CN103183156B - Intubation machine - Google Patents
Intubation machine Download PDFInfo
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- CN103183156B CN103183156B CN201310102140.5A CN201310102140A CN103183156B CN 103183156 B CN103183156 B CN 103183156B CN 201310102140 A CN201310102140 A CN 201310102140A CN 103183156 B CN103183156 B CN 103183156B
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Abstract
The invention provides a kind of intubation machine, it comprises: the input conveyor line of tube packaging body to be inserted, and think that the first robot device provides tube packaging body to be inserted in groups, tube packaging body to be inserted in groups forms a line or multiple row in group; First robot device, packaging body in groups described in extracting from travel line, puts on intubate travel line by packaging body; Intubate travel line, for conveying and packaging body through Intubaction device; Intubaction device, is arranged on by intubate travel line, for longitudinally being inserted in packaging body by suction pipe; Second robot device, for extracting the packaging body of intubate in groups from intubate travel line, exports packaging body in groups.The present invention can be embedded on the packaging line of article, in the process of conveying and packaging body, mechanization coherent intubate work is automatically carried out to packaging body, gets involved without the need to manual operation, cut down the number of intermediate links, improve the whole work efficiency of packaging line, reduce costs.
Description
Technical field
The present invention relates to package packing machine field, particularly relate to intubation machine wherein.
Background technology
Some packaging for foodstuff needs to configure suction pipe.Such as, in the grouping packages such as cup Yoghourt, often suction pipe is configured.Suction pipe after fabrication by the coated location of its protection sheet, and connects into suction pipe band by protection sheet.When packing, then suction pipe band is divided into a section by the Yoghourt quantity in corresponding grouping package.Every section of suction pipe containing the Yoghourt quantity in corresponding grouping package, and filled in the grouping packages such as cup Yoghourt.
In the past, operations such as putting into the work of suction pipe in packaging body, comprise the segmentation to suction pipe, fill in be all hand-manipulated, or, the work of segmentation is born by machinery.Can not from realize coherent intubate work to end machinery.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of intubation machine, can realize to the coherent intubate work of mechanization terminated.For this reason, the present invention by the following technical solutions: it comprises: the input conveyor line of tube packaging body to be inserted, and think that the first robot device provides tube packaging body to be inserted in groups, tube packaging body to be inserted in groups forms a line or multiple row in group; First robot device, packaging body in groups described in extracting from input conveyor line, puts on intubate travel line by packaging body; Intubate travel line, for conveying and packaging body through Intubaction device; Intubaction device, is arranged on by intubate travel line, for longitudinally being inserted in packaging body by suction pipe; Second robot device, for extracting the packaging body of intubate in groups from intubate travel line, exports packaging body in groups.
Owing to adopting technical scheme of the present invention, the present invention can be embedded on the packaging line of article, in the process of conveying and packaging body, mechanization coherent intubate work is automatically carried out to packaging body, get involved without the need to manual operation, cut down the number of intermediate links, improve the whole work efficiency of packaging line, reduce costs.
On the basis adopting above technical scheme, the present invention also can adopt following further technical scheme:
Described intubate travel line is provided with the detent mechanism of packaging body, making spacing between the packaging body of intubate when being carried by intubate travel line, keeping corresponding with the intubate exit separation of Intubaction device.
The height of the detent mechanism on described intubate travel line is the detent mechanism of corresponding two-layer tube packaging body to be inserted; Described intubate travel line is intermittence travel line, and its distance of at every turn carrying is corresponding to the disposable half putting into the tube packaging body group length to be inserted of intubate travel line of the first manipulator.
Described second robot device comprises installation matrix, and installation matrix is provided with the first manipulator mechanism and the second manipulator mechanism, and the second manipulator mechanism is arranged in the top in the clipped object product space that the first manipulator mechanism surrounds; Described installation matrix is connected on kinematic mechanism, and can be lifting and translation.Be provided with lifting mechanism and translation mechanism in described kinematic mechanism, described lifting mechanism is connected to can by translation on translation mechanism, and described installation matrix is connected on lifting mechanism can be driven lifting and translation together with lifting mechanism by described lifting mechanism.
Described first manipulator mechanism adopts clip manipulator mechanism, and described second manipulator mechanism adopts sucker.
