Multi-station variable-pitch boxing manipulator
By designing a multi-station variable-pitch packing robot, the problems of large lateral space occupation and low packing efficiency of the robot are solved, achieving efficient space utilization and packing efficiency, and adapting to packaging boxes and materials of different sizes and specifications.
Patent Information
- Application Number
- CN202520520706.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-24
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-03-24
AI Technical Summary
On automated packaging production lines, once the spacing of the handling robots is determined, they are rigidly connected to the handling device, resulting in a large amount of horizontal space occupied. This leads to low efficiency when using small-sized packaging boxes, or the need to enlarge the packaging box size, resulting in wasted space and affecting packing efficiency.
The multi-station variable-pitch packing robot uses a linear guide mechanism and a displacement tie rod to achieve variable-pitch retraction of the gripping unit. Combined with adjustable stroke components and a linear drive, it can adapt to packing boxes of different sizes, eliminate empty strokes, and improve cycle efficiency.
It achieves higher space utilization and packing efficiency, reduces system complexity, adapts to materials of different sizes and specifications, and enables high-precision adaptation and rapid changeover.
Smart Images
Figure CN223905350U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of automatic packaging equipment relates to a multi-station variable distance boxing manipulator. BACKGROUND
[0002] On the production line of automatic packaging, the conveyed materials are often carried into the packaging boxes by a carrying device. In order to improve the packaging efficiency, a plurality of carrying manipulators are arranged on the carrying device to perform synchronous carrying operation. The distance between the carrying manipulators is determined and fixedly connected with the carrying device. When the manipulators are unfolded, they occupy too much horizontal space of the production line. When a smaller packaging box is used, the manipulators need to be sequentially discharged, resulting in high idle stroke ratio, low beat efficiency, and serious impact on packaging efficiency. Alternatively, the size of the packaging box is enlarged to meet the layout of the manipulators, which will result in too large invalid space ratio of the box and waste of space. SUMMARY
[0003] The utility model aims at the above problems and provides a multi-station variable distance boxing manipulator.
[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:
[0005] A multi-station variable distance boxing manipulator comprises a material receiving frame, a linear guide mechanism is arranged on the material receiving frame, at least one group of multi-station grabbing units is arranged on the linear guide mechanism, each group of multi-station grabbing units comprises N grabbing units distributed along the linear direction of the linear guide mechanism, N≥3, one of the grabbing units is linearly fixed on the linear guide mechanism, and the remaining grabbing units are movably connected with the linear guide mechanism; adjacent two grabbing units are connected with both ends of a variable distance pull rod, one of the grabbing units is linearly movable at one end of the variable distance pull rod; two grabbing units at both ends of the N grabbing units are connected with both ends of a linear driver.
[0006] The overall length of the group of multi-station grabbing units after variable distance contraction is greatly shortened, which can adapt to packaging boxes of various sizes and allow smaller packaging boxes to be used, greatly improving the space utilization of the production line. The group of multi-station grabbing units can perform variable distance contraction operation between the grabbing units during movement to the packaging box, can eliminate idle stroke, has high beat efficiency, greatly improves the boxing efficiency of the materials, and only one linear driver is needed to drive all the grabbing units to perform variable distance contraction or variable distance expansion, which can effectively reduce the system complexity.
[0007] In the above multi-station variable distance boxing manipulator, one end of the variable distance pull rod is provided with a strip-shaped sliding groove, a sliding body capable of sliding along the strip-shaped sliding groove is arranged in the strip-shaped sliding groove, and the sliding body is connected with one of the grabbing units.
[0008] During the movement of the linearly fixed gripping unit to the gripping unit, the sliding body on the gripping unit moves linearly in the strip-shaped sliding groove corresponding to the displacement pull rod to the limit position, and drives the adjacent gripping unit to move to the linearly fixed gripping unit through the displacement pull rod, so as to shorten the edge distance between the gripping units.
