Robot double-station grabbing structure

Abstract

A robot double-station grabbing structure is characterized in that a servo motor mounting frame arranged on a cross beam is mounted at the bottom of a six-axis robot 7, rotary driving servo motors 1 are mounted on the left side and the right side of the servo motor mounting frame, a clamping jaw mounting frame 101 is mounted at the bottoms of the rotary driving servo motors 1, and a single-row clamping jaw module 3 with an air cylinder is mounted on one side of the clamping jaw mounting frame 101; a detachable single-row clamping jaw module 4 is installed at the bottom of the clamping jaw installation frame 101, a clamping jaw air cylinder 5 is installed on the single-row clamping jaw module 4, and the clamping jaw air cylinder 5 is used for clamping a milk roof box 6. The packaging machine is ingenious in structural design, the specification of different numbers of materials on each layer in a single box can be met by installing the single-row clamping jaw module with the air cylinder, and the detachable clamping jaw installation plate meets various packaging specifications. A double-station design is adopted, and a single station can rotate automatically, so that the grabbing and boxing efficiency is doubled.

Description

Technical Field

[0001] This utility model relates to the field of robot packing technology, and in particular to a robot dual-station gripping structure. Background Technology

[0002] As robotic packing develops, some problems have also emerged. For example, the packing specifications are relatively fixed and cannot be compatible with multiple specifications, requiring frequent mold changes. On the other hand, a single packing operation can only pick up materials from one workstation at a time, resulting in low efficiency. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model provides a robot dual-station gripping structure that is compatible with multiple specifications. Furthermore, due to the dual-station design, the gripping and packing efficiency is doubled.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A dual-station gripping structure for robots includes a rotary drive servo motor 1, a single-row gripper module 3 with cylinders, a detachable single-row gripper module 4, gripper cylinders 5, and a six-axis robot 7. The six-axis robot 7 has a servo motor mounting bracket with a crossbeam at its bottom. Rotary drive servo motors 1 are mounted on the left and right sides of the servo motor mounting bracket. A gripper mounting bracket 101 is mounted at the bottom of the rotary drive servo motors 1. A single-row gripper module 3 with cylinders is mounted on one side of the gripper mounting bracket 101. A detachable single-row gripper module 4 is mounted at the bottom of the gripper mounting bracket 101. A gripper cylinder 5 is mounted on the single-row gripper module 4. The gripper cylinder 5 is used to grip milk carton 6.

[0006] This utility model also has the following additional technical features:

[0007] As a further specific optimization of the technical solution of this utility model: the models of the clamping position adjustment cylinder 1 and the clamping cylinder 2 are MHZ2-20DN-M9BL.

[0008] As a further specific optimization of the technical solution of this utility model: the detachable single-row gripper module 4 facilitates the adjustment of production specifications.

[0009] As a further specific optimization of the technical solution of this utility model: proximity switches 2 are installed on the left and right sides of the servo motor mounting bracket. The model of the proximity switches 2 is Omron E2B-M12KN08-WP-B1.

[0010] As a further specific optimization of the technical solution of this utility model: the rotary drive servo motor 1 is Siemens 1FL6034-2AF21-1AG1; the gripper cylinder 5 is SMCMHZ2-20DN-M9BL.

[0011] As a further specific optimization of the technical solution of this utility model: a junction box 8 is installed on the side of the six-axis robot 7.

[0012] As a further specific optimization of the technical solution of this utility model: the robot dual-station gripping structure 9 is also equipped with a support box structure 10, a feeding suction pipe structure 11 and a material handling platform 12.

[0013] As a further specific optimization of the technical solution of this utility model, it includes a lifting cylinder and a support box guide plate, wherein the lifting cylinder is model MDBF50-200Z-M9BL.

[0014] As a further specific optimization of the technical solution of this utility model: the structure of the straw delivery structure 11 includes a straw counting roller drive servo motor 1101, a straw cutting cylinder 1102, a straw presence / absence detection photoelectric sensor 1103, a straw conveying servo motor 1104, an air blowing port 1105, a straw detection device 1106, a straw 1107, a lifting cylinder 1108, and a straw guide 1109.

