CN115092463A - Product conveying and turning mechanism and automatic cartoning machine - Google Patents
Product conveying and turning mechanism and automatic cartoning machine Download PDFInfo
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- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
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- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
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Abstract
Description
技术领域technical field
本发明涉及自动化设备技术领域,特别是涉及一种产品输送翻转机构及自动装盒机。The invention relates to the technical field of automation equipment, in particular to a product conveying and turning mechanism and an automatic cartoning machine.
背景技术Background technique
自动化(Automation)是指机器设备、系统或过程(生产、管理过程)在没有人或较少人的直接参与下,按照人的要求,经过自动检测、信息处理、分析判断、操纵控制,实现预期的目标的过程。采用自动化技术可以把人从繁重的体力劳动、部分脑力劳动以及恶劣、危险的工作环境中解放出来。Automation means that machines, equipment, systems or processes (production, management processes) achieve expectations through automatic detection, information processing, analysis and judgment, and manipulation control according to human requirements without the direct participation of people or less people. target process. The use of automation technology can liberate people from heavy manual labor, part of mental labor, and harsh and dangerous working environments.
目前,在充电头(也称为电源适配器)的包装投放中,人工需将装满充电头的托盘拿到工位上,再人工从托盘内拿出一个充电头,然后按照规定的方向放入包装盒中。这种人工手动添加方式,不仅投放效率低,并且需要耗费较多的人力成本。At present, in the packaging and delivery of the charging head (also known as the power adapter), it is necessary to manually take the tray filled with the charging head to the workstation, and then manually take out a charging head from the tray, and then put it in the specified direction. in the box. This manual manual addition method not only has low delivery efficiency, but also requires a lot of labor costs.
在充电头的包装投放过程中,需要调整充电头初始的姿态与朝向面,使充电头按照预设的姿态与朝向面被放入包装盒中,这种调整产品的姿态与朝向面的机构一般为翻转机构。During the packaging and delivery process of the charging head, it is necessary to adjust the initial posture and facing surface of the charging head, so that the charging head can be put into the packaging box according to the preset posture and facing surface. For the flip mechanism.
例如,中国专利CN202122260849.0公开了一种翻转180°的机构,该翻转机构包括推拉气缸,推拉气缸的伸缩端右端连接有滑动块,滑动块的底部滑动连接于顶板顶部的导轨上,滑动块的顶部连接有齿条,摆臂的右端转动连接在立架顶部中间处,摆臂的右端前侧安装有齿轮,齿轮底部与齿条啮合连接,摆臂的左端顶部安装有两个无痕吸盘,推拉气缸通过推拉滑动块在导轨上滑动来控制摆臂翻转操作,摆臂通过齿轮啮合连接在齿条上,通过齿条的往复运动控制齿轮的转动,从而通过齿轮带动摆臂进行180°翻转。For example, Chinese patent CN202122260849.0 discloses a mechanism for turning 180°, the turning mechanism includes a push-pull cylinder, a sliding block is connected to the right end of the telescopic end of the push-pull cylinder, and the bottom of the sliding block is slidably connected to the guide rail on the top of the top plate, and the sliding block The top of the swing arm is connected with a rack, the right end of the swing arm is rotatably connected to the middle of the top of the stand, a gear is installed on the front side of the right end of the swing arm, the bottom of the gear is meshed with the rack, and two traceless suction cups are installed on the top of the left end of the swing arm , the push-pull cylinder controls the swinging arm flipping operation by sliding the sliding block on the guide rail, the swinging arm is connected to the rack through gear meshing, and controls the rotation of the gear through the reciprocating motion of the rack, thereby driving the swinging arm through the gear to perform 180° overturning .
上述翻转机构在翻转过程中,其摆臂与产品一直保持同步运动,摆臂与产品同步向外做正方向180度旋转,呈现的效果是产品发生180度翻转,吸附面没有改变,即摆臂与产品的连接面没有改变,即产品与摆臂的相对连接关系没有改变;此时摆臂的位置由翻转机构的内侧上方改变为翻转机构的外侧下方,为了摆臂复位,它需要向内再做反方向180度翻转,因此该翻转机构的整个翻转动作需要翻转360度,整个动作时间较长。并且在整个翻转过程中,产品与摆臂的相对位置关系发生改变,为了让完成时产品位于摆臂的下方,方便下落至后续工位,起始时产品必须位于摆臂的上方,这样摆臂、齿轮和齿条等依次会受到由于产品重力而产生的作用压力,产品、摆臂、齿轮组成的组件会压住滑动块和齿条,使得推拉气缸难以推动滑动块和齿条,因此对于不同重量的产品,相同时间内翻转行程可能会不同,难以保证运动行程的准确性。并且在整个翻转过程中,摆臂移动范围较大,其会跑出翻转机构所处范围内,翻转占用空间较大。During the flipping process of the above-mentioned flipping mechanism, the swing arm and the product keep moving synchronously, and the swing arm and the product rotate 180 degrees in the positive direction. The connection surface with the product has not changed, that is, the relative connection between the product and the swing arm has not changed; at this time, the position of the swing arm is changed from the upper side of the inner side of the overturning mechanism to the lower side of the outer side of the overturning mechanism. To do 180-degree flip in the opposite direction, the entire flip action of the flip mechanism needs to flip 360 degrees, and the entire action takes a long time. And during the whole turning process, the relative positional relationship between the product and the swing arm changes. In order to make the product located under the swing arm when finished, it is convenient to drop to the subsequent station, the product must be located above the swing arm at the beginning, so that the swing arm , gears and racks, etc. will be subjected to the action pressure due to the gravity of the product in turn, and the components composed of the product, the swing arm and the gear will press the sliding block and the rack, making it difficult for the push-pull cylinder to push the sliding block and the rack. For products with heavy weight, the flipping stroke may be different at the same time, and it is difficult to ensure the accuracy of the movement stroke. In addition, during the whole turning process, the swing arm has a large moving range, it will run out of the range where the turning mechanism is located, and the turning takes up a large space.