[0009] In the multi-station variable-distance boxing manipulator, a stroke adjustable assembly is arranged between the other end of the displacement pull rod and the other gripping unit.
[0010] The stroke adjustable assembly can adjust the distance between the gripping units after the multi-gripping unit group is expanded or contracted, and can adapt to materials of different sizes, so as to realize high-precision adaptation and rapid changeover.
[0011] In the multi-station variable-distance boxing manipulator, the stroke adjustable assembly comprises a plurality of displacement adjusting holes arranged on the displacement pull rod in the length direction of the displacement pull rod, and the gripping unit is fixed to one of the displacement adjusting holes through a bolt.
[0012] The gripping unit can be fixed to different displacement adjusting holes in the length direction of the displacement pull rod through a bolt, so as to flexibly adjust the distance between the gripping units, adapt to materials of different sizes, and realize high-precision adaptation and rapid changeover.
[0013] In the multi-station variable-distance boxing manipulator, the linear driver comprises a displacement driving cylinder, and the two ends of the displacement driving cylinder are connected with two gripping units at the two ends of the N gripping units.
[0014] When the linear driver is retracted in both directions, the two gripping units at the two ends of the N gripping units can be driven to move towards each other to the linearly fixed gripping unit, and the remaining gripping units can be driven to move to the linearly fixed gripping unit through the cooperative action of the displacement pull rod, so as to realize the variable-distance contraction between the gripping units.
[0015] In the multi-station variable-distance boxing manipulator, the two displacement pull rods linearly adjacent to each other are arranged on the two sides of the gripping unit respectively.
[0016] The two displacement pull rods linearly adjacent to each other are arranged on the two sides of the gripping unit respectively to form staggered arrangement, so as to avoid interference caused by the accumulation of multiple displacement pull rods on the same side, and the symmetrically distributed pull rod forces balance each other, so as to reduce the lateral load of the gripping unit.
[0017] In the multi-station variable-distance boxing manipulator, the gripping unit has five gripping units, and the linearly fixed gripping unit is not located at the two ends.
[0018] Each group of multi-gripping unit groups can simultaneously grasp five materials into the packaging box at a time.
[0019] In the multi-station variable-distance boxing manipulator, the linear guide mechanism comprises a sliding rail arranged at the bottom of the material receiving frame, the sliding rail is provided with linear sliders equal in number to the grabbing units, and bolts are arranged on the linear sliders and used for abutting against the sliding rail to realize immobility.
[0020] The linear sliding blocks on the grabbing units and the sliding rail at the bottom of the material receiving frame are in sliding fit to play a linear guide role, and the linear sliding blocks can be fixed linearly by the bolts.
[0021] In the multi-station variable-distance boxing manipulator, the grabbing unit comprises a suction disc seat, the upper end of the suction disc seat is connected with the linear guide mechanism, and the lower end of the suction disc seat is connected with at least one detachable suction device.
[0022] The suction device is used for sucking materials to facilitate the transfer and boxing of the materials, and the suction device is detachably connected with the suction disc seat, so that the suction device is convenient to disassemble and assemble.
[0023] In the multi-station variable-distance boxing manipulator, the material receiving frame is further provided with an XZ-axis moving mechanism, the XZ-axis moving mechanism is connected with the material receiving frame, the XZ-axis moving mechanism comprises an X-axis mover and a Z-axis mover, at least two triangular reinforcing ribs are arranged between the X-axis slider of the X-axis mover and the Z-axis mover in a vertical direction and transversely, and a secondary reinforcing rib is further arranged between the triangular reinforcing rib at the bottom and the Z-axis mover in a vertical direction.
[0024] The X-axis mover and the Z-axis mover can respectively drive the material receiving frame to move and lift, and the triangular reinforcing rib and the secondary reinforcing rib can effectively improve the torsional stiffness and load capacity of the XZ-axis moving mechanism.
