A packing robot

Abstract

The utility model provides a packing manipulator, which belongs to the field of mechanical devices, and includes a fixed plate, two connecting plates, two long clamping mechanisms and two short clamping mechanisms, wherein the two connecting plates are respectively arranged on the left and right sides of the fixed plate, the two short clamping mechanisms are respectively arranged on one side of the lower end of the left connecting plate, a first cylinder is arranged between the two connecting plates, the two ends of the first cylinder are respectively connected to the connecting plates, the two long clamping mechanisms are respectively arranged on the front and rear sides of the lower end of the fixed plate, a second cylinder is arranged between the two long clamping mechanisms, and the second cylinder is connected to the fixed plate. The packing manipulator of the utility model adopts four-sided clamping plates to clamp milk, can clamp multiple rows of milk at one time, realizes the packing of a box of milk by clamping once, and has high packing efficiency.

Description

Technical Field

[0001] The utility model relates to the field of mechanical devices, in particular to a box packing robot. Background Art

[0002] Robotic fingers can imitate certain movements and functions of human hands and arms, and are used to grasp, carry objects or operate tools according to fixed procedures. Robotic arms can replace people in heavy labor to achieve mechanization and automation of production, and are widely used in machinery manufacturing, light industry, atomic energy and other departments. In the process of milk packaging, milk needs to be put into milk boxes before the subsequent packaging process. The traditional method is to have workers pack milk, which is not only inefficient and labor-intensive, but also affects the automation and standardization of the industry. Therefore, packing milk with a robot can not only reduce the workload of workers, but also achieve automation.

[0003] Existing packing manipulators mostly adopt the left-right parallel clamping method. When used for milk packing, they can only grab one row of milk at a time. Grabbing multiple rows of milk at one time is prone to milk falling. Therefore, when multiple rows of milk need to be packed in a box, the existing packing manipulator needs to clamp the milk multiple times to complete the grabbing of a box of milk, and the packing efficiency is low. Therefore, a packing manipulator is needed. Utility Model Content

[0004] The purpose of the utility model is to provide a box packing robot to solve the technical problems mentioned in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A packing robot comprises a fixed plate, two connecting plates, two long clamping mechanisms and two short clamping mechanisms, the two connecting plates are respectively arranged on the left and right sides of the fixed plate, the two short clamping mechanisms are respectively arranged on one side of the lower end of the left connecting plate, a first cylinder is arranged between the two connecting plates, the two ends of the first cylinder are respectively connected to the connecting plates, the two long clamping mechanisms are respectively arranged on the front and rear sides of the lower end of the fixed plate, a second cylinder is arranged between the two long clamping mechanisms, and the second cylinder is connected to the fixed plate.

[0007] Furthermore, the long clamping mechanism includes two long clamping plates and two first connecting rod mechanisms. The two long clamping plates are respectively arranged on the front and rear sides of the lower end of the fixed plate. The inner sides of the upper ends of the two long clamping plates are respectively connected to the two ends of the second cylinder, the inner sides of the upper ends of the long clamping plates are connected to the lower ends of the first connecting rod mechanisms, and the upper ends of the first connecting rod mechanisms are connected to the middle part of the fixed plate.

[0008] Furthermore, a first movable bolt is provided at the upper end of the long clamping plate, one end of the first movable bolt is connected to the first ear plate, one end of the first ear plate is connected to one end of the second cylinder, and a second movable bolt is provided at the upper part of the long clamping plate, and the second movable bolt is hinged to the lower end of the first connecting rod mechanism.

[0009] Furthermore, the first connecting rod mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, the upper end of the first connecting rod is connected to the fixed plate, the lower end of the first connecting rod is connected to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to one end of the second articulated bolt.

[0010] Furthermore, the short clamping mechanism includes two short clamping plates and a second connecting rod mechanism. The two short clamping plates are respectively arranged on one side of the lower end of the two connecting plates, and the upper ends of the short clamping plates are respectively connected to the connecting plates, the inner side of the upper part of the short clamping plates is connected to the lower end of the second connecting rod mechanism, and the upper end of the second connecting rod mechanism is connected to the middle part of the fixed plate.

