Robot variable-pitch wobble plate mechanism
By designing the robot's variable distance swing mechanism and using the coordinated control of the robot arm and the variable distance swing module, the automatic hose is realized, solving the problems of low manual operation efficiency and high labor costs in the existing technology, improving production efficiency and saving labor costs.
Patent Information
- Application Number
- CN202422046516.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-22
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-08-22
AI Technical Summary
In the prior art, hose plating requires manual operation, which is low in efficiency, high labor cost, and high labor intensity for workers. The operating speed and accuracy are affected by workers' proficiency.
A robot variable distance swing mechanism is designed, including a frame, a variable distance swing platform, a robotic arm, a variable distance module, a finger cylinder and a tube picking jaw. Through the coordinated control of the robotic arm and a variable distance module, the automatic support of the hose, placement and clamping of the paper box are realized.
It realizes automatic hose arrangement, improves production efficiency, saves labor costs, and reduces labor intensity for workers.
Smart Images
Figure CN222973717U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of machinery, in particular to packaging equipment, and specifically to a robot variable-spacing tray arranging mechanism. Background Art
[0002] Some daily chemical products and skin care products are packaged in hoses, and the hoses need to be arranged on trays, that is, loaded into cartons in a set direction. In the prior art, the work of arranging hoses on trays requires manual operation, which not only has low efficiency and requires a large number of personnel, resulting in high labor costs, but also has a large labor intensity for workers. At the same time, the speed and accuracy of manual tray arranging are affected by the proficiency of workers' operations. Content of the Utility Model
[0003] Aiming at the deficiencies of the prior art, the utility model provides a robot variable-spacing tray arranging mechanism, which overcomes the deficiencies of the prior art, is reasonably designed, convenient and fast in the whole process, can effectively save labor, and also effectively improves production efficiency.
[0004] To achieve the above purposes, the utility model is realized through the following technical solutions:
[0005] A robot variable-spacing tray arranging mechanism includes a frame and a tray arranging platform. A robotic arm is installed above the frame, and an installation bracket is installed at the end of the robotic arm. A variable-spacing module is installed on the lower surface of the installation bracket, and a plurality of finger cylinders are installed side by side on the lower surface of the variable-spacing module. Two tube-gripping jaws are movably connected to the finger cylinders.
[0006] A support plate is arranged above the tray arranging platform. Rotating bearing seats are symmetrically installed on both sides of the lower surface of the support plate. A rotating shaft is fixedly installed above the inner side surface of the tray arranging platform through a mounting plate, and the rotating shaft is rotatably connected in the rotating bearing seats. A first rotating shaft support is installed at the front end of the lower surface of the support plate. The front side surface of the tray arranging platform is connected to one end of a telescopic cylinder through a first hinge seat, and the other end of the telescopic cylinder is rotatably connected to the first rotating shaft support through a spherical bearing. A placement plate is arranged above the support plate. A carton for loading hoses is placed above the placement plate. A support block for supporting the carton is installed on the front side above the placement plate. A limiting plate is arranged on the front side of the support block. A clamping cylinder is installed on the outer side of the support block, and a clamping plate is installed at the telescopic end of the clamping cylinder. The clamping plate is located on the other side of the support block and cooperates with the limiting plate to clamp the carton.
[0007] Preferably, a rotating plate is provided at the front side of the lower surface of the placing plate. A bearing seat is installed on the lower surface of the support plate. A rotating shaft is rotatably connected between the bearing seats. A strip-shaped through hole corresponding to the position of the rotating shaft is formed on the surface of the support plate. The rotating plate passes through and is connected to the rotating shaft. An installation block is installed on the lower surface of the support plate. A second hinge seat is installed on the side surface of the installation block. One end of the telescopic adjustment cylinder is rotatably connected to the second hinge seat. A through hole is formed on the lower surface of the support plate. A second rotating shaft support is installed at the position corresponding to the through hole on the lower surface of the placing plate. The other end of the telescopic adjustment cylinder is rotatably connected to the second rotating shaft support through a spherical bearing.
[0008] Preferably, a photoelectric detection sensor is installed on the placing plate. A through hole is formed on the surface of the limiting plate. The sensing end of the photoelectric detection sensor passes through the through hole and faces the paper box.
[0009] Preferably, limiting support plates are provided on both sides of the upper surface of the placing plate. Guide inclined surfaces are provided at the rear sides of the limiting support plates.
[0010] Preferably, a discharge guiding table is installed at the rear side above the placing platform. The front side edge of the discharge guiding table faces the rear side edge of the placing plate.