[0025] Compared with the prior art, the utility model has the advantages that 1, the distance between the gripping hand units can be changed to contract, the overall length of the multi-gripping unit group is greatly shortened, various sizes of packaging boxes can be adapted, smaller packaging boxes can be used, and the space utilization rate of the production line is improved. 2, only one linear driver is needed to drive all the gripping units to change the distance to contract or expand, the system complexity can be effectively reduced, the idle stroke can be eliminated, the beat efficiency is high, and the boxing efficiency of the materials is greatly improved. 3, the distance between the gripping units can be adjusted, different sizes of materials can be adapted, high-precision adaptation and rapid changeover can be realized. BRIEF DESCRIPTION OF DRAWINGS
[0026] Figure 1 is the overall structure schematic view provided by the utility model;
[0027] Figure 2 is the front view provided by the utility model;
[0028] Figure 3is a structural schematic diagram of two groups of multi-workpiece grabbing unit groups in different states;
[0029] Figure 4 is a structural schematic diagram of the multi-workpiece grabbing unit group when it is unfolded;
[0030] Figure 5 is a distribution diagram of the displacement pull rod;
[0031] Figure 6 is a structural schematic diagram of the displacement pull rod on the grabbing unit.
[0032] In the figure, the material receiving frame 1, the linear guide mechanism 2, the multi-workpiece grabbing unit group 3, the grabbing unit 4, the displacement pull rod 5, the linear driver 6, the strip-shaped sliding groove 7, the sliding body 8, the stroke-adjustable assembly 9, the displacement adjusting hole 10, the displacement driving cylinder 11, the displacement cylinder front seat 12, the displacement cylinder rear seat 13, the sliding rail 14, the linear sliding block 15, the suction cup seat 16, the suction device 17, the XZ-axis moving mechanism 18, the X-axis mover 19, the Z-axis mover 20, the X-axis sliding block 21, the triangular reinforcing rib 22, the secondary reinforcing rib 23, and the material 24. DETAILED DESCRIPTION
[0033] As shown in Figures 1-6 A multi-station variable-distance boxing mechanical hand, comprising a material receiving frame 1, the material receiving frame 1 is provided with a linear guide mechanism 2, the linear guide mechanism 2 is provided with at least one group of multi-workpiece grabbing unit groups 3, each group of multi-workpiece grabbing unit groups 3 comprises N grabbing units 4 distributed along the linear direction of the linear guide mechanism 2, N≥3, one of the grabbing units 4 is linearly fixed on the linear guide mechanism 2, and the remaining grabbing units 4 are movably connected with the linear guide mechanism 2; two adjacent grabbing units 4 are connected with two ends of a displacement pull rod 5 respectively, one of the grabbing units 4 has limited linear movement with one end of the displacement pull rod 5; two grabbing units 4 located at two ends of the N grabbing units 4 are connected with two ends of a linear driver 6 respectively.
[0034] The utility model discloses a material receiving frame 1 is initially located above material conveying belt, and after the material 24 on material conveying belt is in position, material receiving frame 1 drops and drives the descent of grabbing unit 4 to grab the material 24, and then material receiving frame 1 moves to above the carton conveying belt, during the movement of material receiving frame 1, the two-way cooperation retraction of linear driver 6 both ends can drive the two grabbing units 4 at both ends of N grabbing units 4 to move towards each other to the linear fixed grabbing unit 4, and when the two grabbing units 4 at both ends move towards each other, respectively through the variable position pull rod 5 and the adjacent grabbing unit 4 contact to drive the adjacent grabbing unit 4 to the linear fixed grabbing unit 4, and finally drive all grabbing units 4 to move to the linear fixed grabbing unit 4 to realize the variable distance contraction between grabbing units 4, and the package box on the carton conveying belt is located below the group of multiwork grabbing unit group 3, and then material receiving frame 1 drops, and the grabbing unit 4 after variable distance contraction places the grabbed material 24 in the package box, and then multiwork grabbing unit group 3 resets to the initial unfolded state, and material receiving frame 1 resets and carries out the next round of grabbing operation.