综上所述,上述翻转机构具有无法更换吸附面、翻转动作时间较长、翻转动作占用空间较大、难以保证运动行程准确性等问题。To sum up, the above-mentioned inversion mechanism has problems such as the inability to replace the adsorption surface, the long inversion action time, the larger space occupied by the inversion action, and the difficulty in ensuring the accuracy of the movement stroke.
发明内容SUMMARY OF THE INVENTION
本发明的目的是克服现有技术中的不足之处,提供一种能够更换吸附面、节约翻转动作时间、节约翻转动作占用空间并且运动行程更准确的产品输送翻转机构。本发明还提供一种包括上述产品输送翻转机构的自动装盒机。The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide a product conveying inversion mechanism capable of replacing the adsorption surface, saving the time of the inversion action, saving the space occupied by the inversion action, and having a more accurate movement stroke. The present invention also provides an automatic cartoning machine including the above-mentioned product conveying and turning mechanism.
本发明的目的是通过以下技术方案来实现的:The purpose of this invention is to realize through the following technical solutions:
本发明提供一种产品输送翻转机构,包括翻转组件,所述翻转组件包括翻转气缸、导向板和两个翻转部件,两个所述翻转部件相互对称地分别连接在所述翻转气缸的两侧,所述导向板的两侧分别设置有两个相互对称的导向槽,两个所述翻转部件分别沿两个所述导向槽滑动;在一个所述翻转部件中,所述翻转部件包括直线滑块、齿条、内齿轮、外齿轮和吸盘臂,所述直线滑块与所述翻转气缸连接,所述齿条与所述直线滑块连接,所述内齿轮与所述齿条啮合,所述外齿轮与所述内齿轮啮合,且所述外齿轮与所述导向槽滑动连接,所述吸盘臂与所述外齿轮连接。The invention provides a product conveying overturning mechanism, including a turning assembly, the turning assembly includes a turning cylinder, a guide plate and two turning parts, and the two turning parts are symmetrically connected to each other on both sides of the turning cylinder, Two mutually symmetrical guide grooves are respectively provided on both sides of the guide plate, and the two inversion components slide along the two guide grooves respectively; in one of the inversion components, the inversion component includes a linear slider , rack, internal gear, external gear and suction cup arm, the linear slider is connected with the turning cylinder, the rack is connected with the linear slider, the internal gear is meshed with the rack, the The external gear is meshed with the internal gear, the external gear is slidably connected with the guide groove, and the suction cup arm is connected with the external gear.
在其中一种实施方式,所述翻转部件还包括直线导轨,所述直线导轨设置于所述导向板上,所述直线滑块与所述直线导轨啮合。In one embodiment, the turning member further includes a linear guide rail, the linear guide rail is arranged on the guide plate, and the linear slider is engaged with the linear guide rail.
在其中一种实施方式,所述产品输送翻转机构还包括三维输送组件,所述三维输送组件包括X轴输送部件、Y轴输送部件和Z轴输送部件,所述Z轴输送部件与所述翻转组件连接,所述X轴输送部件与所述Z轴输送部件连接,所述Y轴输送部件与所述X轴输送部件连接。In one embodiment, the product conveying inversion mechanism further includes a three-dimensional conveying assembly, the three-dimensional conveying assembly includes an X-axis conveying part, a Y-axis conveying part, and a Z-axis conveying part, the Z-axis conveying part and the inversion The components are connected, the X-axis conveying part is connected with the Z-axis conveying part, and the Y-axis conveying part is connected with the X-axis conveying part.
在其中一种实施方式,所述产品输送翻转机构还包括图像识别组件,所述图像识别组件设置于所述翻转组件的上方。In one embodiment, the product conveying and turning mechanism further includes an image recognition component, and the image recognition component is disposed above the turning component.
本发明还提供一种自动装盒机,包括上述任一所述的产品输送翻转机构。The present invention also provides an automatic cartoning machine, comprising any one of the product conveying and turning over mechanisms described above.
在其中一种实施方式,所述自动装盒机还包括空托盘移送机构,所述空托盘移送机构设置于所述产品输送翻转机构的一侧,所述空托盘移送机构包括X轴移送组件、Z轴移送组件和移送吸盘架,所述X轴移送组件与所述Z轴移送组件连接,所述Z轴移送组件与所述移送吸盘架连接。In one embodiment, the automatic cartoning machine further includes an empty tray transfer mechanism, the empty tray transfer mechanism is arranged on one side of the product conveying and turning mechanism, and the empty tray transfer mechanism includes an X-axis transfer assembly, A Z-axis transfer assembly and a transfer suction cup holder, the X-axis transfer assembly is connected with the Z-axis transfer assembly, and the Z-axis transfer assembly is connected with the transfer suction cup frame.
在其中一种实施方式,所述自动装盒机还包括产品多向旋转机构,所述产品多向旋转机构设置于所述产品输送翻转机构的一侧,所述产品多向旋转机构包括主翻转组件和次旋转组件;所述主翻转组件用于在第一方向进行旋转,所述主翻转组件包括主翻转电机和主翻转座,所述主翻转电机与所述主翻转座连接,所述次旋转组件设置于所述主翻转座内,所述次旋转组件用于在第二方向进行旋转,所述第一方向和所述第二方向相互垂直;所述次旋转组件包括次旋转电机和真空吸台,所述次旋转电机与所述真空吸台连接。In one embodiment, the automatic cartoning machine further includes a product multi-directional rotation mechanism, the product multi-directional rotation mechanism is disposed on one side of the product conveying and turning mechanism, and the product multi-directional turning mechanism includes a main turning mechanism. assembly and a secondary rotation assembly; the main inversion assembly is used to rotate in a first direction, the main inversion assembly includes a main inversion motor and a main inversion seat, the main inversion motor is connected with the main inversion seat, the secondary inversion The rotating assembly is arranged in the main turning base, and the secondary rotating assembly is used to rotate in a second direction, and the first direction and the second direction are perpendicular to each other; the secondary rotating assembly includes a secondary rotating motor and a vacuum A suction table, the secondary rotation motor is connected with the vacuum suction table.
