CN202156562U - Gripper device for boxing - Google Patents
Gripper device for boxing Download PDFInfo
- Publication number
- CN202156562U CN202156562U CN2011201806572U CN201120180657U CN202156562U CN 202156562 U CN202156562 U CN 202156562U CN 2011201806572 U CN2011201806572 U CN 2011201806572U CN 201120180657 U CN201120180657 U CN 201120180657U CN 202156562 U CN202156562 U CN 202156562U
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- sucker
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Abstract
The utility model provides a gripper device for boxing, which comprises a front gripper mechanism and a rear gripper mechanism. Each of the front gripper mechanism and the rear gripper mechanism is provided with a liftable mounting plate, a sucker, a clamp plate and a driving cylinder in translationally back-and-forth movement. The gripper device is provided with a transverse translation conveying mechanism and a longitudinal translation conveying mechanism of the front gripper mechanism, and is provided with a transverse translation conveying mechanism and a longitudinal translation conveying mechanism of the rear gripper mechanism, and the conveying mechanisms are driven by servo motors respectively. The gripper device for boxing is capable of being operated by the aid of the front and rear gripper mechanisms driven by the four motors, and power of each gripper mechanism in back-and-forth and bilateral movement can be completely separated, so that the two gripper mechanisms and translational movement in the two directions thereof are in mutual noninterference, and further the gripper device for boxing is higher in controllability, more flexible, faster and more accurate in position moving, and the requirements of precision on a position between a gripping position and a boxing position are lowered.
Description
Technical field
The utility model relates to the gripper equipment of the vanning usefulness in packaging facilities field.
Background technology
In the packaging facilities field, with the regular shape article, such as capsule; Case to the equipment of packing chest, much at first take the branch duct device, when carrying the regular shape article; These article are divided into multiple tracks, collect the homogeneous group then, should organize article and put into packing chest with the handgrip extraction; Collect the homogeneous group again and put into packing chest, accomplish vanning successively.Present gripper equipment adopts its vanning of cylinder control to move more, and motion of translation is dumb, speed is slow, direction is not extensive, and the relative position particularity requirement between boxing apparatus and the handgrip is than higher, and installation difficulty, debugging difficulty are bigger.
Summary of the invention
The utility model technical matters to be solved provide a kind of more flexibly, the gripper equipment of fast speed vanning usefulness.For this reason; The utility model adopts following technical scheme: it comprises former and later two handgrip mechanisms; Before handgrip mechanism be provided with the driving cylinder of driving cylinder, the first right clamping plate and left and right sides motion of translation thereof of driving cylinder, the first left clamping plate and the left and right sides motion of translation thereof of liftable first adapter plate, first sucker, front plate and front and back motion of translation thereof, said first sucker liftably is installed on first adapter plate; Back handgrip mechanism is provided with the driving cylinder of driving cylinder, the second right clamping plate and left and right sides motion of translation thereof of driving cylinder, the second left clamping plate and the left and right sides motion of translation thereof of liftable second adapter plate, second sucker, rear plate and front and back motion of translation thereof; Said second sucker liftably is installed on second adapter plate; Said front plate, the first left clamping plate, the first right clamping plate are trapped among the periphery of first sucker, and said rear plate, the second left clamping plate, the second right clamping plate are trapped among the periphery of second sucker;
The first transverse translation connecting gear and the first longitudinal translation connecting gear of handgrip mechanism before said gripper equipment is provided with, preceding handgrip mechanism is connected with the first transverse translation connecting gear; Said gripper equipment is provided with the second transverse translation connecting gear and the second longitudinal translation connecting gear of back handgrip mechanism, and back handgrip mechanism is connected with the second transverse translation connecting gear; The said first transverse translation connecting gear, the first longitudinal translation connecting gear, the second transverse translation connecting gear, the second longitudinal translation connecting gear are respectively by driven by servomotor.
