopic rod (24) are respectively connected with the packaging mechanical main arm (22) and the packaging mechanical auxiliary arm (23) in a rotating mode, and a rubber inner pad (25) is arranged at the bottom of the packaging mechanical auxiliary arm (23).
7. The multi-functional packaging robot of claim 5, wherein: the manipulator seat (21), the packaging mechanical main arm (22) and the packaging mechanical auxiliary arm (23) are arranged in two numbers and are symmetrically arranged along the central axis of the manipulator seat (21).
8. The multi-functional packaging robot of claim 1, wherein: the mounting base (7) rear side is provided with installation outrigger (16), installation outrigger (16) pass through outside bolt group (17) and mounting bracket (2) fixed connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911373958.4A CN111186610A (en) | 2019-12-27 | 2019-12-27 | Multifunctional packaging mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911373958.4A CN111186610A (en) | 2019-12-27 | 2019-12-27 | Multifunctional packaging mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111186610A true CN111186610A (en) | 2020-05-22 |
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ID=70704644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911373958.4A Pending CN111186610A (en) | 2019-12-27 | 2019-12-27 | Multifunctional packaging mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN111186610A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE828732A (en) * | 1974-05-03 | 1975-11-05 | DEVICE FOR THREADING VALVE BAGS ON THE FILLING MOUTHS OF A FILLING MACHINE | |
| GB2136768B (en) * | 1983-03-16 | 1986-04-16 | Atomic Energy Authority Uk | A manipulator |
| CN203185344U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Telescopic multi-freedom-degree explosive-handling robot |
| CN206536452U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of six-joint robot claw |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN107671849A (en) * | 2017-10-27 | 2018-02-09 | 无锡凹凸自动化科技有限公司 | A kind of multi-angle spinning mechanical arm |
| CN207027096U (en) * | 2017-08-21 | 2018-02-23 | 康萍珍 | A kind of Digit Control Machine Tool mechanical arm |
| CN208813579U (en) * | 2018-08-28 | 2019-05-03 | 诸暨市爱家针织有限公司 | A kind of socks continuously pack production equipment |
-
2019
- 2019-12-27 CN CN201911373958.4A patent/CN111186610A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE828732A (en) * | 1974-05-03 | 1975-11-05 | DEVICE FOR THREADING VALVE BAGS ON THE FILLING MOUTHS OF A FILLING MACHINE | |
| GB2136768B (en) * | 1983-03-16 | 1986-04-16 | Atomic Energy Authority Uk | A manipulator |
| CN203185344U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Telescopic multi-freedom-degree explosive-handling robot |
| CN206536452U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of six-joint robot claw |
| CN207027096U (en) * | 2017-08-21 | 2018-02-23 | 康萍珍 | A kind of Digit Control Machine Tool mechanical arm |
| CN107671849A (en) * | 2017-10-27 | 2018-02-09 | 无锡凹凸自动化科技有限公司 | A kind of multi-angle spinning mechanical arm |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN208813579U (en) * | 2018-08-28 | 2019-05-03 | 诸暨市爱家针织有限公司 | A kind of socks continuously pack production equipment |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200522 |
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| RJ01 | Rejection of invention patent application after publication |