Box steering mechanism

Abstract

The utility model relates to a box steering mechanism which comprises a portal frame and a steering module. The steering module comprises a cross beam hung on the portal frame, a rotary driver connected with the cross beam, a first gripper slidably connected to one end of the cross beam, a second gripper slidably connected to the other end of the cross beam, and a transverse movement driver connected with the first gripper and the second gripper. The transverse movement driver is used for driving the first gripper and the second gripper to synchronously slide in the length direction of the cross beam, and the sliding directions of the first gripper and the second gripper are opposite. The first right-angle clamping piece and the second right-angle clamping piece are both used for being matched with the right-angle shape of the peripheral side of the box body. The box body is driven to turn by clamping the diagonal positions of the box body, the moving path of the strapping machine and the box body is avoided from the moving track, turning of the box body is achieved at the same strapping machine, one strapping machine can complete X-direction and Y-direction strapping operation of the box body, the working procedure is simplified, and the working period is shortened.

Description

Technical Field

[0001] This utility model relates to the field of robot design technology, and in particular to a box-shaped steering mechanism. Background Technology

[0002] When stacking boxes, it's sometimes necessary to rotate the boxes 90° to coordinate with a strapping machine for cross or grid binding. For example, the strapping machine may be used to bind the boxes in both the X and Y directions. If the strapping machine itself lacks XY-direction switching capability, a 90° rotation of the box is required. Traditionally, the box is first transported to the first strapping machine via a conveyor belt. The conveyor belt stops, and after the first strapping machine completes the X-direction binding, the conveyor belt restarts, transporting the box to a rotating platform with lifting capabilities. The rotating platform rotates the box 90° and returns it to the conveyor belt, which then transports the rotated box to the second strapping machine for the Y-direction binding. This process is cumbersome and time-consuming. Utility Model Content

[0003] Based on this, the present invention provides a box-shaped turning mechanism that combines the box-shaped turning mechanism with a tape-laying machine. By clamping the box at the diagonal position, the box is driven to turn, avoiding the movement paths of the tape-laying machine and the box from the movement trajectory. The turning of the box is achieved at the same tape-laying machine, so that one tape-laying machine can complete the X and Y direction tape-laying operations of the box, simplifying the process and shortening the work cycle.

[0004] A box-type steering mechanism, comprising:

[0005] Gantry frame; and

[0006] A steering module installed on a gantry; the steering module includes: a crossbeam suspended on the gantry, a rotary actuator connected to the crossbeam, a first gripper slidably connected to one end of the crossbeam, a second gripper slidably connected to the other end of the crossbeam, and a transverse actuator connecting the first gripper and the second gripper respectively; the first gripper is provided with a first right-angle clamp; the second gripper is provided with a second right-angle clamp facing the first right-angle clamp; the rotary actuator is used to drive the crossbeam to rotate horizontally; the transverse actuator is used to drive the first gripper and the second gripper to slide synchronously along the length of the crossbeam, and the sliding directions of the first gripper and the second gripper are opposite; the first right-angle clamp and the second right-angle clamp are both used to adapt to the right-angle shape of the periphery of the housing.

[0007] The aforementioned box-shaped turning mechanism is used by mounting its gantry frame above the belt-laying machine during equipment installation. When the box needs to be belt-laid, the conveyor belt transports the box to the belt-laying machine and stops. After the belt-laying machine completes the X-axis belt-laying, the conveyor belt remains stationary, and the box-shaped turning mechanism begins operation. The transverse drive moves the first and second grippers synchronously along the diagonal of the box until they clamp at a right angle on the outer perimeter of the box. Then, the rotation drive rotates the crossbeam 90°, causing the box to rotate 90° synchronously. The same belt-laying machine then completes the Y-axis belt-laying. After belt-laying is complete, the conveyor belt resumes operation to carry the box away. During the belt-laying process, the movement trajectories of the first and second grippers are outside the belt-laying machine's range, avoiding interference with the machine's operation and preventing obstruction of the box's movement path. The above design combines the box-turning mechanism with the belt-pressing machine. By clamping the box at the diagonal position, the box is turned, avoiding the movement paths of the belt-pressing machine and the box. The box can be turned at the same belt-pressing machine, so that one belt-pressing machine can complete the X and Y direction belt-pressing operations of the box, simplifying the process and shortening the work cycle.

[0008] In one embodiment, a vertically extending pivot is provided at the center of the crossbeam; the pivot is pivotally connected to the gantry frame; a rotary actuator is mounted on the top of the gantry frame and connected to the pivot. The gantry frame supports the rotary actuator, and the crossbeam is hoisted and pivoted via the pivot, resulting in a simple structure with good stability.

[0009] In one embodiment, the rotary drive includes: a first speed reducer connected to a rotating shaft and a first rotary motor connected to the first speed reducer.

[0010] In one embodiment, the traverse drive includes: a first slider connected to a first gripper, a second slider connected to a second gripper, a timing belt connecting the first slider and the second slider, and a second rotary motor connected to the timing belt. During operation, the second rotary motor drives the timing belt, which in turn drives the first and second grippers to move synchronously and in opposite directions via the first and second sliders.