The input conveyor line of tube packaging body to be inserted comprises input section and exports working-storage section, and described input section and output working-storage section are by respective power driven, and input section is connected mutually with output working-storage section, and input section and output working-storage section have article respectively and stop mechanism; The article of described input section stop mechanism to be movable device, export working-storage section output tube packaging body to be inserted in groups for making input Duan Nengxiang.
Described Intubaction device comprises the grouping arranged side by side of a set of and many covers and integrates mechanism, and the cutting knife that mechanism comprises screw rod, laterally seesaws relative to screw rod is integrated in described grouping, and described screw rod can be rotated around its axis by power driven; Described grouping is integrated mechanism and is provided with guide frame in the side of screw rod, there is gap between described guide frame and screw rod, by screw rod transmission on the side that described guide frame enables the suction pipe band be between described guide frame and screw rod be attached to screw rod; Described cutter is in this side of screw rod transmission suction pipe band, and described screw flight tooth is provided with the cutting knife groove of described cutting knife; The pitch of screw rod and the thickness of suction pipe match, and make suction pipe can enter space between the phase adjacent teeth of screw thread; Described grouping is integrated mechanism and is also comprised collecting tank, and mechanism's suction pipe exit is integrated in the grouping that described collecting tank is in gap between guide frame and screw rod, and its notch is undertaken on described grouping and integrates mechanism's suction pipe outlet outside; One end of described collecting tank is the suction pipe outlet of described Intubaction device, it is towards intubate travel line, described grouping is integrated mechanism and is also provided with pushing mechanism, and described pushing mechanism can move along the length direction of collecting tank, the suction pipe band section in collecting tank is released from described suction pipe outlet.
Described intubation machine is in the both sides of intubate travel line, in intubate station, be equipped with Intubaction device, the intubate of their the intubate outlet Intubaction device of corresponding two-layer tube packaging body side to be inserted respectively exports corresponding ground floor, and the intubate of the Intubaction device of opposite side exports the corresponding second layer.
Described guiding mechanism comprises the guiding parts of entrance guide section; The guiding parts of described entrance guide section is by removable installation.
Described guiding mechanism is provided with fixed guide block, and the guiding parts of described entrance guide section is removable to be arranged on fixed guide block, and described fixed guide block is provided with the groove excessively that the described cutting knife of confession passes.
The spigot surface of described guide frame is plane.
Described grouping integration mechanism is provided with suction pipe at the suction pipe band position entered between guide frame and screw rod before gap and brings tape guide roller group into, there is in described guiding roller group the activity-oriented roller regulating suction pipe belt tension, described adjustment guiding roller is connected on swinging gear, and described Intubaction device is provided with activity-oriented groove and the position limiting structure of activity-oriented roller.
Described grouping is integrated in mechanism, forms conveying mechanism match with described guide frame by the described screw rod in two, left and right of equidirectional rotation.
The power driving described screw rod to rotate is motor, and the end of screw rod coaxially connects driven gear, and described driven gear engages with motor-driven driving gear, and driving gear is between the driven gear that two, described left and right screw rod connects.
When mechanism is integrated in the grouping that described Intubaction device is provided with many covers, the grouping of described many groups is integrated mechanism and is arranged along the longitudinal direction.Each grouping is integrated the seesaw knife rest of cutting knife of the transverse direction of mechanism and is connected on contiguous block, and be connected with propulsion source by contiguous block, described grouping integrating apparatus is provided with the slide-and-guide track of contiguous block.
The left driving wheel that described first robot device comprises left drive motor and driven by it, right drive motor and the right driving wheel driven by it, the driven wheels that four flower wheels are formed, connect the parts of manipulator, transport tape or chain, the parts connecting manipulator are connected on crane, described four flower wheels are respectively lower-left wheel, upper left is taken turns, upper right is taken turns, bottom right is taken turns, four rectangular arrangements of flower wheel, described crane is provided with the 5th flower wheel, the position of described 5th flower wheel is higher than driven wheels, described left driving wheel and right driving wheel are in the left side and the right of driven wheels respectively, described transport tape or chain are connected with crane or the parts be connected on crane, and connecting portion is lower than driven wheels, the bypass route of described transport tape or chain is through above-mentioned each flower wheel and each driving wheel and form criss-cross, described four flower wheels are arranged on and horizontally slip on frame, and described manipulator comprises the manipulator actuating unit of arrayed in columns, and these manipulator actuating units are respectively for each packaging body in tube packaging body to be inserted in groups.
Be provided with the mechanism regulating manipulator actuating unit spacing in described manipulator, make the spacing of manipulator actuating unit corresponding with the intubate exit separation of Intubaction device.
