Manipulator

Abstract

The manipulator comprises a mechanical frame, a base is arranged on the lower portion of the mechanical frame, supporting plates are installed on the left side and the right side of the base correspondingly, a bottom frame is arranged on the lower portion of the base, a packaging clamping mechanism penetrates through the upper middle portion of the left side of the mechanical frame, and an angle adjusting mechanism penetrates through the front side of the bottom of the mechanical frame. A linear moving mechanism is mounted on the lower surface of the base, a clamping mechanism for packaging is arranged, through driving of a first double-head motor and a second double-head motor, a fixed clamping upper plate and a fixed clamping lower plate form clamping operation, and a first fixed clamping arc ring and a second fixed clamping arc ring form clamping operation; the mechanical arm of the packaging machine is used for clamping circular packaging objects, the structure of the mechanical arm of the packaging machine for clamping packaging has the function of clamping different shapes, and the angle adjusting mechanism and the linear moving mechanism are arranged, so that the direction changing function and the linear position moving function are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to manipulators. Background Art

[0002] The manipulator is a new type of device developed in the process of mechanized and automated production. In modern production processes, manipulators are widely used in automatic production lines, and they are also widely used in packaging production lines. The structure of the packaging machine manipulator used to clamp the packaging is basically that the top of the mechanical arm is equipped with a moving clamp and a fixed clamp that cooperate with each other. This structure is relatively simple, the clamping functionality is single, and the overall practical effect is poor. Summary of the invention

[0003] The purpose of the present invention is to provide a robot to solve the problem that the structure of the packaging machine robot for clamping packaging bags proposed in the above background technology is basically that the top of the robot arm is provided with a movable clamp and a fixed clamp that cooperate with each other. This structure is relatively simple, the clamping functionality achieved is single, and the overall practical effect is poor.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator comprises a mechanical frame, a base is arranged at the lower part of the mechanical frame, support plates are installed on the left and right sides of the base, a bottom frame is arranged at the lower part of the base, a clamping mechanism for packaging is penetrated through the middle and upper part of the left side of the mechanical frame, an angle adjustment mechanism is penetrated through the bottom front side of the mechanical frame, and a linear moving mechanism is installed on the lower surface of the base;

[0005] The packaging clamping mechanism comprises connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, movable shaft rod 1 and movable shaft rod 2, wherein connecting rod 1 passes through the upper middle part of the left side of the mechanical frame, connecting rod 2 passes through the lower middle part of the left side of the mechanical frame, connecting rod 3 passes through the upper middle part of the right side of the mechanical frame, and connecting rod 4 passes through the lower middle part of the right side of the mechanical frame, and the connecting rod 1 and the three-phase connecting rod are respectively engaged and connected with the left and right output ends of the double-headed motor 1 on one side, and the connecting rod 2 and the four-phase connecting rod are respectively engaged and connected with the left and right output ends of the double-headed motor 2 on one side, and the left end of the connecting rod 1 and the right end of the connecting rod 3 are respectively installed with turntable 1 and turntable 3, and the left end of the connecting rod 2 and the right end of the connecting rod 4 are respectively installed with turntable 2 and turntable 4, and the left rear end of the turntable 1 is installed with movable arm rod 1, the left bottom of the movable arm rod 1 is installed with a fixed clamping upper plate, and the rear right end of the movable arm rod 1 is installed with a movable groove clamping block The movable arm lever is provided with a movable arm chain, and a movable groove clamping block is installed on the left and right sides of the movable arm lever, and a movable groove clamping block is installed on the left and right sides of the movable arm lever. The movable shaft rod is provided with a slide groove, and the slide groove is slidably connected with the movable groove clamping block three, and the front bottom of the slide groove is fixedly connected with the rear side of the movable groove clamping block four.

[0006] As a preferred technical solution of the present invention, the angle adjustment mechanism includes a vertical rod and a main column, the bottom of the vertical rod passes through the bottom front side of the mechanical frame and is installed with gear 1, the top of the vertical rod is fixedly connected to the output end of motor 1, the gear 1 is meshed with gear 2, the gear 2 is installed at the lower part of the main column, and the main column and the vertical rod are both installed on the upper surface of the base.

