CN103858715B - A kind of mechanism for packing apple in bag - Google Patents
A kind of mechanism for packing apple in bag Download PDFInfo
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- CN103858715B CN103858715B CN201210552165.0A CN201210552165A CN103858715B CN 103858715 B CN103858715 B CN 103858715B CN 201210552165 A CN201210552165 A CN 201210552165A CN 103858715 B CN103858715 B CN 103858715B
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- bowing
- sticky
- bagging apparatus
- sucker
- bag
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Abstract
The present invention relates to the bagging device of fruit, specifically a kind of mechanism for packing apple in bag, fruit bagging apparatus and getter device are arranged on mechanical arm connecting bottom board respectively, and upper sticky bagging apparatus is connected with fruit bagging apparatus with retractor device by facing upward device of bowing, and lower sticky bagging apparatus is connected on fruit bagging apparatus; Facing upward device of bowing makes sticky bagging apparatus move up and down, and retractor device makes sticky bagging apparatus seesaw; The sucker of upper sticky bagging apparatus works independently and picks up fruit bag, and the sucker of upper and lower sticky bagging apparatus works together and makes fruit bag support mouth; Electric heating piece in upper sticky bagging apparatus heats the colloid in fruit bag, makes it to melt and fruit bag levels is bonded under the effect of extruding force; Back-moving spring on sucker can change the length of sucker, in support bag process, and action of reset spring, sucker suction inlet contacts, but electric heating piece does not contact with heating cushion block; In envelope process, back-moving spring shortens under extruding force effect, and electric heating piece contacts with heating cushion block, produces extruding force.The present invention saves manpower, efficiency is high.
Description
Technical field
The present invention relates to the bagging device of fruit, specifically a kind of mechanism for packing apple in bag.
Background technology
Apple Bags technology is more and more general in China's promotion and application, and research also deepens continuously, and this technology is applied, and is conducive to promoting fruit color, improves fruit face fineness, alleviates fruit russeting, reduces damage by disease and insect, reduces residue of pesticide.Apple Bags is mainly divided into paper bag and two kinds, mould bag, and based on paper bag; But no matter be paper bag or mould bag, bagging is the work of the large and loaded down with trivial details fatigue of a kind of amount, waste time and energy, and efficiency is low, concerning the vast rural area of lack of labor, the development of bagging technique seems particularly important.Bagging technique common is in the market mainly used in the Apple Bags of mould bag, and for application paper bag more widely, this technology is not perfect.
Summary of the invention
For above-mentioned existing bagging Problems existing, the object of the present invention is to provide a kind of mechanism for packing apple in bag that can be used for paper bag.This bagging mechanism is installed on mechanical arm tail end, and labour intensity reduces, and can realize the automation of whole bagging process.
The object of the invention is to be achieved through the following technical solutions:
The present invention's entirety is installed on the robotic arm by mechanical arm connecting bottom board, comprise fruit bagging apparatus, face upward device of bowing, retractor device, upper sticky bagging apparatus, lower sticky bagging apparatus and getter device, wherein fruit bagging apparatus and getter device are arranged on mechanical arm connecting bottom board respectively, described device of bowing of facing upward is arranged on fruit bagging apparatus, retractor device with face upward device of bowing and be connected, drive swing around facing upward back shaft of bowing by facing upward device of bowing; Described sticky bagging apparatus be connected to retractor device output, drive flexible by retractor device, and swing around facing upward back shaft of bowing together with retractor device, on this, sticky bagging apparatus has the electric heating piece of encapsulation fruit bag; Described lower sticky bagging apparatus is arranged on fruit bagging apparatus, and is positioned at the below of sticky bagging apparatus, and this lower sticky bagging apparatus has the heating cushion block corresponding with described electric heating piece; Described sticky bagging apparatus and lower sticky bagging apparatus have the sucker of absorption fruit bag levels respectively, and described getter device is connected with the sucker on upper sticky bagging apparatus and lower sticky bagging apparatus respectively by two-way inhaling hose.
