Novel spider hand tray loading mechanism

Abstract

The utility model discloses a novel spider hand tray loading mechanism, and belongs to the technical field of bagged product tray loading. The spider hand tray loading mechanism comprises connecting rod robots which are symmetrically arranged in pairs, and each connecting rod robot is connected with a horizontally-arranged connecting plate A through the working end of a connecting rod assembly of the connecting rod robot. The clamp assemblies are connected to the bottom faces of the corresponding connecting plates A, the two conveying belts are in parallel relation, and the cage disc is located between the two conveying belts and located below the clamp assemblies. In specific use, the two paired connecting rod robots control the corresponding clamp assemblies to grab bagged products on the corresponding conveying belts correspondingly; the left partition and the right partition of the cage plate are close to the conveying belts on the left side and the right side of the cage plate respectively, so that the transfer distance of the clamp assembly is reduced, the working efficiency is improved, and meanwhile, the control and placement precision of bagged products is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of tray -packed product, more specifically to a novel spider hand tray -loading mechanism. BACKGROUND

[0002] For the tray -loading of sheet -shaped tray -packed products, the prior art is mostly through manual tray -loading, which has the technical problems of low tray -loading efficiency, long tray -loading time, high cost and low automation.

[0003] To improve the equipment efficiency, the existing spider hand tray -loading or clamp mechanism suction mode is often to use a cylinder to control multiple suction cups at the same time, and the linear system of XYZ axis is used to control the movement of the clamp, which has complex mechanical structure, high failure rate, small application range and low suction accuracy due to improper control during operation, thereby reducing the work efficiency.

[0004] After searching, the patent with the Chinese patent publication number CN110498080A and the publication date of November 26, 2019 discloses a sheet-shaped food spider hand tray -loading production line, which comprises a first conveying belt, a second conveying belt, a spider hand robot, a cotton clamping structure, a wet spraying structure, a clamping grid structure and a feeding structure. The feeding structure arranges the sheet-shaped food in a single layer in a flat manner on the first conveying belt. The second conveying belt transports empty trays in turn through the cotton clamping structure, the wet spraying structure and the clamping grid structure. The cotton clamping structure lays cotton cloth on the empty tray. The wet spraying structure uniformly wets the cotton cloth on the tray. The clamping grid structure clamps the inner grid frame on the wetted cotton cloth to separate the tray into multiple storage positions. The spider hand robot clamps the sheet-shaped food on the first conveying belt and puts it into the storage position. The sheet-shaped food spider hand tray -loading production line can realize automatic tray -loading of sheet-shaped food. However, it still has the problems of low control accuracy, complex mechanical structure, high failure rate and small application range. UTILITY MODEL CONTENTS

[0005] 1. Technical problem to be solved by the utility model

[0006] In view of the above problems in the tray -loading process of the existing technology, the utility model provides a novel spider hand tray -loading mechanism. The symmetrical connecting rod robot flexibly controls the corresponding clamp assembly. The clamp assembly is provided with multiple suction cups independently controlled by a cylinder. After the components cooperate to grab the tray -packed products, they are transferred to the cage tray between the two conveying belts, thereby improving the control and placement accuracy of the tray -packed products and the work efficiency.

[0007] 2. Technical scheme

[0008] To achieve the above purpose, the technical scheme provided by the utility model is as follows:

[0009] A new type of spider hand discing mechanism, comprising a pair of connecting rod robots arranged in a symmetrical relationship, each connecting rod robot is connected to a flat connecting plate A through the working end of its connecting rod assembly, further comprising a clamp assembly connected to the bottom surface of the corresponding connecting plate A, two conveying belts in parallel relationship, and a cage disc between the two conveying belts and below the clamp assembly, in specific use, the two connecting rod robots of the pair control the corresponding clamp assemblies to grab the bagged products on the corresponding conveying belts and transfer to the left and right partitions of the cage disc, the left and right partitions of the cage disc are respectively close to the left and right conveying belts, which reduces the transfer distance of the clamp assembly, improves the work efficiency, and also improves the control and placement accuracy of the bagged products.

[0010] Further, the new type of spider hand discing mechanism, the clamp assembly comprises two fixed plates A vertically connected to the bottom surface of the connecting plate A and a suction cup assembly connected to the fixed plate A, which fully utilizes the relatively light product characteristics of the bagged products, and the grabbing and releasing actions are simple to operate and have high production efficiency.

[0011] Further, the new type of spider hand discing mechanism, the suction cup assembly comprises two connecting shafts transversely penetrating through the bottom of the fixed plate A, a vertical air cylinder is connected between the two connecting shafts through a vertical fixed plate B, and a suction cup is connected to the bottom output end of the air cylinder, which grabs and releases the bagged products through the suction cup.

[0012] Further, the new type of spider hand discing mechanism, the suction cup assembly is a plurality of series, the left and right suction cup assemblies are cooperated to form a new type of spider hand.

