Composite grabbing device for accessory loading system of high-speed packaging machine

Abstract

The utility model discloses a composite gripping device for an auxiliary material loading system of a high-speed packaging machine, which comprises a manipulator, the fixed bottom end of the manipulator is mounted on a moving shaft component, an integrated clamp component is arranged at the execution tail end of the manipulator, and the moving shaft component comprises a fixed frame. The lower surface of the fixed rack is mounted on the ground through a rack support; a sliding assembly is arranged on the fixed rack, the fixed bottom end of the mechanical arm is installed on the sliding assembly, the integrated clamp assembly comprises a sponge suction cup installation plate, the upper surface of the sponge suction cup installation plate is connected with the execution tail end of the mechanical arm through a mechanical arm connecting flange, and multiple sets of sponge suction cups are arranged on the lower surface of the sponge suction cup installation plate. The fixed bottom end of the mechanical arm is installed on the sliding assembly of the fixed rack, the mechanical arm is driven by the sliding assembly to move on the fixed rack, auxiliary materials are adsorbed and grabbed through the sponge suction cup at the execution tail end of the mechanical arm and transferred, and therefore manpower is liberated, and production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary material grabbing devices for high-speed packaging machines, in particular to a composite grabbing device for an auxiliary material loading system of a high-speed packaging machine. Background Art

[0002] At present, the distribution process of strip label paper and small transparent paper used in cigarette rolling workshops in China is arranged according to the existing high-speed packaging unit. The loading position of strip label paper and small transparent paper is located at the rear of the main machine. When adding strip label paper materials, operators need to walk under the passage; the loading position is less than 1m away from the electric control cabinet, which poses a safety hazard; the loading area is about 1700mm from the ground, and bundles of strip label paper and small transparent paper need to be manually lifted to the loading plane, which is time-consuming and laborious. The production efficiency is low, and the scattered distribution of equipment and auxiliary materials causes congestion in the passage, which can no longer meet the requirements of increasing production. In addition, the handling, accounting and scheduling in the process are all done manually. Utility Model Content

[0003] In view of the above problems in the prior art, the utility model provides a composite gripping device for the auxiliary material loading system of a high-speed packaging machine, which solves the problem that during the auxiliary material loading process of the high-speed packaging machine, the auxiliary material needs to be manually lifted to the loading plane, which is time-consuming and labor-intensive.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A composite grasping device for an auxiliary material loading system of a high-speed packaging machine is provided, which comprises a manipulator, wherein the fixed bottom end of the manipulator is mounted on a moving shaft assembly, an execution end of the manipulator is provided with an integrated clamp assembly, the moving shaft assembly comprises a fixed frame, and the lower surface of the fixed frame is mounted on the ground through a frame support; a sliding assembly is arranged on the fixed frame, the fixed bottom end of the manipulator is mounted on the sliding assembly, the integrated clamp assembly comprises a sponge suction cup mounting plate, the upper surface of the sponge suction cup mounting plate is connected to the execution end of the manipulator through a manipulator connecting flange, and a plurality of groups of sponge suction cups are arranged on the lower surface of the sponge suction cup mounting plate.

[0006] The utility model installs the fixed bottom end of the manipulator on the sliding assembly of the fixed frame, drives the manipulator to move on the fixed frame through the sliding assembly, and utilizes the sponge suction cup at the execution end of the manipulator to absorb and grasp the auxiliary materials, and transport them, thereby freeing up manpower and improving production efficiency.

[0007] Furthermore, the sliding assembly includes a servo motor and a tensioning wheel. The servo motor is installed on one end of the fixed frame through a motor mounting bracket; the tensioning wheel is installed on the other end of the fixed frame through a tensioning seat. The servo motor is provided with a driving wheel through a planetary accelerator, and the driving wheel and the tensioning wheel are connected by a synchronous gear belt.

[0008] Furthermore, two rows of first slide rails are arranged on the upper surface of the fixed frame on both sides of the synchronous gear belt, and a manipulator mounting seat is arranged on the two rows of first slide rails through a first slider; the manipulator mounting seat is connected to the synchronous gear belt, and the fixed bottom end of the manipulator is installed on the manipulator mounting seat.