[0007] As a preferred technical solution of the present invention, the linear moving mechanism includes a fixed plate with a rack and two movable grooves at the bottom, the fixed plate with a rack is installed on the lower surface of the base, the fixed plate with a rack at the bottom is meshed and connected to the driving wheel, a wheel rod passes through the middle of the driving wheel, the left end of the wheel rod is fixedly connected to the output end of motor 2, the right end of the wheel rod is arranged to be rotatably connected to the left side of the fixed seat, the two movable grooves are respectively arranged on the left and right sides of the upper surface of the base frame, the two movable grooves are respectively slidably connected to the bottom of the corresponding movable support plates, and the tops of the two movable support plates are respectively installed on the bottom of the corresponding support plates.

[0008] As a preferred technical solution of the present invention, the movable shaft rod one and the movable shaft rod two are both provided with shaft rod sleeves, the middle part of the two shaft rod sleeves are both provided with a fixed through groove, the middle and upper parts of the movable shaft rod one and the movable shaft rod two are both provided with multiple fixed through grooves, and the multiple fixed through grooves are all detachably connected to the fixed plug rod thread.

[0009] As a preferred technical solution of the present invention, a fixing frame is installed on the double-headed motor 1 and the double-headed motor 2, and a pneumatic telescopic rod 1 and a pneumatic telescopic rod 2 are respectively arranged on the right side of the two fixing frames, and the pneumatic telescopic rod 1 and the pneumatic telescopic rod 2 are respectively installed on the inner right side of the mechanical frame.

[0010] As a preferred technical solution of the present invention, a motor three bracket is installed on the motor one, and the motor three bracket is installed at the bottom end of the inner front side of the mechanical frame.

[0011] As a preferred technical solution of the present invention, a vertical baffle is provided on one side of the two movable support plates away from each other, and the two vertical baffles are respectively installed on the left and right sides of the top of the base frame at the outer edge of the movable groove.

[0012] As a preferred technical solution of the present invention, the bottom of the fixed clamping upper plate and the top of the fixed clamping lower plate are close to or far away from each other, and the bottom of the fixed clamping arc circle one and the top of the fixed clamping arc circle two are close to or far away from each other.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. Through the setting of the clamping mechanism of the packaging and the driving of the double-headed motor 1 and the double-headed motor 2, the fixed clamping upper plate and the fixed clamping lower plate are combined to perform a clamping operation, and the fixed clamping arc circle 1 and the fixed clamping arc circle 2 are combined to perform a clamping operation, which is used to clamp round packaging items, thereby making the structure of the packaging machine manipulator used for clamping packaging have the function of clamping different shapes;

[0015] 2. By adjusting the setting of the angle mechanism and driving the motor 1, the rotation of the mechanical frame will swap the positions of the fixed clamping upper plate, the fixed clamping lower plate, the fixed clamping arc circle 1, and the fixed clamping arc circle, thereby making the structure of the packaging machine robot used for clamping the package have the function of changing direction, and can swap the positions of the circular and square clamps.

[0016] 3. Through the arrangement of the linear movement mechanism and the drive of the second motor, the second motor drives the driving wheel to rotate, and the rotation of the driving wheel causes the meshing bottom rack of the fixed plate to move linearly forward and backward. When the bottom rack of the fixed plate moves linearly forward and backward, the base also moves with it, thereby making the structure of the packaging machine manipulator for clamping the package have the function of linear movement position;

[0017] 4. Through the cooperation of the fixed through slot, the shaft rod sleeve and the fixed insertion rod, it is possible to clamp packaged items of different heights, thereby enabling the structure of the packaging machine manipulator used for clamping the package to have the function of adjusting the clamping distance.

