Head card packaging manipulator

Abstract

The utility model discloses a head card packaging manipulator, which relates to the technical field of manipulators, and comprises a transverse moving mechanism, a vertical moving mechanism, a rotating mechanism and a sucking disc device, the transverse moving mechanism comprises a base, two transverse sliding rails are fixedly connected onto the base, and two transverse sliding seats are respectively connected onto the two transverse sliding rails in a sliding manner; the tops of the two transverse sliding seats are fixedly connected with the front side and the rear side of the bottom of a transverse sliding table correspondingly, and the transverse sliding table is connected with a transverse power assembly. The vertical moving mechanism comprises a vertical support, the top of the left end of the transverse sliding table is fixedly connected with the bottom end of the vertical support, two vertical sliding rails are fixedly connected to the left side of the vertical support, two vertical sliding seats are slidably connected to the two vertical sliding rails respectively, and the two vertical sliding seats are fixedly connected with the upper end and the lower end of the right side of the vertical sliding table respectively. According to the head card packaging manipulator, the head cards are firstly sucked, then rotated to the horizontal state and rapidly placed on the packaging table through up-down movement and left-right horizontal movement, transferring is convenient and rapid, and the head card taking and placing efficiency is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical hand technical field, concretely is head card packaging mechanical hand. BACKGROUND

[0002] Head card, namely, knitted sock head packaging paper card, needs to adopt mechanical hand to take out head card from paper card material bin when knitted sock is packed, since paper card material bin is installed obliquely, paper card needs to be taken out by mechanical hand after sliding to the bottom of paper card material bin, then is placed horizontally on the packing table after moving up and down and moving left and right, the efficiency of taking and placing head card of existing mechanical hand is low, and head card cannot be transferred quickly. UTILITY MODEL CONTENTS

[0003] The utility model solves the technical problem to overcome the existing defects, provides head card packaging mechanical hand, first absorbs head card, then rotates head card to horizontal state, moves up and down and moves horizontally left and right, places head card on the packing table quickly, is convenient and fast for transfer, and the taking and placing efficiency of head card is high, can effectively solve the problem in the background art.

[0004] To realize the above-mentioned purpose, the utility model provides the following technical scheme: head card packaging mechanical hand, including:

[0005] Horizontal moving mechanism contains base, horizontal slide rail, horizontal slide seat, horizontal slide platform and horizontal moving force component, two horizontal slide rails are fixedly connected on the base, two horizontal slide seats are slidably connected on two horizontal slide rails respectively, the top of two horizontal slide seats is fixedly connected with the bottom front and back sides of horizontal slide platform respectively, and horizontal slide platform is connected with horizontal moving force component;

[0006] Vertical moving mechanism contains vertical support, vertical slide rail, vertical slide seat, vertical slide platform and vertical moving force component, the left end top of horizontal slide platform is fixedly connected with the bottom end of vertical support, two vertical slide rails are fixedly connected on the left side of vertical support, two vertical slide seats are slidably connected on two vertical slide rails respectively, the right side upper and lower ends of vertical slide platform are fixedly connected with two vertical slide seats respectively, and vertical slide platform is connected with vertical moving force component;

[0007] Rotary mechanism is installed on the left side of vertical slide platform, and the front end of rotary mechanism is installed with suction disc device.

[0008] Horizontal moving force component is used for driving horizontal slide platform to move left and right along horizontal slide rail through horizontal slide seat, thereby driving suction disc device to move left and right, vertical moving force component is used for driving vertical slide platform to move up and down along vertical slide rail through vertical slide seat, thereby driving suction disc device to move up and down, rotary mechanism is used for driving suction disc device to rotate, suction disc device is used for absorbing head card from the bottom of paper card material bin, then rotates suction disc device and head card through rotary mechanism, makes head card be in horizontal state, then moves head card to packing table through up and down movement and left and right movement, suction disc device releases head card, and the taking and placing work of head card is completed.

