Robot double-station grabbing structure

Abstract

A robot double-station grabbing structure is characterized in that a servo motor mounting frame arranged on a cross beam is mounted at the bottom of a six-axis robot 7, rotary driving servo motors 1 are mounted on the left side and the right side of the servo motor mounting frame, a clamping jaw mounting frame 101 is mounted at the bottoms of the rotary driving servo motors 1, and a single-row clamping jaw module 3 with an air cylinder is mounted on one side of the clamping jaw mounting frame 101; a detachable single-row clamping jaw module 4 is installed at the bottom of the clamping jaw installation frame 101, a clamping jaw air cylinder 5 is installed on the single-row clamping jaw module 4, and the clamping jaw air cylinder 5 is used for clamping a milk roof box 6. The packaging machine is ingenious in structural design, the single-row clamping jaw module with the air cylinder is installed, the specification of different numbers of materials on each layer in a single box can be met, and the detachable clamping jaw installation plate meets various packaging specifications. The double-station design is adopted, a single station can rotate automatically, and the grabbing and boxing efficiency is doubled.

Description

Technical Field

[0001] The invention relates to the technical field of robot packing, in particular to a robot double-station grasping structure. Background Art

[0002] With the development of robot packing, some problems also exist in the process. For example, the packing specifications are relatively fixed and cannot be compatible with multiple specifications, and the molds need to be replaced frequently. On the other hand, a single grab of the packing can only grab materials at one workstation, which is inefficient. Summary of the invention

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a robot double-station grasping structure to be compatible with various specifications. At the same time, due to the use of the double-station design, the grasping and packing efficiency is doubled.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A robot double-station grasping structure, the robot double-station grasping structure 9 includes a rotation drive servo motor 1, a single-row clamping claw module 3 with a cylinder, a detachable single-row clamping claw module 4, a clamping claw cylinder 5 and a six-axis robot 7, characterized in that: a servo motor mounting frame with a crossbeam is installed at the bottom of the six-axis robot 7, a rotation drive servo motor 1 is installed on the left and right sides of the servo motor mounting frame, a clamping claw mounting frame 101 is installed at the bottom of the rotation drive servo motor 1, a single-row clamping claw module 3 with a cylinder is installed on one side of the clamping claw mounting frame 101, a detachable single-row clamping claw module 4 is installed at the bottom of the clamping claw mounting frame 101, and a clamping claw cylinder 5 is installed on the single-row clamping claw module 4, and the clamping claw cylinder 5 is used to clamp a milk roof box 6.

[0005] The present invention also has the following additional technical features: As a further specific optimization of the technical solution of the present invention: the models of the jaw position adjusting cylinder 1 and the jaw cylinder 2 are MHZ2-20DN-M9BL.

[0006] As a further specific optimization of the technical solution of the present invention: the detachable single-row clamping jaw module 4 is convenient for adjusting the production specifications.

[0007] As a further specific optimization of the technical solution of the present invention: proximity switches 2 are installed on the left and right sides of the servo motor mounting frame, and the model of the proximity switch 2 is Omron E2B-M12KN08-WP-B1.

[0008] As a further specific optimization of the technical solution of the present invention: the model of the rotary drive servo motor 1 is Siemens 1FL6034-2AF21-1AG1; the model of the clamping cylinder 5 is SMCMHZ2-20DN-M9BL.

[0009] As a further specific optimization of the technical solution of the present invention: a junction box 8 is installed on the side of the six-axis robot 7.

[0010] As a further specific optimization of the technical solution of the present invention: the robot double-station grasping structure 9 is also installed with a box supporting structure 10, a straw delivery structure 11 and a material sorting platform 12.

[0011] As a further specific optimization of the technical solution of the present invention: it includes a lifting cylinder and a box-supporting guide plate, and the model of the lifting cylinder is MDBF50-200Z-M9BL.