[0011] Preferably, a magnetic reed sensor is installed on the side surface of the finger cylinder for detecting the open extreme limit position of the tube-gripping jaw.
[0012] Preferably, the variable pitch module includes a machine base. A guide rail is provided on the machine base. A plurality of sliders arranged side by side are slidably connected to the guide rail. Finger cylinders are installed on the outer sides of the sliders. A driving motor is installed on the machine base. A screw rod is installed inside the machine base. The driving motor is in transmission connection with the screw rod. Screw grooves matching the number of sliders are distributed on the screw rod. A guiding member is provided on the inner side surface of the slider. The guiding member is movably connected in the screw groove.
[0013] The utility model provides a robot variable-spacing tray arranging mechanism, which has the following beneficial effects: the distance between each finger cylinder can be adjusted through the variable-spacing module, so that the tube-gripping claws corresponding to each finger cylinder can be exactly adapted to the arrangement of the hoses; then, the tube-gripping claws on each finger cylinder can be respectively inserted into each hose through the robotic arm to support and fix each hose; then, the robotic arm is controlled to neatly place the hoses clamped by each tube-gripping claw into a paper box; in addition, the paper box can be clamped by the cooperation of the clamping plate and the limiting plate, and by controlling the telescopic shaft of the telescopic cylinder to extend, the entire support plate rotates around the rotating bearing seat as the axis, and then the placement plate and the paper box filled with hoses rotate upward. After that, through the guiding action of the inclined plane after the placement plate is tilted, the paper box can automatically flow into the next working station under the action of gravity. The whole process is convenient and fast, which can effectively save labor and also effectively improve the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the prior art.
[0015] Figure 1 Structural schematic diagram of the present utility model;
[0016] Figure 2 Side view of the present utility model;
[0017] Figure 3 Structural schematic diagram of the frame in the present utility model;
[0018] Figure 4 Structural schematic diagram of the variable-spacing module in the present utility model;
[0019] Figure 5 Structural schematic of the tray arranging platform in the present utility model Figure 1 ;
[0020] Figure 6 Structural schematic of the tray arranging platform in the present utility model Figure 2 ;
[0021] Figure 7 Side view of the tray arranging platform in the present utility model;
[0022] Explanation of the reference numerals in the drawings:
[0023] 1. Frame; 2. Placing plate platform; 3. Robot arm; 4. Variable pitch module; 5. Finger cylinder; 6. Tube picking gripper; 7. Support plate; 8. Rotating bearing seat; 9. Mounting plate; 10. First rotating shaft support; 11. First hinge seat; 12. Telescopic cylinder; 13. Placing plate; 14. Support block; 15. Limit plate; 16. Clamping cylinder; 17. Clamping plate; 18. Mounting block; 19. Second hinge seat; 20. Telescopic adjustment cylinder; 21. Second rotating shaft support; 22. Photoelectric detection sensor; 23. Limit support plate; 24. Guide inclined panel; 25. Discharge guiding table; 26. Mounting frame; 27. Rotating plate; 28. Bearing seat; 29. Rotating shaft; 30. Reed switch sensor; 41. Machine base; 42. Driving motor. Detailed implementation mode
[0024] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the present utility model.
[0025] Example 1, as Figure 1-7 shown, a robot variable pitch placing mechanism includes a frame 1 and a placing plate platform 2. Above the frame 1, a robot arm 3 is installed. At the end of the robot arm 3, a mounting frame 26 is installed. Below the mounting frame 26, a variable pitch module 4 is installed. Below the variable pitch module 4, a plurality of finger cylinders 5 are arranged side by side. On any one of the finger cylinders 5, two tube picking grippers 6 are movably connected respectively;
[0026] Above the placing plate platform 2, a support plate 7 is provided. On both sides of the lower surface of the support plate 7, rotating bearing seats 8 are symmetrically installed. Above the inner side surface of the placing plate platform 2, a rotating shaft is fixedly installed through a mounting plate 9. The rotating shaft is rotatably connected in the rotating bearing seat 8; At the front end of the lower surface of the support plate 7, a first rotating shaft support 10 is installed. On the front side surface of the placing plate platform 2, a first hinge seat 11 is installed. On one side surface of one end of a telescopic cylinder 12, a rotating shaft is installed. The telescopic cylinder 12 is rotatably connected to the first hinge seat 11 through the rotating shaft. The other end of the telescopic cylinder 12 is rotatably connected to the first rotating shaft support 10 through a spherical bearing; Above the support plate 7, a placing plate 13 is provided. Above the placing plate 13, a paper box for loading flexible hoses is placed. In front of the placing plate 13, a support block 14 for supporting the paper box is installed. In front of the support block 14, a limit plate 15 is provided. Outside the support block 14, a clamping cylinder 16 is installed. At the telescopic end of the clamping cylinder 16, a clamping plate 17 is installed. The clamping plate 17 is located on the other side of the support block 14 and cooperates with the limit plate 15 to clamp the paper box.
