CN102975894A - Whole-line stacking manipulator - Google Patents
Whole-line stacking manipulator Download PDFInfo
- Publication number
- CN102975894A CN102975894A CN 201210562088 CN201210562088A CN102975894A CN 102975894 A CN102975894 A CN 102975894A CN 201210562088 CN201210562088 CN 201210562088 CN 201210562088 A CN201210562088 A CN 201210562088A CN 102975894 A CN102975894 A CN 102975894A
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- Prior art keywords
- permutation
- manipulator
- mechanical arm
- belt wheel
- palletizing mechanical
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Abstract
The invention provides a whole-line stacking manipulator, which comprises a frame, a driving mechanism, two parallel lead screws and a crankshaft, wherein the crankshaft is provided with a manipulator; the driving mechanism is connected with the two lead screws; the lead screws are horizontally arranged on the frame; cranks at the two ends of the crankshaft are connected to the two lead screws respectively; a curve sliding rail is arranged on the frame under the two lead screws in position; and the crankshaft moves to and fro along the curve sliding rail. The invention has the benefits that the whole-line stacking manipulator can finish and stack multiple lines of small packages packaged and cut by a small package packing machine, and is stable in operation and high in accuracy due to the application of the ball screws and a servo motor, and automatically controls the whole-line stacking of the small packages, needs no manual operation and has high production efficiency due to the adoption of the programmable logic controller (PLC) controlled servo motor.
Description
Technical field
The invention belongs to the packaging facilities field, especially relate to a kind of pouch-packaged permutation palletizing apparatus.
Background technology
At present, pharmacy and food service industry adopt plastic bag to pack more, pharmaceutical industry especially, and Chinese medicinal granule adopts pouch-packaged more, independent packaging, hygienic and convenient.After the particle pouch-packaged, can not put in order and carry and box packing machine formation manufacturing line, and need to manually carry out manual mounted box, production efficiency is low, and the mounted box quality also is difficult to guarantee.The raising that requires along with pharmacy corporation and the impact that is subject to market competition, enterprise also has higher requirement to the particle pouch-packaged, adopts the manual mounted box pattern of single machine production to be not suitable with the needs of automated production.
Summary of the invention
For addressing the above problem, the invention provides a kind of permutation palletizing mechanical arm, especially be fit to Small bag packaging machine, packaged pouch crawl permutation is piled up permutation palletizing mechanical arm on the load-transfer device.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of permutation palletizing mechanical arm, comprise frame, driver train, two leading screws that be arranged in parallel and crank shaft, described crank shaft is provided with manipulator, described driver train is connected with described two leading screws, described leading screw is arranged on the described frame in horizontal direction, the crank at the two ends of described crank shaft is connected respectively on described two leading screws, the position that is lower than described two leading screws on the described frame is provided with the curve slide rail, and described crank shaft is reciprocating along described curve slide rail.
Described leading screw is ball-screw.
Described driver train comprises motor, the first belt wheel, the second belt wheel and Timing Belt, and described motor is provided with the first belt wheel, and described the second belt wheel is connected with described leading screw, and described the first belt wheel is connected by described Timing Belt with described the second belt wheel.
Described curve slide rail is higher than an end of close described driver train away from an end of described driver train.
Described manipulator comprises support and vacuum cup, and described vacuum cup is located on the described support, and with respect to described support vertical setting.
The number of described manipulator is 1-20.
The number of described manipulator is 10,12 or 16.
Described motor is servomotor, and described servomotor is controlled by PLC.
Advantage and good effect that the present invention has are: can put in order the pouch that multiple row small bag packaging machine packing cuts, piling; The application of ball-screw and servomotor, so that having stable behavior of the present invention, precision is high; Adopt PLC control servomotor, realize the automation control of pouch permutation piling, need not manual operations, production efficiency is high.
Description of drawings
Structural representation during Fig. 1 pouch crawl that to be the present invention cut encapsulation
Fig. 2 is that the present invention grasps behind the pouch structural representation that pouch is put into before the load-transfer device
Among the figure:
1, crank shaft 2, manipulator 3, motor
4, the first belt wheel 5, the second belt wheel 6, Timing Belt
7, leading screw 8, curve slide rail 9, sucker
10, frame 11, pouch
The specific embodiment
Such as Fig. 1,2 (the structural representations during Fig. 1 pouch crawl that to be the present invention cut encapsulation, Fig. 2 is that the present invention grasps behind the pouch structural representation that pouch is put into before the load-transfer device) shown in, the invention provides a kind of permutation palletizing mechanical arm, comprise frame 10, driver train, two leading screws that be arranged in parallel 7 and crank shaft 1, crank shaft 1 is provided with manipulator 2, driver train is connected with described two leading screws 7, leading screw 7 is arranged on the frame 10 in horizontal direction, the crank at the two ends of crank shaft 1 is connected respectively on two leading screws 7, the position that is lower than two leading screws 7 on the frame 10 is provided with curve slide rail 8, and crank shaft 1 is reciprocating along curve slide rail 8.Curve slide rail 8 is higher than an end (curve slide rail 8 can be made corresponding shape according to actual needs) of close described driver train away from an end of described driver train.Thereby realize that the pouch that encapsulation is cut is grasped by vertical position when crank shaft 1 moves to the extreme higher position of slide rail 8, when crank shaft 1 moves to the extreme lower position of curve slide rail 8, the pouch level that grasps is put on the load-transfer device, be sent to next process.
In the present embodiment, leading screw 7 adopts ball-screw.Motor 3 is servomotor, and servomotor is controlled by PLC.So that the action of manipulator 2 is more stable, precision is higher.