[0009] Furthermore, a three-head air gripper is arranged on the robot connecting flange via a three-head air gripper mounting frame.

[0010] Furthermore, an industrial camera is arranged on the robot connecting flange via a camera mounting plate, and an annular light source is arranged at the lens of the industrial camera.

[0011] Furthermore, a distance measuring laser sensor is arranged on the sponge suction cup mounting plate.

[0012] Furthermore, a diffuse reflection sensor is arranged on the sponge suction cup mounting plate.

[0013] Furthermore, a loading push plate is provided on a side of the sponge suction cup mounting plate away from the three-head air claw.

[0014] The utility model discloses a composite grabbing device for an auxiliary material loading system of a high-speed packaging machine, and its beneficial effects are:

[0015] 1. The utility model installs the fixed bottom end of the manipulator on the sliding assembly of the fixed frame, drives the manipulator to move on the fixed frame through the sliding assembly, and uses the sponge suction cup at the execution end of the manipulator to absorb and grasp the auxiliary materials and transport them, thereby freeing manpower and improving production efficiency.

[0016] 2. The utility model is provided with a sponge suction cup and a three-head air gripper at the execution end of the manipulator, which can grasp two auxiliary materials with completely different shapes, avoiding the disadvantage of configuring a robot with a single-function fixture alone, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The utility model is a structural schematic diagram of a composite grabbing device for an auxiliary material loading system of a high-speed packaging machine.

[0018] Figure 2 It is a structural schematic diagram of the movable shaft assembly of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the integrated clamp assembly of the utility model.

[0020] Figure 4 It is a structural schematic diagram of the integrated clamp assembly of the utility model from another angle.

[0021] Among them, 1, manipulator; 2, moving shaft assembly; 21, fixed frame; 22, frame support; 23, sliding assembly; 231, servo motor; 232, tensioning wheel; 233, motor mounting bracket; 234, tensioning seat; 235, driving wheel; 236, synchronous gear belt; 237, first slide rail; 238, first slider; 239, manipulator mounting seat;

[0022] 3. Integrated fixture assembly; 31. Sponge suction cup mounting plate; 32. Robot connecting flange; 33. Sponge suction cup; 34. Three-head air gripper mounting frame; 35. Camera mounting plate;

[0023] 4. Three-head air gripper; 5. Industrial camera; 6. Ring light source; 7. Distance measuring laser sensor; 8. Diffuse reflection sensor; 9. Loading push plate. DETAILED DESCRIPTION

[0024] The specific implementation modes of the present invention are described to facilitate the understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all utility model creations utilizing the concept of the present invention are protected.

[0025] Example 1

[0026] refer to Figure 1 , which is a structural schematic diagram of a composite gripping device for a high-speed packaging machine auxiliary material loading system in this embodiment. Its purpose is to solve the problem that during the auxiliary material loading process of the high-speed packaging machine, the auxiliary material needs to be manually lifted to the loading plane, which is time-consuming and labor-intensive. The specific structure of this embodiment will be described in detail below.

[0027] A composite grabbing device for an auxiliary material loading system of a high-speed packaging machine comprises a manipulator 1, a fixed bottom end of the manipulator 1 is mounted on a moving shaft assembly 2, and an integrated clamp assembly 3 is provided at the execution end of the manipulator 1.

[0028] Specifically, the movable axis assembly 2 includes a fixed frame 21, the lower surface of the fixed frame 21 is installed on the ground through a frame support 22, a sliding assembly 23 is arranged on the fixed frame 21, and the fixed bottom end of the manipulator 1 is installed on the sliding assembly 23; the integrated clamp assembly 3 includes a sponge suction cup mounting plate 31, the upper surface of the sponge suction cup mounting plate 31 is connected to the execution end of the manipulator 1 through a manipulator connecting flange 32, and a plurality of groups of sponge suction cups 33 are arranged on the lower surface of the sponge suction cup mounting plate 31.

