A new type of packing equipment consisting of parallel and cooperating robots

Abstract

The utility model discloses a novel boxing equipment composed of parallel connection and collaborative robot, including work table, the parallel connection robot spider hand of setting in work table top, the rotary mechanism of setting in parallel connection robot spider hand below, with the suction mechanism of rotary mechanism connection, set in one side of work table single column article conveying mechanism, set in work table and located single column article conveying mechanism one side's multiple sets of article conveying mechanism, set in work table and located multiple sets of article conveying mechanism one side's six -axis robot, set in the grabbing mechanism of six -axis robot, set in one side of work table carton spare material conveying mechanism, set in the installation conveying belt of carton spare material conveying mechanism one side, set in the pushing mechanism of installation conveying belt, top stop gear, side limit mechanism, the beneficial effect is, can be good to complete square object handling, and multiple square objects are together handled and are assembled, and the automation degree is high, and it is convenient for enterprise popularization and use.

Description

Technical Field

[0001] This utility model relates to the field of packing equipment technology, and in particular to a novel packing equipment composed of parallel and collaborative robots. Background Technology

[0002] Small square objects (similar in size to a pack of tissues) are packed in boxes containing multiple objects. The size of the box is designed based on the size of the square objects, not arbitrarily. Therefore, the number of objects that can be installed is fixed. Currently, the installation is done manually, with each square object placed into the box one by one. Although this can meet certain needs, the efficiency is low, the effect is not good, and it cannot meet the long-term processing needs of enterprises.

[0003] In view of the above, it is necessary to improve the existing packing method to adapt to the current needs of packing square objects. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a novel packing equipment composed of parallel and collaborative robots, including a workbench, a parallel robot spider arm disposed above the workbench, a rotating mechanism disposed below the parallel robot spider arm, a suction mechanism connected to the rotating mechanism, a single-row item conveying mechanism disposed on one side of the workbench, multiple sets of item conveying mechanisms disposed on the workbench and located on one side of the single-row item conveying mechanism, a six-axis robot disposed on the workbench and located on one side of the multiple sets of item conveying mechanisms, a gripping mechanism disposed on the six-axis robot, a carton preparation conveying mechanism disposed on one side of the workbench, an installation conveyor belt disposed on one side of the carton preparation conveying mechanism, a pushing mechanism disposed on the installation conveyor belt, a top limiting mechanism, and a side limiting mechanism. The parallel robot spider arm is fixedly mounted on the workbench, the rotating mechanism is fixedly mounted on the parallel robot spider arm, the single-row item conveying mechanism and the multiple sets of item conveying mechanisms are arranged in parallel, and the pushing mechanism, the top limiting mechanism, and the side limiting mechanism are fixedly mounted on the installation conveyor belt.

[0005] As a further supplement to this technical solution, the suction mechanism is a suction cup.

[0006] As a further supplement to this technical solution, the gripping mechanism includes a fixed frame, a fixed block disposed below the fixed frame, a mounting frame disposed below the fixed block, drive cylinders symmetrically disposed on both sides of the mounting frame, and a clamping plate connected to the drive cylinders. The fixed block is fixedly installed below the fixed frame, the mounting frame is fixedly installed below the fixed block, and the drive cylinders are fixedly installed on the mounting frame.

[0007] As a further supplement to this technical solution, the carton preparation and conveying mechanism is arranged perpendicularly to the installation conveyor belt.

[0008] As a further supplement to this technical solution, the pushing mechanism includes a pushing cylinder and a pushing plate connected to the pushing cylinder, wherein the pushing cylinder is fixedly installed on the installation conveyor belt.

[0009] As a further supplement to this technical solution, the top limiting mechanism includes a stand, a control cylinder fixedly connected to the stand, and a return frame connected to the control cylinder. The stand is fixedly installed on the installation conveyor belt. The return frame has pressure blocks around its interior. The distance between the relative pressure blocks is smaller than the size of the carton, so that the pressure blocks can limit the top plate of the carton.

[0010] As a further supplement to this technical solution, the side limiting mechanism is provided in two parts and is arranged symmetrically on the left and right.

[0011] As a further supplement to this technical solution, the side limiting mechanism includes a rotary cylinder and a baffle connected to the rotary cylinder, wherein the rotary cylinder is fixedly installed on the installation conveyor belt.