在其中一种实施方式,所述自动装盒机还包括产品投放机构,所述产品投放机构设置于所述产品输送翻转机构的一侧,所述产品投放机构包括X轴投放组件、Y轴投放组件、Z轴投放组件和投放吸盘架,所述Y轴投放组件与所述X轴投放组件连接,所述X轴投放组件与所述Z轴投放组件连接,所述Z轴投放组件与所述投放吸盘架连接。In one embodiment, the automatic cartoning machine further includes a product placing mechanism, the product placing mechanism is disposed on one side of the product conveying and turning mechanism, and the product placing mechanism includes an X-axis placing component, a Y-axis placing component, Z-axis throwing component and throwing suction cup rack, the Y-axis throwing component is connected with the X-axis throwing component, the X-axis throwing component is connected with the Z-axis throwing component, and the Z-axis throwing component is connected with the Drop suction cup holder connection.
在其中一种实施方式,所述自动装盒机还包括上料机构,所述上料机构设置于所述产品输送翻转机构的前侧,所述上料机构包括物料传送组件,所述物料传送组件包括上料底板和右传送线,所述右传送线设置于所述上料底板的一侧,所述右传送线包括第一传送带、第二传送带、取料位和备料位,所述备料位和所述取料位按照从前到后的顺序设置于所述第一传送带和所述第二传送带之间,所述第一传送带和所述第二传送带上分别设置有第一挡板和第二挡板。In one embodiment, the automatic cartoning machine further includes a feeding mechanism, the feeding mechanism is arranged on the front side of the product conveying and turning mechanism, the feeding mechanism includes a material conveying assembly, and the material conveying The assembly includes a feeding base plate and a right conveying line, the right conveying line is arranged on one side of the feeding base plate, and the right conveying line includes a first conveying belt, a second conveying belt, a material take-up position and a material preparation position, and the material preparation position The position and the reclaiming position are arranged between the first conveyor belt and the second conveyor belt in the order from front to back, and the first conveyor belt and the second conveyor belt are respectively provided with a first baffle and a second conveyor. Two baffles.
在其中一种实施方式,所述上料机构还包括调宽组件,所述调宽组件包括调宽电机、调宽传动部件和调宽导向部件,所述调宽传动部件包括调宽双向丝杆和两个调宽螺母,所述调宽导向部件包括调宽导轨、两个调宽滑块和两个调宽连接块,所述调宽电机与所述调宽双向丝杆连接,所述调宽双向丝杆的两端分别与两个所述调宽螺母啮合,两个所述调宽螺母分别与所述第一传送带和所述第二传送带连接,所述调宽导轨设置于所述上料底板上,两个所述调宽滑块分别与所述调宽导轨的两端啮合,两个所述调宽滑块分别通过两个所述调宽连接块与所述第一挡板和所述第二挡板连接。In one embodiment, the feeding mechanism further includes a width adjustment assembly, the width adjustment assembly includes a width adjustment motor, a width adjustment transmission component and a width adjustment guide component, and the width adjustment transmission component includes a width adjustment bidirectional screw rod and two width adjustment nuts, the width adjustment guide part includes a width adjustment guide rail, two width adjustment sliders and two width adjustment connection blocks, the width adjustment motor is connected with the width adjustment bidirectional screw rod, the width adjustment The two ends of the wide bidirectional screw are respectively engaged with the two width adjustment nuts, and the two width adjustment nuts are respectively connected with the first conveyor belt and the second conveyor belt, and the width adjustment guide rail is arranged on the upper On the material bottom plate, the two width adjustment sliders are respectively engaged with both ends of the width adjustment guide rail, and the two width adjustment sliders are respectively connected with the first baffle and the first baffle through the two width adjustment connecting blocks. The second baffle is connected.
在其中一种实施方式,所述上料机构还包括调高组件,所述调高组件包括调高电机、调高传动部件和调高导向部件,所述调高传动部件包括调高丝杆和调高螺母,所述调高导向部件包括调高连接板、调高导柱和调高滑套,所述调高电机与所述调高丝杆连接,所述调高丝杆与所述调高螺母啮合,所述调高螺母与所述调高连接板连接,所述调高导柱的两端分别与所述调高连接板和所述取料位连接,所述调高导柱滑动连接在所述调高滑套上,所述调高滑套设置于所述上料底板上。In one embodiment, the feeding mechanism further includes a height-adjusting assembly, the height-adjusting assembly includes a height-adjusting motor, a height-adjusting transmission component and a height-adjusting guide component, and the height-adjusting transmission component includes a height-adjusting screw and a height-adjusting lead screw. A height-adjusting nut, the height-adjusting guide member includes a height-adjusting connecting plate, a height-adjusting guide post and a height-adjusting sliding sleeve, the height-adjusting motor is connected with the height-adjusting screw rod, and the height-adjusting screw rod is engaged with the height-adjusting nut , the height-adjusting nut is connected with the height-adjusting connecting plate, the two ends of the height-adjusting guide post are respectively connected with the height-adjusting connecting plate and the reclaiming level, and the height-adjusting guide post is slidably connected at the On the height-adjusting sliding sleeve, the height-adjusting sliding sleeve is arranged on the feeding bottom plate.
在其中一种实施方式,所述上料机构还包括至少两个限位组件,两个所述限位组件分别设置于所述取料位和所述备料位的后侧,在一个所述限位组件中,所述限位组件包括限位气缸和限位板,所述限位气缸与所述限位板连接。In one embodiment, the feeding mechanism further includes at least two limit assemblies, and the two limit assemblies are respectively disposed on the rear sides of the material reclaiming level and the material preparation level. In the position-limiting assembly, the position-limiting assembly comprises a position-limiting cylinder and a position-limiting plate, and the position-limiting cylinder is connected with the position-limiting plate.