Manipulator actuating unit in first robot device can adopt the functional entity of multiple energy belongings, such as sucker, clamp etc.
Described first robot device is provided with vertically-guided mechanism, and described vertically-guided mechanism is provided with the first sliding shoe and guide rail thereof, and the first sliding shoe and guide rail thereof are divided into crane and horizontally slip on frame; Described first robot device is provided with left and right guiding mechanism, and described left and right guiding mechanism is provided with the second sliding shoe and guide rail thereof, and the second sliding shoe and guide rail thereof are divided into and horizontally slip on frame and fixed mount.
On front and back position, crane and fixed mount are in both sides, front and back, and the frame that horizontally slips is between crane and fixed mount.
Described crane is provided with upper limit part and lower limit part.
Described transport tape or chain have lower-left end and bottom righthand side, and described lower-left end and bottom righthand side are connected crane respectively or are connected with the parts be connected on crane; The bypass route of described transport tape or chain is: from lower-left end successively through lower-left wheel, left driving wheel, upper left wheel, the 5th flower wheel, upper right wheel, right driving wheel, bottom right wheel, bottom righthand side.
Accompanying drawing explanation
Fig. 1 is the overall schematic of intubation machine embodiment provided by the present invention.
Fig. 2 is exploded view embodiment illustrated in fig. 1.
Fig. 3 is the schematic diagram of the first robot device embodiment provided by the present invention.
Fig. 4 is the schematic diagram in another direction of the first robot device embodiment provided by the present invention.
Fig. 5 is the exploded view of the first robot device embodiment provided by the present invention.
Fig. 6 is the front view of the first robot device embodiment provided by the present invention.
Fig. 7 is the schematic diagram in a direction of Intubaction device embodiment provided by the present invention.
Fig. 8 is the schematic diagram in another direction of Intubaction device embodiment provided by the present invention.
Fig. 9 is the exploded view of intubate embodiment provided by the present invention.
Figure 10 is the forward (FWD) schematic diagram of suction pipe band of the present invention.
Figure 11 is the cooperation schematic diagram of the screw rod of Intubaction device of the present invention, guiding mechanism, cutting knife, suction pipe band.
Figure 12 is the birds-eye view of suction pipe band.
Figure 13 is the schematic diagram of the second robot device embodiment provided by the present invention.
Figure 14 is the second robot device embodiment exploded view provided by the present invention.
Figure 15 be with the state of packaging body in each device of intubation machine of the present invention for signal, demonstrate the schematic diagram of working process of the present invention, in the drawings, the state of overlooking simultaneously showing packaging body with face state.
Detailed description of the invention
The present invention includes:
The input conveyor line of tube packaging body to be inserted, think that the first robot device provides tube packaging body to be inserted in groups, tube packaging body to be inserted in groups forms a line or multiple row in group;
First robot device 200, packaging body in groups described in extracting from input conveyor line, puts on intubate travel line 300 by packaging body;
Intubate travel line 300, for conveying and packaging body through Intubaction device 400;
Intubaction device 400, is arranged on intubate travel line 300 other, for longitudinally being inserted in packaging body by suction pipe;
Second robot device 500, for extracting the packaging body of intubate in groups from intubate travel line, then exports, and described output can be put into by packaging body in a transfer table or be placed on to export on travel line 700, or packaging body is put into larger packaging body.
Drawing reference numeral 601 is described packaging body, and drawing reference numeral 602 is suction pipe, the suction pipe band section that drawing reference numeral 603 links up for the protected paper comprising some suction pipes 602.
The input conveyor line of tube packaging body to be inserted comprises input section 101 and exports working-storage section 102, described input section 101 and output working-storage section 102 are by respective power driven, input section 101 is connected mutually with output working-storage section 102, input section has article respectively with output working-storage section and stops mechanism 103,104, the mechanism that article prevention mechanism can adopt baffle plate, clamping plate etc. to press from both sides or keep off; The article of described input section stop mechanism 103 to be movable device, the such as baffle plate etc. of adjustable end stop, clamping plate, left and right activity, working-storage section output tube packaging body to be inserted is in groups exported for making input Duan Nengxiang, follow-up body to be packaged, after input section 101 exports one group of tube packaging body to be inserted to output working-storage section 102, stops by it.
Treat that the packaging body of intubate can form a line, also can line up multiple row, to be got by the first manipulator by row gradation or to get simultaneously, or laterally get by row's gradation.