[0012] Its advantages include the ability to handle square objects well, as well as to handle and assemble multiple square objects together. It is easy to operate, has excellent performance, requires little human intervention, has a high degree of automation, and is easy for enterprises to promote and use. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model from a first angle;

[0014] Figure 2 yes Figure 1 A magnified view of part A in the image;

[0015] Figure 3 This is a schematic diagram of the second angle structure of this utility model;

[0016] Figure 4 yes Figure 3 A magnified view of part B in the image;

[0017] In the diagram: 1. Workbench; 2. Parallel robot spider arm; 3. Rotating mechanism; 4. Suction mechanism; 5. Single-row item conveying mechanism; 6. Multi-group item conveying mechanism; 7. Six-axis robot; 8. Gripping mechanism; 81. Fixing frame; 82. Fixing block; 83. Mounting frame; 84. Drive cylinder; 85. Clamping plate; 9. Carton preparation conveying mechanism; 10. Mounting conveyor belt; 11. Pushing mechanism; 111. Pushing cylinder; 112. Pushing plate; 12. Top limiting mechanism; 121. Stand; 122. Control cylinder; 123. Reverse frame; 124. Pressing block; 13. Side limiting mechanism; 131. Rotating cylinder; 132. Baffle. Detailed Implementation

[0018] To facilitate a clearer understanding of this technical solution for those skilled in the art, the following will be described in conjunction with the appendix. Figure 1-4 The technical solution of this utility model is described in detail below:

[0019] A novel packing device composed of parallel and collaborative robots includes a workbench 1, a parallel robot spider arm 2 mounted above the workbench 1, a rotating mechanism 3 mounted below the parallel robot spider arm 2, a suction mechanism 4 connected to the rotating mechanism 3, a single-row item conveying mechanism 5 mounted on one side of the workbench 1, multiple sets of item conveying mechanisms 6 mounted on the workbench 1 and located on one side of the single-row item conveying mechanism 5, a six-axis robot 7 mounted on the workbench 1 and located on one side of the multiple sets of item conveying mechanisms 6, and a six-axis robot mounted on the six-axis robot 7. The system includes a gripping mechanism 8, a carton material conveying mechanism 9 located on one side of the workbench 1, an installation conveyor belt 10 located on one side of the carton material conveying mechanism 9, a pushing mechanism 11 located on the installation conveyor belt 10, a top limiting mechanism 12, and a side limiting mechanism 13. The parallel robot spider arm 2 is fixedly installed on the workbench 1, and the rotating mechanism 3 is fixedly installed on the parallel robot spider arm 2. The single-row item conveying mechanism 5 is arranged in parallel with multiple sets of item conveying mechanisms 6. The pushing mechanism 11 and the top limiting mechanism 12 are also included. The side limiting mechanism 13 is fixedly installed on the installation conveyor belt 10. During operation, square objects are placed one by one on the single-row item conveying mechanism 5. At this time, the square objects may be facing down with their long side down or their short side down. With the cooperation of the parallel robot spider arm 2, the rotating mechanism 3, and the suction mechanism 4, the square objects can be transported and placed on multiple sets of item conveying mechanisms 6. They are then uniformly adjusted to meet the required shape. Then, multiple objects are grouped together, and with the cooperation of the six-axis robot 7 and the gripping mechanism 8, they are gripped onto the cardboard box on the installation conveyor belt 10. The carton preparation and conveying mechanism 9 can transport the carton until it is full. When the carton on the installation conveyor belt 10 is full, the pushing mechanism 11 pushes the carton on the carton preparation and conveying mechanism 9 onto the installation conveyor belt 10. The top limiting mechanism 12 and the side limiting mechanism 13 can limit the top and sides of the carton. The top limiting is to facilitate the gripping mechanism 8 to place a group of products into the carton and prevent the top of the carton from affecting its placement. The side limiting is to prevent the carton from moving on the installation conveyor belt 10 during the loading process.

[0020] Preferably, the suction mechanism 4 is a suction cup, which provides excellent performance.

[0021] The structure of the gripping mechanism 8 will be described in detail below. The gripping mechanism 8 includes a fixed frame 81, a fixed block 82 disposed below the fixed frame 81, a mounting frame 83 disposed below the fixed block 82, drive cylinders 84 symmetrically disposed on both sides of the mounting frame 83, and clamping plates 85 connected to the drive cylinders 84. The fixed block 82 is fixedly installed below the fixed frame 81, the mounting frame 83 is fixedly installed below the fixed block 82, and the drive cylinders 84 are fixedly installed on the mounting frame 83. The drive cylinders 84 on both sides can control the clamping plates 85 on both sides to move closer or further away, thereby completing the gripping of square objects of different sizes.

[0022] Among them, the carton preparation and conveying mechanism 9 is set perpendicular to the installation conveyor belt 10, making the structure more compact.

[0023] The structure of the pushing mechanism 11 will be described in detail below. The pushing mechanism 11 includes a pushing cylinder 111 and a pushing plate 112 connected to the pushing cylinder 111. The pushing cylinder 111 is fixedly installed on the installation conveyor belt 10. The pushing cylinder 111 can control the movement of the pushing plate 112, thereby pushing the cartons on the carton preparation conveying mechanism 9 onto the installation conveyor belt 10. It is easy to operate and has a good effect.