与现有技术相比,本发明至少具有以下优点:Compared with the prior art, the present invention has at least the following advantages:
相比于现有翻转机构(中国专利CN202122260849.0),该产品输送翻转机构具有以下特点:在翻转过程中,产品与两个吸盘臂既有同步运动也有分离运动,产品先跟随一个吸盘臂向内做正方向90度旋转,再更换到另一个吸盘臂向外做反方向90度旋转,呈现的效果是产品发生180度翻转,吸附面对称交换,即吸盘臂与产品的连接面由a面变为b面,即产品与吸盘臂的相对连接关系改变;而两个吸盘臂同时复位,它们的位置没有发生改变,因此该翻转机构的整个翻转动作只需要翻转180度,整个动作时间较短。并且在整个翻转过程中,产品与吸盘臂的相对位置关系没有发生改变,起始时产品位于吸盘臂的下方,翻转部件不会受到由于产品重力而产生的作用压力,完成时产品仍然位于吸盘臂的下方,方便下落至后续工位。并且在整个翻转过程中,吸盘臂移动范围小,其始终位于翻转机构所处范围内,翻转占用空间较小。因此,相比于现有翻转机构,该产品输送翻转机构能够更换吸附面、节约翻转动作时间(比现有翻转机构节省约50%时间)、节约翻转动作占用空间并且运动行程更准确。Compared with the existing inversion mechanism (Chinese patent CN202122260849.0), the product conveying inversion mechanism has the following characteristics: during the inversion process, the product and the two suction cup arms both move synchronously and separate. Rotate 90 degrees in the positive direction inside, and then replace it with another suction cup arm and rotate 90 degrees in the opposite direction, the effect is that the product flips 180 degrees, and the suction surface is symmetrically exchanged, that is, the connection surface between the suction cup arm and the product is formed by a The surface becomes the b surface, that is, the relative connection relationship between the product and the suction cup arm changes; while the two suction cup arms are reset at the same time, their positions have not changed, so the entire turning action of the turning mechanism only needs to be turned 180 degrees, and the entire action time is relatively short. short. And during the entire turning process, the relative positional relationship between the product and the suction cup arm does not change. At the beginning, the product is located under the suction cup arm, and the turning parts will not be subjected to the action pressure caused by the product's gravity, and the product is still located on the suction cup arm when completed. below, it is convenient to drop to the subsequent station. And in the whole turning process, the suction cup arm has a small moving range, it is always located within the range where the turning mechanism is located, and the turning takes up less space. Therefore, compared with the existing flipping mechanism, the product conveying flipping mechanism can replace the adsorption surface, save the flipping action time (about 50% less time than the existing flipping mechanism), save the space occupied by the flipping action, and have a more accurate movement stroke.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本发明的某些实施例,因此不应被看作是对范围的限定,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.
图1为本发明的自动装盒机的结构图。FIG. 1 is a structural diagram of an automatic cartoning machine of the present invention.
图2为本发明的自动装盒机的上料机构的结构图。FIG. 2 is a structural diagram of the feeding mechanism of the automatic cartoning machine of the present invention.
图3为本发明一实施方式的自动装盒机的上料机构的局部结构图。3 is a partial structural diagram of a feeding mechanism of an automatic cartoning machine according to an embodiment of the present invention.
图4为本发明另一实施方式的自动装盒机的上料机构的局部结构图。4 is a partial structural diagram of a feeding mechanism of an automatic cartoning machine according to another embodiment of the present invention.
图5为本发明一实施方式的自动装盒机的局部结构图。5 is a partial structural diagram of an automatic cartoner according to an embodiment of the present invention.
图6为本发明的产品输送翻转机构的翻转组件的结构图。FIG. 6 is a structural diagram of the inversion component of the product conveying inversion mechanism of the present invention.
图7为本发明的产品输送翻转机构的翻转组件的工作流程图。FIG. 7 is a working flow chart of the inversion component of the product conveying inversion mechanism of the present invention.
图8为本发明的自动装盒机的产品多向旋转机构的结构图。FIG. 8 is a structural diagram of the product multi-directional rotation mechanism of the automatic cartoning machine of the present invention.
图9为本发明的另一实施方式的自动装盒机的局部结构图。9 is a partial structural diagram of an automatic cartoner according to another embodiment of the present invention.
具体实施方式Detailed ways
为了便于理解本发明,下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施方式。但是,本发明可以以许多不同的形式来实现,并不限于本文所描述的实施方式。相反地,提供这些实施方式的目的是使对本发明的公开内容理解的更加透彻全面。In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the related drawings. The preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the present disclosure is provided.