[0018] 5. Driven by the pneumatic telescopic rod 1 and the pneumatic telescopic rod 2, the structure of the packaging machine manipulator for clamping the package has the ability to drive the manipulator to clamp both square and round types at the same time, and can drive the square type or the round type separately. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a main perspective view of the present invention;

[0020] Figure 2 is a rear perspective view of the present invention;

[0021] Figure 3 It is a left side stereogram of the present invention;

[0022] Figure 4 It is a right side stereogram of the present invention;

[0023] Figure 5 A diagram showing a partial structure of the clamping mechanism of the package of the present invention;

[0024] Figure 6 Two diagrams showing the partial structure of the clamping mechanism of the package of the present invention;

[0025] Figure 7 This is a structural diagram showing the angle adjustment mechanism of the present invention;

[0026] Figure 8 It is a structural display diagram of the linear motion mechanism of the present invention.

[0027] In the figure: 1, mechanical frame; 2, packaging clamping mechanism; 201, connecting rod 1; 202, connecting rod 2; 203, connecting rod 3; 204, connecting rod 4; 205, double-headed motor 1; 206, double-headed motor 2; 207, turntable 1; 208, turntable 2; 209, turntable 3; 210, turntable 4; 211, movable arm rod 1; 212, movable arm rod 2; 213, fixed clamping upper plate; 214, fixed clamping lower plate; 215, movable shaft rod 1; 216, slide groove 1; 217, fixed groove clamping block 1; 218, movable groove clamping block 2; 219, movable arm rod 3; 220, movable arm rod 4; 221, fixed clamping arc circle 1; 222, fixed clamping arc circle 2; 2 23. Movable shaft rod 2; 224. Slide groove 2; 225. Movable groove clamp block 3; 226. Movable groove clamp block 4; 3. Angle adjustment mechanism; 301. Vertical rod; 302. Motor 1; 303. Main column; 304. Gear 1; 305. Gear 2; 4. Base; 5. Linear moving mechanism; 501. Fixed plate with rack at bottom; 502. Driving wheel; 503. Wheel rod; 504. Motor 2; 505. Fixed seat; 506. Movable support plate; 507. Movable groove; 6. Pneumatic telescopic rod 1; 7. Pneumatic telescopic rod 2; 8. Base frame; 9. Fixed frame; 10. Fixed through groove; 11. Shaft rod sleeve; 12. Fixed plug rod; 13. Vertical baffle; 14. Support plate; 15. Motor 3 bracket. DETAILED DESCRIPTION

[0028] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-8 The present invention provides a manipulator, including a mechanical frame 1, a base 4 is provided at the lower part of the mechanical frame 1, support plates 14 are installed on the left and right sides of the base 4, a bottom frame 8 is provided at the lower part of the base 4, a package clamping mechanism 2 is penetrated through the upper middle part of the left side of the mechanical frame 1, an angle adjustment mechanism 3 is penetrated through the bottom front side of the mechanical frame 1, and a linear moving mechanism 5 is installed on the lower surface of the base 4;