[0015] As a further specific optimization of the technical solution of this utility model: the material handling platform 12 includes a conveyor belt 1, a lane divider mechanism 2 is installed at the rear end of the main body of the conveyor belt 1, the lane divider mechanism 2 makes the materials neatly stacked on the conveyor platform; a lifting module 3 is installed in the middle of the main body of the conveyor belt 1, an automatic clamping and edge adjusting mechanism 4 is installed at the front end of the main body of the conveyor belt 1, and a clamping mechanism 5 and a clamping mechanism 6 are installed at the front end of the automatic clamping and edge adjusting mechanism 4; a lifting blocking and avoidance mechanism 7 is installed at the very front end of the main body of the conveyor belt 1, and a material arrival detection mechanism 8 is installed at the bottom of the lifting blocking and avoidance mechanism 7; a moving backing mechanism 9 is installed at the rear end of the main body of another conveyor belt 1, and the moving backing mechanism 9 moves left and right above the conveyor belt 1 through a linear module 10.

[0016] Compared with the prior art, the advantages of this utility model are:

[0017] This utility model has an ingenious structural design. The installation of a single-row gripper module with a cylinder can meet the different specifications of the quantity of materials in each layer of a single box, and the detachable gripper mounting plate can meet various packaging specifications.

[0018] This utility model adopts a dual-station design, and each station can rotate on its own, which doubles the efficiency of gripping and packing. Attached Figure Description

[0019] Figure 1 This is a partial structural diagram of the robot dual-station grasping structure 9 of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the single-row gripper module 3 with cylinder of this utility model;

[0021] Figure 3 This is a schematic diagram of the detachable single-row gripper module 4 of this utility model;

[0022] Figure 4 This is a schematic diagram of the overall assembly structure of the robot dual-station grasping structure of this utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the present invention in use.

[0024] Figure 6 This is a schematic diagram of the support box structure 10 of this utility model;

[0025] Figure 7 This is a schematic diagram of the dispensing straw structure 11 of this utility model;

[0026] Figure 8 This is a schematic diagram of the dispensing straw structure 11 of this utility model;

[0027] Figure 9 This is a schematic diagram of the material handling platform 12 of this utility model.

[0028] Explanation of reference numerals in the attached drawings: 1. Rotary drive servo motor; 2. Proximity switch; 3. Single-row gripper module with cylinder; 4. Detachable single-row gripper module; 5. Gripper cylinder; 6. Milk gable carton; 7. Six-axis robot; 8. Junction box; 9. Robot dual-station gripping structure; 10. Box support structure; 11. Feeding straw structure; 12. Material handling platform. Detailed Implementation

[0029] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0030] Example 1

[0031] A robotic dual-station gripping structure is disclosed, employing a symmetrical dual-station design. Each station is controlled by a servo motor to rotate 90° to adjust the packing status. Gripper cylinders are used to grip the materials. Each row of grippers is individually controlled. The gripper cylinder mounting plate has a detachable single-row gripper module, or a single-row gripper module with cylinders can be installed. The cylinders adjust the gripper spacing to accommodate multi-layer packaging with varying material quantities in each layer. This structure is simple, reliable, and ensures the normal operation of the packing machine.

[0032] The robot dual-station gripping structure 9 includes a rotary drive servo motor 1, a single-row gripper module 3 with cylinders, a detachable single-row gripper module 4, gripper cylinders 5, and a six-axis robot 7. The bottom of the six-axis robot 7 is equipped with a servo motor mounting bracket with a crossbeam. Rotary drive servo motors 1 are mounted on the left and right sides of the servo motor mounting bracket. A gripper mounting bracket 101 is mounted on the bottom of the rotary drive servo motor 1. A single-row gripper module 3 with cylinders is mounted on one side of the gripper mounting bracket 101. A detachable single-row gripper module 4 is mounted on the bottom of the gripper mounting bracket 101. A gripper cylinder 5 is mounted on the single-row gripper module 4. The gripper cylinder 5 is used to grip milk gable carton 6.

