A multi-axis linked spider hand

Abstract

The utility model discloses a multi-axis linkage spider arm, including a connecting rod mechanism assembled in the middle of an outer bracket, the connecting rod mechanism is composed of a driving rod and two driven rods, the two driven rods are respectively rotatably connected to the two ends of the driving rod; the middle of the driving rod of the connecting rod mechanism is connected to the first driving motor, and the bottom of the driven rod of the connecting rod mechanism is equipped with a transverse bracket; a fixed arm and a sliding arm are arranged side by side below the transverse bracket, the sliding arm is assembled on the slide rail below the transverse bracket, and connected to the second driving motor; negative pressure suction cups are arranged below the fixed arm and the sliding arm. Thus, by arranging the connecting rod mechanism and the transverse bracket, each fixed arm and each sliding arm are positioned and adjusted in the transverse and longitudinal directions, the placement position of the material is adapted when taking the material, and the arrangement position of the storage slot in the packaging box is adapted when discharging the material after adjusting the positioning, and the packaging box discharging can be completed by a single pick-up and placement, which greatly improves the working efficiency, and can flexibly adapt to different packaging box slots, with high versatility.

Description

Technical Field

[0001] The invention relates to the technical field of material taking and placing, and in particular to a multi-axis linked spider hand. Background Art

[0002] After the materials are formed by the production equipment or individually packaged, they usually need to be arranged in specific positions in the packaging box. Take moon cakes as an example. After they are baked and individually packaged, they are tightly arranged on the edge of the conveyor belt of the production line. The moon cake box is divided into multiple independent slots for placing moon cakes. For creative and beautiful design, the arrangement of each slot in the vertical and horizontal directions is not necessarily regular.

[0003] It can be seen that the arrangement of the materials to be picked up and placed is inconsistent with the arrangement of the slots in the packaging box. If the boxes are packed manually, the labor cost will be too high and the workstations will be too dense; if a spider arm is used for picking up and placing, a single spider arm needs to reciprocate for many times and accurately position each slot to achieve picking up and placing, and the operation process is inefficient; if a special spider arm is designed based on the slots of the mooncake box, the versatility is too low. When the packaging box is replaced, the spider arm needs to be replaced accordingly. The equipment cost is too high and does not meet actual production needs. Summary of the invention

[0004] The present invention discloses a multi-axis linked spider hand, which specifically includes the following contents:

[0005] A connecting rod mechanism 2 is mounted in the middle of the outer bracket 1, wherein the connecting rod mechanism 2 is composed of a driving rod 21 and two driven rods 22, and the two driven rods 22 are rotatably connected to the two ends of the driving rod 21 respectively;

[0006] The middle part of the driving rod 21 of the connecting rod mechanism 2 is connected to the first driving motor 3, and the bottom of the driven rod 22 of the connecting rod mechanism 2 is equipped with a transverse bracket 4;

[0007] A fixed arm 5 and a sliding arm 6 are arranged side by side below the transverse bracket 4. The sliding arm 6 is assembled on a slide rail 41 below the transverse bracket 4 and connected to a second driving motor 7.

[0008] Negative pressure suction cups X are provided below the fixed arm 5 and the sliding arm 6 .

[0009] Preferably, the connecting hole at one end of the driven rod 22 is rotatably connected to the connecting hole at one end of the driving rod 21 via a bolt, and the connecting hole at the other end of the driven rod 22 is rotatably connected to the connecting hole at the top of the transverse bracket 4 .

[0010] Preferably, the first driving motor 3 is used to drive the driving rod 21 to rotate on a horizontal plane.

[0011] Preferably, the driving rod 21 is used to rotate and drive the driven rods 22 at both ends to extend / retract.

[0012] Preferably, both ends of the transverse bracket 4 are assembled in the slide grooves on the inner side of the outer bracket 1;

[0013] The transverse bracket 4 follows one end of the corresponding driven rod 22 and moves horizontally and longitudinally along the sliding groove of the outer bracket 1 .

[0014] Preferably, the second driving motor 7 is used to drive the sliding arm 6 to move horizontally on a horizontal plane.

[0015] Preferably, the initial relative position of each of the fixed arms 5 and the sliding arms 6 on the horizontal plane corresponds to the placement position of the material.

[0016] Preferably, the relative operating positions of the fixed arms 5 and the sliding arms 6 on the horizontal plane correspond to the relative arrangement positions of the storage slots in the packaging box.

[0017] Preferably, the outer bracket 1 falls at the material placement position, and at the same time, the fixed arm 5 and the sliding arm 6 take the material under negative pressure;

[0018] Furthermore, the outer bracket 1 rises after the fixed arm 5 and the sliding arm 6 have finished taking the materials, and moves to the top of the packaging box.