On the basis of adopting technique scheme, the utility model also can adopt following further technical scheme:
Said first sucker and second sucker are the plane sucker.
First sucker is installed on the 3rd adapter plate, and said the 3rd adapter plate is connected on the 3rd cylinder that drives the up-down of the 3rd adapter plate, and said the 3rd cylinder is connected on first adapter plate; Second sucker is installed on the 4th adapter plate, and said the 4th adapter plate is connected on the four-cylinder that drives the up-down of the 4th adapter plate, and said four-cylinder is connected on second adapter plate.
Front plate, the first left clamping plate, the first right clamping plate, rear plate, the second left clamping plate, the second right clamping plate are installed in respectively on the said cylinder that drives their motion of translations; The cylinder of said driving front plate, the first left clamping plate, the first right clamping plate motion of translation is connected on first adapter plate, and the cylinder of said driving rear plate, the second left clamping plate, the second right clamping plate motion of translation is connected on second adapter plate.
Be connected with the sliding guide mechanism of direction of slip separately respectively between front plate, the first left clamping plate, the first right clamping plate and first adapter plate, also be connected with the sliding guide mechanism of direction of slip separately respectively between said rear plate, the second left clamping plate, the second right clamping plate and second adapter plate.
It is provided with the first horizontal sliding guide mechanism, the first longitudinal sliding motion guiding mechanism, the second horizontal sliding guide mechanism, the second longitudinal sliding motion guiding mechanism; Handgrip mechanism links to each other with the first horizontal sliding guide mechanism before said; The said first horizontal sliding guide mechanism is connected on first crossbeam; Handgrip mechanism links to each other with the second horizontal sliding guide mechanism after said; The said second horizontal sliding guide mechanism links to each other with second crossbeam, and said first crossbeam links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinal sliding motion guiding mechanism, and said second crossbeam links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinally guiding mechanism; Said first transverse translation connecting gear and driving servomotor thereof are installed on first crossbeam, and said second transverse translation connecting gear and driving servomotor thereof are installed on second crossbeam; Said first crossbeam also links to each other with the first longitudinal translation connecting gear, and said second crossbeam also links to each other with the second longitudinal translation connecting gear; Said sliding guide mechanism is a slide block guide rail bearing fit mechanism.
The guide rail of the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism is in both sides, and the guide rail of the said first horizontal sliding guide mechanism and the second horizontal sliding guide mechanism is between the guide rail of the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism.
The said first transverse translation connecting gear, the first longitudinal translation connecting gear, the second transverse translation connecting gear, the second longitudinal translation connecting gear are respectively chain conveying mechanism.
Be in former and later two handgrip mechanisms and draw close just forwards, backwards when concerning, front plate, the first left clamping plate, the first right clamping plate, rear plate, the second left clamping plate, the second right clamping plate surround the osed top rectangular area.
Because adopt the technical scheme of the utility model, the utility model is able to adopt former and later two handgrip mechanisms to operate, the power that each handgrip mechanism all around moves separates fully; With four motor-driven; The motion of translation mutually noninterfere of two handgrip mechanisms and their both directions, controllability increases, and is more flexible; The shift position more accurately, speed more accelerates, more flexible, reduce grasping the location accuracy requirement between position and the vanning position; And two handgrip mechanisms can all fill a chest earlier and adorn second more together, also can satisfy client's demands of different with two chests of fashionable dress, and vanning efficient is higher.The utility model adopts the plane sucker, and is stable more more firm during extracting.The utility model is that two handgrip mechanisms set three clamping plate respectively, and the effect of clamping plate is article to be drawn close put in order, is convenient to the plane sucker and inhales article.Two handgrip mechanisms are drawn close, and the clamping plate of two handgrip mechanisms just become a combination, and two handgrip mechanisms are moved together, and a performance grasps the article of two stations simultaneously.
Description of drawings
Fig. 1 is the scheme drawing of the embodiment that the utility model provided.
Fig. 2 is the exploded view of Fig. 1.