请参阅图5~图7,本发明提供一种产品输送翻转机构120,包括翻转组件121,所述翻转组件121包括翻转气缸1211、导向板1212和两个翻转部件1213,两个所述翻转部件1213相互对称地分别连接在所述翻转气缸1211的两侧,所述导向板1212的两侧分别设置有两个相互对称的导向槽1212a,两个所述翻转部件1213分别沿两个所述导向槽1212a滑动;在一个所述翻转部件1213中,所述翻转部件1213包括直线滑块1213a、齿条1213b、内齿轮1213c、外齿轮1213d和吸盘臂1213e,所述直线滑块1213a与所述翻转气缸1211连接,所述齿条1213b与所述直线滑块1213a连接,所述内齿轮1213c与所述导向板1212连接,所述内齿轮1213c与所述齿条1213b啮合,所述外齿轮1213d与所述内齿轮1213c啮合,且所述外齿轮1213d与所述导向槽1212a滑动连接,所述吸盘臂1213e与所述外齿轮1213d连接。Referring to FIGS. 5 to 7 , the present invention provides a product conveying and
进一步地,所述翻转部件1213还包括直线导轨1213f,所述直线导轨1213f设置于所述导向板1212上,所述直线滑块1213a与所述直线导轨1213f啮合。Further, the turning
该产品输送翻转机构120的工作原理:一个翻转部件1213的吸盘臂1213e用于吸取产品22的一面,另一个翻转部件1213的吸盘臂1213e空置,在一个翻转部件1213中,吸盘臂1213e用于吸取产品22的一面,通过翻转气缸1211带动直线滑块1213a沿着直线导轨1213f做直线向上移动,带动齿条1213b向上移动,推动与齿条1213b啮合的内齿轮1213c做定位转动,推动与内齿轮1213c啮合的外齿轮1213d沿圆弧槽的弧形轨迹运动,推动吸盘臂1213e做90度翻转,同时另一个翻转部件1213的吸盘臂1213e基于此同样原理步骤也做同步90度翻转动作,使两个吸盘臂1213e向内运动相互靠近,此时另一个吸盘臂1213e会吸附产品22的相对另一面,实现产品22吸取面的交换。产品22吸取面交换后,翻转气缸1211推动两个翻转部件1213做反向90度翻转运动,实现复位,从而完成了对产品22的180度翻转动作。The working principle of the product conveying and turning mechanism 120: the
相比于现有翻转机构(中国专利CN202122260849.0),该产品输送翻转机构120具有以下特点:在翻转过程中,产品22与两个吸盘臂1213e既有同步运动也有分离运动,产品22先跟随一个吸盘臂1213e向内做正方向90度旋转,再更换到另一个吸盘臂1213e向外做反方向90度旋转,呈现的效果是产品发生180度翻转,吸附面对称交换,即吸盘臂1213e与产品22的连接面由a面变为b面,即产品22与吸盘臂1213e的相对连接关系改变;而两个吸盘臂1213e同时复位,它们的位置没有发生改变,因此该翻转机构的整个翻转动作只需要翻转180度,整个动作时间较短。并且在整个翻转过程中,产品22与吸盘臂1213e的相对位置关系没有发生改变,起始时产品22位于吸盘臂1213e的下方,完成时产品22仍然位于吸盘臂1213e的下方,方便下落至后续工位。并且在整个翻转过程中,吸盘臂1213e移动范围小,其始终位于翻转机构所处范围内,翻转占用空间较小。因此,相比于现有翻转机构,该产品22输送翻转机构120能够更换吸附面、节约翻转动作时间(比现有翻转机构节省约50%时间)、节约翻转动作占用空间并且运动行程更准确。Compared with the existing inversion mechanism (Chinese patent CN202122260849.0), the product conveying
进一步地,所述产品输送翻转机构120还包括三维输送组件122,所述三维输送组件122包括X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223,所述Z轴输送部件1223与所述翻转组件121连接,所述X轴输送部件1221与所述Z轴输送部件1223连接,所述Y轴输送部件1222与所述X轴输送部件1221连接。在该实施例中,翻转组件121由X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223完成三轴空间坐标运动,翻转组件121的翻转过程在产品22通过三维输送组件122运送至产品多向旋转机构的途中同步完成,可以大大节约整个产品输送翻转机构120的作业时间。其中,X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223均为现有电机模组或气缸模组,它们分别用于驱动物体X轴、Y轴和Z轴方向做直线位移。Further, the product conveying and
进一步地,所述产品输送翻转机构120还包括第一图像识别组件123,所述第一图像识别组件123设置于所述翻转组件121的上方。所述第一图像识别组件123包括第一连接架1231和相机1232,所述第一连接架1231连接在所述X轴输送部件1221与所述Z轴输送部件1223之间,所述第一相机1232设置于所述第一连接架1231上。在该实施例中,相机1232跟随X轴输送部件1221和Y轴输送部件1222进行同步移动,到达预定取料位置后进行拍照,由于取料位的产品22来料姿态朝向等与最终放入包装盒的姿态朝向不一定相同,故第一图像识别组件123与计算机系统电连接,根据拍照识别取料位的产品22的姿态和朝向,联合人工设定确定最终放入包装盒的产品22的姿态与朝向,控制翻转组件121对产品22进行翻转换面,以保证实现最终放入包装盒内的姿态与朝向。Further, the product conveying
本发明还提供一种自动装盒机10,包括上述任一所述的产品输送翻转机构120。The present invention also provides an
请参阅图1,进一步地,所述自动装盒机10还包括上料机构110、空托盘移送机构130、产品多向旋转机构140、产品投放机构150和包装盒输送机构160,所述上料机构110、所述产品输送翻转机构120、所述产品多向旋转机构140、所述产品投放机构150和所述包装盒输送机构160沿所述产品22的运动方向顺序设置。Please refer to FIG. 1 , further, the
请参阅图5,进一步地,所述产品输送翻转机构120还包括第二图像识别组件124,所述第二图像识别组件124设置于所述主翻转组件141的上方。Referring to FIG. 5 , further, the product conveying and