[0033] The models of the clamping position adjusting cylinder 1 and the clamping cylinder 2 are MHZ2-20DN-M9BL.

[0034] The detachable single-row gripper module 4 is designed to facilitate adjustments to production specifications.

[0035] Proximity switches 2 are installed on both sides of the servo motor mounting bracket. The model of proximity switch 2 is Omron E2B-M12KN08-WP-B1.

[0036] The rotary drive servo motor 1 is a Siemens 1FL6034-2AF21-1AG1; the gripper cylinder 5 is a SMCMHZ2-20DN-M9BL.

[0037] A junction box 8 is mounted on the side of the six-axis robot 7.

[0038] The working principle of the robot's dual-station gripping structure: After power-on, the single station uses a rotary drive servo motor 1 to rotate and sense the proximity switch 2, resetting the origin. After resetting, the gripper picks up the milk gable carton 6 from the material handling platform. According to the packing requirements, the rotary drive servo motor 1 can rotate the carton 90° for packing. For specifications with the same number of single-layer cartons, a detachable single-row gripper module 3 can be installed to adjust the specifications. For cases where there are two layers in the basket, and the upper layer has one less row than the lower layer, a detachable single-row gripper module 4 can be installed. The cylinder of the first layer retracts to grip and pack the carton. The first row of the second layer is placed between the first and second rows of the first layer. The milk gable cartons gripped by the detachable single-row gripper module 4 are placed on the pairing platform. The cylinder of the single-row gripper module 4 extends to avoid the plastic basket, and the remaining cartons are packed. This cycle repeats until the number of rows of milk gable cartons on the pairing platform is the same as the number of rows of grippers minus one. The robot then picks up milk gable cartons from the pairing platform for packing. This completes one cycle.

[0039] Example 2

[0040] The robot's dual-station gripping structure 9 is also equipped with a box support structure 10, a straw dispensing structure 11, and a material handling platform 12, forming a packaging machine compatible with seven milk gable box production specifications and two packaging methods.

[0041] The support structure 10 includes a lifting cylinder and a support guide plate. The lifting cylinder is model MDBF50-200Z-M9BL.

[0042] The structure of the straw delivery structure 11 consists of a straw counting roller drive servo motor 1101, a straw cutting cylinder 1102, a straw presence detection photoelectric sensor 1103, a straw conveying servo motor 1104, an air blowing port 1105, a straw detection device 1106, a straw 1107, a lifting cylinder 1108, and a straw guide 1109.

[0043] The material handling platform 12 includes a conveyor belt 1201. A lane divider mechanism 1202 is installed at the rear end of the main body of the conveyor belt 1201, which makes the materials neatly stacked on the conveyor platform. A lifting module 1203 is installed in the middle of the main body of the conveyor belt 1201. An automatic clamping and side-adjusting mechanism 1204 is installed at the front end of the main body of the conveyor belt 1201. A clamping mechanism 1205 and a clamping mechanism 1206 are installed at the front end of the automatic clamping and side-adjusting mechanism 1204. A lifting blocking and avoidance mechanism 1207 is installed at the very front end of the main body of the conveyor belt 1201. A material arrival detection mechanism 1208 is installed at the bottom of the lifting blocking and avoidance mechanism 1207. A movable backing mechanism is installed at the rear end of the main body of another conveyor belt 1201. The movable backing mechanism moves left and right above the conveyor belt 1201 via a linear module 12010.

[0044] The working principle of a packaging machine compatible with 7 milk gable carton production specifications and two packaging methods:

[0045] After power-on, the robot's dual-station gripping structure 9 grips materials from the material handling platform and loads them into cardboard boxes or plastic baskets. If the materials are loaded into plastic baskets, the straw insertion section can automatically insert straws. If the materials are loaded into cardboard boxes, the box support structure supports the cardboard box, making it easier for the materials to enter the cardboard box. The cardboard box and plastic basket are then conveyed to the next process via roller conveyors.