Fig. 3 is the further exploded view of Fig. 2.
The specific embodiment
With reference to accompanying drawing.The utility model comprises former and later two handgrip mechanisms; Before handgrip mechanism be provided with the driving cylinder of driving cylinder, the first right clamping plate 107 and left and right sides motion of translation thereof of driving cylinder, the first left clamping plate and the left and right sides motion of translation thereof of liftable first adapter plate 101, first sucker 102, front plate 103 and front and back motion of translation thereof, said first sucker 102 liftably is installed on first adapter plate 101; Back handgrip mechanism is provided with driving cylinder 204, the second left clamping plate 205 and driving cylinder 206, the second right clamping plate 207 of left and right sides motion of translation and the driving cylinder 208 of left and right sides motion of translation thereof of liftable second adapter plate 201, second sucker 202, rear plate 203 and front and back motion of translation thereof; Said second sucker 202 liftably is installed on second adapter plate 201; Said front plate 103, the first left clamping plate, the first right clamping plate 107 are trapped among the periphery of first sucker 102, and said rear plate 203, second left clamping plate 205, the second right clamping plate 207 are trapped among the periphery of second sucker 202;
The first transverse translation connecting gear and the first longitudinal translation connecting gear of handgrip mechanism before said gripper equipment is provided with, preceding handgrip mechanism is connected with the first transverse translation connecting gear; Said gripper equipment is provided with the second transverse translation connecting gear and the second longitudinal translation connecting gear of back handgrip mechanism, and back handgrip mechanism is connected with the second transverse translation connecting gear; In force; First adapter plate 101 connects its lift cylinder 122, and lift cylinder 122 is installed on first erecting frame 121, and first erecting frame 121 is provided with and connects the position; Second adapter plate 201 connects its lift cylinder 222; Lift cylinder 222 is installed on second erecting frame 221, and second erecting frame 221 is provided with and connects said on position 211, the first erecting frames 121 and second erecting frame 221 and be connected and be connected with the first transverse translation connecting gear, the second transverse translation connecting gear respectively; Drawing reference numeral 123 is for to be installed in the up-down guide bearing chock on first erecting frame 121, and drawing reference numeral 124 is for to be connected the lifting guide pillar on first adapter plate 101, and guide rod 124 passes bearing seat 123 and cooperates with bearing seat 123 slide-and-guides; Drawing reference numeral 223 is for to be installed in the up-down guide bearing chock on second erecting frame 221, and drawing reference numeral 224 is for to be connected the lifting guide pillar on second adapter plate 201, and guide rod 224 passes bearing seat 223 and cooperates with bearing seat 223 slide-and-guides.
The said first transverse translation connecting gear, the first longitudinal translation connecting gear, the second transverse translation connecting gear, the second longitudinal translation connecting gear are driven by servomotor 109,110,209,210 respectively.
Said first sucker 102 and second sucker, 202 employing plane suckers.
Be in former and later two handgrip mechanisms and draw close just forwards, backwards when concerning, front plate 103, the first left clamping plate, the first right clamping plate 107, rear plate 203, second left clamping plate 205, the second right clamping plate 207 surround the osed top rectangular area.So-called sealing is meant that distance or slit between clamping plate is less than the corresponding length of side of the object of being grabbed.
Be connected with the sliding guide mechanism of direction of slip separately respectively between front plate 103, the first left clamping plate, the first right clamping plate 107 and first adapter plate 101; These sliding guide mechanisms are slide block guide rail bearing fit mechanism; Wherein, Slide block is connected on front plate 103, the first left clamping plate, the first right clamping plate 107, and guide rail is connected on first adapter plate 101.
Also be connected with the sliding guide mechanism of direction of slip separately respectively between said rear plate 203, second left clamping plate 205, the second right clamping plate 207 and second adapter plate 201; These sliding guide mechanisms also are slide block guide rail bearing fit mechanism; Wherein, Slide block 219 is connected on rear plate 203, second left clamping plate 205, the second right clamping plate 207, and guide rail 220 is connected on second adapter plate 201.