In the present embodiment, driver train comprises motor 3, the first belt wheel 4, the second belt wheel 5 and Timing Belt 6, and motor 3 is provided with the first belt wheel 4, the second belt wheels 5 and is connected with leading screw 7, and the first belt wheel 4 is connected by Timing Belt 6 with the second belt wheel 5.
In the present embodiment, manipulator 2 comprises support and vacuum cup 9, and vacuum cup 9 is located on the support, and with respect to the support vertical setting.Aspiratory action by vacuum cup 9 is realized the crawl to pouch 11, and the action venting one's pent-up feelings by vacuum cup 9 realizes the placement to pouch 11.
The number of manipulator 2 is 1-20.Generally, the number of manipulator 2 is selected 10,12 or 16.
Working process: motor 3 drives 4 motions of the first belt wheel, the first belt wheel 4 drives 5 motions of the second belt wheel by Timing Belt 6, the second belt wheel 5 drives leading screw 7 motions, and leading screw 7 drives crank shaft 1 motion, crank shaft 1 driving mechanical hands movement, crank shaft 1 moves to nadir along slide rail 8 by vertex, move to vertex by nadir again, crank motion is ceaselessly realized the crawl of pouch and is placed on the load-transfer device, by the control of PLC to motor, pouch is realized multi-form piling up.
More than one embodiment of the present of invention are had been described in detail, but described content only is preferred embodiment of the present invention, can not be considered to be used to limiting practical range of the present invention.All equalizations of doing according to the present patent application scope change and improve etc., all should still belong within the patent covering scope of the present invention.
Claims (8)
1. permutation palletizing mechanical arm, it is characterized in that: comprise frame (10), driver train, two leading screws that be arranged in parallel (7) and crank shaft (1), described crank shaft (1) is provided with manipulator (2), described driver train is connected with described two leading screws (7), described leading screw (7) is arranged on the described frame (10) in horizontal direction, the crank at the two ends of described crank shaft (1) is connected respectively on described two leading screws (7), the position that is lower than described two leading screws (7) on the described frame (10) is provided with curve slide rail (8), and described crank shaft (1) is reciprocating along described curve slide rail (8).
2. permutation palletizing mechanical arm according to claim 1, it is characterized in that: described leading screw (7) is ball-screw.
3. permutation palletizing mechanical arm according to claim 1, it is characterized in that: described driver train comprises motor (3), the first belt wheel (4), the second belt wheel (5) and Timing Belt (6), described motor (3) is provided with the first belt wheel (4), described the second belt wheel (5) is connected with described leading screw (7), and described the first belt wheel (4) is connected by described Timing Belt (6) with described the second belt wheel (5).
4. permutation palletizing mechanical arm according to claim 1 is characterized in that: described curve slide rail (8) is higher than a end near described driver train away from an end of described driver train.
5. permutation palletizing mechanical arm according to claim 1, it is characterized in that: described manipulator (2) comprises support and vacuum cup (9), and described vacuum cup (9) is located on the described support, and with respect to described support vertical setting.
6. each described permutation palletizing mechanical arm according to claim 1-5 is characterized in that: the number of described manipulator (2) is 1-20.
7. permutation palletizing mechanical arm according to claim 6, it is characterized in that: the number of described manipulator (2) is 10,12 or 16.
8. permutation palletizing mechanical arm according to claim 3, it is characterized in that: described motor (3) is servomotor, and described servomotor is controlled by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210562088 CN102975894A (en) | 2012-12-21 | 2012-12-21 | Whole-line stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210562088 CN102975894A (en) | 2012-12-21 | 2012-12-21 | Whole-line stacking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102975894A true CN102975894A (en) | 2013-03-20 |
Family
ID=47850325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210562088 Pending CN102975894A (en) | 2012-12-21 | 2012-12-21 | Whole-line stacking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102975894A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213858A (en) * | 2013-05-09 | 2013-07-24 | 东莞市迈高自动化机械有限公司 | Paper delivering mechanism |
| CN105141803A (en) * | 2015-08-13 | 2015-12-09 | 石磊 | Fast test paper electronic input device |
| CN105173799A (en) * | 2015-08-13 | 2015-12-23 | 石磊 | Mechanical paper conveying device |
| CN105480720A (en) * | 2015-12-23 | 2016-04-13 | 昆山胜恒精密机械有限公司 | Carrying manipulator and drying agent splitting and feeding machine with same |
| CN106809432A (en) * | 2015-11-27 | 2017-06-09 | 北新集团建材股份有限公司 | Stacking mechanism |
-
2012
- 2012-12-21 CN CN 201210562088 patent/CN102975894A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213858A (en) * | 2013-05-09 | 2013-07-24 | 东莞市迈高自动化机械有限公司 | Paper delivering mechanism |
| CN103213858B (en) * | 2013-05-09 | 2015-07-22 | 东莞市迈高自动化机械有限公司 | Paper delivering mechanism |
| CN105141803A (en) * | 2015-08-13 | 2015-12-09 | 石磊 | Fast test paper electronic input device |
| CN105173799A (en) * | 2015-08-13 | 2015-12-23 | 石磊 | Mechanical paper conveying device |
| CN106809432A (en) * | 2015-11-27 | 2017-06-09 | 北新集团建材股份有限公司 | Stacking mechanism |
| CN105480720A (en) * | 2015-12-23 | 2016-04-13 | 昆山胜恒精密机械有限公司 | Carrying manipulator and drying agent splitting and feeding machine with same |
| CN105480720B (en) * | 2015-12-23 | 2017-12-01 | 昆山胜恒精密机械有限公司 | A kind of conveying robot and the drier cutting dispenser with the manipulator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130320 |