请参阅图8,进一步地,所述产品多向旋转机构140设置于所述产品输送翻转机构120的一侧,所述产品多向旋转机构140包括主翻转组件141和次旋转组件142;所述主翻转组件141用于在第一方向进行旋转,所述主翻转组件141包括主翻转电机1411和主翻转座1412,所述主翻转电机1411与所述主翻转座1412连接,所述次旋转组件142设置于所述主翻转座1412内,所述次旋转组件142用于在第二方向进行旋转,所述第一方向和所述第二方向相互垂直;所述次旋转组件142包括次旋转电机1421和真空吸台1422,所述次旋转电机1421与所述真空吸台1422连接。Please refer to FIG. 8 , further, the product multi-directional
在该实施例中,第二图像识别组件124的相机负责拍照识别次旋转组件142的真空吸台1422上产品22姿态与朝向等,并根据人工设定产品22放入包装的姿态与朝向等,通过主翻转组件141和次旋转组件142做定向调节,对产品22自动调整至最终姿态与朝向,主要调节方式为:真空吸台1422主要承接由产品输送翻转机构120输送的产品22,真空吸台1422启动真空将产品22吸稳在平面上,由主翻转电机1411在第一方向进行翻转将主翻转座1412内的产品22更换姿态,由次旋转电机1421联动真空吸台1422对产品22在第二方向进行旋转。In this embodiment, the camera of the second
结合产品输送翻转机构120和产品多向旋转机构140,所述翻转组件121、所述主翻转组件141和所述次旋转组件142分别在Y轴、X轴和Z轴方向进行旋转,从而能够对产品22的六个面和相应姿态都进行更换改变。Combined with the product conveying
请参阅图9,进一步地,所述产品投放机构150设置于所述产品输送翻转机构120的一侧,所述产品投放机构150包括X轴投放组件151、Y轴投放组件152、Z轴投放组件153和投放吸盘架154,所述Y轴投放组件152与所述X轴投放组件151连接,所述X轴投放组件151与所述Z轴投放组件153连接,所述Z轴投放组件153与所述投放吸盘架154连接。所述投放吸盘架154上设置有若干个投放吸杆1541。其中,X轴投放组件151、Y轴投放组件152和Z轴投放组件153均为现有电机模组或气缸模组,它们分别用于驱动物体X轴、Y轴和Z轴方向做直线位移。Please refer to FIG. 9 , further, the
进一步地,所述包装盒输送机构160设置于所述产品输送翻转机构120的后侧。所述包装盒输送机构160为传送带型输送机构。Further, the packaging
在该实施例中,通过投放吸盘架154取出产品多向旋转机构140调节完成的产品22,由X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223对投放吸盘架154完成三轴空间坐标运动;包装盒输送机构160将包装盒输送至投放位置,产品投放机构150将产品22放入包装盒30内,最终完成产品22自动装盒。In this embodiment, the
请参阅图5,进一步地,所述空托盘移送机构130设置于所述产品输送翻转机构120的一侧,所述空托盘移送机构130包括X轴移送组件131、Z轴移送组件132和移送吸盘架133,所述X轴移送组件131与所述Z轴移送组件132连接,所述Z轴移送组件132与所述移送吸盘架133连接。所述移送吸盘架133上设置有若干个移送吸杆1331。在该实施例中,由移送吸盘架133将取料位的空托盘吸起,由X轴移送组件131将移送吸盘架133移动至取料位的空托盘上方,由Z轴移送组件132带动移送吸盘架133下降将空托盘放下第一空料位处,完成空托盘的运输。其中,X轴移送组件131和Z轴移送组件132均为现有电机模组或气缸模组,它们分别用于驱动物体X轴和Z轴方向做直线位移。Please refer to FIG. 5 , further, the empty
请参阅图2~图4,进一步地,所述上料机构110设置于所述产品输送翻转机构120的前侧,所述上料机构110包括物料传送组件111,所述物料传送组件111包括上料底板1111和右传送线1112,所述右传送线1112设置于所述上料底板1111的一侧,所述右传送线1112包括第一传送带1112a、第二传送带1112b、取料位1112c和备料位1112d,所述备料位1112d和所述取料位1112c按照从前到后的顺序设置于所述第一传送带1112a和所述第二传送带1112b之间,所述第一传送带1112a和所述第二传送带1112b上分别设置有第一挡板1112e和第二挡板1112f。Please refer to FIGS. 2 to 4 , further, the
进一步地,所述物料传送组件111还包括左传送线1113,所述左传送线1113设置于所述上料底板1111的另一侧,所述左传送线1113包括第三传送带1113a、第四传送带1113b、第一空料位1113c和第二空料位1113d,所述第二空料位1113d和所述第一空料位1113c按照从前到后的顺序设置于所述第三传送带1113a和所述第四传送带1113b之间,所述第三传送带1113a和所述第四传送带1113b上分别设置有第三挡板1113e和第四挡板1113f。Further, the
在该实施例中,右传送线1112的取料位1112c和备料位1112d用于堆叠多个装满充电头的托盘21,左传送线1113的第一空料位1113c和第二空料位1113d用于堆叠多个空托盘,取料位1112c和备料位1112d由第一传送带1112a和第二传送带1112b运行,第一空料位1113c和第二空料位1113d由第三传送带1113a和第四传送带1113b运行,物料传送组件111的上料顺序为右进左出。In this embodiment, the take-up
进一步地,所述上料机构110还包括调宽组件112,所述调宽组件112包括调宽电机1121、调宽传动部件和调宽导向部件,所述调宽传动部件包括调宽双向丝杆1122和两个调宽螺母1123,所述调宽导向部件包括调宽导轨1124、两个调宽滑块1125和两个调宽连接块1126,所述调宽电机1121与所述调宽双向丝杆1122连接,所述调宽双向丝杆1122的两端分别与两个所述调宽螺母1123啮合,两个所述调宽螺母1123分别与所述第一传送带1112a和所述第二传送带1112b连接,所述调宽导轨1124设置于所述上料底板1111上,两个所述调宽滑块1125分别与所述调宽导轨1124的两端啮合,两个所述调宽滑块1125分别通过两个所述调宽连接块1126与所述第一挡板1112e和所述第二挡板1112f连接。Further, the
进一步地,所述调宽组件112还包括调宽同步部件1127,所述调宽同步部件1127包括调宽主动轮、调宽从动轮和调宽同步带(未画出),所述调宽电机1121与所述调宽主动轮连接,所述调宽主动轮通过所述调宽同步带与所述调宽从动轮连接,所述调宽从动轮与所述调宽双向丝杆1122连接。Further, the