[0029] In this embodiment, the manipulator 1 adopts an existing small six-axis robot, whose specific model is S25-1800. Multiple groups of sponge suction cups 33 are installed on the sponge suction cup mounting plate 31, which is responsible for grabbing auxiliary materials through the vacuum suction force generated by negative pressure. The sponge suction cup 33 adopts an existing vacuum sponge suction cup, whose specific model is WJH-SVK-18*160-20H.

[0030] The movable axis assembly 2 includes a fixed frame 21, which is installed on the ground through two frame supports 22. The frame supports 22 are positioned with the ground contact plane through expansion bolts to ensure that the manipulator 1 and the movable axis assembly 2 are positioned firmly as a whole, thereby providing support and installation space for other components of the movable axis assembly 2 through the fixed frame 21.

[0031] The utility model installs the fixed bottom end of the manipulator 1 on the sliding assembly 23 of the fixed frame 21, drives the manipulator 1 to move on the fixed frame 21 through the sliding assembly 23, and utilizes the sponge suction cup 33 at the end of the manipulator 1 to absorb and grasp the auxiliary materials and transport them, thereby freeing up manpower and improving production efficiency.

[0032] Example 2

[0033] refer to Figure 2 , is a structural schematic diagram of a composite grasping device for a high-speed packaging machine auxiliary material loading system in this embodiment, and its purpose is to solve the problem that during the auxiliary material loading process of the high-speed packaging machine, the auxiliary material needs to be manually lifted to the loading plane, which is time-consuming and labor-intensive. Based on Example 1, this embodiment provides a further solution for the sliding component 23. The specific structure of the sliding component 23 in this embodiment will be described in detail below.

[0034] Specifically, the sliding assembly 23 includes a servo motor 231 and a tensioning wheel 232. The servo motor 231 is installed on one end of the fixed frame 21 through a motor mounting bracket 233; the tensioning wheel 232 is installed on the other end of the fixed frame 21 through a tensioning seat 234. The servo motor 231 is provided with a driving wheel 235 through a planetary accelerator, and the driving wheel 235 is connected to the tensioning wheel 232 through a synchronous gear belt 236.

[0035] Two rows of first slide rails 237 are arranged on the upper surface of the fixed frame 21 located on both sides of the synchronous gear belt 236, and a manipulator mounting seat 239 is arranged on the two rows of first slide rails 237 through a first slider 238; the manipulator mounting seat 239 is connected to the synchronous gear belt 236, and the fixed bottom end of the manipulator 1 is installed on the manipulator mounting seat 239.

[0036] In this embodiment, the sliding assembly 23 includes a servo motor 231 and a tensioning wheel 232. The servo motor 231 is arranged at one end of the fixed frame 21 through a motor mounting bracket 233, and a planetary gear reducer is arranged at the output end of the servo motor 231. A driving wheel 235 is installed on the output shaft of the planetary gear reducer. A tensioning wheel 232 is arranged at the other end of the fixed frame 21 through a tensioning seat 234. The tensioning wheel 232 and the driving wheel 235 are connected by a synchronous gear belt 236, so that the servo motor 231 drives the driving wheel 235 to provide power for the synchronous gear belt 236, and the tensioning wheel 232 provides tensioning force for the synchronous gear belt 236.

[0037] Two rows of first slide rails 237 are arranged on the upper surface of the fixed frame 21, and the two rows of first slide rails 237 are symmetrically installed on both sides of the synchronous gear belt 236. A manipulator mounting seat 239 is arranged on the two rows of first slide rails 237 through four first sliders 238. The fixed bottom end of the manipulator 1 is installed on the manipulator mounting seat 239. At the same time, the bottom of the manipulator mounting seat 239 is connected to the synchronous gear belt 236 through a connecting splint.

[0038] Hard limit PU glue is installed at both ends of the fixed frame 21 to limit the manipulator mounting seat 239, avoiding direct collision with the fixed frame 21 during the debugging process, which may cause damage to parts. A drag chain mounting plate is provided on one side of the fixed frame 21. The drag chain mounting plate is responsible for supporting the drag chain and providing a cable constraint function for the mobile manipulator 1, thereby ensuring the regularity of the wiring.