[0027] Working principle:
[0028] During operation, first place the carton for loading the hose above the placement plate 13, and support the carton with the support block 14. Then, control the telescopic end of the clamping cylinder 16 to drive the clamping plate 17 to retract, so that the carton can be clamped by the cooperation of the clamping plate 17 and the limit plate 15.
[0029] After the processing operation of the hose by the front-end equipment is completed and the robotic arm 3 receives the signal for picking up materials, first control the variable pitch module 4 to adjust the spacing between each finger cylinder 5, so that the tube-gripping jaws 6 corresponding to each finger cylinder 5 can exactly match the arrangement of the hoses; then, the robotic arm 3 can be used to control the tube-gripping jaws 6 on each finger cylinder 5 to be inserted into each hose respectively, and then control the finger cylinder 5 to drive the tube-gripping jaws 6 to open to support and fix each hose; then control the robotic arm 3 to drive the entire variable pitch module 4 to move above the tray platform 2, so that the hoses clamped by each tube-gripping jaw 6 can be neatly placed into the carton; then control the finger cylinder 5 to drive the tube-gripping jaws 6 to retract, so that the hoses are separated from the tube-gripping jaws 6. After that, control the robotic arm 3 to drive the entire variable pitch module 4 to return to the picking position, then control the tube-gripping jaws 6 on each finger cylinder 5 to grip the hoses, and then control the robotic arm 3 to drive the entire variable pitch module 4 to move above the tray platform 2, control the finger cylinder 5 to drive the tube-gripping jaws 6 to complete the discharging operation, and repeat this process until the carton is full of hoses.
[0030] After that, control the robotic arm 3 to return to the initial state, at the same time control the telescopic end of the clamping cylinder 16 to drive the clamping plate 17 to extend to the initial state, and then control the telescopic shaft of the telescopic cylinder 12 to extend, so that the entire support plate 7 rotates around the rotating bearing seat 8, and then the placement plate 13 and the carton full of hoses rotate upward. After that, through the guiding action of the inclined plane after the placement plate 13 is tilted, the carton can automatically flow into the next working station under the action of gravity; then control the telescopic shaft of the telescopic cylinder 12 to retract, so that the entire support plate 7 returns to the initial state to wait for subsequent cyclic actions.
[0031] The whole process is convenient and fast. When the equipment is running automatically, workers can operate other machines or do some related preparatory work, which effectively saves labor. And it also effectively improves production efficiency.
[0032] In the present utility model, the robotic arm 3, the variable pitch module 4 and the finger cylinder 5 all adopt well-known technical solutions in the prior art, which are already understood by those skilled in the art and will not be elaborated here.
[0033] Embodiment 2, as a further preferred solution of Embodiment 1, a rotating plate 27 is provided on the front side of the lower surface of the placing plate 13. A bearing seat 28 is installed on the lower surface of the support plate 7. A rotating shaft 29 is rotatably connected between the bearing seats 28. A strip-shaped through hole corresponding to the position of the rotating shaft 29 is formed on the surface of the support plate 7. The rotating plate 27 passes through and is connected to the rotating shaft 29. An installation block 18 is installed on the lower surface of the support plate 7. A second hinge seat 19 is installed on the side of the installation block 18. A rotating shaft is installed on the side of one end of the telescopic adjustment cylinder 20. The telescopic adjustment cylinder 20 is rotatably connected to the second hinge seat 19 through the rotating shaft. A through hole is formed on the lower surface of the support plate 7. A second rotating shaft support 21 is installed at the position corresponding to the through hole on the lower surface of the placing plate 13. The other end of the telescopic adjustment cylinder 20 is rotatably connected to the second rotating shaft support 21 through a spherical bearing.