The utility model is provided with the first horizontal sliding guide mechanism, the first longitudinal sliding motion guiding mechanism, the second horizontal sliding guide mechanism, the second longitudinal sliding motion guiding mechanism; Handgrip mechanism links to each other with the first horizontal sliding guide mechanism before said; The said first horizontal sliding guide mechanism is connected on first crossbeam 126; Handgrip mechanism links to each other with the second horizontal sliding guide mechanism after said, and the said second horizontal sliding guide mechanism links to each other with second crossbeam 226; In force; First erecting frame 121 of handgrip mechanism is provided with the vertical each other upper and lower slide block of the first horizontal slide mechanism before said; The upper and lower guide rail of the said first horizontal slide mechanism is connected on first crossbeam 126, upper and lower slide block and upper and lower guide rail sliding block joint; Second erecting frame 221 of handgrip mechanism is provided with the upper and lower slide block 225 of the second horizontal slide mechanism after said; The upper and lower guide rail 227 of the said second horizontal slide mechanism is connected on second crossbeam 226, upper and lower slide block 225 and upper and lower guide rail 227 sliding block joints.
Said first crossbeam 126 links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinal sliding motion guiding mechanism, and said second crossbeam 226 links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinally guiding mechanism; The first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism have vertical each other slide block up and down 128, vertical slide block up and down 228 and guide rail 129,229 each other respectively; Slide block 128,228 connects respectively on first crossbeam 126 and second crossbeam 226; Slide block 128 and guide rail 129 sliding block joints, slide block 228 and guide rail 229 sliding block joints.
The said first transverse translation connecting gear 130, the first longitudinal translation connecting gear 131, the second transverse translation connecting gear 230, the second longitudinal translation connecting gear 231 are respectively chain conveying mechanism.
Said first transverse translation connecting gear 130 and driving servomotor 109 thereof are installed on first crossbeam 126, and said second transverse translation connecting gear 230 and driving servomotor 209 thereof are installed on second crossbeam 226; Said first crossbeam 126 also links to each other with the first longitudinal translation connecting gear 131; Drawing reference numeral 131 is the attaching parts that links to each other with the first longitudinal translation connecting gear 131 on first crossbeam 126; Drawing reference numeral 231 is the attaching parts that links to each other with the second longitudinal translation connecting gear 231 on second crossbeam 226, and said second crossbeam 226 also links to each other with the second longitudinal translation connecting gear 231.
The guide rail 129,229 of the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism is in both sides, and the guide rail 127,227 of the said first horizontal sliding guide mechanism and the second horizontal sliding guide mechanism is in the guide rail 129 of the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism, between 229.
In the utility model, said vertical and horizontal are just in order to represent that this both direction is a vertical relation, traditionally, serve as vertical with the throughput direction of box 100.Preceding handgrip mechanism and back handgrip mechanism are outside the difference of structure treatment front plate and rear plate, and other is identical, and they are also identical with the connection structure of horizontal sliding guide mechanism.
In the drawings; Said box 100 is through load-transfer device 200 and after dividing the duct device shunting, and baffle plate 300 places in the shunting drive each shunting lever 500 at cylinder 400 and stop down; The packing box 100 of collection homogeneous or 2 stations; Cylinder 400 drives each shunting lever 500 and promotes, and packing box 100 gets under the conveying of feedway and grasps station, and handgrip mechanism descends and grasps the box assembling box.Drawing reference numeral 600 is a fixed frame.