Wherein: described fruit bagging apparatus comprises backplanes support seat, base plate and baffle plate assembly, wherein one end of base plate is arranged on mechanical arm connecting bottom board by backplanes support seat, and the other end of base plate and both sides are respectively equipped with and ensure the fruit bag baffle plate assembly that position is fixing in fruit bagging apparatus;
Described device of bowing of facing upward comprises and faces upward motor of bowing, faces upward motor cabinet of bowing, pinion, gear wheel, faces upward back shaft of bowing, faces upward flange of bowing, faces upward side plate of bowing, faces upward bow bearing and telescope motor seat, wherein facing upward device entirety of bowing is arranged on fruit bagging apparatus by facing upward bearing of bowing, face upward motor of bowing to be fixed on to face upward to bow on bearing by facing upward motor cabinet of bowing, the output shaft facing upward motor of bowing is connected with pinion; Described back shaft of bowing of facing upward is rotatably installed in face upward and bows on bearing, and be connected with gear wheel near the one end of facing upward motor of bowing, this gear wheel is meshed with described pinion; Described face upward bow side plate and telescope motor seat respectively with face upward Flange joint of bowing, face upward back shaft of bowing by facing upward side plate of bowing, telescope motor seat, face upward flange of bowing and pass; Described retractor device is connected to face upward bows on side plate and telescope motor seat; Described back shaft of bowing of facing upward is rotatably installed in face upward bows on bearing by facing upward bearing of bowing, face upward back shaft of bowing to be provided with away from the one end of facing upward motor of bowing and to face upward bearing (ball) cover of bowing, face upward axle sleeve of bowing facing upward back shaft of bowing is arranged with, described in face upward the bearing (ball) cover and facing upward of bowing bow axle sleeve to face upward bow back shaft and face upward that back shaft of bowing passes face upward side plate of bowing, telescope motor seat, face upward flange axial limiting of bowing; Described gear wheel is fan-shaped;
Described retractor device comprises telescope motor, motor output flange, link supports axle, slipper bearing, connecting rod, slider support axle, slider bush, slide block, retractable support seat, ramp bearings, retractable support securing member, guide rail guide holder, guide rail copper sheathing and expansion link, wherein telescope motor is arranged on to face upward and bows on device, and the output shaft of telescope motor is connected with motor output flange; One end of described connecting rod is connected with motor output flange by link supports axle, slipper bearing, and the other end of connecting rod is connected with slide block by slipper bearing, slider support axle; The two ends of described slider support axle are positioned in the telescopic chute of retractable support seat of both sides respectively by ramp bearings, one end of every side retractable support seat is all anchored on to face upward by retractable support securing member bows on device, and the other end of every side retractable support seat all tightens together with guide rail guide holder; Described guide rail copper sheathing is embedded in guide rail guide holder, and one end of expansion link is connected with slide block, and the other end is through bagging apparatus sticky in guide rail copper sheathing, connection;
Described sticky bagging apparatus comprises sticky bag holder, upper sticky bag connector, upper sticky bag gripper shoe, bump pad connectors, electric heating piece holder and electric heating piece, wherein upper sticky bag holder is connected with retractor device, and described sticky bag gripper shoe is arranged on upper sticky bag holder by upper sticky bag connector; Described electric heating piece holder is fixed in upper sticky bag gripper shoe by bump pad connectors, and electric heating piece is laid on the cross section of electric heating piece holder; Described sticky bag gripper shoe is provided with the sucker on absorption fruit bag upper strata;
Described lower sticky bagging apparatus comprises lower sticky bag holder, lower sticky bag gripper shoe, bump pad connectors, cushion block supporting seat and heating cushion block, wherein one end of lower sticky bag holder is anchored on fruit bagging apparatus, the other end is connected with lower sticky bag gripper shoe, described cushion block supporting seat is fixed in lower sticky bag gripper shoe by bump pad connectors, and heating cushion block is positioned at the groove that cushion block supporting seat is offered; Described cushion block supporting seat be connected with foremost fruit barrier plate, the centre of this fruit barrier plate has stem end slideway, and the width of described stem end slideway from top to bottom diminishes gradually; The top of described heating cushion block is higher than the top of cushion block supporting seat;
Described getter device comprises air pump, the first magnetic valve, the second magnetic valve, sucker and inhaling hose, wherein air pump, the first magnetic valve and the second magnetic valve are separately fixed on mechanical arm connecting bottom board, described gas delivery side of pump is respectively by the inlet communication of inhaling hose and the first magnetic valve and the second magnetic valve, the outlet of the first magnetic valve is communicated with the sucker on lower sticky bagging apparatus by inhaling hose, and the outlet of the second magnetic valve is communicated with the sucker on upper sticky bagging apparatus by inhaling hose;
Described sticky bagging apparatus and lower sticky bagging apparatus have two suckers respectively, are communicated with between two suckers on each sticky bagging apparatus by inhaling hose; Described sucker comprises sucker slide block, sucker base, sucker nut and back-moving spring, sucker overall by sucker base and sucker nut be fixed on up/down glue bagging apparatus or on, described back-moving spring is set on sucker slide block, and two ends abut with sucker base and sucker slide block respectively; Described sucker slide block inside has three through holes, and wherein the through hole of both sides is sucker ventilation hole, connecting sucker flexible pipe or blocking, and middle through hole is communicated with sucker suction inlet; Described sucker slide block slides along sucker base, resets under the effect of back-moving spring.