In the present embodiment, the left driving wheel 2-11 that the first robot device 200 provided comprises left drive motor 2-1 and driven by it, right drive motor 2-2 and the right driving wheel 2-21 driven by it, the driven wheels that four flower wheels are formed, connect the parts 2-3 of manipulator, transport tape 4, the parts 2-3 connecting manipulator is connected on crane 2-5, the parts 2-3 connecting manipulator can be connecting panel, mount pads etc. are any can the parts of installation manipulator or mechanism, described four flower wheels are respectively lower-left wheel 2-61, upper left wheel 2-62, upper right wheel 2-63, bottom right wheel 2-64, their rectangular arrangements, its center of circle is in four summits of rectangle respectively, described crane 2-5 is provided with the 5th flower wheel 2-53, the position of described 5th flower wheel 2-53 is higher than driven wheels, described left driving wheel 2-11 and right driving wheel 2-21 is in the left side and the right of driven wheels respectively, described transport tape 2-4 is connected with crane 2-5, or be connected with the parts be connected on crane, the parts 2-3 of such as described connection manipulator, and connecting portion is lower than driven wheels, the bypass route of described transport tape is through above-mentioned each flower wheel and each driving wheel and form criss-cross 2-100, described four flower wheels 2-61,2-62,2-63,2-64 are arranged on and horizontally slip on frame 2-7, in the present embodiment, described transport tape has lower-left end 2-41 and bottom righthand side 2-42, and described lower-left end 2-41 is connected crane 2-5 respectively with bottom righthand side 2-42 or is connected with the parts be connected on crane, the criss-cross bypass route of described transport tape is: from lower-left end 2-41 successively through lower-left wheel 2-61, left driving wheel 2-11, upper left wheel 2-62, the 5th flower wheel 2-53, upper right wheel 2-63, right driving wheel 2-21, bottom right wheel 2-64, bottom righthand side 2-42.Described manipulator comprises the manipulator actuating unit 2-90 of arrayed in columns, and these manipulator actuating units are respectively for each packaging body in tube packaging body to be inserted in groups.
Manipulator actuating unit in first robot device can adopt the functional entity of multiple energy belongings, such as sucker, clamp etc.
The first robot device that the present embodiment provides is when moving up and down manipulator, and left and right drive motor can collaborative work, and muck in, improves efficiency, and running velocity soon and more stable.In force, manipulator can be connected in various kinematic mechanism and form the first robot device, such as, except the present embodiment, manipulator can be connected to and adopt vertical, horicontal motion mechanism to fit together in the kinematic mechanism of composition and form robot device.
Be provided with the mechanism regulating manipulator actuating unit spacing in described manipulator, make the spacing of manipulator actuating unit and the intubate of Intubaction device export 4-31 spacing corresponding.This regulating mechanism can adopt cylinder, bolt and nut regulating mechanism, when the first robot device gets packaging body from input conveyor line, the spacing of the packaging body to be extracted on the spacing of manipulator actuating unit and input conveyor line adapts, now, packaging body is often in the state of being close to, correspondingly, spacing between manipulator actuating unit is also in closest range, when after extraction article, as needs, by the effect of cylinder or the rotation of screw rod, spacing between manipulator actuating unit is pulled open, make the spacing of manipulator actuating unit corresponding with the intubate exit separation of Intubaction device.
In the present embodiment, the first robot device is also provided with vertically-guided mechanism, and described vertically-guided mechanism is provided with the first sliding shoe 2-81 and guide rail 2-82 thereof, and the first sliding shoe 2-81 and guide rail 2-82 thereof is divided into and horizontally slips on frame 2-7 and crane 2-5; Described first robot device is provided with left and right guiding mechanism, and described left and right guiding mechanism is provided with the second sliding shoe 2-83 and guide rail 2-84 thereof, and the second sliding shoe 2-83 and guide rail 2-84 thereof is divided into and horizontally slips on frame 2-7 and fixed mount 2-9.The pedestal of described left drive motor 2-1 and right drive motor 2-2 also can be arranged on fixed mount 2-9.
Described crane is also provided with upper limit part 2-51 and lower limit part 2-52.
On front and back position, crane 2-5 and fixed mount 2-9 is in both sides, front and back, and the frame 2-7 that horizontally slips is between crane 2-5 and fixed mount 2-9.