[0030] The clamping mechanism 2 of the package includes a connecting rod 1 201, a connecting rod 202, a connecting rod 3 203, a connecting rod 4 204, a movable shaft rod 1 215 and a movable shaft rod 2 223. The connecting rod 1 201 runs through the upper middle part of the left side of the mechanical frame 1, the connecting rod 2 202 runs through the lower middle part of the left side of the mechanical frame 1, the connecting rod 3 203 runs through the upper middle part of the right side of the mechanical frame 1, and the connecting rod 4 204 runs through the lower middle part of the right side of the mechanical frame 1. The connecting rod 1 201 and the connecting rod 3 203 are close to each other and are respectively engaged with the left and right output ends of the double-headed motor 1 205. The connecting rod 202 and the connecting rod 4 204 are respectively connected to the left and right output ends of the double-headed motor 206, and the left end of the connecting rod 1 201 and the right end of the connecting rod 3 203 are respectively installed with a turntable 1 207 and a turntable 3 209, and the left end of the connecting rod 202 and the right end of the connecting rod 4 204 are respectively installed with a turntable 208 and a turntable 4 210, and the left rear end of the turntable 1 207 is installed with a movable arm rod 1 211, and the left bottom of the movable arm rod 1 211 is installed with a fixed clamping upper plate 213, and the rear right end of the movable arm rod 1 211 is installed with a movable The left rear end of the turntable 208 is provided with a movable arm 212, the left top of the movable arm 212 is provided with a fixed clamping lower plate 214, the right rear end of the movable arm 212 is provided with a fixed groove clamp 217, the front side of the movable shaft 215 is provided with a slide 216, the slide 216 is slidably connected to the rear side of the movable groove clamp 218, the front bottom of the slide 216 is fixedly connected to the rear side of the fixed groove clamp 217, the right rear end of the turntable 3 209 is provided with a movable arm 3 219, the right side of the movable arm 3 219 is provided with a movable arm 3 219. A fixed clamping arc circle 1 221 is installed at the bottom of the side, a movable arm rod 4 220 is installed at the right rear end of the turntable 4 210, a fixed clamping arc circle 2 222 is installed at the right top of the movable arm rod 4 220, a movable groove clamping block 3 225 is installed at the rear left end of the movable arm rod 3 219, a movable groove clamping block 4 226 is installed at the rear left end of the movable arm rod 4 220, a slide groove 224 is provided at the front side of the movable shaft rod 223, the slide groove 224 is slidably connected with the movable groove clamping block 3 225, and the front bottom of the slide groove 224 is fixedly connected with the rear side of the movable groove clamping block 4 226;The double-headed motor 1 205 drives the connecting rod 1 201 and the turntable 1 207 as well as the connecting rod 3 203 and the turntable 3 209 to rotate at the same time. The double-headed motor 2 206 drives the connecting rod 2 202 and the turntable 2 208 as well as the connecting rod 4 204 and the turntable 4 210 to rotate at the same time. The turntable 1 207 and the turntable 2 208 rotate from front to back at the same time. The turntable 3 209 and the turntable 4 210 rotate from front to back at the same time. When the turntable 1 207 and the turntable 2 208 rotate together, the movable arm rod 1 211 and the movable slot clamp block are driven. The second 218 slides in the slide groove close to the movable arm rod second 212 and the fixed groove clamping block one 217, so that the fixed clamping upper plate 213 and the fixed clamping lower plate 214 form a clamping operation, and the rotation of the turntable three 209 and the turntable four 210 driven by the double-headed motor two 206 causes the movable arm rod three 219 and the movable groove clamping block three 225 to slide on the slide groove two 224 close to the movable arm rod four 220 and the movable groove clamping block four 226, so that the fixed clamping arc circle one 221 and the fixed clamping arc circle two 222 form a clamping operation. ;

[0031] The angle adjustment mechanism 3 includes a vertical rod 301 and a main column 303. The bottom of the vertical rod 301 passes through the bottom front side of the mechanical frame 1 and is installed with a gear 1 304. The top of the vertical rod 301 is fixedly connected to the output end of the motor 1 302. The gear 1 304 is meshed with the gear 2 305. The gear 2 305 is installed at the lower part of the main column 303. The main column 303 and the vertical rod 301 are both installed on the upper surface of the base 4. The motor 1 302 drives the vertical rod 301 to rotate. The rotation of the vertical rod 301 drives the gear 1 304 to rotate. The rotation of the gear 1 304 drives the meshed gear 2 305 to rotate. The rotation of the gear 2 305 drives the main column 303 to rotate. The rotation of the main column 303 will drive the mechanical frame 1 to rotate. The rotation of the mechanical frame 1 will exchange the positions of the fixed clamping upper plate 213, the fixed clamping lower plate 214, the fixed clamping arc circle 1 221, and the fixed clamping arc circle 2 222.

