CN110920979B - Flexible grabbing device of unipolar - Google Patents
Flexible grabbing device of unipolar Download PDFInfo
- Publication number
- CN110920979B CN110920979B CN201911346960.2A CN201911346960A CN110920979B CN 110920979 B CN110920979 B CN 110920979B CN 201911346960 A CN201911346960 A CN 201911346960A CN 110920979 B CN110920979 B CN 110920979B
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- China
- Prior art keywords
- guide rail
- block
- fixed beam
- sliding block
- limiting block
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 4
- 235000012055 fruits and vegetables Nutrition 0.000 abstract description 13
- 238000013461 design Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012536 packaging technology Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- 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
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
- B65B25/046—Packaging fruit or vegetables in crates or boxes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention relates to a single-shaft telescopic grabbing device, and belongs to the technical field of grabbing device structures. Including installing the middle guide rail slider subassembly in fixed beam intermediate position department, both ends are all installed to the fixed beam left and right sides, an actuating mechanism is respectively installed to both sides around the fixed beam, middle guide rail slider subassembly includes middle linear guide and a plurality of middle sliders, middle stopper is all installed to every middle slider below, a sucking disc subassembly is all installed to middle stopper bottom, the upper portion slider of top installation on the fixed beam is including the tip slider, upper portion slider bottom slidable mounting is on upper portion guide rail, lower part guide rail is installed to upper portion guide rail bottom, install a plurality of lower part sliders on the lower part guide rail, an end stopper is all installed to every lower part slider bottom, a sucking disc subassembly is all installed to every end stopper bottom, middle stopper is in same straight line with the end stopper and is connected through the hold-in range. The apple boxing device is ingenious in structural design and can avoid collision in the apple boxing process. The invention has smart structural design, can be extended and contracted at equal intervals, has good stability and improves the efficiency of grabbing and boxing fruits and vegetables.
Description
Technical Field
The invention relates to a single-shaft telescopic grabbing device, and belongs to the technical field of grabbing device structures.
Background
Along with the continuous development of the first industry and the second industry in China, china becomes a large country of manufacturing industry, the efficiency and quality of manufacturing are definitely two factors of current development, the product is packaged after being manufactured, the existing packaging technology is mainly based on manual operation, in the process of packaging, the product is manually conveyed into a packaging box from a carrier or a running water belt, so that the efficiency is extremely low, only one product can be conveyed at a time, the product packaging industry is urgent to need a device which can grasp a plurality of products at one time, automatically and equidistantly stretch the products to a proper size of the packaging box after grasping, and then place the products in the packaging box.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the single-shaft telescopic grabbing device which is ingenious in structural design, can be telescopic at equal intervals, is good in stability and improves the grabbing and boxing efficiencies of fruits and vegetables.
The single-shaft telescopic grabbing device is characterized by comprising a middle guide rail sliding block assembly 1-3 arranged at the middle position of a fixed beam 1-23, wherein end guide rail sliding block assemblies 1-4 are arranged at the left end and the right end of the fixed beam 1-23, an actuating mechanism is respectively arranged at the front side and the rear side of the fixed beam 1-23, the two actuating mechanisms respectively drive the two end guide rail sliding block assemblies 1-4 to stretch or retract simultaneously, the middle guide rail sliding block assembly 1-3 comprises a middle linear guide rail 1-10 and a plurality of middle sliding blocks 1-11, a middle limiting block 1-13 is arranged below each middle sliding block 1-11, a sucking disc assembly 1-2 is arranged at the bottom of each middle limiting block 1-13, the end guide rail sliding block assemblies 1-4 comprise upper sliding blocks 1-14 with the top arranged on the fixed beam 1-23, the bottoms of the upper sliding blocks 1-14 are slidably arranged on the upper sliding rails 1-15, lower sliding blocks 1-17 are arranged at the bottoms of the upper sliding rails 1-15, a plurality of lower sliding blocks 1-19 are arranged on the lower sliding rails 1-17, each lower sliding block 1-19 is provided with a plurality of limiting blocks 1-18, the bottom ends 1-18 are synchronously provided with a plurality of limiting blocks 1-18, and the same length is equal to the same as that of the end of the corresponding limiting blocks 1-18, and the end 1-18 are synchronously arranged at the bottom ends of the end parts, and are synchronously arranged between the two limiting blocks 1-18;
The upper guide rail 1-15 and the lower guide rail 1-17 are integrally arranged through a middle fixing plate 1-16, a cylinder connecting block 1-22 and a hydraulic buffer jacking block 1-21 are arranged on the upper surface of one end, far away from the middle linear guide rail 1-10, of the middle fixing plate 1-16, and an end fixing block 1-20 is arranged on the lower surface of the middle fixing plate;
The actuating mechanism comprises a cylinder assembly 1-1 arranged on a fixed beam 1-23, and the end part of a cylinder push rod 1-24 in the cylinder assembly 1-1 is fixed on a cylinder connecting block 1-22;
the synchronous belt 1-7 is arranged at the bottoms of the middle limiting block 1-13 and the end limiting block 1-18 through a synchronous belt pressing block 1-6 to form the fixed point;
The sucker assembly 1-2 comprises a U-shaped sucker connecting piece 1-8 arranged at the bottom of the middle limiting block 1-13 and the end limiting block 1-18, and a sucker 1-9 arranged on the sucker connecting piece 1-8;
the left end and the right end of the middle limiting block 1-13 are respectively provided with a middle contact arm 1-25 with equal length, and one end, close to the middle limiting block 1-13, of the end limiting block 1-18 is provided with an end contact arm 1-26 with equal length with the middle contact arm 1-25;
The middle limiting block 1-13 is connected with the middle sliding block 1-11 through a limiting block vertical plate 1-12;
the fixed beam 1-23 is provided with a hydraulic buffer component 1-5 matched with the hydraulic buffer top block 1-21.
