Spider type material grabbing manipulator of box filling machine

Abstract

The utility model discloses a spider type material grabbing manipulator of a box filling machine, which belongs to the technical field of automatic box filling machines, and comprises a top rack, three groups of first connecting arms are arranged on the top rack in an array manner, and the first connecting arms are rotatably connected with the top rack through first pin shafts; and the end part of each group of first connecting arms is connected with a group of second connecting arms through a second pin shaft. The suction cup device can rapidly move to a grabbing point through cooperation of three second connecting arms, multiple suction cups are arranged on the suction cup device, the multiple suction cups can guarantee the grabbing covering face, improve the grabbing adsorption force and grabbing stability and prevent materials from falling off, the multiple suction cups can be adjusted in angle, and therefore the salt bag grabbing device adapts to the uneven grabbing surface of a salt bag, the use effect is better, and the use efficiency is improved. And the grabbing manipulator can rapidly and stably grab the salt bags.

Description

Technical Field

[0001] The utility model belongs to the technical field of case packing machines, and in particular relates to a spider-type material grabbing manipulator for a case packing machine. Background Art

[0002] An automated case packer is a device that automatically packs and packages products. The case packer robot is an important component of the case packer for grabbing and transporting materials, which directly affects the packing efficiency and stability of the case packer. For the packaging of bagged salt, the distribution of salt in the package is random, which leads to the undulating surface of the bagged salt. Conventional grabbing robots cannot accurately grab materials with uneven surfaces, and are unstable during the grabbing process. At the same time, the material is easily peeled off and dropped. In addition, the salt is transported at a very high speed, so the grabbing robot needs to reach the grabbing point accurately and quickly, which increases the probability of material dropping. At the same time, bagged salt is fed in through a conveyor belt with different feeding angles, and the salt needs to be regularly stacked when it is packed. Conventional grabbing robots cannot correct the material angle when grabbing the material, and cannot adapt to the grabbing of bagged salt. Utility Model Content

[0003] The utility model aims to provide a spider-type material grabbing manipulator for a case packing machine, so as to solve the problems of the existing case packing machine during use as mentioned in the background technology.

[0004] To achieve the above object, the utility model provides the following technical solution: a spider-type material grabbing manipulator for a box packing machine, comprising a top frame, wherein three groups of first connecting arms are arranged in an array on the top frame, wherein the first connecting arms are rotatably connected to the top frame via a first pin shaft, and the end of each group of the first connecting arms is connected to a group of second connecting arms via a second pin shaft;

[0005] A group of lifting sleeve rods are connected to the bottom center position of the top frame through a universal joint, the bottom of the lifting sleeve rods is connected to an adjustment hub through a universal joint, and the lower ends of the three groups of second connecting arms are movably connected to the adjustment hub, and the lower end of the adjustment hub is connected to a suction cup device through a connecting rod.

[0006] Preferably, a controller is provided on the top of the top frame, and a driving device for driving the first pin shaft and the second pin shaft is provided inside the top frame.

[0007] Preferably, a group of the second connecting arms includes two groups of parallel second connecting rods, and both ends of the two groups of the second connecting rods are provided with second pin shafts.

[0008] Preferably, a plurality of suction cups are provided on the suction cup device.

[0009] Preferably, the lower end of the adjusting hub is connected to a connecting rod, and the connecting rod is rotatably connected to the adjusting hub.

[0010] Preferably, the top rack includes three groups of chassis arranged in an array, and three groups of the first connecting arms are respectively arranged on the three groups of chassis.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] The suction cup device can be quickly moved to the grasping point through the cooperation of three sets of second connecting arms. Multiple sets of suction cups are arranged on the suction cup device. Multiple suction cups can ensure the grasping coverage, improve the grasping adsorption force, improve the grasping stability, and prevent the material from falling. Multiple suction cups can be adjusted in angle to adapt to the uneven grasping surface of the salt bag, so as to achieve better use effect, so that the grasping manipulator can grasp the salt bag quickly and stably;

[0013] The connecting rod can rotate, thereby driving the suction cup device at the bottom to rotate. On the one hand, it can adapt to the angle of the salt bag delivery. On the other hand, the connecting rod can drive the suction cup angle to rotate freely, so that the salt bags can be delivered into the box at the designed angle, which is convenient for stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the installation top view structure of the utility model;

[0015] Figure 2 It is a front view schematic diagram of the utility model.