[0013] Further, the new type of spider hand discing mechanism, the connecting plate B is connected above the connecting shaft between the two fixed plates A, the valve island assembly is fixed on the surface of the connecting plate B, the electric control switch in the valve island assembly corresponds to the suction cup assembly one by one, forming independent group air cylinders and electric control switches, which can meet the grabbing requirements of bagged products of different sizes, shapes and materials, and make the grabbing more accurate.

[0014] Further, the new type of spider hand discing mechanism, the cage disc is divided into strip-shaped partitions suitable for the specifications of the bagged products by the partition strips, which facilitates the positioning and placement of the bagged products and can improve the release and discing accuracy of the bagged products.

[0015] 3、Advantages

[0016] Compared with the prior art, the technical scheme provided by the utility model has the following advantages:

[0017] (1) The novel spider hand tray loading mechanism integrates the robot and the pneumatic element into the same system, controls the clamp by using the connecting rod robot which has fast response speed and flexible operation, realizes the point-to-point grabbing form, and can grab one layer each time; meanwhile, a plurality of suction cups are arranged on the clamp, a plurality of air cylinders are installed on the vacuum suction cup to independently control the up-down movement of the suction cup and realize the accurate suction of the object. The overall mechanism has simple and stable structure, high tray loading efficiency and tray loading precision, and wide application range;

[0018] (2) The novel spider hand tray loading mechanism has simple structure, stable control, high tray loading efficiency and high accuracy of sucking objects, and can meet the grabbing requirements of different sizes, shapes and materials. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of the novel spider hand tray loading mechanism of the specific embodiment;

[0020] Figure 2 is a partial enlarged rear structure schematic view of Figure 1

[0021] Figure 3 is an enlarged rear structure schematic view of the clamp assembly in Figure 2

[0022] Figure 4 is an enlarged rear structure schematic view of the suction cup assembly in Figure 3

[0023] In the drawing: 1-connecting rod robot; 10-air cylinder; 11-connection plate A; 12-connecting rod assembly;

[0024] 2-clamp assembly; 3-valve island assembly; 4-fixed plate A; 5-connection plate B; 6-suction cup assembly; 61-connection shaft; 7-fixed plate B; 8-connection plate C; 9-suction cup; 20-conveying belt; 21-cage tray; 30-bagged product; 211-separation strip. DETAILED DESCRIPTION

[0025] In order to further understand the content of the utility model, the utility model is described in detail in combination with the drawings.

[0026] Embodiment 1

[0027] The novel spider hand tray loading mechanism of this embodiment is as follows: Figure 1 ​​​As shown, including connecting rod robot 1, connecting rod robot 1 is prior art, its specific structure is not described in detail; The connecting rod robot 1 used in the embodiment is arranged in a symmetrical pair, each connecting rod robot 1 is connected to the flat connecting plate A11 through the working end of its connecting rod assembly 12, the tray loading mechanism further comprises a clamp assembly 2 connected to the bottom surface of the corresponding connecting plate A11, two conveying belts 20 in parallel relationship and a cage tray 21 between the two conveying belts 20 and below the clamp assembly 2; The clamp assembly 2 can be a variety of shapes of mechanical hand.

[0028] The new spider hand tray loading mechanism of the embodiment, in specific use, the two connecting rod robots 1 of the pair control the corresponding clamp assemblies 2 to grab the bagged products 30 on the conveying belts 20 in the corresponding adjacent positions, and transfer to the left and right partitions of the cage tray 21, the left and right partitions of the cage tray 21 are close to the left and right conveying belts 20 respectively, which reduces the transfer distance of the clamp assembly 2, improves the work efficiency, and also improves the control and placement accuracy of the bagged products 30.

[0029] Embodiment 2

[0030] The new spider hand tray loading mechanism of the embodiment, the basic structure is the same as that of embodiment 1, and the difference or improvement is that, as shown in Figure 1 、 2 , 3, the clamp assembly 2 comprises two fixed plates A4 connected vertically to the bottom surface of the connecting plate A11 and a suction cup assembly 6 connected to the fixed plate A4, which grabs and places the bagged products 30 through the suction cup assembly 6, fully utilizes the relatively light product characteristics of the bagged products 30, and the grabbing and releasing tray loading operation is simple and has high production efficiency.

[0031] As shown in Figure 3 、 4 , the suction cup assembly 6 comprises a cylinder 10, a suction cup 9 and two connecting shafts 61 transversely penetrating the fixed plate A4; The cylinder 10 is connected between the two connecting shafts 61 through the fixed plate B7; The suction cup 9 is connected to the bottom output end of the cylinder 10, and the cylinder 10 is fixedly connected to the side surface of the fixed plate B7 through the connecting plate C8; The bagged products 30 are grabbed and released by the suction cup 9.