[0034] Before the mechanical arm 3 performs the dish arranging work, the telescopic end of the telescopic adjustment cylinder 20 can be controlled to extend, so that the entire placing plate 13 can rotate upward with the rotating shaft 29 as the axis, so that the entire placing plate 13 is lifted by a certain angle, so that the hose can be automatically arranged neatly in the paper box by its gravity when the mechanical arm 3 performs the dish arranging work. When the paper box is full of hoses, then control the telescopic end of the telescopic adjustment cylinder 20 to retract, so that the entire placing plate 13 fits onto the surface of the support plate 7 again.
[0035] Embodiment 3, as a further preferred solution of Embodiment 1, a photoelectric detection sensor 22 is installed on the placing plate 13. A through hole is formed on the surface of the limiting plate 15. The sensing end of the photoelectric detection sensor 22 passes through the through hole and faces the paper box. The photoelectric detection sensor 22 can be used to detect whether the paper box is clamped, so as to ensure the stability when the clamping plate 17 clamps the paper box.
[0036] In the present utility model, the photoelectric detection sensor 22 adopts a well-known technical solution in the prior art, which is already understood by those skilled in the art and will not be elaborated here.
[0037] Embodiment 4, as a further preferred solution of Embodiment 1, limiting support plates 23 are provided on both sides of the upper surface of the placing plate 13. Guide inclined panels 24 with outwardly flared openings are provided at the rear sides of the limiting support plates 23. The limiting support plates 23 can limit the left and right positions of the paper box on the placing plate 13, preventing the paper box from falling from the left and right directions of the placing plate 13. The guide inclined panels 24 can accurately and quickly place the paper box at the designated position on the placing plate 13 when placing the paper box.
[0038] Embodiment 5, as a further preferred solution of Embodiment 1, a discharge guiding platform 25 is installed at the rear side above the placing platform 2. The front side edge of the discharge guiding platform 25 is opposite to the rear side edge of the placing plate 13, and the upper surface of the discharge guiding platform 25 is a guiding inclined surface. Thus, when the paper box detaches from the placing plate 13 under the action of gravity, it can be guided by the inclined surface of the discharge guiding platform 25, so that the paper box can flow to the next working station more stably.
[0039] Embodiment 6, as a further preferred solution of Embodiment 1, a reed type sensor 30 is installed on the side of the finger cylinder 5 for detecting the open extreme limit position of the tube-gripping jaw 6. Thus, when the hose drops or the tube-gripping jaw 6 fails to grip the hose, the tube-gripping jaw 6 opens to the extreme position. At this time, the reed type sensor 30 can detect the signal and output the signal to the controller. After signal processing by the controller, the machine is controlled to stop and an alarm is issued.
[0040] In the present utility model, the reed type sensor 30 all adopts the well-known technical solutions in the prior art, which are already understood by those skilled in the art and will not be elaborated here.
[0041] Embodiment 7, as a further preferred solution of Embodiment 1, the variable pitch module 4 includes a machine base 41. A guide rail is provided on the machine base 41, and a plurality of sliders distributed side by side are slidably connected to the guide rail. The finger cylinder 5 is installed on the outer side of the slider; a driving motor 42 is installed on the machine base 41, a screw rod is installed inside the machine base 41, the driving motor 42 is in transmission connection with the screw rod, screw grooves matching the number of sliders are distributed on the screw rod, and a guiding member is arranged on the inner side surface of the slider, and the guiding member is movably connected in the screw groove.
[0042] When adjusting the distance between each finger cylinder 5, the driving motor 42 is used to drive the screw rod to rotate, so that the slider moves along the screw groove through the guiding member. Thus, due to the different groove rail distances of each screw groove, the unequal-distance sliding of each slider is realized, so as to achieve the adjustment effect of the distance between each finger cylinder 5.
[0043] In the present utility model, a controller can be provided, and the signal output terminals of the controller are respectively connected to the signal input terminals of the robotic arm 3, the pitch-changing module 4, the finger cylinder 5, the telescopic cylinder 12, the clamping cylinder 16, the telescopic adjustment cylinder 20, and the drive motor 42. Thus, the robotic arm 3, the pitch-changing module 4, the finger cylinder 5, the telescopic cylinder 12, the clamping cylinder 16, the telescopic adjustment cylinder 20, and the drive motor 42 can be driven and controlled through the control chip in the controller to achieve an automatic control effect. In addition, by connecting the signal output terminals of the photoelectric detection sensor 22 and the magnetic reed sensor 30 to the signal input terminal of the controller, when the signal of the carton being clamped in place is detected by the photoelectric detection sensor 22, the signal is transmitted to the controller, and after the controller processes and analyzes the signal, subsequent steps are controlled. When the magnetic reed sensor 30 detects that the tube-gripping jaw 6 is opened to the extreme limit position, the signal is transmitted to the controller, and after the controller processes and analyzes the signal, the circuit is cut off and an alarm can be issued through an alarm device such as an alarm lamp.