[0012] As a further specific optimization of the technical solution of the present invention, the structure of the straw placing structure 11 is a straw counting roller driving servo motor 1101, a straw cutting cylinder 1102, a straw presence detection photoelectric 1103, a straw conveying servo motor 1104, an air blowing port 1105, a straw detection 1106, a straw 1107, a lifting cylinder 1108, and a straw guide 1109. As a further specific optimization of the technical solution of the present invention: the material sorting platform 12 includes a conveyor mesh belt 1, and a dividing partition mechanism 2 is installed at the rear end of the main body of the conveyor mesh belt 1, and the dividing partition mechanism 2 allows the materials to be neatly arranged on the conveying platform; a lifting module 3 is installed at the middle end of the main body of the conveyor mesh belt 1, and a clamping side guard automatic adjustment mechanism 4 is installed at the front end of the main body of the conveyor mesh belt 1, and a clamping mechanism 5 and a clamping mechanism 6 are installed at the front end of the clamping side guard automatic adjustment mechanism 4; a lifting blocking and avoidance mechanism 7 is installed at the front end of the main body of the conveyor mesh belt 1, and a material arrival detection mechanism 8 is installed at the bottom of the lifting blocking and avoidance mechanism 7; a moving backing mechanism 9 is installed at the rear end of the main body of another conveyor mesh belt 1, and the moving backing mechanism 9 moves left and right above the conveyor mesh belt 1 through a linear module 10.

[0013] Compared with the prior art, the present invention has the following advantages: The invention has an ingenious structural design, and the installation of a single-row clamping jaw module with a cylinder can meet the specifications of different quantities of materials in each layer in a single box, and the detachable clamping jaw installation plate can meet various packaging specifications.

[0014] The present invention adopts a double-station design, and a single station can self-rotate, so the grabbing and packing efficiency is doubled. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a partial structural schematic diagram of the robot double-station grasping structure 9 of the present invention; Figure 2 It is a structural schematic diagram of a single-row clamping jaw module 3 with a cylinder according to the present invention; Figure 3 It is a structural schematic diagram of a detachable single-row clamping jaw module 4 of the present invention; Figure 4It is a schematic diagram of the general assembly structure of the robot double-station grasping structure 9 of the present invention; Figure 5 It is a schematic diagram of the structure of the present invention in use state; Figure 6 It is a structural schematic diagram of the box support structure 10 of the present invention; Figure 7 It is a schematic structural diagram of the delivery straw structure 11 of the present invention; Figure 8 It is a schematic structural diagram of the delivery straw structure 11 of the present invention; Fig. 9 It is a structural schematic diagram of the material sorting platform 12 of the present invention.

[0016] Explanation of the reference numerals: 1. Rotary drive servo motor; 2. Proximity switch; 3. Single-row gripper module with cylinder; 4. Removable single-row gripper module; 5. Gripper cylinder; 6. Milk roof box; 7. Six-axis robot; 8. Junction box; 9. Robot double-station grasping structure; 10. Box supporting structure; 11. Straw delivery structure; 12. Material sorting platform. DETAILED DESCRIPTION

[0017] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0018] Example 1 A robot double-station grasping structure adopts a symmetrical double-station design. A servo motor controls a single station to rotate 90 degrees to adjust the packing state. A gripper cylinder is used to grip materials. Each row of grippers is controlled individually. A detachable single-row gripper module is provided on the gripper cylinder mounting plate. A single-row gripper module with a cylinder can also be installed. The function of the cylinder is to adjust the interval between the grippers to meet the packaging specifications of multi-layer packaging with inconsistent quantity of materials in each layer. The structure is simple and reliable to use, ensuring the normal operation of the case packer.

[0019] The robot double-station grasping structure 9 includes a rotary drive servo motor 1, a single-row gripper module 3 with a cylinder, a detachable single-row gripper module 4, a gripper cylinder 5 and a six-axis robot 7. A servo motor mounting frame with a crossbeam is installed at the bottom of the six-axis robot 7. The rotary drive servo motor 1 is installed on the left and right sides of the servo motor mounting frame. A gripper mounting frame 101 is installed at the bottom of the rotary drive servo motor 1. A single-row gripper module 3 with a cylinder is installed on one side of the gripper mounting frame 101. A detachable single-row gripper module 4 is installed at the bottom of the gripper mounting frame 101. A gripper cylinder 5 is installed on the single-row gripper module 4. The gripper cylinder 5 is used to grip the milk roof box 6.