In force, the first robot device also can adopt the kinematic mechanism in the above embodiment of the parallel superposition of front and back two cover: often overlap kinematic mechanism and also can be provided with described vertically-guided mechanism, described left and right guiding mechanism.
Often overlapping in kinematic mechanism, transport tape or chain have lower-left end and bottom righthand side, and described lower-left end and bottom righthand side are connected crane respectively or are connected with the parts be connected on crane; The bypass route of described transport tape or chain is: from lower-left end successively through lower-left wheel, left driving wheel, upper left wheel, the 5th flower wheel, upper right wheel, right driving wheel, bottom right wheel, bottom righthand side.
In the above-mentioned kinematic mechanism of the parallel superposition of front and back two cover, left driving wheel is coaxial, driven by same left drive motor, right driving wheel is coaxial, driven by same right drive motor, connect the parts of manipulator to connect with the crane that front and back two are overlapped in the above-mentioned kinematic mechanism of parallel superposition, thus original advantage can be kept, again can the installation strength of parts of reinforced company's welding manipulator and smoothness.
According to the principle of present embodiment, the above-mentioned kinematic mechanism of the parallel superposition of many covers before and after the first robot device also can adopt, and drive each right driving wheel by same right drive motor, same left drive motor drives each left driving wheel, and the parts connecting manipulator are connected with the crane in each kinematic mechanism; The structure of each kinematic mechanism is the same.Like this, as long as power of motor is enough, various large, heavy articles can be carried steadily, at high speed.
Described intubate travel line 300 is provided with the detent mechanism 301 of packaging body, on intubate travel line formed one sound of laughing, tube packaging body to be inserted is after being placed into detent mechanism 301, make spacing between the packaging body of intubate when being carried by intubate travel line, keep and the intubate of Intubaction device to export 4-31 spacing corresponding.
In the present embodiment, the while of employing double casing body, intubation way is increased work efficiency further.The height of the detent mechanism 301 on described intubate travel line is the detent mechanism of corresponding two-layer tube packaging body to be inserted; The distance that intubate travel line is carried at every turn is corresponding to the disposable half putting into the tube packaging body group length to be inserted of intubate travel line of the first manipulator.As shown in figure 15, like this, when normally working, on intubate travel line, the first half group of the tube packaging body group to be inserted at every turn captured by the first robot device is placed in the upper strata of later half group that last group stays, and as the second layer, later half group of the tube packaging body group to be inserted at every turn captured by the first robot device is placed directly on intubate travel line, as ground floor, for the tube packaging body group superposition to be inserted of next group.Like this, can carry out the intubate of two-layer packaging body, its sum still equals the quantity of one group of tube packaging body group to be inserted, but each fed distance of intubate travel line can shorten half, thus significantly increases work efficiency simultaneously.
Mechanism is integrated in the grouping that the Intubaction device 400 that the present embodiment provides is provided with many covers arranged side by side, and the cutting knife 4-2 that mechanism comprises vertical screw rod 4-1, laterally seesaws is integrated in described grouping.
Described screw rod 4-1 can be rotated around its axis by power driven, described grouping is integrated mechanism and is provided with guide frame in the side of screw rod 4-1, there is gap 4-200 between described guide frame and screw rod, the side that described guide frame enables the suction pipe band 4-100 be between described guide frame and screw rod be attached to screw rod 4-1 is carried by screw rod 4-1, in the present embodiment, described grouping is integrated in mechanism, form conveying mechanism by the described screw rod 4-1 in two, left and right of equidirectional rotation to match with described guide frame, the power driving described screw rod to rotate is motor 4-10, the lower end of screw rod 4-1 coaxially connects driven gear 4-11, the driving gear 4-12 that described driven gear 4-11 and motor 4-10 drive engages, driving gear 4-12 is between the driven gear 4-11 that two, described left and right screw rod connects, the two screw rod 4-1 in left and right can be made like this to keep suitable spacing to be constantly fed to make suction pipe 602, simultaneously, driving gear 4-12 described in the spatial placement between two screw rods can be utilized again.
Described cutting knife 4-2 is in this side of screw rod transmission strip article band, and described screw flight tooth 4-13 is provided with the cutting knife groove 4-15 of described cutting knife 4-2; The pitch D of screw rod 4-1 and the thickness of suction pipe 602 match, and make suction pipe 602 can enter space 4-14 between the phase adjacent teeth 4-13 of screw thread.As shown in the figure, in the present embodiment, the thickness of a pitch D and suction pipe 602 of described screw rod 4-1 matches.