进一步地,所述调宽组件112还包括激光位移传感器1128,所述激光位移传感器1128设置于所述调宽连接块1126上。Further, the
进一步地,所述左传送线1113也设置有相同结构的调宽组件112,用于调节所述左传送线1113的宽度,在该调宽组件112中,两个所述调宽螺母1123分别与所述第三传送带1113a和所述第四传送带1113b连接,两个所述调宽滑块1125分别通过两个所述调宽连接块1126与所述第三挡板1113e和所述第四挡板1113f连接。Further, the
在该实施例中,激光位移传感器1128根据对托盘21的距离识别并使用调宽组件112对右传送线1112进行自动宽度调节,主要宽度调节方式为:调宽电机1121通过调宽同步部件1127带动调宽双向丝杆1122进行旋转,带动与调宽双向丝杆1122两端分别啮合的两个调宽螺母1123进行左右移动,带动第一传送带1112a和第二传送带1112b进行左右移动,同时带动两个调宽滑块1125分别沿调宽导轨1124进行移动做方向导向,带动两个调宽连接块1126分别连接的第一挡板1112e和第二挡板1112f进行左右同步移动至激光位移传感器1128设定好的距离参数,从而完成对右传送线1112的自动宽度调节。使用调宽组件112对左传送线1113进行自动宽度调节的步骤原理与此相同,不再赘述。In this embodiment, the
进一步地,所述上料机构110还包括调高组件113,所述调高组件113包括调高电机1131、调高传动部件和调高导向部件,所述调高传动部件包括调高丝杆1132和调高螺母1133,所述调高导向部件包括调高连接板1134、调高导柱1135和调高滑套1136,所述调高电机1131与所述调高丝杆1132连接,所述调高丝杆1132与所述调高螺母1133啮合,所述调高螺母1133与所述调高连接板1134连接,所述调高导柱1135的两端分别与所述调高连接板1134和所述取料位1112c连接,所述调高导柱1135滑动连接在所述调高滑套1136上,所述调高滑套1136设置于所述上料底板1111上。Further, the
进一步地,所述调高组件113还包括调高同步部件1137,所述调高同步部件1137包括调高主动轮、调高从动轮和调高同步带(未画出),所述调高电机1131与所述调高主动轮连接,所述调高主动轮通过所述调高同步带与所述调高从动轮连接,所述调高从动轮与所述调高丝杆1132连接。Further, the height-adjusting
进一步地,所述第一空料位1113c也设置有相同结构的调高组件113,用于调节所述第一空料位1113c的高度。在该调高组件113中,所述调高导柱1135的两端分别与所述调高连接板1134和所述第一空料位1113c连接。Further, the first
在该实施例中,由产品输送翻转机构120将取料位1112c的托盘21上的产品22取出,当托盘21内所有产品22被取出完毕时,空托盘移送机构130将取料位1112c的空托盘移送至左传送线1113的第一空料位1113c处,此时取料位1112c的托盘组高度由于取走一层托盘后而发生位置下降,为了保证产品输送翻转机构120上下移动行程一致,需要通过调高组件113对取料位1112c的托盘组高度进行高度补偿,主要高度调节方式为:调高电机1131通过调高同步部件1137带动调高丝杆1132进行旋转,带动与调高丝杆1132啮合的调高螺母1133上升,带动调高连接板1134和调高导柱1135上升,使调高导柱1135沿着调高滑套1136做上升运动,带动取料位1112c上升,带动取料位1112c上的托盘顶起一个托盘位置,从而完成空托盘移送走后取料位1112c托盘的高度补偿。In this embodiment, the
进一步地,所述上料机构110还包括至少两个限位组件114,两个所述限位组件114分别设置于所述取料位1112c和所述备料位1112d的后侧,在一个所述限位组件114中,所述限位组件114包括限位气缸1141和限位板1142,所述限位气缸1141与所述限位板1142连接,所述限位板1142上设置有若干个限位柱1142a。Further, the
进一步地,所述限位组件114还包括限位导向部件,所述限位导向部件包括限位导柱1143和限位滑套1144,所述限位滑套1144设置于所述上料底板1111上,所述限位导柱1143滑动连接在所述限位滑套1144上,所述限位导柱1143与所述限位板1142连接。Further, the
在该实施例中,主要根据所述取料位1112c、所述备料位1112d、所述第一空料位1113c和所述第二空料位1113d数量或实际生产需求设置所述限位组件114的数量。例如,设置所述限位组件114的数量为四个,四个所述限位组件114分别设置于所述取料位1112c、所述备料位1112d、所述第一空料位1113c和所述第二空料位1113d的后侧。In this embodiment, the limiting
上述限位组件114主要限位调节方式为:限位气缸1141带动限位板1142进行上下移动,限位柱1142a对取料位1112c上的托盘21进行限位阻挡,同时带动限位导柱1143沿限位滑套1144进行上下移动做方向导向。The main limit adjustment method of the
本发明的自动装盒机10的工作步骤如下:The working steps of the
1.在上料机构110中,将装满充电头的托盘拿到物料传送组件111上,其中,右传送线1112的取料位1112c和备料位1112d用于堆叠多个装满充电头的托盘,左传送线1113的第一空料位1113c和第二空料位1113d用于堆叠多个空托盘,物料传送组件111的上料顺序为右进左出。限位组件114可对四个料位的托盘进行限位,由限位气缸1141连接限位板1142带动其上升与下降。激光位移传感器1128根据对托盘的距离识别并使用调宽组件112对右传送线1112进行自动宽度调节,调宽电机1121连接的调宽同步部件1127带动调宽双向丝杆1122进行旋转,带动调宽双向丝杆1122上的调宽螺母1123进行移动,同时带动调宽滑块1125沿调宽导轨1124进行移动做方向导向,带动两个调宽连接块1126分别连接的第一挡板1112e和第二挡板1112f进行左右同步移动至激光位移传感器1128设定好的距离参数,从而完成对右传送线1112的自动宽度调节。使用调宽组件112对左传送线1113进行自动宽度调节的步骤原理与此相同,不再赘述。1. In the
取料位1112c的托盘由第一传送带1112a和第二传送带1112b运行并由限位组件114限位停下,由产品输送翻转机构120将托盘上的充电头取出,当托盘内所有充电头被取出完毕时,空托盘移送机构130的X轴移送组件131将移送吸盘架133移动至取料位1112c的空托盘上方,Z轴移送组件132带动移送吸盘架133下降将取料位1112c的空托盘吸起,吸起后放至左传送线1113的第一空料位1113c处,此时取料位1112c的托盘组高度由于取走一层托盘后而发生位置下降,为了保证产品输送翻转机构120上下移动行程一致,调高组件113的调高电机1131驱动调高同步部件1137连接的调高丝杆1132进行旋转,带动调高丝杆1132上的调高螺母1133上升,带动调高连接板1134和调高导柱1135上升,带动取料位1112c上的托盘顶起一个托盘位置,完成空托盘移送走后取料位1112c托盘的高度补偿。The tray at the pick-up