[0020] The model of the jaw position adjustment cylinder 1 and the jaw cylinder 2 is MHZ2-20DN-M9BL.

[0021] The structure of the detachable single-row clamping jaw module 4 is that the detachable single-row clamping jaw module 4 is convenient for adjusting the production specifications.

[0022] Proximity switch 2 is installed on the left and right sides of the servo motor mounting frame. The model of proximity switch 2 is Omron E2B-M12KN08-WP-B1.

[0023] The model of the rotary drive servo motor 1 is Siemens 1FL6034-2AF21-1AG1; the model of the gripper cylinder 5 is SMCMHZ2-20DN-M9BL.

[0024] A junction box 8 is installed on the side of the six-axis robot 7 .

[0025] The working principle of the robot's double-station grasping structure: after power-on, the single station rotates and drives the servo motor 1 to sense the proximity switch 2, and resets the origin. After resetting, the gripper grabs the milk roof box 6 from the material sorting platform, and can be rotated 90° for packing by the rotation drive servo motor 1 according to the needs of packing. For specifications with the same number of single layers, the detachable single-row gripper module 3 can be installed to adjust the specifications; for the case where there are two layers in the basket and the number of upper layers is one row less than the number of lower layers, the detachable single-row gripper module 4 can be installed, the first layer cylinder retracts to grasp and pack, and the second layer The first row of the second layer is grasped between the first and second rows of the first layer. The milk roof box grasped by the detachable single-row gripper module 4 is placed on the matching platform, and the cylinder in the single-row gripper module 4 extends to avoid the plastic basket, and the rest is packed, and so on. When the number of rows of milk roof boxes on the matching platform is the same as the number of rows of grippers minus 1, the robot grabs the milk roof box from the matching platform for packing, which is a whole cycle.

[0026] Example 2 The robot double-station grasping structure 9 is also equipped with a box supporting structure 10, a straw placing structure 11 and a material sorting platform 12, forming a packaging machine compatible with seven milk roof box production specifications and two packaging methods.

[0027] The box supporting structure 10 includes a lifting cylinder and a box supporting guide plate. The model of the lifting cylinder is MDBF50-200Z-M9BL.

[0028] The structure of the straw placing structure 11 is a straw counting roller driving servo motor 1101, a straw cutting cylinder 1102, a straw presence detection photoelectric 1103, a straw conveying servo motor 1104, an air blowing port 1105, a straw detection 1106, a straw 1107, a lifting cylinder 1108, and a straw guide 1109.

[0029] The material sorting platform 12 includes a conveyor mesh belt 1201, and a dividing partition mechanism 1202 is installed at the rear end of the main body of the conveyor mesh belt 1201, and the dividing partition mechanism 1202 allows the materials to be neatly arranged on the conveying platform; a lifting module 1203 is installed at the middle end of the main body of the conveyor mesh belt 1201, and a clamping side guard automatic adjustment mechanism 1204 is installed at the front end of the main body of the conveyor mesh belt 1201, and a clamping mechanism 1205 and a clamping mechanism 1206 are installed at the front end of the clamping side guard automatic adjustment mechanism 1204; a lifting blocking and avoiding mechanism 1207 is installed at the front end of the main body of the conveyor mesh belt 1201, and a material arrival detection mechanism 1208 is installed at the bottom of the lifting blocking and avoiding mechanism 1207; a moving backing mechanism is installed at the rear end of the main body of another conveyor mesh belt 1201, and the moving backing mechanism moves left and right above the conveyor mesh belt 1201 through a linear module 12010.

[0030] The working principle of the packaging machine compatible with 7 milk roof box production specifications and two packaging methods: After power-on, the robot's double-station grasping structure 9 grabs the material from the material sorting platform and puts it into a carton or plastic basket. If the material is put into a plastic basket, the straw part can be automatically put in; if the material is put into a carton, the box supporting structure supports the carton board to facilitate the material to enter the carton, and the carton and plastic basket are sent to the next process through roller conveyor.