[0032] The suction cup assembly 6 is a plurality of series, as shown in Figure 2 、 3 There are four, and the four suction cup assemblies 6 in the left and right clamp assemblies 2 cooperate to form a new spider hand with eight suction points.

[0033] The connecting shaft 61 between the two fixed plates A4 is connected with a connecting plate B5, and the valve island assembly 3 is fixed on the plate surface of the connecting plate B5. The electric control switch in the valve island assembly 3 corresponds to the suction cup assembly 6 one by one, and the air cylinder 10 and the electric control switch form an independent group pair, which can meet the grabbing requirements of bagged products 30 of different sizes, shapes and materials, and make the grabbing more accurate.

[0034] The connecting shaft 61 between the two fixed plates A4 is connected with a connecting plate B5, and the valve island assembly 3 is fixed on the plate surface of the connecting plate B5. The electric control switch in the valve island assembly 3 corresponds to the suction cup assembly 6 one by one, and the air cylinder 10 and the electric control switch form an independent group pair, which can meet the grabbing requirements of bagged products 30 of different sizes, shapes and materials, and make the grabbing more accurate.

[0035] The cage tray 20 is divided into strip-shaped partitions suitable for the specifications of bagged products by the partition strips 211, Figure 1 The three partition strips 211 are divided into four strip-shaped partitions, and the linkage assembly 12 can be adjusted in horizontal transfer distance and vertical height, which facilitates the positioning and placement of the bagged products 30 and improves the release and tray loading precision of the bagged products 30.

[0036] The novel spider hand tray loading mechanism of the embodiment, Figure 1 、 2 , each of the four suction cup assemblies 6 in the left and right clamp assemblies 2 respectively grabs the bagged products 30 on the left and right conveying belts 20, realizes point-to-point grabbing, and controls the upward and downward movement of the suction cup 9 by installing the independent air cylinder 10 on the suction cup assembly 6 to realize accurate suction of the bagged products 30. The linkage robot 1 controls the suction cup assembly 6 to transfer the products from the bagged product 30 arrangement conveying belt 20 to the cage tray 21, controls the upward and downward movement of the suction cup 9 by the multiple independent air cylinders 10 installed on the suction cup assembly 6 to realize accurate suction of the bagged products 30, and adjusts the height through the linkage assembly 12. Each component cooperates with each other to complete the accurate transfer of the products from point to point. The novel spider hand tray loading mechanism of the embodiment can control the suction cup assembly 6 by using the robot which responds quickly and runs flexibly, not only improves the tray loading speed, but also makes the overall mechanism simple and reduces the failure rate. Installing multiple independent air cylinders 10 on the suction cup assembly 6 can meet the grabbing requirements of different sizes, shapes and materials, make the grabbing more accurate, the overall robot control system is reliable and stable, the mechanism has high tray loading efficiency, high automation degree and simple maintenance.

[0037] The above describes the utility model and its embodiments in a schematic manner, and the description is not restrictive, and the drawings only show one of the embodiments of the utility model, and the actual structure and manufacturing steps are not limited thereto. Therefore, if a person of ordinary skill in the art is inspired thereby, without departing from the creative concept of the utility model, similar structural modes and embodiments are designed without creativity, and all should belong to the protection scope of the utility model.

Claims

1. A new spider hand unloading mechanism comprising a link robot (1), characterized in that, The linkage robot (1) is arranged in pairs in a symmetrical relationship, each linkage robot (1) is connected to the corresponding connecting plate A (11) through the linkage assembly (12), further comprising: A clamp assembly (2) connected to the bottom surface of the corresponding connecting plate A (11); A conveyor belt (20) comprising two parallel belts; A cage tray (21) between the two conveyor belts (20) below the clamp assembly (2).

2. The novel spider hand unscrambling mechanism of claim 1, wherein: The clamp assembly (2) comprises two fixed plates A (4) connected to the bottom surface of the connecting plate A (11) and a suction cup assembly (6) connected to the fixed plate A (4).

3. The novel spider hand unscrambling mechanism of claim 2, wherein: The suction cup assembly (6) comprises a cylinder (10), a suction cup (9) and two connecting shafts (61) transversely penetrating the fixed plate A (4); the cylinder (10) is connected between the two connecting shafts (61) through the fixed plate B (7); the suction cup (9) is connected to the bottom output end of the cylinder (10).

4. The novel spider hand unscrambling mechanism of claim 2, wherein: The suction cup assembly (6) is in series.

5. The novel spider hand unscrambling mechanism of claim 3, wherein: The connecting shaft (61) between the two fixed plates A (4) is connected with a connecting plate B (5) above, the plate surface of the connecting plate B (5) is fixed with a valve island assembly (3), and the electric control switch in the valve island assembly (3) corresponds to the suction cup assembly (6) one by one.

6. The novel spider hand unscrambler mechanism of claim 3, wherein: The cage tray (21) is divided into strip-shaped partitions suitable for the specifications of bagged products (30) by the partition strips (211).

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