[0032] The linear motion mechanism 5 includes a fixed plate bottom with a rack 501 and two movable grooves 507. The fixed plate bottom with a rack 501 is installed on the lower surface of the base 4. The fixed plate bottom with a rack 501 is meshed and connected with the driving wheel 502. The middle of the driving wheel 502 is penetrated by a wheel rod 503. The left end of the wheel rod 503 is fixedly connected to the output end of the motor 2 504. The right end of the wheel rod 503 is set to be rotatably connected to the left side of the fixed seat 505. The two movable grooves 507 are respectively arranged on the left and right sides of the upper surface of the base frame 8. The two movable grooves 507 are respectively arranged on the corresponding The bottom of the movable support plate 506 is slidably connected, and the tops of the two movable support plates 506 are respectively installed on the bottom of the corresponding support plate 14. The motor 2 504 drives the driving wheel 502 to rotate. The rotation of the driving wheel 502 causes the meshing connected bottom rack 501 of the fixed plate to move linearly back and forth. When the bottom rack 501 of the fixed plate moves linearly back and forth, the base 4 also moves along with it. At this time, the movable support plates 506 on both sides will move in the movable groove 507, thereby improving the stability of the bottom rack 501 of the fixed plate when it moves linearly back and forth.

[0033] A shaft sleeve 11 is sleeved on the movable shaft rod 1 215 and the movable shaft rod 2 223, and a fixed through groove 10 is provided in the middle of the two shaft sleeves 11. A plurality of fixed through grooves 10 are provided in the middle and upper parts of the movable shaft rod 1 215 and the movable shaft rod 2 223, and the plurality of fixed through grooves 10 are detachably connected with the fixed plug rod 12 through threads. The shaft sleeve 11 limits the top of the movable shaft rod 1 215 and the movable shaft rod 2 223, and the position height of the shaft sleeve 11 on the movable shaft rod 1 215 and the movable shaft rod 2 223 is changed by the fixed through groove 10 and the fixed plug rod 12. When the shaft sleeve 11 is located at the lowest fixed through groove 10, the movable position of the fixed clamping upper plate 213 on the movable shaft rod 1 215 and the movable position of the fixed clamping arc circle 1 221 on the movable shaft rod 2 223 become shorter, so that packaging items of different heights can be clamped.

[0034] A fixing frame 9 is installed on both the double-headed motor 1 205 and the double-headed motor 2 206, and a pneumatic telescopic rod 1 6 and a pneumatic telescopic rod 2 7 are respectively arranged on the right side of the two fixing frames 9, and the pneumatic telescopic rod 1 6 and the pneumatic telescopic rod 2 7 are respectively installed on the right side of the inside of the mechanical frame 1, and the double-headed motor 1 205 and the double-headed motor 2 206 are both installed with a fixing frame 9 for fixed support, and the two ends of the double-headed motor 1 205 are driven by the pneumatic telescopic rod 1 6 to separate or engage with the right end of the connecting rod 1 201 and the left end of the connecting rod 3 203. When the pneumatic telescopic rod 1 6 drives the left end output end of the double-headed motor 1 205 to separate from the right end of the connecting rod 1 201, the double-headed motor 1 205 will only drive connecting rod three 203 to rotate. When the pneumatic telescopic rod one 6 drives the right end of the double-headed motor one 205 to separate from the left end of the connecting rod three 203, the double-headed motor one 205 will only drive connecting rod one 201 to rotate, and the double-headed motor two 206 is also separated and engaged with connecting rod two 202 and connecting rod four 204 through the pneumatic telescopic rod two 204. Therefore, the double-headed motor one 205 can drive connecting rod one 201 and connecting rod three 203 to rotate at the same time, and can also drive connecting rod one 201 and connecting rod three 203 to rotate separately. The same is true for the double-headed motor two 206, which has the same principle as the double-headed motor one 205.

[0035] The motor one 302 is installed with a motor three bracket 15 , which is installed at the bottom end of the inner front side of the mechanical frame 1 , and the motor one 302 is supported and fixed by the motor three bracket 15 .

[0036] A vertical baffle 13 is provided on the side away from the two movable support plates 506. The two vertical baffles 13 are respectively installed on the left and right sides of the top of the base frame 8 at the outer edge of the movable groove 507. The vertical baffles 13 can be provided to reinforce the stability of the movable support plates 506 during movement.