Claims (9)
1. the gripper equipment of the usefulness of casing; It is characterized in that it comprises former and later two handgrip mechanisms; Before handgrip mechanism be provided with the driving cylinder of driving cylinder, the first right clamping plate and left and right sides motion of translation thereof of driving cylinder, the first left clamping plate and the left and right sides motion of translation thereof of liftable first adapter plate, first sucker, front plate and front and back motion of translation thereof, said first sucker liftably is installed on first adapter plate; Back handgrip mechanism is provided with the driving cylinder of driving cylinder, the second right clamping plate and left and right sides motion of translation thereof of driving cylinder, the second left clamping plate and the left and right sides motion of translation thereof of liftable second adapter plate, second sucker, rear plate and front and back motion of translation thereof; Said second sucker liftably is installed on second adapter plate; Said front plate, the first left clamping plate, the first right clamping plate are trapped among the periphery of first sucker, and said rear plate, the second left clamping plate, the second right clamping plate are trapped among the periphery of second sucker;
The first transverse translation connecting gear and the first longitudinal translation connecting gear of handgrip mechanism before said gripper equipment is provided with, preceding handgrip mechanism is connected with the first transverse translation connecting gear; Said gripper equipment is provided with the second transverse translation connecting gear and the second longitudinal translation connecting gear of back handgrip mechanism, and back handgrip mechanism is connected with the second transverse translation connecting gear; The said first transverse translation connecting gear, the first longitudinal translation connecting gear, the second transverse translation connecting gear, the second longitudinal translation connecting gear are respectively by driven by servomotor.
2. the gripper equipment of vanning usefulness as claimed in claim 1 is characterized in that said first sucker and second sucker are the plane sucker.
3. according to claim 1 or claim 2 the gripper equipment of vanning usefulness is characterized in that first sucker is installed on the 3rd adapter plate, and said the 3rd adapter plate is connected and drives on the 3rd cylinder that the 3rd adapter plate goes up and down, and said the 3rd cylinder is connected on first adapter plate; Second sucker is installed on the 4th adapter plate, and said the 4th adapter plate is connected on the four-cylinder that drives the up-down of the 4th adapter plate, and said four-cylinder is connected on second adapter plate.
4. according to claim 1 or claim 2 the gripper equipment of vanning usefulness; It is characterized in that front plate, the first left clamping plate, the first right clamping plate, rear plate, the second left clamping plate, the second right clamping plate are installed in respectively on the said cylinder that drives their motion of translations; The cylinder of said driving front plate, the first left clamping plate, the first right clamping plate motion of translation is connected on first adapter plate, and the cylinder of said driving rear plate, the second left clamping plate, the second right clamping plate motion of translation is connected on second adapter plate.
5. the gripper equipment of vanning usefulness as claimed in claim 4; It is characterized in that being connected with the sliding guide mechanism of direction of slip separately respectively between front plate, the first left clamping plate, the first right clamping plate and first adapter plate, also be connected with the sliding guide mechanism of direction of slip separately respectively between said rear plate, the second left clamping plate, the second right clamping plate and second adapter plate.
6. according to claim 1 or claim 2 the gripper equipment of vanning usefulness is characterized in that it is provided with the first horizontal sliding guide mechanism, the first longitudinal sliding motion guiding mechanism, the second horizontal sliding guide mechanism, the second longitudinal sliding motion guiding mechanism; Handgrip mechanism links to each other with the first horizontal sliding guide mechanism before said; The said first horizontal sliding guide mechanism is connected on first crossbeam; Handgrip mechanism links to each other with the second horizontal sliding guide mechanism after said; The said second horizontal sliding guide mechanism links to each other with second crossbeam, and said first crossbeam links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinal sliding motion guiding mechanism, and said second crossbeam links to each other with the second longitudinal sliding motion guiding mechanism with the first longitudinally guiding mechanism; Said first transverse translation connecting gear and driving servomotor thereof are installed on first crossbeam, and said second transverse translation connecting gear and driving servomotor thereof are installed on second crossbeam; Said first crossbeam also links to each other with the first longitudinal translation connecting gear, and said second crossbeam also links to each other with the second longitudinal translation connecting gear; Said sliding guide mechanism is a slide block guide rail bearing fit mechanism.