[0024] The structure of the top limiting mechanism 12 will be described in detail below. The top limiting mechanism 12 includes a stand 121, a control cylinder 122 fixedly connected to the stand 121, and a retractable frame 123 connected to the control cylinder 122. The stand 121 is fixedly installed on the installation conveyor belt 10. The retractable frame 123 has pressure blocks 124 around its interior. The distance between the opposing pressure blocks 124 is smaller than the size of the carton, so that the pressure blocks 124 can limit the top of the carton. The control cylinder 122 can control the retractable frame 123 to move up and down, so as to facilitate adjustment according to the top height of the carton and better limit the carton.

[0025] Furthermore, two side limiting mechanisms 13 are provided and arranged symmetrically on the left and right. In detail, the side limiting mechanism 13 includes a rotary cylinder 131 and a baffle 132 connected to the rotary cylinder 131. The rotary cylinder 131 is fixedly installed on the installation conveyor belt 10. The rotary cylinder 131 can control the baffle 132 to complete a 90° rotation, that is, two states: one is that the baffle 132 is perpendicular to the installation conveyor belt 10, and the other is that it is placed parallel to the installation conveyor belt 10, thus completing the side limiting of the carton. After the carton is full, the rotary cylinder 131 controls the baffle 132 to rotate so that it is parallel to the installation conveyor belt 10, and the carton is transported normally on the installation conveyor belt 10 to enter the next station.

[0026] The above technical solution only embodies the preferred technical solution of this utility model. Any changes that may be made by those skilled in the art to certain parts of it embody the principle of this utility model and fall within the protection scope of this utility model.

Claims

1. A novel packing equipment composed of parallel and collaborative robots, characterized in that, Includes a workbench (1), a parallel robot spider arm (2) positioned above the workbench (1), a rotating mechanism (3) positioned below the parallel robot spider arm (2), a suction mechanism (4) connected to the rotating mechanism (3), a single-row item conveying mechanism (5) positioned on one side of the workbench (1), multiple sets of item conveying mechanisms (6) positioned on the workbench (1) and located on one side of the single-row item conveying mechanism (5), a six-axis robot (7) positioned on the workbench (1) and located on one side of the multiple sets of item conveying mechanisms (6), a gripping mechanism (8) positioned on the six-axis robot (7), and a cardboard box positioned on one side of the workbench (1). The material preparation conveying mechanism (9), the installation conveyor belt (10) set on one side of the carton material preparation conveying mechanism (9), the pushing mechanism (11), the top limiting mechanism (12), and the side limiting mechanism (13) set on the installation conveyor belt (10), the parallel robot spider arm (2) is fixedly installed on the workbench (1), the rotating mechanism (3) is fixedly installed on the parallel robot spider arm (2), the single-row item conveying mechanism (5) is arranged in parallel with multiple sets of item conveying mechanisms (6), and the pushing mechanism (11), the top limiting mechanism (12), and the side limiting mechanism (13) are fixedly installed on the installation conveyor belt (10).

2. The novel packing equipment composed of parallel and collaborative robots according to claim 1, characterized in that, The suction mechanism (4) is a suction cup.

3. A novel packing device composed of parallel and collaborative robots according to claim 1, characterized in that, The gripping mechanism (8) includes a fixed frame (81), a fixed block (82) disposed below the fixed frame (81), a mounting frame (83) disposed below the fixed block (82), a drive cylinder (84) symmetrically disposed on both sides of the mounting frame (83), and a clamping plate (85) connected to the drive cylinder (84). The fixed block (82) is fixedly installed below the fixed frame (81), the mounting frame (83) is fixedly installed below the fixed block (82), and the drive cylinder (84) is fixedly installed on the mounting frame (83).

4. A novel packing device composed of parallel and collaborative robots according to claim 1, characterized in that, The carton preparation and conveying mechanism (9) is set perpendicular to the installation conveyor belt (10).

5. A novel packing device composed of parallel and collaborative robots according to claim 1, characterized in that, The pushing mechanism (11) includes a pushing cylinder (111) and a push plate (112) connected to the pushing cylinder (111). The pushing cylinder (111) is fixedly installed on the installation conveyor belt (10).

6. A novel packing device composed of parallel and collaborative robots according to claim 1, characterized in that, The top limiting mechanism (12) includes a stand (121), a control cylinder (122) fixedly connected to the stand (121), and a retractable frame (123) connected to the control cylinder (122). The stand (121) is fixedly installed on the installation conveyor belt (10). The retractable frame (123) has pressure blocks (124) around its interior. The distance between the opposing pressure blocks (124) is smaller than the size of the carton so that the pressure blocks (124) can limit the top plate of the carton.

7. A novel packing device composed of parallel and collaborative robots according to claim 6, characterized in that, The side limiting mechanism (13) has two parts and is arranged symmetrically on the left and right.

8. A novel packing device composed of parallel and collaborative robots according to claim 1, characterized in that, The side limiting mechanism (13) includes a rotary cylinder (131) and a baffle (132) connected to the rotary cylinder (131). The rotary cylinder (131) is fixedly installed on the installation conveyor belt (10).

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