[0046] The above detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

Claims

1. A robotic dual station grasping structure, characterized by: The robot double-station grabbing structure (9) comprises a rotating drive servo motor (1), a single-row jaw module (3) with a cylinder, a detachable single-row jaw module (4), a jaw cylinder (5) and a six-axis robot (7), characterized in that: the bottom of the six-axis robot (7) is provided with a beam-mounted servo motor mounting rack, the left and right sides of the servo motor mounting rack are provided with rotating drive servo motors (1), the bottom of the rotating drive servo motor (1) is provided with a jaw mounting rack (101), one side of the jaw mounting rack (101) is provided with the single-row jaw module (3) with a cylinder, the bottom of the jaw mounting rack (101) is provided with the detachable single-row jaw module (4), the single-row jaw module (4) is provided with the jaw cylinder (5), and the jaw cylinder (5) is used for clamping the milk roof box (6).

2. A robotic dual station gripping structure as claimed in claim 1, wherein: The models of the adjusting jaw position cylinder (1) and the jaw cylinder (2) are MHZ2-20DN-M9BL.

3. The robotic dual station gripping structure of claim 1, wherein: The detachable single-row jaw module (4) is convenient for adjusting the production specifications.

4. The robotic dual station gripping structure of claim 1, wherein: The left and right sides of the servo motor mounting rack are provided with proximity switches (2), and the model of the proximity switch (2) is Omron E2B-M12KN08-WP-B1.

5. The robotic dual station gripping structure of claim 1, wherein: The model of the rotating drive servo motor (1) is Siemens 1FL6034-2AF21-1AG1, and the model of the jaw cylinder (5) is SMCMHZ2-20DN-M9BL.

6. The robotic dual station gripping structure of claim 1, wherein: The side of the six-axis robot (7) is provided with a junction box (8).

7. The robotic dual station gripping structure of claim 1, wherein: The robot double-station grabbing structure (9) is further provided with a box supporting structure (10), a straw feeding structure (11) and a material sorting platform (12) which are installed in cooperation.

8. A robotic dual station gripping structure according to claim 7, wherein: The box supporting structure (10) comprises a lifting cylinder and a box supporting guide plate, and the model of the lifting cylinder is MDBF50-200Z-M9BL.

9. A robotic dual station gripping structure as claimed in claim 7, wherein: The straw feeding structure (11) comprises a straw counting roller drive servo motor (1101), a straw cutting cylinder (1102), a straw presence / absence detection photoelectric sensor (1103), a straw conveying servo motor (1104), a blowing port (1105), a straw detection device (1106), a straw (1107), a lifting cylinder (1108) and a straw guide (1109).

10. The robotic dual station gripping structure of claim 7, wherein: The material sorting platform (12) comprises a conveying mesh belt (1201), a channel separating plate mechanism (1202) is installed at the rear end of the main body of the conveying mesh belt (1201), the channel separating plate mechanism (1202) makes the materials arranged in order on the conveying platform; a lifting module (1203) is installed at the middle end of the main body of the conveying mesh belt (1201), a clamping edge automatic adjusting mechanism (1204) is installed at the front end of the main body of the conveying mesh belt (1201), clamping mechanisms (1205) and (1206) are installed at the front end of the clamping edge automatic adjusting mechanism (1204); a lifting blocking and avoiding mechanism (1207) is installed at the most front end of the main body of the conveying mesh belt (1201), a material in place detection mechanism (1208) is installed at the bottom of the lifting blocking and avoiding mechanism (1207); a moving backstop mechanism is installed at the rear end of the main body of another conveying mesh belt (1201), the moving backstop mechanism moves left and right above the conveying mesh belt (1201) through a linear module (12010).

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