[0035] The overall length of multiwork grabbing unit group 3 after variable distance contraction is greatly shortened, can adapt to various sizes of package boxes and allow smaller size package boxes to be used, greatly improve the space utilization of the production line, and multiwork grabbing unit group 3 can carry out variable distance contraction operation between grabbing units 4 during moving to the package box, can eliminate the idle stroke, has high beat efficiency, greatly improves the cartoning efficiency of the material 24, and only one linear driver 6 can drive all grabbing units 4 to variable distance contraction or variable distance expansion, can effectively reduce the system complexity.
[0036] Specifically, as shown in Figures 3-6 The variable position pull rod 5 one end is equipped with the strip slide groove 7, is equipped with the sliding body 8 in the strip slide groove 7 can slide along the strip slide groove 7, and the sliding body 8 is connected with one of grabbing units 4.
[0037] During the movement of grabbing unit 4 to the linear fixed grabbing unit 4, the sliding body 8 on this grabbing unit 4 linearly moves to the limit in the strip slide groove 7 of variable position pull rod 5, and drives the adjacent grabbing unit 4 to move to the linear fixed grabbing unit 4 through variable position pull rod 5, to realize the distance shortening between grabbing units 4.
[0038] Specifically, as shown in Figures 3-6 The other end of variable position pull rod 5 and another grabbing unit 4 are equipped with stroke adjustable assembly 9, and stroke adjustable assembly 9 includes several position adjusting holes 10 distributed along the length direction of variable position pull rod 5, and grabbing unit 4 is fixed through bolt and one of position adjusting holes 10.
[0039] The grabbing units 4 can be fixed by bolts with the different position holes 10 in the length direction of the displacement pull rod 5, so as to adjust the distance between the grabbing units 4 after the multi-work grabbing unit group 3 is expanded or contracted, and adapt to different sizes of the materials 24, realize high-precision adaptation and rapid changeover.
[0040] Specifically, as shown in Figures 3-6 The linear driver 6 includes the displacement driving cylinder 11, and the displacement driving cylinder 11 is connected with the two grabbing units 4 at the two ends of the N grabbing units 4 respectively.
[0041] When the linear driver 6 at the two ends is retracted in both directions, the two grabbing units 4 at the two ends of the N grabbing units 4 can be driven to move towards each other and approach the linear fixed grabbing unit 4, and the remaining grabbing units 4 are driven to move towards the linear fixed grabbing unit 4 by the cooperation of the displacement pull rod 5, so as to realize the variable distance contraction between the grabbing units 4.
[0042] One end of the displacement driving cylinder 11 is connected with the grabbing unit 4 at one end through the displacement cylinder front seat 12, the other end is connected with the grabbing unit 4 at the other end through the displacement cylinder rear seat 13, and the displacement driving cylinder 11 is located at the side of the linear guide mechanism 2.
[0043] Preferably, as shown in Figure 5 The linear any adjacent two displacement pull rods 5 are located at the two sides of the grabbing unit 4 respectively.
[0044] The linear any adjacent two displacement pull rods 5 are located at the two sides of the grabbing unit 4 respectively to form staggered arrangement, avoid interference caused by the accumulation of multiple displacement pull rods 5 on the same side, and the symmetrically distributed pull rod forces balance each other, so as to reduce the lateral load of the grabbing unit 4.
[0045] Specifically, as shown in Figures 1-4 The grabbing unit 4 has five, and the linear fixed grabbing unit 4 is not located at the two ends.
[0046] Each group of multi-work grabbing unit group 3 can simultaneously grab five materials 24 into the packaging box at a time.