[0031] The above detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention but merely represents selected embodiments of the present invention.

Claims

1. A robot double-station grasping structure, characterized in that: The robot double-station grasping structure (9) comprises a rotary drive servo motor (1), a single-row clamping claw module (3) with a cylinder, a detachable single-row clamping claw module (4), a clamping claw cylinder (5) and a six-axis robot (7), characterized in that a servo motor mounting frame with a crossbeam is installed at the bottom of the six-axis robot (7), a rotary drive servo motor (1) is installed on the left and right sides of the servo motor mounting frame, a clamping claw mounting frame (101) is installed at the bottom of the rotary drive servo motor (1), a single-row clamping claw module (3) with a cylinder is installed on one side of the clamping claw mounting frame (101), a detachable single-row clamping claw module (4) is installed at the bottom of the clamping claw mounting frame (101), a clamping claw cylinder (5) is installed on the single-row clamping claw module (4), and the clamping claw cylinder (5) is used to clamp a milk roof box (6).

2. A robot double-station grasping structure according to claim 1, characterized in that: The model of the jaw position adjustment cylinder (1) and the jaw cylinder (2) is MHZ2-20DN-M9BL.

3. The robot double-station grasping structure according to claim 1, characterized in that: The detachable single-row clamping jaw module (4) facilitates adjustment of production specifications.

4. The robot double-station grasping structure according to claim 1, characterized in that: Proximity switches (2) are installed on the left and right sides of the servo motor mounting frame. The model of the proximity switch (2) is Omron E2B-M12KN08-WP-B1.

5. The robot double-station grasping structure according to claim 1, characterized in that: The model of the rotary drive servo motor (1) is Siemens 1FL6034-2AF21-1AG1; the model of the gripper cylinder (5) is SMCMHZ2-20DN-M9BL.

6. The robot double-station grasping structure according to claim 1, characterized in that: A junction box (8) is installed on the side of the six-axis robot (7).

7. The robot double-station grasping structure according to claim 1, characterized in that: The robot double-station grasping structure (9) is also equipped with a box supporting structure (10), a straw placing structure (11) and a material sorting platform (12).

8. The robot double-station grasping structure according to claim 7, characterized in that: The box supporting structure (10) comprises a lifting cylinder and a box supporting guide plate, and the model of the lifting cylinder is MDBF50-200Z-M9BL.

9. The robot double-station grasping structure according to claim 7, characterized in that: The straw delivery structure (11) comprises a straw counting roller driving servo motor (1101), a straw cutting cylinder (1102), a straw presence detection photoelectric device (1103), a straw delivery servo motor (1104), an air blowing port (1105), a straw detection device (1106), a straw (1107), a lifting cylinder (1108), and a straw guide (1109).

10. The robot double-station grasping structure according to claim 7, characterized in that: The material sorting platform (12) comprises a conveyor mesh belt (1201), a dividing partition mechanism (1202) is installed at the rear end of the main body of the conveyor mesh belt (1201), and the dividing partition mechanism (1202) allows the materials to be neatly arranged on the conveyor platform; a lifting module (1203) is installed at the middle end of the main body of the conveyor mesh belt (1201), and a clamping rib automatic adjustment mechanism (1204) is installed at the front end of the main body of the conveyor mesh belt (1201). A clamping mechanism (1205) and a clamping mechanism (1206) are installed at the front end of the main body of the conveyor mesh belt (1201); a lifting blocking and avoiding mechanism (1207) is installed at the front end of the main body of the conveyor mesh belt (1201), and a material arrival detection mechanism (1208) is installed at the bottom of the lifting blocking and avoiding mechanism (1207); a movable backing mechanism is installed at the rear end of the main body of the other conveyor mesh belt (1201), and the movable backing mechanism moves left and right above the conveyor mesh belt (1201) through a linear module (12010).

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