[0019] Preferably, the outer bracket 1 falls from above the packaging box, and at the same time, the fixed arm 5 and the sliding arm 6 release pressure to discharge the material;

[0020] Furthermore, the outer support 1 rises after the fixed arm 5 and the sliding arm 6 have finished discharging the materials, and is reset to the material placement position.

[0021] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0022] By setting a connecting rod mechanism and a transverse bracket, each fixed arm and each sliding arm are positioned and adjusted in the transverse and longitudinal directions to achieve the placement position of the material to be adapted when taking materials, and then adjust the relative position of each fixed arm and each sliding arm to adapt to the relative arrangement position of each storage slot in the packaging box when placing materials. The packaging box can be placed and placed in a single time, which greatly improves the working efficiency. It can also flexibly adapt to different packaging box slots and has high versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of a multi-axis linkage spider hand disclosed in an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the side structure of a multi-axis linkage spider hand disclosed in an embodiment of the present invention;

[0026] Figure 3 The present invention is a schematic diagram of the assembly structure of a connecting rod mechanism in a multi-axis linked spider hand disclosed in an embodiment of the present invention.

[0027] The main structural symbols are described in the following table:

[0028] External bracket 1 Linkage 2 Drive rod 21 Follower rod 22 First drive motor 3 Horizontal bracket 4 Slide rails 41 Fixed arm 5 Negative pressure suction cup X Sliding Arm 6 Second drive motor 7 DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in 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 creative work are within the scope of protection of the present invention.

[0030] See also Figures 1 to 3 , the multi-axis linkage spider hand may include the following contents.

[0031] A connecting rod mechanism 2 is mounted in the middle of the outer bracket 1. The connecting rod mechanism 2 is composed of a driving rod 21 and two driven rods 22. The two driven rods 22 are rotatably connected to the two ends of the driving rod 21 respectively.

[0032] The middle part of the driving rod 21 of the connecting rod mechanism 2 is connected to the first driving motor 3, and the bottom of the driven rod 22 of the connecting rod mechanism 2 is equipped with a transverse bracket 4;

[0033] A fixed arm 5 and a sliding arm 6 are arranged side by side below the transverse bracket 4. The sliding arm 6 is assembled on a slide rail 41 below the transverse bracket 4 and connected to a second driving motor 7.

[0034] Negative pressure suction cups X are provided below the fixed arm 5 and the sliding arm 6 .

[0035] Here, the first drive motor drives the drive rod to rotate, thereby driving the driven rod and the transverse bracket to move longitudinally on the horizontal plane, and the second drive motor drives the sliding arm on the transverse bracket to move transversely on the horizontal plane, thereby making each fixed arm and each sliding arm accurately positioned, adapted to the placement position of the material to be taken when taking materials, and adjusted to the relative arrangement position of each storage slot in the packaging box when discharging materials. Thus, through multi-axis linkage, a single set of spider hands can complete the discharging of packaging boxes in a single operation, and can adapt to different packaging box slots by adjusting the positioning, with high versatility, and no need to design and assemble special spider hands.

[0036] In this embodiment, the connection hole at one end of the driven rod 22 is rotatably connected to the connection hole at one end of the driving rod 21 via a bolt, and the connection hole at the other end of the driven rod 22 is rotatably connected to the connection hole at the top of the transverse bracket 4.

[0037] In this embodiment, the first driving motor 3 is used to drive the driving rod 21 to rotate on a horizontal plane.

[0038] In this embodiment, the driving rod 21 is used to rotate and drive the driven rods 22 at both ends to extend / retract.

[0039] Here, the driven rod is linked to the rotation of the first drive motor. The greater the rotation amplitude of the output shaft of the first drive motor, the greater the longitudinal extension / retraction distance of the driven rod in the horizontal plane; the greater the contraction amplitude of the second drive motor, the farther the sliding arm is from the fixed arm. Moreover, the horizontal and longitudinal movement processes will not interfere with each other, and the relative arrangement positions of the storage slots in different packaging boxes can be flexibly adapted. For storage slots with irregular arrangements, accurate positioning and adaptation can also be achieved by adding fixed arms / sliding arms and corresponding drive motors.

[0040] In this embodiment, both ends of the transverse bracket 4 are assembled in the slide grooves on the inner side of the outer bracket 1;

[0041] The transverse bracket 4 follows one end of the corresponding driven rod 22 and moves horizontally and longitudinally along the sliding groove of the outer bracket 1 .

[0042] Here, the outer bracket plays a guiding and limiting role for the transverse bracket, ensuring that it does not tilt or deviate when sliding, thereby achieving accurate positioning.

[0043] In this embodiment, the second driving motor 7 is used to drive the sliding arm 6 to move horizontally on a horizontal plane.

[0044] In this embodiment, the initial relative positions of the fixed arms 5 and the sliding arms 6 on the horizontal plane correspond to the placement positions of the materials.