[0011] Furthermore, a first movable bolt is provided at the upper end of the short clamping plate, one end of the first movable bolt is connected to the second ear plate, one end of the second ear plate is connected to the connecting plate, and a second movable bolt is provided at the upper part of the short clamping plate, and the second movable bolt is hinged to the lower end of the second connecting rod mechanism.

[0012] Furthermore, the second connecting rod mechanism includes a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, the upper end of the fourth connecting rod is connected to the fixed plate, the lower end of the fourth connecting rod is connected to one end of the fifth connecting rod, the other end of the fifth connecting rod is hinged to one end of the sixth connecting rod, and the other end of the sixth connecting rod is hinged to the second articulated bolt.

[0013] The utility model has the following beneficial effects due to the adoption of the above technical solution:

[0014] The packing robot of the utility model adopts four-sided clamping plates to clamp milk, and can clamp multiple rows of milk at one time, so that a box of milk can be packed in one clamping, and the packing efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model robot;

[0016] Figure 2 It is a schematic diagram of the long clamping mechanism of the utility model;

[0017] Figure 3 It is a schematic diagram of the short clamping mechanism of the utility model.

[0018] In the accompanying drawings, 1-fixed plate, 2-connecting plate, 4-long clamping mechanism, 41-long clamping plate, 42-first ear plate, 43-first connecting rod, 44-second connecting rod, 45-third connecting rod, 5-short clamping mechanism, 51-short clamping plate, 52-second ear plate, 53-fourth connecting rod, 54-fifth connecting rod, 55-sixth connecting rod, 6-first cylinder, 7-second cylinder, 8-first movable bolt, 9-second movable bolt. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling readers to have a thorough understanding of one or more aspects of the utility model, and these aspects of the utility model can be realized even without these specific details.

[0020] like Figure 1-3 As shown, a packing robot comprises a fixed plate 1, two connecting plates 2, two long clamping mechanisms 4 and two short clamping mechanisms 5, the two connecting plates 2 are respectively arranged on the left and right sides of the fixed plate 1, the two short clamping mechanisms 5 are respectively arranged on one side of the lower end of the left connecting plate 2, a first cylinder 6 is arranged between the two connecting plates 2, the two ends of the first cylinder 6 are respectively connected to the connecting plate 2, a live bolt is arranged on the connecting plate 2, the first cylinder 6 is connected to one end of the live bolt, the first cylinder 6 is telescopically driven to drive the connecting plate 2 to move outward or inward, and the short clamping mechanism 5 follows the movement to realize the opening and clamping of the short clamping mechanism 5; the two long clamping mechanisms 4 are respectively arranged on the front and rear sides of the lower end of the fixed plate 1, a second cylinder 7 is arranged between the two long clamping mechanisms 4, the second cylinder 7 is connected to the fixed plate 1, the fixed plate 1 is provided with a live bolt, the second cylinder 7 is connected to one end of the live bolt, and the second cylinder 7 is telescopically extended to realize the opening and clamping of the long clamping mechanism 4.