The single-shaft telescopic grabbing device is ingenious in structural design, when fruits and vegetables need to be grabbed, the two end guide rail sliding block assemblies 1-4 are respectively driven to horizontally move in the opposite directions through the two actuating mechanisms, the upper guide rail 1-15 and the lower guide rail 1-7 are synchronously stretched outwards, so that the end limiting blocks 1-18 are outwards moved, the end limiting blocks 1-18 and the middle limiting blocks 1-13 are connected through the synchronous belt 1-7, the end limiting blocks 1-18 which are further moved pull the middle limiting blocks 1-13 to be stretched, the synchronous belt length between every two adjacent limiting blocks is the same, the distance between the adjacent limiting blocks after being completely stretched is the same, the sucker assemblies 1-2 are used for grabbing fruits and vegetables, when boxing is needed, the actuating mechanisms drive the two end guide rail sliding block assemblies 1-4 to be folded, the adjacent limiting blocks 1-13 are mutually contacted, and as the end contact arms 1-25 with the same in length are arranged at the left end and the right ends of the middle limiting blocks 1-13, and the end contact arms 1-26 with the middle contact arms 1-25 in the same length are arranged at one end, which are close to the middle limiting blocks 1-13, and the end contact arms 1-26 are identical in length with the middle contact arms, so that fruits and vegetables can be placed in boxes at equal intervals. In conclusion, the fruit and vegetable boxing device is simple and reliable in structure, can realize equidistant stretching and retracting, and improves the working efficiency of fruit and vegetable boxing.
Drawings
Fig. 1: the invention relates to a structural schematic diagram of a single-shaft telescopic grabbing device after synchronous belt tensioning;
fig. 2: the invention relates to a structural schematic diagram of a synchronous belt of a single-shaft telescopic grabbing device in a state 1 when the synchronous belt is bent;
fig. 3: the invention relates to a structural schematic diagram of a synchronous belt of a single-shaft telescopic grabbing device in a state 2 when the synchronous belt is bent;
fig. 4: a structural schematic diagram of the sucker assembly;
fig. 5: a structural schematic diagram of the intermediate rail-slide assembly;
fig. 6: the end guide rail sliding block assembly is structurally schematic.