Advantage of the present invention and good effect are:
1. the present invention by the fruit bagging apparatus be fixed on mechanical arm connecting bottom board, face upward device of bowing, retractor device, upper sticky bagging apparatus, lower sticky bagging apparatus, getter device form, compact conformation, is easy to install, and just can reach work object by simple motion.
2. fruit bag pickup of the present invention is separated with sack is opening or closed realization by sucker in getter device, and structure is simple, to fruit bag fanout free region; The sealing of fruit bag is heated by electric heating piece the colloid be built in fruit bag and is realized, and is simple and easy to sealing; Facing upward bows is realized by two motors with flexible two actions, and position is accurate, and control reliable, sealing effect is good, safe and practical.
3. the present invention fruit bagging apparatus is provided with baffle plate assembly, can ensure that the fruit bag on base plate is fixed position in fruit bagging apparatus.
4. the present invention faces upward the gear wheel of bowing in device and is designed to fan-shaped, saves space and weight reduction, does not interfere with telescope motor.
5. the upper sticky bag holder in the present invention in sticky bagging apparatus is designed to U-shaped, makes sticky bagging apparatus firmly indeformable on the one hand, leaves enough spaces during the opposing party's surface cover fruit to fruit.
6. lower sticky bagging apparatus of the present invention is provided with and is arranged on whole bagging mechanism fruit barrier plate foremost, the middle part design stem end slideway of this fruit barrier plate, the width of stem end slideway from top to bottom diminishes gradually, is conducive to stem end along this stem end slideway landing, is convenient to the sealing of fruit bag.
7. the present invention has that structure is simple, volume is little, lightweight advantage.
Accompanying drawing explanation
Fig. 1 is that outward appearance of the present invention composition axle measures intention;
Fig. 2 is outward appearance of the present invention composition front schematic view;
Fig. 3 of the present inventionly faces upward device generalized section of bowing;
Fig. 4 is retractor device generalized section of the present invention;
Fig. 5 is sticky bagging apparatus schematic diagram of the present invention;
Fig. 6 is lower sticky bagging apparatus schematic diagram of the present invention;
Fig. 7 is sucker generalized section of the present invention;
Fig. 8 is one of course of work schematic diagram of the present invention;
Fig. 9 is course of work schematic diagram two of the present invention;
Figure 10 is course of work schematic diagram three of the present invention;
Figure 11 is course of work schematic diagram four of the present invention;
Figure 12 is course of work schematic diagram five of the present invention;
Figure 13 is course of work schematic diagram six of the present invention;
Wherein: 1 for facing upward motor of bowing, 2 for facing upward motor cabinet of bowing, 3 is pinion, 4 is gear wheel, 5 for facing upward back shaft of bowing, 6 for facing upward flange of bowing, 7 for facing upward bearing of bowing, 8 for facing upward bearing (ball) cover of bowing, 9 for facing upward side plate of bowing, 10 is telescope motor seat, 11 for facing upward axle sleeve of bowing, 12 for facing upward bearing of bowing, 13 is telescope motor, 14 is retractable support securing member, 15 is retractable support seat, 16 is the first telescopic chute, 17 is slipper bearing, 18 is ramp bearings, 19 is slider support axle, 20 is slipper bearing end cap, 21 is slide block, 22 is guide rail guide holder, 23 is guide rail copper sheathing, 24 is expansion link, 25 is flexible axle sleeve, 26 is slider bush, 27 is the second telescopic chute, 28 is connecting rod, 29 is connecting rod bearing, 30 is link supports axle, 31 is motor output flange, 32 is upper sticky bag holder, 33 is upper sticky bag connector, 34 is upper sticky