[0021] like Figure 2As shown, the long clamping mechanism 4 includes two long clamping plates 41 and two first connecting rod mechanisms. The two long clamping plates 41 are respectively arranged at the front and rear sides of the lower end of the fixed plate 1. The inner sides of the upper ends of the two long clamping plates 41 are respectively connected to the two ends of the second cylinder 7. When the second cylinder 7 is extended and retracted, the long clamping plates 41 are driven to move, so as to realize the opening and clamping of the long clamping plates 41. The inner side of the upper part of the long clamping plates 41 is connected to the lower end of the first connecting rod mechanism, and the upper end of the first connecting rod mechanism is connected to the middle part of the fixed plate 1. The upper end of the long clamping plate 41 is provided with a first movable bolt 8, one end of which is connected to a first ear plate 42, one end of which is connected to one end of the second cylinder 7, and the upper part of the long clamping plate 41 is provided with a second movable bolt 9, which is hinged to the lower end of the first connecting rod mechanism. When the second cylinder 7 is extended or retracted, the first ear plate 42 is moved outward or inward, and then the long clamping plate 41 is moved outward or inward, so that the long clamping plate 41 is opened or clamped, and the second hinge bolt 9 on the long clamping plate 41 drives the first connecting rod mechanism to move. The first connecting rod mechanism includes a first connecting rod 43, a second connecting rod 44 and a third connecting rod 45. The upper end of the first connecting rod 43 is connected to the fixed plate 1, and the fixed plate 1 is provided with a hinge bolt. The first connecting rod 43 is connected to the hinge bolt, and the lower end of the first connecting rod 43 is connected to one end of the second connecting rod 44. The other end of the second connecting rod 44 is hinged to one end of the third connecting rod 45, and the other end of the third connecting rod 45 is hinged to one end of the second hinge bolt 9. When the second cylinder 7 is extended or retracted, the two long clamping plates 41 are opened or clamped, and the second hinge bolt 9 on the long clamping plate 41 drives the third connecting rod 4 to move.

[0022] like Figure 3As shown, the short clamping mechanism 5 includes two short clamping plates 51 and a second connecting rod mechanism. The two short clamping plates 51 are respectively arranged on one side of the lower ends of the two connecting plates 2, and the upper ends of the short clamping plates 51 are respectively connected to the connecting plates 2. The inner side of the upper part of the short clamping plate 51 is connected to the lower end of the second connecting rod mechanism, and the upper end of the second connecting rod mechanism is connected to the middle part of the fixed plate 1. The first cylinder 6 is extended and retracted to move the connecting plate 2 outward or inward, so that the short clamping plate 51 moves with it, so that the short clamping plate 51 is opened or clamped, and the second connecting rod mechanism moves with the short clamping plate 51. The upper end of the short clamping plate 51 is provided with a first articulated bolt 8, one end of which is connected to a second ear plate 52, one end of which is connected to the connecting plate 2, the connecting plate 2 is provided with an articulated bolt, the second ear plate 52 is connected to the articulated bolt, the upper part of the short clamping plate 51 is provided with a second articulated bolt 9, the second articulated bolt 9 is hinged to the lower end of the second connecting rod mechanism, when the short clamping plate 51 moves, the second articulated bolt 9 on the short clamping plate 51 drives the second connecting rod mechanism to move. The second connecting rod mechanism includes a fourth connecting rod 53, a fifth connecting rod 54 and a sixth connecting rod 55, the upper end of the fourth connecting rod 53 is connected to the fixed plate 1, the lower end of the fourth connecting rod 53 is connected to one end of the fifth connecting rod 54, the other end of the fifth connecting rod 54 is hinged to one end of the sixth connecting rod 55, and the other end of the sixth connecting rod 55 is hinged to the second articulated bolt 9. When the short clamping plate 51 is opened or clamped, the second articulated bolt 9 on the short clamping plate 51 drives the sixth connecting rod 55 to move.

[0023] How it works

[0024] When packing milk, first stretch the first cylinder 6 to move the two connecting plates 2 outward, and the short clamping plate 51 moves outward accordingly, so as to open the short clamping plate 51; at the same time, stretch the second cylinder 7 to move the long clamping plate 41 outward to open the long clamping plate 41; then the first cylinder 6 contracts to move the two connecting plates 2 inward, and the short clamping plate 51 moves inward accordingly, so as to clamp the short clamping plate 51; at the same time, contract the second cylinder 7 to move the long clamping plate 41 inward to clamp the long clamping plate 41, and clamp the four sides of the milk by the short clamping plate 51 and the long clamping plate 41, so as to grab the milk and put it into the milk box, and pack the milk. The packing manipulator of the utility model adopts four-sided clamping plates to clamp milk, and can clamp multiple rows of milk at one time, so as to pack a box of milk in one time, and the packing efficiency is high.