[0011] In one embodiment, the traverse drive further includes a second speed reducer connected between the timing belt and the second rotary motor.

[0012] In one embodiment, the crossbeam is provided with a first linear guide rail that slides to connect a first slider and a second linear guide rail that slides to connect a second slider. The linear guide rails are used to improve the motion accuracy and stability of the gripper.

[0013] In one embodiment, the crossbeam is further provided with a first limiting groove for the first gripper to pass through and a second limiting groove for the second gripper to pass through; the first limiting groove is parallel to and adjacent to the first linear guide rail; the second limiting groove is parallel to and adjacent to the second linear guide rail. The limiting grooves can physically restrict the movement of the gripper. Attached Figure Description

[0014] Figure 1 This is a perspective view of the box-type steering mechanism according to an embodiment of the present utility model;

[0015] Figure 2 for Figure 1 A perspective view of the box steering mechanism shown from another angle;

[0016] Figure 3 for Figure 1 A partial view of the box steering mechanism shown;

[0017] Figure 4 for Figure 1 The diagram shown illustrates the working principle of the gearbox steering mechanism.

[0018] Figure 5 for Figure 4 The diagram shows the working principle of the gearbox steering mechanism from another perspective.

[0019] Figure 6 for Figure 4 The diagram shows the working principle of the box steering mechanism from a low angle.

[0020] The meanings of the labels in the attached diagram are as follows:

[0021] 100-Carrier steering mechanism;

[0022] 10-Gantry frame;

[0023] 20-Steering module, 21-Crossbeam, 211-Rotating shaft, 212-First linear guide rail, 213-Second linear guide rail, 214-First limiting slide groove, 215-Second limiting slide groove, 22-Rotary driver, 23-First gripper, 231-First right-angle clamp, 24-Second gripper, 241-Second right-angle clamp, 25-Transverse driver, 251-First slider, 252-Second slider, 253-Synchronous belt, 254-Second rotary motor, 255-Second reducer;

[0024] 200-Box. Detailed Implementation

[0025] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0026] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0031] like Figures 1 to 6 As shown, it is a box-type steering mechanism 100 of one embodiment of the present utility model.

[0032] like Figure 1 and Figure 2 As shown, the box-type steering mechanism 100 includes a gantry frame 10 and a steering module 20 mounted on the gantry frame 10. The gantry frame 10 supports the steering module 20, allowing the steering module 20 to be suspended above the tape-winding machine. The steering module 20 is used to turn the box 200, which needs to be tape-winded, by 90°.

[0033] The following text, combined with Figures 1 to 6 The aforementioned box steering mechanism 100 will be further explained.

[0034] like Figure 1 and Figure 2 As shown, the gantry frame 10 is a portal frame structure, combined with Figure 6 As shown, in use, the gantry 10 can be erected at the conveyor belt, so that the steering module 20 is above the conveyor belt and the belt beater.

[0035] Combination Figures 1 to 3 As shown, the steering module 20 includes: a crossbeam 21 suspended on the gantry 10, a rotary actuator 22 connected to the crossbeam 21, a first gripper 23 slidably connected to one end of the crossbeam 21, a second gripper 24 slidably connected to the other end of the crossbeam 21, and a lateral drive 25 connected to the first gripper 23 and the second gripper 24 respectively.

[0036] like Figure 3 As shown, in this embodiment, a vertically upward-extending pivot 211 is provided at the center of the crossbeam 21, and the pivot 211 is pivotally connected to the gantry frame 10. Figure 1 As shown, the rotary actuator 22 is mounted on top of the gantry frame 10 and connected to the rotating shaft 211. The rotary actuator 22 is supported by the gantry frame 10, and the crossbeam 21 is hoisted and pivoted via the rotating shaft 211. The structure is simple and has good stability.

[0037] In this embodiment, in order to drive the crossbeam 21 to rotate, the rotary driver 22 includes: a first reducer connected to the rotating shaft 211 and a first rotary motor connected to the first reducer. The first rotary motor is used to provide driving force, while the first reducer is used to increase the output torque of the first rotary motor.

[0038] like Figure 3 As shown, the first gripper 23 is provided with a first right-angle clamp 231, and the second gripper 24 is provided with a second right-angle clamp 241 facing the first right-angle clamp 231.

[0039] like Figure 1 As shown, the rotary actuator 22 is used to drive the crossbeam 21 to rotate horizontally, as... Figure 3 As shown, the transverse actuator 25 is used to drive the first gripper 23 and the second gripper 24 to slide synchronously along the length of the crossbeam 21, and the sliding directions of the first gripper 23 and the second gripper 24 are opposite. The first right-angle clamp 231 and the second right-angle clamp 241 are both used to adapt to the right-angle shape of the periphery of the housing 200.

[0040] like Figure 3 As shown, in this embodiment, the transverse drive 25 includes: a first slider 251 connected to the first gripper 23, a second slider 252 connected to the second gripper 24, a synchronous belt 253 connecting the first slider 251 and the second slider 252 respectively, and a second rotary motor 254 connected to the synchronous belt 253. During operation, the second rotary motor 254 drives the synchronous belt 253, which in turn drives the first gripper 23 and the second gripper 24 to move synchronously and in opposite directions via the first slider 251 and the second slider 252 respectively.