Described guiding mechanism comprises the guiding parts 4-4 of entrance guide section; The guiding parts 4-4 of described entrance guide section is by removable installation, like this, namely the size to fit of described gap 4-200 can be ensured, make suction pipe band 4-100 and screw rod 4-1 no-float, be convenient to again when producing beginning, in the space 4-14 between the adjacent upper lower tooth 4-13 that suction pipe band 4-100 can enter in the gap 4-200 between guide frame and screw rod 1 simply, suction pipe 602 enters screw thread.Described guiding mechanism is provided with fixed guide block 4-5, the guiding parts of described entrance guide section is arranged on fixed guide block 4-5 by screw is removable, described fixed guide block is provided with the groove 4-51 excessively that the described cutting knife of confession passes, like this, can also lead to by the suction pipe band section 603 cut down from suction pipe band 4-100, make it be carried until collecting tank 4-3 by screw rod 4-1 downwards.The spigot surface of described guide frame can adopt plane 4-45.
Described grouping is integrated mechanism and is also comprised collecting tank 4-3, mechanism's suction pipe exit is integrated in the grouping that described collecting tank 4-3 is in gap between guide frame and screw rod, its notch 4-30 is undertaken on grouping and integrates mechanism suction pipe outlet outside, and also namely its notch 4-30 is undertaken on the below of gap 4-200 between guide frame and screw rod towards screw rod 4-1; One end of described collecting tank has the suction pipe outlet 4-31 of described Intubaction device, described grouping is integrated mechanism and is also provided with pushing mechanism, described pushing mechanism can move along the length direction of collecting tank, the suction pipe band section 603 in collecting tank 4-30 is released from described outlet 4-31.The push mechanism 4-33 that described pushing mechanism comprises cylinder 4-32 and driven by cylinder.Described pushing mechanism also can be electronic mechanism.
Described grouping integrates mechanism above screw rod, also namely the strip article band position entered between guide frame and screw rod before gap is provided with suction pipe and brings tape guide roller group 4-6 into, there is in described guiding roller group 4-6 the adjustment guiding roller 4-60 regulating strip article belt tension, described adjustment guiding roller 4-60 is connected on swinging gear, described grouping integrating apparatus is provided with activity-oriented groove 4-62 and the position limiting structure 4-61 of activity-oriented roller, this swinging gear comprises fork 4-61, regulates guiding roller 4-60 to be connected on fork 4-61.
The grouping of described many covers is integrated mechanism and is arranged along the longitudinal direction, and in the present embodiment, each Intubaction device is provided with two cover groupings and integrates mechanism.Each grouping is integrated the seesaw knife rest 4-20 of cutting knife of the transverse direction of mechanism and is connected on contiguous block 4-7, be connected with propulsion source by contiguous block 4-7, described propulsion source can be cylinder 4-8, or by motor as propulsion source, described grouping integrating apparatus is provided with the slide-and-guide track 4-9 of contiguous block 4-7, drawing reference numeral 4-70 is the slide block be fixedly connected with contiguous block 4-7, and slide block 4-70 coordinates with slide-and-guide track 4-9.
The surface configuration feature that the spacing that above-mentioned Intubaction device can utilize suction pipe band itself to have is concavo-convex, namely make its outstanding position (also suction pipe) that space between screw flight tooth can be entered sidewards, pass through rotary screw, and spacing conveying suction pipe band, and and then be equipped with the cutting knife laterally seesawed, achieve the mechanization of suction pipe band cutting and conveying, rational in infrastructure, speed meets high-speed demand soon, coordinates accurately with strip article band, work efficiency is high.
For multilayer tube packaging body to be inserted intubate simultaneously, or it is parallel that tube packaging body to be inserted is lined up left and right row, described intubation machine is in the both sides of intubate travel line, in intubate station, be equipped with Intubaction device, be in the tube packaging body to be inserted that the intubate outlet of both sides Intubaction device is corresponding two-layer respectively; Best, as in this embodiment, the intubate of the Intubaction device of side exports corresponding ground floor, and the intubate of the Intubaction device of opposite side exports the corresponding second layer; Or, also passable, other layouts such as the corresponding anterior corresponding rear portion of packaging body opposite side, side.
In addition to the embodiment, grouping is integrated mechanism and other step-by-step system also can be adopted to promote, pull the physical construction of suction pipe band, then with cutting knife, by suction pipe band, a section cuts, and is admitted in tube packaging body to be inserted.