In the figure: 1-1, a cylinder assembly; 1-2, a sucker assembly; 1-3, a middle guide rail sliding block assembly; 1-4, an end guide rail slide block assembly; 1-5, an oil pressure buffer assembly; 1-6, pressing a synchronous belt into blocks; 1-7, a synchronous belt; 1-8, sucking disc connecting piece; 1-9, sucking discs; 1-10, a middle linear guide rail; 1-11, middle slide block; 1-12, limiting the vertical plate; 1-13, an intermediate limiting block; 1-14, upper slide block; 1-15, upper guide rail; 1-16, an intermediate fixing plate; 1-17, lower guide rail; 1-18, limiting blocks at two ends; 1-19, a lower slider; 1-20, end fixing blocks; 1-21, a hydraulic buffer top block; 1-22, a cylinder connecting block; 1-23, fixing beams; 1-24, cylinder push rod; 1-25, an intermediate contact arm; 1-26, end contact arms.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-6, a single-shaft telescopic grabbing device of this embodiment includes a middle guide rail slider assembly 1-3 mounted at a middle position of a fixed beam 1-23, end guide rail slider assemblies 1-4 are mounted at left and right ends of the fixed beam 1-23, an executing mechanism is mounted at front and rear sides of the fixed beam 1-23, the two executing mechanisms respectively drive the two end guide rail slider assemblies 1-4 to extend or retract simultaneously, the middle guide rail slider assembly 1-3 includes a middle linear guide rail 1-10 and a plurality of middle sliders 1-11, a middle limiting block 1-13 is mounted below each middle slider 1-11, the middle limiting block 1-13 is connected with the middle sliders 1-11 through a limiting block vertical plate 1-12, the bottom of each middle limiting block 1-13 is provided with a sucking disc component 1-2, the end guide rail sliding block component 1-4 comprises an upper sliding block 1-14, the top of which is arranged on a fixed beam 1-23, the bottom of the upper sliding block 1-14 is slidably arranged on an upper guide rail 1-15, the bottom of the upper guide rail 1-15 is provided with a lower guide rail 1-17, the lower guide rail 1-17 is provided with a plurality of lower sliding blocks 1-19, the bottom of each lower sliding block 1-19 is provided with an end limiting block 1-18, the bottom of each end limiting block 1-18 is provided with a sucking disc component 1-2, the middle limiting blocks 1-13 and the end limiting blocks 1-18 are positioned on the same straight line and are connected through a synchronous belt 1-7, the bottom of each limiting block is provided with a fixed point, the length of the synchronous belt between each two adjacent limiting blocks is the same; when the fruits and vegetables need to be grabbed, the two end guide rail slide block assemblies 1-4 are respectively driven to horizontally move in the opposite directions through the two execution mechanisms, so that the upper guide rail 1-15 and the lower guide rail 1-7 synchronously extend outwards, the end limiting blocks 1-18 are outwards moved, the end limiting blocks 1-18 and the middle limiting blocks 1-13 are connected through the synchronous belt 1-7, the middle limiting blocks 1-13 are pulled to be unfolded by the additionally moved end limiting blocks 1-18, the synchronous belt length between every two adjacent limiting blocks is the same, the distances between the adjacent limiting blocks are the same after the adjacent limiting blocks are completely unfolded, fruits and vegetables are grabbed through the sucker assemblies 1-2, and when the fruits and vegetables need to be boxed, the two end guide rail slide block assemblies 1-4 are driven to be folded by the execution mechanisms.
The upper guide rail 1-15 and the lower guide rail 1-17 are integrally installed through the middle fixing plate 1-16, the upper surface of one end, far away from the middle linear guide rail 1-10, of the middle fixing plate 1-16 is provided with the cylinder connecting block 1-22 and the hydraulic buffer jacking block 1-21, the lower surface is provided with the end fixing block 1-20, the actuating mechanism comprises a cylinder assembly 1-1 installed on the fixing beam 1-23, the end part of a cylinder push rod 1-24 in the cylinder assembly 1-1 is fixed on the cylinder connecting block 1-22, and the cylinder connecting block 1-22 is pushed to extend outwards through the cylinder push rod 1-24, so that the upper guide rail 1-15 and the lower guide rail 1-17 synchronously extend outwards, and the tensioning of the synchronous belt 1-7 is realized;
The synchronous belt 1-7 of the embodiment is arranged at the bottoms of the middle limiting block 1-13 and the end limiting block 1-18 through the synchronous belt pressing block 1-6 to form the fixed point;
The concrete structure of sucking disc subassembly is: the sucker assembly 1-2 comprises a U-shaped sucker connecting piece 1-8 arranged at the bottom of the middle limiting block 1-13 and the end limiting block 1-18, and a sucker 1-9 arranged on the sucker connecting piece 1-8;
In order to realize equidistant fruit and vegetable boxing, the left end and the right end of the middle limiting block 1-13 are respectively provided with an equal-length middle contact arm 1-25, and one end, close to the middle limiting block 1-13, of the end limiting block 1-18 is provided with an end contact arm 1-26 equal to the middle contact arm 1-25 in length. When the box is needed to be packed, the actuating mechanism drives the two end guide rail slide block assemblies 1-4 to be folded to enable the adjacent limiting blocks 1-13 to be in contact with each other, as the left end and the right end of the middle limiting block 1-13 are respectively provided with the middle contact arm 1-25 with equal length, and one end of the end limiting block 1-18, which is close to the middle limiting block 1-13, is provided with the end contact arm 1-26 with equal length with the middle contact arm 1-25, equal interval box packing placement between fruits and vegetables can be realized.