[0039] The servo motor 231 rotates to drive the planetary gear reducer to output power to the driving wheel 235, and the driving wheel 235 cooperates with the tensioning wheel 232 to provide circumferential rotation power for the synchronous gear belt 236. The bottom of the manipulator mounting seat 239 is connected to the synchronous gear belt 236 through a connecting splint, so that the circumferential motion of the synchronous gear belt 236 is converted into linear motion of the manipulator mounting seat 239. The cooperation of the two first slide rails 237 and the first slider 238 on the fixed frame 21 provides linear motion constraint and support for the manipulator mounting seat 239.

[0040] Each rotating wheel set and moving parts in the sliding assembly 23 on the fixed frame 21 are provided with a guard plate to play a safety protection role and ensure the personal safety of the staff.

[0041] When the manipulator 1 performs a grasping action, the servo motor 231 rotates forward to drive the manipulator mounting seat 239 to move. After moving into place, the servo motor 231 is locked during the grasping process of the manipulator 1 to provide a stable support for the manipulator 1. When the grasping action is completed and the loading process is required, the servo motor 231 reverses to drive the manipulator mounting seat 239 to move, and so on and so forth, thereby achieving the purpose of a small six-axis robot working in a large range.

[0042] Example 3

[0043] refer to Figure 3-Figure 4 , is a structural schematic diagram of a composite gripping device for a high-speed packaging machine auxiliary material loading system in this embodiment, and its purpose is to solve the problem that during the auxiliary material loading process of the high-speed packaging machine, the auxiliary materials need to be manually lifted to the loading plane, which is time-consuming and labor-intensive. Based on Example 1, this embodiment provides a further solution for the integrated clamp assembly 3. The specific structure of the integrated clamp assembly 3 in this embodiment will be described in detail below.

[0044] A three-head air gripper 4 is arranged on the robot connecting flange 32 via a three-head air gripper mounting frame 34 .

[0045] In this embodiment, the manipulator connecting flange 32 is a double-sided flange structure, one side of the flange is responsible for connecting to the manipulator 1, and the other side of the flange is connected to the sponge suction cup mounting plate 31.

[0046] The three-head air gripper mounting frame 34 is installed on the side plane of the flange of the manipulator connecting flange 32 responsible for connecting one end of the manipulator 1. The three-head air gripper adopts a parallel opening and closing three-head air gripper, and its specific model is MHS3-80D, which is installed at the center of the three-head air gripper mounting frame 34. The three-head air gripper 4 and the sponge suction cup 33 can grasp two auxiliary materials with completely different shapes, avoiding the disadvantage of configuring the robot with a single-function fixture separately, thereby improving production efficiency.

[0047] An industrial camera 5 is arranged on the manipulator connecting flange 32 via a camera mounting plate 35, and a ring light source 6 is arranged at the lens of the industrial camera 5.

[0048] The camera mounting plate 35 is installed on the side plane of the flange of the manipulator connecting flange 32 which is responsible for connecting one end of the manipulator 1, and is symmetrically arranged with the three-head air gripper mounting frame 34. The industrial camera 5 is installed in the middle position of the camera mounting plate 35. Four axis frames are installed at the four corners of the camera mounting plate 35. The upper two axis frames pass through an annular light source fixing axis, and the lower two axis frames pass through an annular light source fixing axis. The upper and lower annular light source fixing axes are responsible for fixing the annular light source 6 so that the light emitting part of the annular light source 6 surrounds the lens of the industrial camera 5. The industrial camera 5 adopts an existing industrial camera, and its specific model is MV-CA013-20GM. The annular light source 6 adopts an existing annular light source, and its specific model is When the industrial camera 5 and the annular light source 6 are facing downward, pictures are taken to locate the exact position of the auxiliary materials. Using the industrial camera 5 for positioning is a prior art in the art, and the specific positioning method will not be described in detail here.

[0049] Specifically, a distance measuring laser sensor 7 is arranged on the sponge suction cup mounting plate 31 , and a diffuse reflection sensor 8 is arranged on the sponge suction cup mounting plate 31 .