7. the gripper equipment of vanning usefulness as claimed in claim 6; The guide rail that it is characterized in that the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism is in both sides, and the guide rail of the said first horizontal sliding guide mechanism and the second horizontal sliding guide mechanism is between the guide rail of the first longitudinal sliding motion guiding mechanism and the second longitudinal sliding motion guiding mechanism.
8. according to claim 1 or claim 2 the gripper equipment of vanning usefulness is characterized in that the said first transverse translation connecting gear, the first longitudinal translation connecting gear, the second transverse translation connecting gear, the second longitudinal translation connecting gear are respectively chain conveying mechanism.
9. according to claim 1 or claim 2 the gripper equipment of vanning usefulness; It is characterized in that being in former and later two handgrip mechanisms and draw close just forwards, backwards when concerning, front plate, the first left clamping plate, the first right clamping plate, rear plate, the second left clamping plate, the second right clamping plate surround the osed top rectangular area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201806572U CN202156562U (en) | 2011-05-31 | 2011-05-31 | Gripper device for boxing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201806572U CN202156562U (en) | 2011-05-31 | 2011-05-31 | Gripper device for boxing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202156562U true CN202156562U (en) | 2012-03-07 |
Family
ID=45764205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201806572U Expired - Lifetime CN202156562U (en) | 2011-05-31 | 2011-05-31 | Gripper device for boxing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202156562U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241282A (en) * | 2011-05-31 | 2011-11-16 | 杭州永创机械有限公司 | Gripping device for cartoning |
| CN103253397A (en) * | 2013-05-15 | 2013-08-21 | 广州达意隆包装机械股份有限公司 | Automatic grabbing and encasing device |
| CN104528039A (en) * | 2014-12-26 | 2015-04-22 | 雍自威 | Cola bottle film wrapping gripper |
| CN105329480A (en) * | 2015-12-08 | 2016-02-17 | 太仓云联信息科技有限公司 | Packaging apparatus for fresh goods and materials |
| CN109896079A (en) * | 2019-03-26 | 2019-06-18 | 中山市联拓智能装备科技有限公司 | A kind of boxing apparatus for condiment product packaging bag |
| CN113184313A (en) * | 2021-05-22 | 2021-07-30 | 江苏泗阳协力轻工机械有限公司 | Boxing assembly line |
-
2011
- 2011-05-31 CN CN2011201806572U patent/CN202156562U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241282A (en) * | 2011-05-31 | 2011-11-16 | 杭州永创机械有限公司 | Gripping device for cartoning |
| CN102241282B (en) * | 2011-05-31 | 2013-02-06 | 杭州永创智能设备股份有限公司 | Gripping device for cartoning |
| CN103253397A (en) * | 2013-05-15 | 2013-08-21 | 广州达意隆包装机械股份有限公司 | Automatic grabbing and encasing device |
| CN103253397B (en) * | 2013-05-15 | 2015-09-09 | 广州达意隆包装机械股份有限公司 | A kind of automatic capturing boxing apparatus |
| CN104528039A (en) * | 2014-12-26 | 2015-04-22 | 雍自威 | Cola bottle film wrapping gripper |
| CN104528039B (en) * | 2014-12-26 | 2016-06-08 | 雍自威 | A kind of Coke bottle peplos handgrip |
| CN105329480A (en) * | 2015-12-08 | 2016-02-17 | 太仓云联信息科技有限公司 | Packaging apparatus for fresh goods and materials |
| CN109896079A (en) * | 2019-03-26 | 2019-06-18 | 中山市联拓智能装备科技有限公司 | A kind of boxing apparatus for condiment product packaging bag |
| CN113184313A (en) * | 2021-05-22 | 2021-07-30 | 江苏泗阳协力轻工机械有限公司 | Boxing assembly line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120307 Effective date of abandoning: 20130227 |
|
| RGAV | Abandon patent right to avoid regrant |