[0009] Further, the rotating mechanism comprises a rotating power assembly, a support, a bearing and a rotating shaft, the left front and rear ends of the vertical sliding table are fixedly connected with two supports respectively, the front and rear ends of the rotating shaft are rotatably connected with the two supports through bearings respectively, and the rear end of the rotating shaft is connected with the rotating power assembly. The rotating power assembly is used for driving the rotating shaft to rotate relative to the support, so that the suction cup device and the head card sucked by the suction cup device can be driven to rotate. The suction cup device can be rotated to a suitable angle to suck the head card, which is beneficial to stably sucking the head card. After the head card is sucked, the head card can be in a horizontal state, which is convenient for stably placing on the packaging table.

[0010] Further, the rotating power assembly comprises a motor support three, a rotating motor and a shaft coupling three, the rear end of the rotating shaft is connected with the output shaft of the rotating motor through the shaft coupling three, the rotating motor is installed on the motor support three, and the motor support three is fixedly connected to the rear end of the vertical sliding table. The motor support three is used for installing the rotating motor, and the rotating motor works to drive the rotating shaft to rotate through the shaft coupling three.

[0011] Further, the suction cup device comprises a suction cup support, a hard air pipe, a suction cup and a soft and hard pipe joint, the front end of the rotating shaft is provided with the suction cup support, two transverse hard air pipes are installed on the suction cup support, the left ends of the two hard air pipes are fixedly connected with two suction cups respectively, and the right ends of the two hard air pipes are provided with two soft and hard pipe joints respectively. The suction cup support is used for installing the hard air pipe and the suction cup, the hard air pipe is connected with the soft pipe through the soft and hard pipe joint, the soft pipe is connected with a negative pressure source, and the head card can be sucked by the negative pressure source and the suction cup, so that the head card can be transferred stably.

[0012] Further, the suction cup support comprises a mounting rod, a mounting sleeve, a pull rod, a vertical plate and a nut, the front end of the rotating shaft is fixedly sleeved with the rear end of the mounting sleeve, the front end of the mounting sleeve is fixedly connected with the rear end of the mounting rod, the bottom of the mounting rod is fixedly connected with the top of the vertical plate through the pull rod, the front and rear ends of the vertical plate are provided with two mounting holes respectively, two hard air pipes are arranged in the two mounting holes respectively, and the hard air pipes located on the two sides of the vertical plate are respectively connected with nuts in a threaded mode. The mounting rod is fixed at the front end of the rotating shaft through the mounting sleeve, and the vertical plate fixes the hard air pipes through the nuts.

[0013] Further, the mobile limiting mechanism is further arranged on the rear side of the base. The mobile limiting mechanism is used for limiting the moving range of the horizontal sliding table to the left and right, so as to avoid the horizontal sliding seat from being separated from the horizontal sliding rail.

[0014] Further, the mobile limiting mechanism comprises a long rod, a proximity switch and a bent frame, the rear side of the base is provided with a transverse long rod, the left and right ends of the long rod are respectively provided with two proximity switches, the rear side of the transverse sliding table is fixedly connected with a bent frame through a bent frame screw, and the bent frame is located between the two proximity switches. The long rod is used for installing the proximity switch, and the bent frame moves left and right with the transverse sliding table. When the bent frame approaches one of the proximity switches, the horizontal moving force assembly stops working, so that the transverse sliding seat and the transverse sliding rail are prevented from being separated.

[0015] Compared with the prior art, the head card packaging manipulator has the beneficial effects that:

[0016] The head card packaging manipulator can quickly place the head card on the packaging table through up-down movement and left-right horizontal movement after rotating the head card to a horizontal state, and the transfer is convenient and fast, and the taking and placing efficiency of the head card is high.