The invention is simple and reliable, can realize equidistant extension and retraction, and improves the working efficiency of fruit and vegetable boxing.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The single-shaft telescopic grabbing device is characterized by comprising a middle guide rail sliding block assembly arranged at the middle position of a fixed beam, wherein end guide rail sliding block assemblies are arranged at the left end and the right end of the fixed beam, an executing mechanism is respectively arranged at the front side and the rear side of the fixed beam, the two executing mechanisms respectively drive the two end guide rail sliding block assemblies to stretch or retract simultaneously, the middle guide rail sliding block assembly comprises a middle linear guide rail and a plurality of middle sliding blocks, middle limiting blocks are arranged below each middle sliding block, a sucking disc assembly is arranged at the bottom of each middle limiting block, the end guide rail sliding block assembly comprises an upper sliding block with the top arranged on the fixed beam, the bottom of the upper sliding block is slidably arranged on the upper guide rail, a lower guide rail is arranged at the bottom of the upper guide rail, a plurality of lower sliding blocks are arranged on the bottom of each lower sliding block, a sucking disc assembly is arranged at the bottom of each end limiting block, the middle limiting blocks are positioned on the same straight line with the end and are connected through a synchronous belt, the synchronous belt is provided with a fixed point at the bottom of each limiting block, and the length of the synchronous belt between every two adjacent limiting blocks is the same;
The upper guide rail and the lower guide rail are integrally installed through a middle fixing plate, an air cylinder connecting block and an oil pressure buffer jacking block are installed on the upper surface of one end, far away from the middle linear guide rail, of the middle fixing plate, and an end fixing block is installed on the lower surface of the middle fixing plate;
the actuating mechanism comprises a cylinder assembly arranged on the fixed beam, and the end part of a cylinder push rod in the cylinder assembly is fixed on the cylinder connecting block;
the synchronous belt is arranged at the bottoms of the middle limiting block and the end limiting block through a synchronous belt pressing block to form the fixed point.
2. A single-axis telescopic gripping apparatus according to claim 1, wherein the suction cup assembly comprises a U-shaped suction cup connector mounted to the bottom of the intermediate stopper and the end stopper, and suction cups mounted to the suction cup connector.
3. The single-shaft telescopic grabbing device according to claim 1, wherein the middle limiting block is provided with middle contact arms with equal length at the left end and the right end, and one end of the end limiting block, which is close to the middle limiting block, is provided with end contact arms with equal length with the middle contact arms.
4. A single-shaft telescopic gripping device according to claim 1, characterized in that the intermediate limiting block is connected with the intermediate sliding block through a limiting block vertical plate.
5. A single-axis telescopic gripping apparatus according to claim 1, wherein the fixed beam is provided with a hydraulic damper assembly for use with a hydraulic damper top block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346960.2A CN110920979B (en) | 2019-12-24 | 2019-12-24 | Flexible grabbing device of unipolar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346960.2A CN110920979B (en) | 2019-12-24 | 2019-12-24 | Flexible grabbing device of unipolar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110920979A CN110920979A (en) | 2020-03-27 |
| CN110920979B true CN110920979B (en) | 2024-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911346960.2A Active CN110920979B (en) | 2019-12-24 | 2019-12-24 | Flexible grabbing device of unipolar |
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| CN (1) | CN110920979B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148300A (en) * | 2021-05-14 | 2021-07-23 | 烟台拓伟智能科技股份有限公司 | Fruit snatchs vanning device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211593111U (en) * | 2019-12-24 | 2020-09-29 | 烟台拓伟智能科技股份有限公司 | Single-shaft telescopic gripping device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1044622A (en) * | 1951-03-14 | 1953-11-19 | Sophisticated agricultural tractor carrying a double set of symmetrical working implements | |
| CA2426057C (en) * | 2002-04-22 | 2018-03-06 | Milos Misha Subotincic | End effector with multiple pick-up members |
| CN202156564U (en) * | 2011-05-31 | 2012-03-07 | 杭州永创智能设备股份有限公司 | Laned grabbing counting conveying device |
| CN209617616U (en) * | 2018-10-17 | 2019-11-12 | 武汉心浩智能科技有限公司 | A kind of electronic product packing machine |
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2019
- 2019-12-24 CN CN201911346960.2A patent/CN110920979B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211593111U (en) * | 2019-12-24 | 2020-09-29 | 烟台拓伟智能科技股份有限公司 | Single-shaft telescopic gripping device |
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| CN110920979A (en) | 2020-03-27 |
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