[0016] In the figure: 1. top frame; 2. controller; 3. chassis; 4. first connecting arm; 5. second pin shaft; 6. second connecting arm; 7. first pin shaft; 8. universal joint; 9. lifting sleeve rod; 10. adjustment hub; 11. connecting rod; 12. suction cup device. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Reference Figure 1-2 A spider-type material grabbing manipulator for a packing machine comprises a top frame 1, on which three groups of first connecting arms 4 are arranged in an array, the first connecting arms 4 are rotatably connected to the top frame 1 through a first pin shaft 7, and the end of each group of first connecting arms 4 is connected to a group of second connecting arms 6 through a second pin shaft 5;

[0019] A group of lifting sleeve rods 9 are connected to the bottom center position of the top frame 1 through a universal joint 8, the bottom of the lifting sleeve rod 9 is connected to an adjusting hub 10 through the universal joint 8, and the lower ends of the three groups of second connecting arms 6 are movably connected to the adjusting hub 10, and the lower end of the adjusting hub 10 is connected to a suction cup device 12 through a connecting rod 11.

[0020] In view of the general stability of the current bagged salt grabbing manipulator during the grabbing process and the problem that the stacking angle cannot be adjusted, this solution proposes a spider-type grabbing manipulator. The manipulator absorbs the salt bag through a suction cup device 12 arranged at the bottom. The suction cup device 12 is adjusted in position by three groups of second connecting arms 6 and a lifting sleeve rod 9, thereby realizing three-dimensional movement, so that the suction cup device 12 can accurately reach the bottom grabbing point and the discharge point; specifically, the three groups of second connecting arms 6 are arranged in an array, and the first connecting arms 4 connecting the three groups of second connecting arms 6 are stretched upward or moved downward at the same time, which will drive the lifting sleeve rod 9 to rise or fall, thereby realizing height movement. The three groups of second connecting arms 6 are respectively arranged in three directions, and one group of the three groups of second connecting arms 6 rotates at a single angle. Since the lifting sleeve 9 is connected by a universal joint 8, it can turn freely, thereby driving the suction cup device 12 to move in the direction of the corresponding second connecting arm 6. The three groups of second connecting arms 6 cooperate freely, thereby driving the suction cup device 12 at the bottom to move freely on the plane, making it convenient for the grasping robot to quickly and accurately reach the corresponding grasping point; after the grasping robot arrives at the grasping point, it can drive the robot to press down through the first connecting arm 4, so that the suction cup device 12 is closely fitted to the bag to avoid material slipping and falling off during grasping.

[0021] Furthermore, a controller 2 is disposed on the top of the top frame 1 , and a driving device for driving the first pin shaft 7 and the second pin shaft 5 is disposed inside the top frame 1 .

[0022] The first pin shaft 7 and the second pin shaft 5 are two independent joints, which are used to adjust the movement of the first connecting arm 4 and the second connecting arm 6 respectively. The cooperation of the two can drive the suction cup device 12 to move flexibly and quickly.

[0023] Furthermore, a group of second connecting arms 6 includes two groups of parallel second connecting rods 11 , and both ends of the two groups of second connecting rods 11 are provided with second pin shafts 5 .

[0024] In this solution, the second pin 5 at the upper end of the second connecting arm 6 is connected to the first connecting arm 4, and the connecting part used to connect the second connecting arm 6 to the first connecting arm 4 can rotate around the first connecting arm 4, and the second pin 5 and the connecting part cooperate to achieve universal rotation; the second pin 5 at the lower end of the second connecting arm 6 is connected to the adjustment hub 10, and only rotates around the second pin 5, thereby ensuring that the connecting rod 11 always remains vertical, so that the angle of the suction cup device 12 is stable.

[0025] Furthermore, a plurality of suction cups are provided on the suction cup device 12 .