[0017] The head card packaging manipulator is provided with a mobile limiting mechanism for limiting the range of left-right movement of the transverse sliding table, so that the transverse sliding seat and the transverse sliding rail are prevented from being separated. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 It is a structural schematic view of the utility model;

[0019] Fig. 2 It is a structural schematic view of the rear side of the utility model;

[0020] Fig. 3 It is a structural schematic view of the suction cup device in the utility model;

[0021] In the drawing: 1 horizontal moving mechanism, 11 base, 12 transverse sliding rail, 13 transverse sliding seat, 14 transverse sliding table, 15 gear frame one, 16 horizontal moving gear, 17 horizontal gear belt, 18 motor support one, 19 horizontal moving motor, 110 coupling one, 2 vertical moving mechanism, 21 vertical support, 22 vertical sliding rail, 23 vertical sliding seat, 24 vertical sliding table, 25 gear frame two, 26 vertical moving gear, 27 vertical gear belt, 28 motor support two, 29 coupling two, 210 vertical moving motor, 211 rib plate, 3 rotating mechanism, 31 motor support three, 32 rotating motor, 33 coupling three, 34 support, 35 bearing, 36 rotating shaft, 4 suction cup device, 41 mounting rod, 42 mounting sleeve, 43 pull rod, 44 longitudinal plate, 45 nut, 46 hard air pipe, 47 suction cup, 48 hard and soft pipe joint, 5 mobile limiting mechanism, 51 long rod, 52 proximity switch, 53 bent frame, 6 rotating motor drag chain, 7 vertical moving motor drag chain. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0023] Embodiment one, please refer to Figs. 1 to 3 The utility model provides technical scheme: head card packaging manipulator, including horizontal moving mechanism 1, vertical moving mechanism 2, rotating mechanism 3 and chuck device 4,

[0024] Horizontal moving mechanism 1 includes base 11, horizontal slide rail 12, horizontal slide seat 13, horizontal slide platform 14 and horizontal moving force assembly, two horizontal slide rails 12 are fixedly connected on base 11, two horizontal slide seats 13 are slidably connected on two horizontal slide rails 12 respectively, the top of two horizontal slide seats 13 is fixedly connected with the bottom front and back sides of horizontal slide platform 14 respectively, and horizontal slide platform 14 is connected with horizontal moving force assembly;

[0025] Horizontal moving force assembly includes gear frame one 15, horizontal moving gear 16, horizontal gear belt 17, motor support one 18, horizontal moving motor 19, connecting shaft one 110, two gear frames one 15 are fixedly connected on base 11 left and right ends respectively, two horizontal moving gears 16 are rotatably connected on two gear frames one 15 respectively, two horizontal moving gears 16 are connected through horizontal gear belt 17, the end of one horizontal moving gear 16 is fixedly connected with the output shaft of horizontal moving motor 19 through connecting shaft one 110, horizontal moving motor 19 is installed on base 11 through motor support one 18, the bottom of horizontal slide platform 14 is fixedly connected with the upper side of horizontal gear belt 17, motor support one 18 is used to install horizontal moving motor 19, horizontal moving motor 19 works and drives horizontal moving gear 16 to rotate through connecting shaft one 110, thereby driving horizontal gear belt 17 to run left and right, the top of horizontal gear belt 17 drives horizontal slide platform 14 to move left and right, horizontal slide platform 14 is driven to move by horizontal gear belt 17, and the efficiency is higher.

[0026] Vertical moving mechanism 2 includes vertical support 21, vertical slide rail 22, vertical slide seat 23, vertical slide platform 24 and vertical moving force assembly, the bottom end of vertical support 21 is fixedly connected with the left end top of horizontal slide platform 14, two vertical slide rails 22 are fixedly connected on the left side of vertical support 21, two vertical slide seats 23 are slidably connected on two vertical slide rails 22 respectively, the right side upper and lower ends of vertical slide platform 24 are fixedly connected with two vertical slide seats 23 respectively, and vertical slide platform 24 is connected with vertical moving force assembly;