2.在空托盘移送机构130中,由移送吸盘架133将取料位1112c的空托盘吸起,由X轴移送组件131将移送吸盘架133移动至取料位1112c的空托盘上方,由Z轴移送组件132带动移送吸盘架133下降将空托盘放下第一空料位1113c处,完成空托盘的运输。2. In the empty
3.在产品输送翻转机构120中,由于充电头来料姿态朝向等与最终放入包装盒30的姿态朝向不一定相同,故第一图像识别组件123的相机1232对取料位1112c的托盘上的充电头进行取料前拍照,相机1232跟随X轴输送部件1221和Y轴输送部件1222进行同步移动,到达预定取料位1112c置后进行拍照,根据拍照识别取料位1112c的充电头的姿态和朝向,联合人工设定确定最终放入包装盒30的充电头的姿态与朝向,如当前来料姿态和朝向可通过产品多向旋转机构140进行校正,则无需启动翻转组件121进行充电头产品面的翻转。如当前识别取料位1112c的充电头姿态朝向等进过计算无法达到最终放入包装盒30的姿态朝向等,则启动翻转组件121对充电头进行翻转换面,再启动产品多向旋转机构140对充电头进行吸取,以保证实现最终放入包装盒30内的姿态与朝向。3. In the product conveying and
翻转组件121由X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223完成三轴空间坐标运动,翻转组件121吸取充电头后进行翻转动作具体为:吸盘臂1213e用于吸取充电头的一面,通过翻转气缸1211与直线导轨1213f上的直线滑块1213a推动齿条1213b,并有与齿条1213b配合的内齿轮1213c进行转动,外齿轮1213d与圆弧槽做滑动连接,翻转气缸1211提升时带动的齿条1213b传递动力到内齿轮1213c,内齿轮1213c啮合推动外齿轮1213d沿圆弧槽的弧形轨迹运动,带动一侧的吸盘臂1213e做90度翻转,另一侧的吸盘臂1213e也做同步90度翻转动作,此时另一侧的吸盘臂1213e会吸附充电头的相对另一面,实现充电头吸取面的交换。充电头吸取面交换后,翻转气缸1211推动两个翻转部件1213做反向90度翻转运行,实现复位,从而完成了对充电头的180度翻转。翻转过程在充电头通过三维输送组件122运送至产品多向旋转机构140的途中同步完成。The turning
4.在产品多向旋转机构140中,第二图像识别组件124负责拍照识别次旋转组件142的真空吸台1422上充电头姿态与朝向等,并根据人工设定充电头放入包装的姿态与朝向等,通过主翻转组件141和次旋转组件142做定向调节,对充电头自动调整至最终姿态与朝向。次旋转组件142的真空吸台1422主要承接由产品输送翻转机构120输送的充电头,真空吸台1422启动真空将充电头吸稳在平面上,通过第二图像识别组件124判断此时充电头的位置与高度,由主翻转电机1411进行第一方向的翻转将主翻转座1412内的充电头更换姿态,由次旋转电机1421联动真空吸台1422对充电头进行第二方向的旋转。4. In the product
5.在产品投放机构150和包装盒输送机构160中,通过投放吸盘架154取出产品多向旋转机构140调节完成的充电头,由X轴输送部件1221、Y轴输送部件1222和Z轴输送部件1223对投放吸盘架154完成三轴空间坐标运动;包装盒输送机构160将包装盒输送至投放位置,产品投放机构150将充电头放入包装盒内,最终完成充电头自动装盒。5. In the
以上所述实施例仅表达了本发明的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。因此,本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.
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CN211109764U (en) * | 2019-10-22 | 2020-07-28 | 无锡先导智能装备股份有限公司 | Turnover mechanism |
CN212248444U (en) * | 2020-04-28 | 2020-12-29 | 安徽四海工程建设有限公司 | Pipeline embedding device for hydraulic engineering |
CN114516450A (en) * | 2022-01-14 | 2022-05-20 | 江苏昇瑞机械制造有限公司 | Arrangement adjusting device for hygienic product production line |
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2022
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JPH10129832A (en) * | 1996-10-28 | 1998-05-19 | Ricoh Co Ltd | Card-shaped work sucking, reversing, lifting device and card-shaped work reversing transferring device provided therewith |
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JP2014200894A (en) * | 2013-04-08 | 2014-10-27 | 株式会社オーテックメカニカル | Turnover device |
CN211109764U (en) * | 2019-10-22 | 2020-07-28 | 无锡先导智能装备股份有限公司 | Turnover mechanism |
CN212248444U (en) * | 2020-04-28 | 2020-12-29 | 安徽四海工程建设有限公司 | Pipeline embedding device for hydraulic engineering |
CN114516450A (en) * | 2022-01-14 | 2022-05-20 | 江苏昇瑞机械制造有限公司 | Arrangement adjusting device for hygienic product production line |
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