[0037] The bottom of the fixed clamping upper plate 213 and the top of the fixed clamping lower plate 214 are close to or away from each other, the bottom of the fixed clamping arc circle 1 221 and the top of the fixed clamping arc circle 2 222 are close to or away from each other, the fixed clamping upper plate 213 can slide up and down in the slide groove 1 216 on the movable shaft rod 1 215 through the movable groove clamp block 218 and can approach the fixed clamping lower plate 214 and can move away from each other to adjust the clamping distance, the fixed clamping arc circle 1 221 can slide up and down in the slide groove 224 on the movable shaft rod 223 through the movable groove clamp block 3 225 and can approach the fixed clamping arc circle 2 222 and can move away from each other to adjust the clamping distance.

[0038] In the present invention, the double-headed motor 1 205 drives the connecting rod 1 201 and the turntable 1 207 as well as the connecting rod 3 203 and the turntable 3 209 to rotate at the same time, and the double-headed motor 2 206 drives the connecting rod 2 202 and the turntable 2 208 as well as the connecting rod 4 204 and the turntable 4 210 to rotate at the same time. The turntable 1 207 and the turntable 2 208 rotate from front to back at the same time, and the turntable 3 209 and the turntable 4 210 rotate from front to back at the same time. When the turntable 1 207 and the turntable 2 208 rotate together, the movable arm rod 1 211 and the movable slot clamp block 2 218 are driven to slide in the slide groove close to the movable arm rod 2 212 and the fixed slot clamp block 1 217, so that the fixed clamping upper plate 213 and the fixed clamping lower plate 214 form a clamping operation for clamping square-shaped packaging items, and the rotation of the turntable 3 209 and the turntable 4 210 driven by the double-headed motor 206 causes the movable arm 3 219 and the movable groove clamp block 3 225 to slide on the slide groove 224 close to the movable arm 4 220 and the movable groove clamp block 4 226, so that the fixed clamping arc circle 1 221 and the fixed clamping arc circle 2 222 form a clamping operation for clamping round-shaped packaging items, thereby making the structure of the packaging machine manipulator for clamping packaging have the function of clamping different shapes;

[0039] The motor 1 302 drives the vertical rod 301 to rotate, the rotation of the vertical rod 301 drives the gear 1 304 to rotate, the rotation of the gear 1 304 drives the meshing gear 2 305 to rotate, the rotation of the gear 2 305 drives the main column 303 to rotate, the rotation of the main column 303 drives the mechanical frame 1 to rotate, the rotation of the mechanical frame 1 will swap the fixed clamping upper plate 213, the fixed clamping lower plate 214, the fixed clamping arc circle 1 221, and the fixed clamping arc circle 2 222, thereby making the structure of the packaging machine manipulator for clamping packaging have the function of switching direction, and can switch the positions of the clamping circular and square types;

[0040] The second motor 504 drives the driving wheel 502 to rotate. The rotation of the driving wheel 502 causes the meshing bottom rack 501 of the fixed plate to move linearly forward and backward. When the bottom rack 501 of the fixed plate moves linearly forward and backward, the base 4 also moves along with it. At this time, the movable support plates 506 on both sides move in the movable grooves 507, thereby improving the stability of the bottom rack 501 of the fixed plate when it moves linearly forward and backward. As a result, the structure of the packaging machine manipulator used for clamping the package has the function of linear movement.