[0027] The vertical moving force assembly comprises two gear frames 25, vertical moving gears 26, a vertical gear belt 27, a second motor support 28, a second shaft connector 29, a vertical moving motor 210, two gear frames 25 are fixedly connected to the upper and lower ends of the left side of the vertical support 21 respectively, two vertical moving gears 26 are rotatably connected to the two gear frames 25 respectively, the two vertical moving gears 26 are connected through the vertical gear belt 27, the left side of the vertical gear belt 27 is fixedly connected to the right side of the vertical sliding table 24, the end of the vertical moving gear 26 at the bottom is connected to the output shaft of the vertical moving motor 210 through the second shaft connector 29, the vertical moving motor 210 is installed on the vertical support 21 through the second motor support 28, the second motor support 28 is used for installing the vertical moving motor 210, the vertical moving motor 210 drives the vertical moving gear 26 at the bottom to rotate through the second shaft connector 29, so as to drive the vertical gear belt 27 to run up and down, the vertical gear belt 27 drives the vertical sliding table 24 to move up and down, and the vertical sliding table 24 is driven by the vertical gear belt 27, so that the moving efficiency is higher.

[0028] Since the vertical moving motor 210 moves left and right with the vertical support 21, the cable connected to the vertical moving motor 210 needs to be protected, so the vertical moving motor 210 is connected with a vertical moving motor drag chain 7, and the cable connected to the vertical moving motor 210 can be protected by the vertical moving motor drag chain 7.

[0029] The vertical moving mechanism 2 further comprises two rib plates 211, the upper side of the front and rear ends of the horizontal sliding table 14 is fixedly connected to the right side of the vertical support 21 through the two rib plates 211 respectively, and the connection between the vertical support 21 and the horizontal sliding table 14 is improved by the rib plates 211.

[0030] The rotating mechanism 3 is installed on the left side of the vertical sliding table 24, and the front end of the rotating mechanism 3 is provided with a suction cup device 4.

[0031] The rotating mechanism 3 comprises a rotating power assembly, a support 34, a bearing 35 and a rotating shaft 36, the left side of the vertical sliding table 24 is fixedly connected with two supports 34 through screws respectively, the front and rear ends of the rotating shaft 36 are rotatably connected with the two supports 34 through the bearings 35 respectively, and the rear end of the rotating shaft 36 is connected with the rotating power assembly. The rotating power assembly is used for driving the rotating shaft 36 to rotate relative to the support 34, so as to drive the suction cup device 4 and the head card sucked by the suction cup device 4 to rotate, the suction cup device 4 can be rotated to a suitable angle to suck the head card, which is beneficial to stably sucking the head card. After the head card is sucked, the head card can be in a horizontal state, which is convenient for stably placing on the packaging table.

[0032] The rotating power assembly comprises a third motor support 31, a rotating motor 32 and a third shaft connector 33, the rear end of the rotating shaft 36 is connected to the output shaft of the rotating motor 32 through the third shaft connector 33, the rotating motor 32 is installed on the third motor support 31, and the third motor support 31 is fixedly connected to the rear end of the vertical sliding table 24. The third motor support 31 is used for installing the rotating motor 32, and the rotating motor 32 drives the rotating shaft 36 to rotate through the third shaft connector 33.

[0033] Since the rotary motor 32 will move with the vertical sliding table 24, the cable connected with the rotary motor 32 needs to be protected, therefore the rotary motor drag chain 6 is connected with the rotary motor 32, and the cable connected with the rotary motor 32 is protected by the rotary motor drag chain 6.

[0034] The suction cup device 4 comprises a suction cup support, hard air pipes 46, suction cups 47 and flexible pipe joints 48, the front end of the rotating shaft 36 is provided with the suction cup support, two transverse hard air pipes 46 are arranged on the suction cup support, the left ends of the two hard air pipes 46 are respectively fixedly connected with two suction cups 47, and the right ends of the two hard air pipes 46 are respectively provided with two flexible pipe joints 48.