Manipulator actuating unit in second robot device can adopt the functional entity of multiple energy belongings, such as sucker, clamp etc.Can be the same with the kinematic mechanism of the first robot device by the kinematic mechanism of manipulator.
Clip handgrip mechanism and the disposable crawl multi-layer articles of sucker is utilized in the second robot device that the present embodiment provides; When releasing, both can disposable whole release, also can first time sucker do not discharge still hold top layer article and clip handgrip mechanism release, second time sucker discharges again, article are made to be divided two-layer twice release by placement position on demand, decrease the number of times of handgrip mechanism pick-and-place article back and forth exponentially, improve work speed exponentially slow and reduce parts depreciation, very adaptive mode of operation when intubation machine adopts two-layer packaging body while during intubate.
This second manipulator mechanism 500 comprises installation matrix, and described installation matrix can be adapter plate 5-3.
Installation matrix is provided with the first handgrip mechanism and the second handgrip mechanism, and the second handgrip mechanism is arranged in the top of the clipped object product space A that the first handgrip mechanism surrounds.
First handgrip mechanism can adopt clip handgrip mechanism 5-1, and described clip handgrip mechanism 1 can adopt clamping plate handgrip mechanism, and the second handgrip mechanism can adopt sucker 5-2.Clamping plate handgrip mechanism is driven by cylinder 5-4 and clamps and loosen article, and described sucker 5-2 is arranged in the top of the clipped object product space A that clamping plate handgrip mechanism surrounds.
Described installation matrix is connected on kinematic mechanism, and can be lifting and translation.
Lifting mechanism 5-5 and translation mechanism 5-6 is provided with in described kinematic mechanism, described translation mechanism 5-6 can adopt cyclic conveyor structure, such as chain, Timing Belt etc., described lifting mechanism 5-5 is connected on translation mechanism 5-6 by its adapter plate 5-51 and can by translation, lifting mechanism 5-5 can adopt cylinder, and described installation matrix 5-3 is connected on lifting mechanism 5-5 and can is driven lifting by described lifting mechanism 5-5 and driven translation by translation mechanism together with lifting mechanism 5-5.Install on matrix and can connect lifting guide pillar 5-7, the adapter plate 5-51 of lifting mechanism 5-5 can arrange the orienting sleeve 5-8 coordinated with lifting guide pillar.
Drawing reference numeral 5-63 is the power of translation mechanism, and drawing reference numeral 5-61 is the guide rail of motion of translation, and drawing reference numeral 5-62 is the slide block coordinated with guide rail 5-61 set on adapter plate 5-51.
Claims (6)
1. intubation machine, is characterized in that it comprises:
The input conveyor line of tube packaging body to be inserted, think that the first robot device provides tube packaging body to be inserted in groups, tube packaging body to be inserted in groups forms a line or multiple row in group;
First robot device, packaging body in groups described in extracting from input conveyor line, puts on intubate travel line by packaging body; Described manipulator comprises the manipulator actuating unit of arrayed in columns, and these manipulator actuating units are respectively for each packaging body in tube packaging body to be inserted in groups; Be provided with the mechanism regulating manipulator actuating unit spacing in described manipulator, make the spacing of manipulator actuating unit corresponding with the intubate exit separation of Intubaction device;
Intubate travel line, for conveying and packaging body through Intubaction device; Described intubate travel line is provided with the detent mechanism of packaging body, making spacing between the packaging body of intubate when being carried by intubate travel line, keeping corresponding with the intubate exit separation of Intubaction device;
Intubaction device, is arranged on by intubate travel line, for longitudinally being inserted in packaging body by suction pipe;
Second robot device, for extracting the packaging body of intubate in groups from intubate travel line, exports packaging body in groups;
The height of the detent mechanism on described intubate travel line is the detent mechanism of corresponding two-layer tube packaging body to be inserted; Described intubate travel line is intermittence travel line, and its distance of at every turn carrying is corresponding to the disposable half putting into the tube packaging body group length to be inserted of intubate travel line of the first manipulator;
Described second robot device comprises installation matrix, and installation matrix is provided with the first manipulator mechanism and the second manipulator mechanism, and the second manipulator mechanism is arranged in the top in the clipped object product space that the first manipulator mechanism surrounds; Described installation matrix is connected on kinematic mechanism, and can be lifting and translation.