[0041] The top of the movable shaft rod 1 215 and the movable shaft rod 223 is limited by the shaft rod sleeve 11, and the position height of the shaft rod sleeve 11 on the movable shaft rod 1 215 and the movable shaft rod 223 is changed by the fixed through slot 10 and the fixed plug rod 12. When the shaft rod sleeve 11 is located at the lowest fixed through slot 10, the movable position of the fixed clamping upper plate 213 on the movable shaft rod 1 215 and the movable position of the fixed clamping arc circle 1 221 on the movable shaft rod 223 become shorter, so that packaging articles of different heights can be clamped, thereby making the structure of the packaging machine manipulator for clamping packaging have the function of adjusting the clamping distance;

[0042] The two ends of the double-headed motor 205 are driven by the pneumatic telescopic rod 6 to separate or engage with the right end of the connecting rod 1 201 and the left end of the connecting rod 3 203. When the pneumatic telescopic rod 6 drives the left end output end of the double-headed motor 205 to separate from the right end of the connecting rod 1 201, the double-headed motor 205 will only drive the connecting rod 3 203 to rotate. When the pneumatic telescopic rod 6 drives the right end of the double-headed motor 205 to separate from the left end of the connecting rod 3 203, the double-headed motor 205 will only drive the connecting rod 1 201 to rotate, and the double-headed motor 2 206 is also driven by the pneumatic telescopic rod 6 to separate the right end of the double-headed motor 205 from the left end of the connecting rod 3 203. The movable telescopic rod 204 is separated and engaged with the connecting rod 202 and the connecting rod 4 204, so that the double-headed motor 1 205 can drive the connecting rod 1 201 and the connecting rod 3 203 to rotate at the same time, and can also drive the connecting rod 1 201 and the connecting rod 3 203 to rotate separately. The same is true for the double-headed motor 206. It has the same principle as the double-headed motor 1 205. As a result, the structure of the packaging machine robot for clamping packaging has the function of driving the robot to clamp square and circular types at the same time, and can drive square or circular types separately.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising a mechanical frame (1), characterized in that: A base (4) is provided at the lower part of the mechanical frame (1), support plates (14) are installed on both left and right sides of the base (4), a bottom frame (8) is provided at the lower part of the base (4), a packaging clamping mechanism (2) is passed through the upper middle part of the left side of the mechanical frame (1), an angle adjustment mechanism (3) is passed through the bottom front side of the mechanical frame (1), and a linear moving mechanism (5) is installed on the lower surface of the base (4); The clamping mechanism (2) of the package comprises a connecting rod 1 (201), a connecting rod 2 (202), a connecting rod 3 (203), a connecting rod 4 (204), a movable shaft rod 1 (215) and a movable shaft rod 2 (223), wherein the connecting rod 1 (201) passes through the middle and upper part of the left side of the mechanical frame (1), the connecting rod 2 (202) passes through the middle and lower part of the left side of the mechanical frame (1), the connecting rod 3 (203) passes through the middle and upper part of the right side of the mechanical frame (1), and the connecting rod 4 (204) passes through the middle and lower part of the right side of the mechanical frame (1), and the connecting rod 1 (201) and the connecting rod 3 (203) are respectively engaged with the left and right output ends of the double-headed motor 1 (205) on one side close to each other. The connecting rod 2 (202) and the connecting rod 4 (204) are respectively connected to the left and right output ends of the double-headed motor 2 (206) at one side thereof; the left end of the connecting rod 1 (201) and the right end of the connecting rod 3 (203) are respectively provided with a turntable 1 (207) and a turntable 3 (209); the left end of the connecting rod 2 (202) and the right end of the connecting rod 4 (204) are respectively provided with a turntable 2 (208) and a turntable 4 (210); the left rear end of the turntable 1 (207) is provided with a movable arm rod 1 (211); the left bottom of the movable arm rod 1 (211) is provided with a fixed clamping upper plate (213); the rear right end of the movable arm rod 1 (211) is provided with a movable A groove clamp block 2 (218), a movable arm rod 2 (212) is installed at the left rear end of the turntable 2 (208), a fixed clamping lower plate (214) is installed at the left top of the movable arm rod 2 (212), a fixed groove clamp block 1 (217) is installed at the right rear end of the movable arm rod 2 (212), a slide groove 1 (216) is provided on the front side of the movable shaft rod 1 (215), the slide groove 1 (216) is slidably connected to the rear side of the movable groove clamp block 2 (218), the front bottom of the slide groove 1 (216) is fixedly connected to the rear side of the fixed groove clamp block 1 (217), and a movable arm rod 3 (219) is installed at the right rear end of the turntable 3 (209), the movable arm rod 3 (219) A fixed clamping arc circle 1 (221) is installed at the right bottom, a movable arm rod 4 (220) is installed at the right rear end of the turntable 4 (210), a fixed clamping arc circle 2 (222) is installed at the right top of the movable arm rod 4 (220), a movable groove clamp block 3 (225) is installed at the rear left end of the movable arm rod 3 (219), a movable groove clamp block 4 (226) is installed at the rear left end of the movable arm rod 4 (220), a slide groove 2 (224) is provided on the front side of the movable shaft rod 2 (223), the slide groove 2 (224) is slidably connected to the movable groove clamp block 3 (225), and the front bottom of the slide groove 2 (224) is fixedly connected to the rear side of the movable groove clamp block 4 (226).