[0035] The suction cup support comprises a mounting rod 41, a mounting sleeve 42, a pull rod 43, a vertical plate 44 and nuts 45, the front end of the rotating shaft 36 is fixedly sleeved with the rear end of the mounting sleeve 42, the front end of the mounting sleeve 42 is fixedly connected with the rear end of the mounting rod 41, the bottom of the mounting rod 41 is fixedly connected with the top of the vertical plate 44 through the pull rod 43, two mounting holes are respectively formed in the front end and the rear end of the vertical plate 44, two hard air pipes 46 are respectively arranged in the two mounting holes in a penetrating mode, and the positions of the hard air pipes 46 on the two sides of the vertical plate 44 are respectively fixedly connected with the nuts 45 in a threaded mode. The mounting rod 41 is fixed to the front end of the rotating shaft 36 through the mounting sleeve 42, and the hard air pipes 46 are fixed through the nuts 45.

[0036] The suction cup support is used for mounting the hard air pipes 46 and the suction cups 47, the hard air pipes 46 are connected with flexible pipes through the flexible pipe joints 48, the flexible pipes are connected with a negative pressure source, and the head card can be sucked by the negative pressure source and the suction cups 47, so that the head card can be smoothly transferred.

[0037] In use, the horizontal moving force assembly is used for driving the horizontal sliding table 14 to move leftward and rightward along the horizontal sliding rail 12 through the horizontal sliding seat 13, so as to drive the suction cup device 4 to move leftward and rightward, the vertical moving force assembly is used for driving the vertical sliding table 24 to move upward and downward along the vertical sliding rail 22 through the vertical sliding seat 23, so as to drive the suction cup device 4 to move upward and downward, the rotating mechanism 3 is used for driving the suction cup device 4 to rotate, the suction cup device 4 is used for sucking the head card from the bottom of the paper card warehouse, then the suction cup device 4 and the head card are rotated through the rotating mechanism 3, so that the head card is in a horizontal state, then the head card is moved to the packaging table through upward and downward movement and leftward and rightward movement, the suction cup device 4 releases the head card, and the taking and placing work of the head card is completed.

[0038] Embodiment two, please refer to Figs. 1 to 3 The utility model provides technical scheme: head card packaging manipulator, this embodiment and embodiment one structure are roughly same, the difference lies in:

[0039] The mobile limiting mechanism 5 is arranged on the rear side of the base 11, and is used to limit the moving range of the horizontal sliding table 14 to the left and right, so as to avoid the disengagement of the horizontal sliding seat 13 from the horizontal sliding rail 12.

[0040] The mobile limiting mechanism 5 comprises a long rod 51, a proximity switch 52 and a bent bracket 53, the long rod 51 is arranged on the rear side of the base 11 in a horizontal manner, the left and right ends of the long rod 51 are respectively provided with two proximity switches 52, and the bent bracket 53 is fixedly connected to the rear side of the horizontal sliding table 14 through a bent bracket screw, and is located between the two proximity switches 52. The long rod 51 is used to mount the proximity switch 52, and the bent bracket 53 moves along with the horizontal sliding table 14 to the left and right, so that the horizontal moving force assembly stops working when the bent bracket 53 approaches one of the proximity switches 52, thereby avoiding the disengagement of the horizontal sliding seat 13 from the horizontal sliding rail 12.

[0041] The long rod 51 and the proximity switch 52 can also be arranged on the rear side edge of the vertical support 21, and the bent bracket 53 is arranged on the vertical sliding table 24, so that the bent bracket 53 on the vertical sliding table 24 moves between the two proximity switches 52 at the two ends of the long rod 51 on the rear side of the vertical support 21, and the vertical moving force assembly stops working when the bent bracket 53 on the vertical sliding table 24 approaches one of the proximity switches 52, thereby avoiding the disengagement of the vertical sliding rail 22 and the vertical sliding seat 23.

[0042] It is worth noting that the horizontal moving motor 19, the vertical moving motor 210 and the rotating motor 32 in the above embodiments are all controlled by an external PLC controller, the control method adopts the method commonly used in the prior art, and the horizontal moving motor 19, the vertical moving motor 210 and the rotating motor 32 all adopt servo motors, the proximity switch 52 is electrically connected with the external PLC controller, and the connection mode also adopts the prior art.