[0050] In this embodiment, the ranging laser sensor 7 uses a 5-meter ranging laser sensor, whose specific model is LR-TB5000, and is installed on one side of the short side of the sponge suction cup mounting plate 31. It is responsible for sensing the surrounding environment of the manipulator 1, providing a soft limit function, and providing safety protection functions for on-site equipment and personnel.

[0051] The diffuse reflection sensor 8 adopts a 15-100 distance setting diffuse reflection PNP sensor, whose specific model is CX-444-P-2M. It is installed on one side of the long side of the sponge suction cup mounting plate 31 and is symmetrically arranged with the 5-meter ranging laser sensor. It is responsible for detecting whether the auxiliary materials are grasped in place to ensure the stability of grasping the auxiliary materials.

[0052] Specifically, a feeding push plate 9 is provided on a side of the sponge suction cup mounting plate 31 away from the three-head air claw 4 .

[0053] In this embodiment, the loading push plate 9 is installed on one side of the short side of the sponge suction cup mounting plate 31, and is responsible for shaping the auxiliary materials through the movement of the robot after the integrated clamp assembly 3 is placed on the loading station.

[0054] Although the specific implementation of the utility model is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this patent. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. A composite grabbing device for auxiliary material loading system of high-speed packaging machine, characterized in that: It comprises a manipulator (1), wherein the fixed bottom end of the manipulator (1) is mounted on a movable shaft assembly (2), and the execution end of the manipulator (1) is provided with an integrated fixture assembly (3); The movable axis assembly (2) comprises a fixed frame (21), the lower surface of which is mounted on the ground via a frame support (22); a sliding assembly (23) is arranged on the fixed frame (21), and the fixed bottom end of the manipulator (1) is mounted on the sliding assembly (23); The integrated clamp assembly (3) comprises a sponge suction cup mounting plate (31), the upper surface of the sponge suction cup mounting plate (31) is connected to the execution end of the manipulator (1) via a manipulator connecting flange (32), and the lower surface of the sponge suction cup mounting plate (31) is provided with a plurality of groups of sponge suction cups (33).

2. The composite grabbing device for the auxiliary material loading system of a high-speed packaging machine according to claim 1 is characterized in that: The sliding assembly (23) comprises a servo motor (231) and a tensioning wheel (232); the servo motor (231) is mounted on one end of the fixed frame (21) via a motor mounting bracket (233); the tensioning wheel (232) is mounted on the other end of the fixed frame (21) via a tensioning seat (234); the servo motor (231) is provided with a driving wheel (235) via a planetary accelerator; the driving wheel (235) and the tensioning wheel (232) are connected via a synchronous gear belt (236).

3. The composite grabbing device for the auxiliary material loading system of a high-speed packaging machine according to claim 2 is characterized in that: Two rows of first slide rails (237) are arranged on the upper surface of the fixed frame (21) located on both sides of the synchronous gear belt (236), and a manipulator mounting seat (239) is arranged on the two rows of the first slide rails (237) via a first slider (238); the manipulator mounting seat (239) is connected to the synchronous gear belt (236), and the fixed bottom end of the manipulator (1) is mounted on the manipulator mounting seat (239).

4. The composite grabbing device for auxiliary material loading system of high-speed packaging machine according to claim 1, characterized in that: A three-head air gripper (4) is arranged on the manipulator connecting flange (32) via a three-head air gripper mounting frame (34).

5. The composite grabbing device for auxiliary material loading system of high-speed packaging machine according to claim 1, characterized in that: The sponge suction cup mounting plate (31) is provided with a distance measuring laser sensor (7).

6. The composite grabbing device for the auxiliary material loading system of a high-speed packaging machine according to claim 1, characterized in that: A diffuse reflection sensor (8) is arranged on the sponge suction cup mounting plate (31).

7. The composite grabbing device for the auxiliary material loading system of a high-speed packaging machine according to claim 1, characterized in that: A loading push plate (9) is provided on the side of the sponge suction cup mounting plate (31) away from the three-head air claw (4).

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