[0041] Similar to the design of the rotary driver 22, the transverse driver 25 may also include a second reducer 255 connected between the synchronous belt 253 and the second rotary motor 254. The second reducer 255 is used to increase the output torque of the second rotary motor 254.

[0042] To improve the motion accuracy, motion stability, and operational safety of the first gripper 23 and the second gripper 24, the crossbeam 21 can also be modified.

[0043] For example, such as Figure 3As shown, in this embodiment, the crossbeam 21 is provided with a first linear guide rail 212 that is slidably connected to the first slider 251 and a second linear guide rail 213 that is slidably connected to the second slider 252. The linear guide rails are used to improve the movement accuracy and stability of the gripper.

[0044] For example, such as Figure 3 As shown, in this embodiment, the crossbeam 21 is further provided with a first limiting groove 214 for the first gripper 23 to pass through and a second limiting groove 215 for the second gripper 24 to pass through. The first limiting groove 214 is parallel to and adjacent to the first linear guide rail 212. The second limiting groove 215 is parallel to and adjacent to the second linear guide rail 213. The limiting grooves can physically restrict the movement of the gripper.

[0045] Brief description of working principle:

[0046] like Figure 4 and Figure 5 As shown, during equipment installation, the gantry 10 of the housing turning mechanism 100 is mounted above the belt conveyor (not shown) for combined use. See also... Figure 6 When the casing 200 needs to be strapped, the conveyor belt transports the casing 200 to the strapping machine and stops. After the strapping machine completes the X-axis strapping, the conveyor belt remains stopped, and the casing turning mechanism 100 starts working. The transverse drive 25 drives the first gripper 23 and the second gripper 24 to move synchronously along the diagonal of the casing 200 until they clamp at a right angle on the outer periphery of the casing 200. Then, the rotation drive 22 drives the crossbeam 21 to rotate 90°, causing the casing 200 to rotate 90° synchronously. At this time, the position of the casing 200 has not changed, so the same strapping machine can then complete the Y-axis strapping. After the strapping is completed, the conveyor belt resumes operation to carry the casing 200 away. During the strapping process, the movement trajectories of the first gripper 23 and the second gripper 24 are both outside the range of the strapping machine, which avoids interfering with the operation of the strapping machine and does not obstruct the movement path of the casing 200.

[0047] The aforementioned box-shaped turning mechanism 100 is used in combination with the belt-pressing machine. By clamping the box 200 at the diagonal position, it drives the box 200 to turn, avoiding the movement path of the belt-pressing machine and the box 200. The turning of the box 200 is achieved at the same belt-pressing machine, so that one belt-pressing machine can complete the X and Y direction belt-pressing operations of the box 200, simplifying the process and shortening the work cycle.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above embodiments only illustrate preferred implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A box-type steering mechanism, characterized in that, include: Gantry frame; as well as Steering module installed on the gantry; The steering module includes: a crossbeam suspended on the gantry frame, a rotary actuator connected to the crossbeam, a first gripper slidably connected to one end of the crossbeam, a second gripper slidably connected to the other end of the crossbeam, and a transverse actuator connecting the first gripper and the second gripper respectively; the first gripper is provided with a first right-angle clamp; the second gripper is provided with a second right-angle clamp facing the first right-angle clamp; the rotary actuator is used to drive the crossbeam to rotate horizontally; the transverse actuator is used to drive the first gripper and the second gripper to slide synchronously along the length direction of the crossbeam, and the sliding directions of the first gripper and the second gripper are opposite; the first right-angle clamp and the second right-angle clamp are both used to adapt to the right-angle shape of the periphery of the box.

2. The gearbox steering mechanism according to claim 1, characterized in that, A vertically upward-extending pivot is provided at the center of the crossbeam; the pivot is pivotally connected to the gantry frame; the rotary drive is mounted on the top of the gantry frame and connected to the pivot.

3. The gearbox steering mechanism according to claim 2, characterized in that, The rotary drive includes: a first reducer connected to the rotating shaft and a first rotary motor connected to the first reducer.

4. The gearbox steering mechanism according to claim 1, characterized in that, The transverse drive includes: a first slider connected to the first gripper, a second slider connected to the second gripper, a timing belt connecting the first slider and the second slider respectively, and a second rotary motor connected to the timing belt.

5. The gearbox steering mechanism according to claim 4, characterized in that, The lateral drive further includes a second speed reducer connected between the synchronous belt and the second rotary motor.

6. The gearbox steering mechanism according to claim 4, characterized in that, The crossbeam is provided with a first linear guide rail that is slidably connected to the first slider and a second linear guide rail that is slidably connected to the second slider.

7. The gearbox steering mechanism according to claim 6, characterized in that, The crossbeam is also provided with a first limiting groove for the first gripper to pass through and a second limiting groove for the second gripper to pass through; the first limiting groove is parallel to and adjacent to the first linear guide rail; the second limiting groove is parallel to and adjacent to the second linear guide rail.

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