[0025] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A packing robot, characterized in that: The invention comprises a fixed plate (1), two connecting plates (2), two long clamping mechanisms (4) and two short clamping mechanisms (5), wherein the two connecting plates (2) are respectively arranged on the left and right sides of the fixed plate (1), the two short clamping mechanisms (5) are respectively arranged on one side of the lower end of the left connecting plate (2), a first cylinder (6) is arranged between the two connecting plates (2), the two ends of the first cylinder (6) are respectively connected to the connecting plates (2), the two long clamping mechanisms (4) are respectively arranged on the front and rear sides of the lower end of the fixed plate (1), a second cylinder (7) is arranged between the two long clamping mechanisms (4), and the second cylinder (7) is connected to the fixed plate (1).

2. A packing robot according to claim 1, characterized in that: The long clamping mechanism (4) comprises two long clamping plates (41) and two first connecting rod mechanisms. The two long clamping plates (41) are respectively arranged on the front and rear sides of the lower end of the fixed plate (1). The inner sides of the upper ends of the two long clamping plates (41) are respectively connected to the two ends of the second cylinder (7). The inner sides of the upper parts of the long clamping plates (41) are connected to the lower ends of the first connecting rod mechanisms. The upper ends of the first connecting rod mechanisms are connected to the middle part of the fixed plate (1).

3. A packing robot according to claim 2, characterized in that: A first articulated bolt (8) is disposed at the upper end of the long clamping plate (41), one end of the first articulated bolt (8) is connected to a first ear plate (42), one end of the first ear plate (42) is connected to one end of a second cylinder (7), a second articulated bolt (9) is disposed at the upper portion of the long clamping plate (41), and the second articulated bolt (9) is hinged to the lower end of the first connecting rod mechanism.

4. A packing robot according to claim 2, characterized in that: The first connecting rod mechanism comprises a first connecting rod (43), a second connecting rod (44) and a third connecting rod (45), the upper end of the first connecting rod (43) is connected to the fixed plate (1), the lower end of the first connecting rod (43) is connected to one end of the second connecting rod (44), the other end of the second connecting rod (44) is hinged to one end of the third connecting rod (45), and the other end of the third connecting rod (45) is hinged to one end of the second articulated bolt (9).

5. A packing robot according to claim 1, characterized in that: The short clamping mechanism (5) comprises two short clamping plates (51) and a second connecting rod mechanism. The two short clamping plates (51) are respectively arranged on one side of the lower ends of the two connecting plates (2), and the upper ends of the short clamping plates (51) are respectively connected to the connecting plates (2), the inner side of the upper part of the short clamping plates (51) is connected to the lower end of the second connecting rod mechanism, and the upper end of the second connecting rod mechanism is connected to the middle part of the fixed plate (1).

6. A packing robot according to claim 5, characterized in that: A first articulated bolt (8) is arranged at the upper end of the short clamping plate (51), one end of the first articulated bolt (8) is connected to a second ear plate (52), one end of the second ear plate (52) is connected to the connecting plate (2), a second articulated bolt (9) is arranged at the upper part of the short clamping plate (51), and the second articulated bolt (9) is hinged to the lower end of the second connecting rod mechanism.

7. A packing robot according to claim 5, characterized in that: The second connecting rod mechanism comprises a fourth connecting rod (53), a fifth connecting rod (54) and a sixth connecting rod (55), the upper end of the fourth connecting rod (53) is connected to the fixed plate (1), the lower end of the fourth connecting rod (53) is connected to one end of the fifth connecting rod (54), the other end of the fifth connecting rod (54) is hinged to one end of the sixth connecting rod (55), and the other end of the sixth connecting rod (55) is hinged to the second articulated bolt (9).

Images