2. intubation machine as claimed in claim 1, it is characterized in that described first manipulator mechanism adopts clip manipulator mechanism, described second manipulator mechanism adopts sucker.
3. intubation machine as claimed in claim 1, it is characterized in that the input conveyor line of tube packaging body to be inserted comprises input section and exports working-storage section, described input section and output working-storage section are by respective power driven, input section is connected mutually with output working-storage section, and input section and output working-storage section have article respectively and stop mechanism; The article of described input section stop mechanism to be movable device, export working-storage section output tube packaging body to be inserted in groups for making input Duan Nengxiang.
4. intubation machine as claimed in claim 1, it is characterized in that described Intubaction device comprises the grouping arranged side by side of a set of and many covers and integrates mechanism, the cutting knife that mechanism comprises vertical screw rod, laterally seesaws relative to screw rod is integrated in described grouping, and described screw rod can be rotated around its axis by power driven; Described grouping is integrated mechanism and is provided with guide frame in the side of screw rod, there is gap between described guide frame and screw rod, by screw rod transmission on the side that described guide frame enables the suction pipe band be between described guide frame and screw rod be attached to screw rod; Described cutter is in this side of screw rod transmission suction pipe band, and described screw flight tooth is provided with the cutting knife groove of described cutting knife; The pitch of screw rod and the thickness of suction pipe match, and make suction pipe can enter space between the phase adjacent teeth of screw thread;
Described grouping is integrated mechanism and is also comprised collecting tank, and mechanism's suction pipe exit is integrated in the grouping that described collecting tank is in gap between guide frame and screw rod, and its notch is undertaken on described grouping and integrates mechanism's suction pipe outlet outside; One end of described collecting tank is the suction pipe outlet of described Intubaction device, it is towards intubate travel line, described grouping is integrated mechanism and is also provided with pushing mechanism, and described pushing mechanism can move along the length direction of collecting tank, the suction pipe band section in collecting tank is released from described suction pipe outlet.
5. intubation machine as claimed in claim 1, it is characterized in that the both sides of described intubation machine at intubate travel line, in intubate station, be equipped with Intubaction device, their the intubate outlet tube packaging body to be inserted that correspondence is two-layer respectively, the intubate of the Intubaction device of side exports corresponding ground floor, and the intubate of the Intubaction device of opposite side exports the corresponding second layer.
6. intubation machine as claimed in claim 1, it is characterized in that the left driving wheel that described first robot device comprises left drive motor and driven by it, right drive motor and the right driving wheel driven by it, the driven wheels that four flower wheels are formed, connect the parts of manipulator, transport tape or chain, the parts connecting manipulator are connected on crane, described four flower wheels are respectively lower-left wheel, upper left is taken turns, upper right is taken turns, bottom right is taken turns, four rectangular arrangements of flower wheel, described crane is provided with the 5th flower wheel, the position of described 5th flower wheel is higher than driven wheels, described left driving wheel and right driving wheel are in the left side and the right of driven wheels respectively, described transport tape or chain are connected with crane or the parts be connected on crane, and connecting portion is lower than driven wheels, the bypass route of described transport tape or chain is through above-mentioned each flower wheel and each driving wheel and form criss-cross, described four flower wheels are arranged on and horizontally slip on frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310102140.5A CN103183156B (en) | 2013-03-27 | 2013-03-27 | Intubation machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310102140.5A CN103183156B (en) | 2013-03-27 | 2013-03-27 | Intubation machine |
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| CN103183156A CN103183156A (en) | 2013-07-03 |
| CN103183156B true CN103183156B (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310102140.5A Active CN103183156B (en) | 2013-03-27 | 2013-03-27 | Intubation machine |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419975B (en) * | 2013-08-09 | 2017-12-05 | 广州市铭慧机械股份有限公司 | A kind of continuously plug in suction pipe mechanism |
| CN107472606A (en) * | 2017-09-12 | 2017-12-15 | 厦门欧百智能机械有限公司 | A kind of continous way Intubaction device |
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| JPH0655615B2 (en) * | 1985-07-19 | 1994-07-27 | トキワ工業株式会社 | Straw storage and packaging device |
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| CN202072029U (en) * | 2011-04-14 | 2011-12-14 | 蔡慧波 | Full-automatic straw inserting machine |
| CN102241282A (en) * | 2011-05-31 | 2011-11-16 | 杭州永创机械有限公司 | Gripping device for cartoning |
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