[0045] In this embodiment, the relative operating positions of the fixed arms 5 and the sliding arms 6 on the horizontal plane correspond to the relative arrangement positions of the storage slots in the packaging box.

[0046] In this embodiment, the outer support 1 falls down at the material placement position, and the fixed arm 5 and the sliding arm 6 take the material under negative pressure;

[0047] Furthermore, the outer support 1 rises after the fixed arm 5 and the sliding arm 6 have finished taking the materials, and moves to the top of the packaging box.

[0048] Here, the fixed arms and sliding arms on the multi-axis linkage spider hand maintain their initial relative positions and fall down, thereby taking materials under negative pressure. Compared with a single-arm spider hand, the material taking efficiency is doubled.

[0049] In this embodiment, the outer bracket 1 falls from above the packaging box, and the fixed arm 5 and the sliding arm 6 release pressure to discharge the material;

[0050] Furthermore, the outer support 1 rises after the fixed arm 5 and the sliding arm 6 have finished discharging the materials, and is reset to the material placement position.

[0051] Here, the fixed arms and sliding arms on the multi-axis linkage spider hand reciprocate in the process of "taking materials → rising → opening → falling → releasing materials → resetting" to achieve efficient box loading.

[0052] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0053] By setting a connecting rod mechanism and a transverse bracket, each fixed arm and each sliding arm are positioned and adjusted in the transverse and longitudinal directions to achieve the placement position of the material to be adapted when taking materials, and then adjust the relative position of each fixed arm and each sliding arm to adapt to the relative arrangement position of each storage slot in the packaging box when placing materials. The packaging box can be placed and placed in a single time, which greatly improves the working efficiency. It can also flexibly adapt to different packaging box slots and has high versatility.

Claims

1. A multi-axis linked spider hand, characterized in that: include: A connecting rod mechanism (2) is mounted in the middle of the outer bracket (1), the connecting rod mechanism (2) is composed of a driving rod (21) and two driven rods (22), and the two driven rods (22) are respectively rotatably connected to the two ends of the driving rod (21); The middle part of the driving rod (21) of the connecting rod mechanism (2) is connected to the first driving motor (3), and the bottom of the driven rod (22) of the connecting rod mechanism (2) is equipped with a transverse bracket (4); A fixed arm (5) and a sliding arm (6) are arranged side by side below the transverse bracket (4); the sliding arm (6) is mounted on a slide rail (41) below the transverse bracket (4) and is connected to a second drive motor (7); Negative pressure suction cups (X) are arranged below the fixed arm (5) and the sliding arm (6).

2. The multi-axis linkage spider hand according to claim 1, characterized in that: include: The connection hole at one end of the driven rod (22) is rotatably connected to the connection hole at one end of the driving rod (21) via a bolt, and the connection hole at the other end of the driven rod (22) is rotatably connected to the connection hole at the top of the transverse bracket (4).

3. The multi-axis linkage spider hand according to claim 2, characterized in that: include: The first driving motor (3) is used to drive the driving rod (21) to rotate on a horizontal plane.

4. The multi-axis linkage spider hand according to claim 3, characterized in that: include: The driving rod (21) is used to rotate and drive the driven rods (22) at both ends to extend / retract.

5. The multi-axis linkage spider hand according to claim 4, characterized in that: include: The two ends of the transverse bracket (4) are mounted in the slide grooves on the inner side of the outer bracket (1); The transverse bracket (4) follows one end of the corresponding driven rod (22) and moves horizontally and longitudinally along the sliding groove of the outer bracket (1).

6. The multi-axis linkage spider hand according to claim 5, characterized in that: include: The second driving motor (7) is used to drive the sliding arm (6) to move horizontally on a horizontal plane.

7. The multi-axis linkage spider hand according to claim 5, characterized in that: include: The initial relative positions of the fixed arms (5) and the sliding arms (6) on the horizontal plane correspond to the placement positions of the materials.

8. The multi-axis linkage spider hand according to claim 7, characterized in that: include: The relative operating positions of the fixed arms (5) and the sliding arms (6) on the horizontal plane correspond to the relative arrangement positions of the storage slots in the packaging box.

9. The multi-axis linkage spider hand according to claim 8, characterized in that: include: The outer support (1) falls down at the material placement position, and at the same time, the fixed arm (5) and the sliding arm (6) take the material under negative pressure; Furthermore, the outer bracket (1) rises and moves above the packaging box after the fixed arm (5) and the sliding arm (6) have finished taking the materials.

10. The multi-axis linkage spider hand according to claim 9, characterized in that: include: The outer bracket (1) falls down from above the packaging box, and at the same time, the fixed arm (5) and the sliding arm (6) release pressure to discharge the material; Furthermore, the outer support (1) rises after the fixed arm (5) and the sliding arm (6) have finished discharging the material, and is reset to the material placement position.

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