[0047] Specifically, as shown in Figures 3-6 The linear guide mechanism 2 includes the slide rail 14 arranged at the bottom of the receiving rack 1, the slide rail 14 is provided with the linear sliding block 15 equal to the number of the grabbing units 4, and the screw is arranged on the linear sliding block 15 and can be used to abut on the slide rail 14 to realize immobility.
[0048] The linear sliding block 15 on the grabbing unit 4 and the slide rail 14 at the bottom of the receiving rack 1 are in sliding cooperation to play a linear guide role, and the linear sliding block 15 can realize immobility by the screw to realize linear fixation.
[0049] Specifically, in combination with Figures 3-6 As shown in the drawings, the grabbing unit 4 comprises a suction cup base 16, the upper end of the suction cup base 16 is connected with the linear guide mechanism 2, and the lower end is connected with at least one detachable suction device 17.
[0050] The suction device 17 is used for sucking the material 24 to facilitate the transfer of the material 24, and the suction device 17 is detachably connected with the suction cup base 16, and the detachable connection is convenient.
[0051] The suction cup base 16 is in the shape of an I-beam, the moving axis of the linear guide mechanism 2 is parallel to the bottom surface, and the suction axis of the suction device 17 is inclined to the bottom surface, and the suction device 17 is designed to be inclined to be inclined to be adsorbed, so that the material 24 can be avoided from colliding with the edge of the suction device 17.
[0052] Specifically, in combination with Figure 1 and Figure 2 As shown in the drawings, the receiving rack 1 is further provided with an XZ-axis moving mechanism 18, the XZ-axis moving mechanism 18 is connected with the receiving rack 1, the XZ-axis moving mechanism 18 comprises an X-axis mover 19 and a Z-axis mover 20, at least two triangular reinforcing ribs 22 distributed in the vertical direction and transversely arranged are arranged between the X-axis slider 21 of the X-axis mover 19 and the Z-axis mover 20, and a secondary reinforcing rib 23 arranged vertically is further arranged between the bottom triangular reinforcing rib 22 and the Z-axis mover 20.
[0053] The X-axis mover 19 and the Z-axis mover 20 can respectively drive the receiving rack 1 to move and lift, and the triangular reinforcing rib 22 and the secondary reinforcing rib 23 between the X-axis slider 21 and the Z-axis mover 20 can effectively improve the torsional stiffness and load capacity of the XZ-axis moving mechanism 18.
[0054] The working principle of the utility model is: after the material 24 on the material conveying belt is in place, the Z-axis mover 20 drives the receiving rack 1 to descend to make the grabbing unit 4 descend to grab the material 24, then the X-axis mover 19 drives the receiving rack 1 to move to above the carton conveying belt, at the same time, the linear driver 6 is retracted at both ends in a bidirectional cooperative manner to drive two grabbing units 4 located at both ends of the five grabbing units to move towards each other to the linear fixed grabbing unit 4, in the process that the grabbing unit 4 moves to the linear fixed grabbing unit 4, the sliding body 8 on the grabbing unit 4 moves linearly in the strip-shaped sliding groove 7 of the displacement pull rod 5 to the limit position, and the adjacent grabbing unit 4 is driven by the displacement pull rod 5 to move to the linear fixed grabbing unit 4, so as to realize the variable-distance contraction between the remaining grabbing units 4.
[0055] Then the Z-axis mover 20 drives the receiving rack 1 to descend, the grabbing unit 4 after variable-distance contraction places the grabbed material 24 in the packaging box, and finally the multi-work grabbing unit group 3 is reset to the initial unfolded state, and the receiving rack 1 is reset for the next round of grabbing operation.
[0056] The specific embodiments described herein are merely illustrative of the present application. Various modifications or changes can be made to the specific embodiments described herein by those skilled in the art without departing from the spirit of the present application, or the scope of the appended claims.