[0043] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0044] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A headcard packaging robot characterized by, Include: The horizontal moving mechanism (1) contains the base (11), the horizontal slide rail (12), the horizontal slide (13), the horizontal slide platform (14) and the horizontal moving force assembly, the base (11) is fixedly connected with two horizontal slide rails (12), two horizontal slide rails (12) are slidably connected with two horizontal slides (13) respectively, the top of two horizontal slides (13) is fixedly connected with the bottom front and back of horizontal slide platform (14) respectively, and the horizontal slide platform (14) is connected with the horizontal moving force assembly; The vertical moving mechanism (2) contains the vertical support (21), the vertical slide rail (22), the vertical slide (23), the vertical slide platform (24) and the vertical moving force assembly, the left end top of the horizontal slide platform (14) is fixedly connected with the bottom end of the vertical support (21), the left side of the vertical support (21) is fixedly connected with two vertical slide rails (22), two vertical slide rails (22) are slidably connected with two vertical slides (23) respectively, two vertical slides (23) are fixedly connected with the right side upper and lower ends of the vertical slide platform (24) respectively, and the vertical slide platform (24) is connected with the vertical moving force assembly; The rotating mechanism (3) is installed on the left side of the vertical slide platform (24), and the front end of the rotating mechanism (3) is provided with the suction cup device (4).

2. The head pack wrapping robot of claim 1, wherein: The rotating mechanism (3) contains the rotating power assembly, the support (34), the bearing (35) and the rotating shaft (36), the left side front and back ends of the vertical slide platform (24) are fixedly connected with two supports (34) through screws respectively, the front and back ends of the rotating shaft (36) are rotatably connected with the supports (34) through the bearings (35) respectively, and the rear end of the rotating shaft (36) is connected with the rotating power assembly.

3. The head pack wrapping robot of claim 2, wherein: The rotating power assembly contains the motor support three (31), the rotating motor (32) and the coupling three (33), the rear end of the rotating shaft (36) is connected with the output shaft of the rotating motor (32) through the coupling three (33), the rotating motor (32) is installed on the motor support three (31), and the motor support three (31) is fixedly connected with the rear end of the vertical slide platform (24).

4. The head pack wrapping robot of claim 2, wherein: The suction cup device (4) contains the suction cup support, the hard air pipe (46), the suction cup (47) and the soft and hard pipe joint (48), the front end of the rotating shaft (36) is provided with the suction cup support, two transverse hard air pipes (46) are installed on the suction cup support, the left ends of the two hard air pipes (46) are fixedly connected with two suction cups (47) respectively, and the right ends of the two hard air pipes (46) are provided with two soft and hard pipe joints (48) respectively.

5. The head pack wrapping robot of claim 4, wherein: The suction cup support contains the mounting rod (41), the mounting sleeve (42), the pull rod (43), the vertical plate (44) and the nut (45), the rear end of the mounting sleeve (42) is fixedly sleeved with the front end of the rotating shaft (36), the front end of the mounting sleeve (42) is fixedly connected with the rear end of the mounting rod (41), the bottom of the mounting rod (41) is fixedly connected with the top of the vertical plate (44) through the pull rod (43), the front and back ends of the vertical plate (44) are provided with two mounting holes respectively, two hard air pipes (46) are arranged in the two mounting holes respectively, and the positions of the hard air pipes (46) on the two sides of the vertical plate (44) are fixedly connected with nuts (45) respectively.

6. The head pack wrapping robot of claim 1, wherein: Also include mobile limiting mechanism (5), the rear side of the base (11) is installed with mobile limiting mechanism (5).

7. The head pack wrapping robot of claim 6, wherein: The mobile limiting mechanism (5) contains long rod (51), proximity switch (52) and bent frame (53), the rear side of the base (11) is installed with transverse long rod (51), the left and right ends of long rod (51) are respectively installed with two proximity switches (52), the rear side of the horizontal sliding table (14) is fixedly connected with bent frame (53) through bent frame screw, and bent frame (53) is located between the two proximity switches (52).

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