[0026] A plurality of suction cups are arranged on the suction cup device 12, and the plurality of suction cups can ensure the gripping coverage, improve the gripping adsorption force, improve the gripping stability, and prevent the material from falling; at the same time, the plurality of suction cups can be adjusted in angle to adapt to the uneven gripping surface of the salt bag, and the use effect is better.

[0027] Furthermore, the lower end of the adjusting hub 10 is connected to the connecting rod 11 , and the connecting rod 11 is rotatably connected to the adjusting hub 10 .

[0028] The connecting rod 11 can rotate, thereby driving the suction cup device 12 at the bottom to rotate. On the one hand, it can adapt to the angle at which the salt bag is delivered. For example, if the salt bag is delivered at a 15-degree angle, the connecting rod 11 can rotate to adjust the suction cup device 12 to 15 degrees to adaptively grab the salt bag. On the other hand, the connecting rod 11 can drive the suction cup angle to rotate freely, so that the salt bag can be delivered for packaging at the designed angle, which is convenient for stacking.

[0029] Furthermore, the top rack 1 includes three groups of chassis 3 arranged in an array, and three groups of first connecting arms 4 are respectively arranged on the three groups of chassis 3.

[0030] Through this technical solution, each group of chassis 3 corresponds to a group of first connecting arms 4, which are independently controlled and easy to adjust.

[0031] Working principle: the position of the suction cup device 12 is adjusted by three groups of second connecting arms 6 and the lifting sleeve rod 9, so as to realize three-dimensional movement. Specifically, the three groups of second connecting arms 6 are arranged in an array, and the first connecting arms 4 connecting the three groups of second connecting arms 6 are stretched upward or moved downward at the same time, which will drive the lifting sleeve rod 9 to rise or fall, so as to realize height movement; the three groups of second connecting arms 6 are respectively arranged in three directions, and one group of the three groups of second connecting arms 6 is rotated at a single angle. Since the lifting sleeve rod 9 is connected by a universal joint 8, it can be freely turned, so that the suction cup device 12 can be driven to move in the direction of the corresponding second connecting arm 6. The three groups of second connecting arms 6 cooperate freely, so as to drive the suction cup device 12 at the bottom to move freely on the plane, so as to facilitate the grasping manipulator to quickly and accurately reach the corresponding grasping point; after the grasping manipulator arrives at the grasping point, it can drive the manipulator to press down through the first connecting arm 4, so that the suction cup device 12 is closely fitted to the bagging, and the material is prevented from falling off during grasping.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A spider-type material grabbing manipulator for a case packing machine, characterized in that: It comprises a top frame, wherein three groups of first connecting arms are arranged in an array on the top frame, the first connecting arms are rotatably connected to the top frame through a first pin shaft, and the end of each group of the first connecting arms is connected to a group of second connecting arms through a second pin shaft; A group of lifting sleeve rods are connected to the bottom center position of the top frame through a universal joint, the bottom of the lifting sleeve rods is connected to an adjustment hub through a universal joint, and the lower ends of the three groups of second connecting arms are movably connected to the adjustment hub, and the lower end of the adjustment hub is connected to a suction cup device through a connecting rod.

2. The spider-type material grabbing manipulator for a case packing machine according to claim 1, characterized in that: A controller is arranged on the top of the top frame, and a driving device for driving the first pin shaft and the second pin shaft is arranged inside the top frame.

3. The spider-type material grabbing manipulator for a case packing machine according to claim 1, characterized in that: A group of the second connecting arms includes two groups of parallel second connecting rods, and both ends of the two groups of the second connecting rods are provided with second pin shafts.

4. The spider-type material grabbing manipulator for a case packing machine according to claim 1, characterized in that: The suction cup device is provided with a plurality of suction cups.

5. The spider-type material grabbing manipulator for a case packing machine according to claim 1, characterized in that: The lower end of the adjusting hub is connected to a connecting rod, and the connecting rod is rotatably connected to the adjusting hub.

6. The spider-type material grabbing manipulator for a case packing machine according to claim 1, characterized in that: The top rack includes three sets of chassis arranged in an array, and three sets of the first connecting arms are respectively arranged on the three sets of chassis.

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