[0057] Although the receiving rack 1, the linear guide mechanism 2, the multi-work grabbing unit group 3, the grabbing unit 4, the displacement pull rod 5, the linear driver 6, the strip-shaped sliding groove 7, the sliding body 8, the stroke-adjustable assembly 9, the displacement adjusting hole 10, the displacement driving cylinder 11, the displacement cylinder front seat 12, the displacement cylinder rear seat 13, the sliding rail 14, the linear sliding block 15, the suction disc seat 16, the suction device 17, the XZ-axis moving mechanism 18, the X-axis mover 19, the Z-axis mover 20, the X-axis sliding block 21, the triangular reinforcing rib 22, the secondary reinforcing rib 23, the material 24 and the like are used more frequently herein, the use of these terms is only for the convenience of describing and explaining the essence of the present application; it is contrary to the spirit of the present application to interpret them as any kind of additional limitation.
Claims
1. A multi-station variable-pitch boxing robot comprising a receiving rack (1), characterized in that, The linear guide mechanism (2) is provided on the material receiving frame (1), and at least one group of multi-work grabbing unit groups (3) is arranged on the linear guide mechanism (2).
2. The multi-station variable-pitch case packer robot of claim 1, wherein, The variable-position pull rod (5) is provided with a strip-shaped sliding groove (7) at one end, and a sliding body (8) capable of sliding along the strip-shaped sliding groove (7) is arranged in the strip-shaped sliding groove (7).
3. The multi-station variable-pitch case packer robot of claim 1, wherein, The other end of the variable-position pull rod (5) is provided with a stroke-adjustable assembly (9) and another grabbing unit (4).
4. The multi-station variable-span case packer robot of claim 3, wherein, The stroke-adjustable assembly (9) comprises a plurality of position-adjusting holes (10) arranged on the variable-position pull rod (5) and distributed along the length direction of the variable-position pull rod (5), and the grabbing unit (4) is fixed to one of the position-adjusting holes (10) through a bolt.
5. The multi-station variable-span case packer robot of claim 1 or 2 or 3 or 4, wherein, The linear drive (6) comprises a variable-position drive cylinder (11), and the two ends of the variable-position drive cylinder (11) are connected to the two grabbing units (4) at the two ends of the N grabbing units (4).
6. The multi-station variable-span case packer robot of claim 1 or 2 or 3 or 4, wherein, Linearly, any two adjacent variable-position pull rods (5) are located on the two sides of the grabbing unit (4).
7. The multi-station variable-span case packer robot of claim 1 or 2 or 3 or 4, wherein, The grabbing unit (4) has five grabbing units, and the linearly fixed grabbing unit (4) is not located at the two ends.
8. The multi-station variable-span boxing robot of claim 1 or 2 or 3 or 4, wherein, The linear guide mechanism (2) comprises a slide rail (14) arranged at the bottom of the material receiving frame (1), and the slide rail (14) is provided with linear sliding blocks (15) equal in number to the grabbing units (4), and bolts are arranged on the linear sliding blocks (15) and used for abutting against the slide rail (14) to realize immobility.
9. The multi-station variable-span boxing robot of claim 1 or 2 or 3 or 4, wherein, The grabbing unit (4) comprises a suction disc seat (16), and the upper end of the suction disc seat (16) is connected to the linear guide mechanism (2), and the lower end of the suction disc seat (16) is connected to at least one detachable suction device (17).
10. The multi-station variable-span case packer robot of claim 1 or 2 or 3 or 4, wherein, The material receiving frame (1) is further provided with an XZ-axis moving mechanism (18), the XZ-axis moving mechanism (18) is connected to the material receiving frame (1), the XZ-axis moving mechanism (18) comprises an X-axis mover (19) and a Z-axis mover (20), at least two triangular reinforcing ribs (22) distributed in the vertical direction and arranged transversely are arranged between the X-axis sliding block (21) of the X-axis mover (19) and the Z-axis mover (20), and a vertical secondary reinforcing rib (23) is further arranged between the bottom triangular reinforcing rib (22) and the Z-axis mover (20).