2. The robot according to claim 1, characterized in that: The angle adjustment mechanism (3) comprises a vertical rod (301) and a main column (303); the bottom of the vertical rod (301) penetrates the bottom front side of the mechanical frame (1) and is installed with a gear 1 (304); the top of the vertical rod (301) is fixedly connected to the output end of the motor 1 (302); the gear 1 (304) is meshedly connected with the gear 2 (305); the gear 2 (305) is installed at the bottom of the main column (303); the main column (303) and the vertical rod (301) are both installed on the upper surface of the base (4).

3. The robot according to claim 1, characterized in that: The linear motion mechanism (5) comprises a fixed plate bottom with a rack (501) and two movable grooves (507), wherein the fixed plate bottom with a rack (501) is mounted on the lower surface of the base (4), the fixed plate bottom with a rack (501) is meshedly connected with a driving wheel (502), a wheel rod (503) passes through the middle of the driving wheel (502), the left end of the wheel rod (503) is fixedly connected to the output end of the second motor (504), the right end of the wheel rod (503) is rotatably connected to the left side of the fixed seat (505), the two movable grooves (507) are respectively arranged on the left and right sides of the upper surface of the base frame (8), the two movable grooves (507) are respectively slidably connected to the bottom of the corresponding movable support plate (506), and the tops of the two movable support plates (506) are respectively mounted on the bottom of the corresponding support plate (14).

4. The robot according to claim 1, characterized in that: The movable shaft rod one (215) and the movable shaft rod two (223) are both provided with shaft rod sleeves (11), and the middle parts of the two shaft rod sleeves (11) are both provided with a fixed through groove (10), and the middle and upper parts of the movable shaft rod one (215) and the movable shaft rod two (223) are both provided with a plurality of fixed through grooves (10), and the plurality of fixed through grooves (10) are all detachably connected to the fixed plug rod (12) by threads.

5. The robot according to claim 1, characterized in that: A fixing frame (9) is installed on both the double-headed motor 1 (205) and the double-headed motor 2 (206), and a pneumatic telescopic rod 1 (6) and a pneumatic telescopic rod 2 (7) are respectively arranged on the right side of the two fixing frames (9), and the pneumatic telescopic rod 1 (6) and the pneumatic telescopic rod 2 (7) are respectively installed on the right side of the inside of the mechanical frame (1).

6. The robot according to claim 2, characterized in that: The motor one (302) is mounted with a motor three bracket (15), and the motor three bracket (15) is mounted at the bottom end of the inner front side of the mechanical frame (1).

7. The robot according to claim 3, characterized in that: A vertical baffle (13) is provided on one side of the two movable support plates (506) that are away from each other. The two vertical baffles (13) are respectively installed on the left and right sides of the top of the bottom frame (8) and located at the outer edge of the movable groove (507).

8. The robot according to claim 1, characterized in that: The bottom of the fixed clamping upper plate (213) and the top of the fixed clamping lower plate (214) are close to or far away from each other, and the bottom of the fixed clamping arc circle 1 (221) and the top of the fixed clamping arc circle 2 (222) are close to or far away from each other.

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