[0044] The above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model.
Claims
1. A robot variable pitch swing mechanism, characterized in that: It comprises a frame (1) and a swinging plate platform (2), wherein a mechanical arm (3) is mounted above the frame (1), a mounting frame (26) is mounted at the end of the mechanical arm (3), a variable pitch module (4) is mounted on the lower surface of the mounting frame (26), a plurality of finger cylinders (5) are mounted side by side on the lower surface of the variable pitch module (4), and two pipe-taking clamping claws (6) are movably connected to the finger cylinders (5); A support plate (7) is arranged above the swing plate platform (2), and rotating bearing seats (8) are symmetrically installed on both sides of the lower surface of the support plate (7). A rotating shaft is fixedly installed above the inner side surface of the swing plate platform (2) through a mounting plate (9), and the rotating shaft is rotatably connected in the rotating bearing seat (8); a first rotating shaft support (10) is installed at the front end of the lower surface of the support plate (7), and the front side surface of the swing plate platform (2) is connected to one end of a telescopic cylinder (12) through a first hinge seat (11), and the other end of the telescopic cylinder (12) is rotatably connected to the first rotating shaft support (10) through a fisheye bearing. Dynamic connection; a placement plate (13) is arranged above the support plate (7), a paper box for filling the hose is placed above the placement plate (13), a support block (14) for supporting the paper box is installed on the front side above the placement plate (13), a limit plate (15) is arranged on the front side of the support block (14), a clamping cylinder (16) is installed on the outer side of the support block (14), a clamping plate (17) is installed at the telescopic end of the clamping cylinder (16), the clamping plate (17) is located on the other side of the support block (14), and cooperates with the limit plate (15) to clamp the paper box.
2. A robot variable pitch swing mechanism according to claim 1, characterized in that: A rotating plate (27) is arranged on the front side of the lower surface of the placement plate (13); a bearing seat (28) is installed on the lower surface of the support plate (7); a rotating shaft (29) is rotatably connected between the bearing seats (28); a strip-shaped through hole corresponding to the position of the rotating shaft (29) is opened on the surface of the support plate (7); the rotating plate (27) passes through and is connected to the rotating shaft (29); A mounting block (18) is mounted on the lower surface of the support plate (7), a second hinge seat (19) is mounted on the side of the mounting block (18), the second hinge seat (19) is rotatably connected to one end of the telescopic adjustment cylinder (20), a through hole is formed on the lower surface of the support plate (7), a second rotating shaft support (21) is mounted at a position corresponding to the through hole on the lower surface of the placement plate (13), and the other end of the telescopic adjustment cylinder (20) is rotatably connected to the second rotating shaft support (21) via a fisheye bearing.
3. The robot variable pitch swing mechanism according to claim 1, characterized in that: A photoelectric detection sensor (22) is mounted on the placement plate (13), a through hole is provided on the surface of the limit plate (15), and a sensing end of the photoelectric detection sensor (22) passes through the through hole and faces the paper box.
4. The robot variable pitch swing mechanism according to claim 1, characterized in that: Limiting support plates (23) are provided on both sides of the upper surface of the placement plate (13), and guiding inclined panels (24) are provided on the rear sides of the limiting support plates (23).
5. The robot variable pitch swing mechanism according to claim 1, characterized in that: A material discharging guide platform (25) is installed on the upper rear side of the plate-stirring platform (2), and the front side of the material discharging guide platform (25) is opposite to the rear side of the placement plate (13).
6. The robot variable pitch swing mechanism according to claim 1, characterized in that: A magnetic reed sensor (30) is installed on the side of the finger cylinder (5) for detecting the opening limit position of the pipe-taking clamping claw (6).
7. The robot variable pitch swing mechanism according to claim 1, characterized in that: The variable pitch module (4) comprises a machine base (41), the machine base (41) being provided with a guide rail, a plurality of sliders arranged side by side being slidably connected to the guide rail, and a finger cylinder (5) being installed on the outer side of the slider; a drive motor (42) being installed on the machine base (41), a screw being installed inside the machine base (41), the drive motor (42) being drivingly connected to the screw, a screw groove matching the number of the sliders being distributed on the screw, a guide member being provided on the inner side of the slider, and the guide member being movably connected in the screw groove.