bag gripper shoe, 35 is electric heating piece holder, 36 is electric heating piece, 37 is sucker, 38 is inhaling hose, 39 is lower sticky bag holder, 40 is lower sticky bag gripper shoe, 41 is bump pad connectors, 42 is cushion block supporting seat, 43 is heating cushion block, 44 is fruit barrier plate, 45 is stem end slideway, 46 is backplanes support seat, 47 is front apron, 48 is base plate, 49 is side block block, 50 is air pump, 51 is the first magnetic valve, 52 is the second magnetic valve, 53 is mechanical arm connecting bottom board, 54 is sucker suction inlet, 55 is sucker slide block, 56 is sucker base, 57 is sucker nut, 58 is back-moving spring, 59 is sucker ventilation hole.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1 and Figure 2, the present invention's entirety is installed on the robotic arm by mechanical connecting bottom board 53, comprise fruit bagging apparatus, face upward device of bowing, retractor device, upper sticky bagging apparatus, lower sticky bagging apparatus and getter device, wherein fruit bagging apparatus and getter device are directly fixed on mechanical arm connecting bottom board 53 respectively, facing upward device of bowing is arranged on fruit bagging apparatus, retractor device with face upward device of bowing and be connected, drive swing around facing upward back shaft 5 of bowing by facing upward device of bowing; Upper sticky bagging apparatus be connected to retractor device output, driven flexible by retractor device, and swing around facing upward back shaft 5 of bowing together with retractor device, on this, sticky bagging apparatus has the electric heating piece 36 of encapsulation fruit bag; Lower sticky bagging apparatus is arranged on fruit bagging apparatus, and is positioned at the below of sticky bagging apparatus, and this lower sticky bagging apparatus has the heating cushion block 43 corresponding with electric heating piece 36; Upper sticky bagging apparatus and lower sticky bagging apparatus have the sucker 37 of absorption fruit bag levels respectively, and getter device is connected with the sucker 37 on upper sticky bagging apparatus and lower sticky bagging apparatus respectively by two-way inhaling hose 38.
Fruit bagging apparatus comprises backplanes support seat 46, base plate 48 and baffle plate assembly, and one end of base plate 48 is fixed on mechanical arm connecting bottom board 53 by backplanes support seat 46, and the other end and the both sides of base plate 48 are respectively equipped with baffle plate assembly; The baffle plate assembly of the present embodiment comprises front apron 47 and side block block 49, and this front apron 47 and side block block 49 lay respectively at front and the both sides of base plate 48, side block block 49 totally four, every two, side, ensures that fruit bag is fixed position in fruit bagging apparatus.
As shown in Figure 1, Figure 3, face upward device of bowing to comprise and face upward motor 1 of bowing, face upward motor cabinet 2 of bowing, pinion 3, gear wheel 4, face upward back shaft 5 of bowing, face upward flange 6 of bowing, face upward bearing 7 of bowing, face upward bearing (ball) cover 8 of bowing, face upward side plate 9 of bowing, face upward axle sleeve 11 of bowing, face upward bow bearing 12 and telescope motor seat 10, wherein face upward bearing 12 of bowing to be fastened by bolts with backplanes support seat 46, face upward motor 1 of bowing to be fixed on to face upward to bow on bearing 12 by facing upward motor cabinet 2 of bowing, the output shaft facing upward motor 1 of bowing is connected with pinion 3; Facing upward bows side plate 9 and telescope motor seat 10 and face upward flange 6 of bowing connects as one with bolt, face upward and bow back shaft 5 successively through facing upward side plate 9 of bowing, facing upward flange 6 of bowing, telescope motor seat 10, and with key with face upward flange 6 of bowing and coordinate, face upward back shaft 5 of bowing to be rotatably installed in face upward to bow on bearing 12 by facing upward bearing 7 of bowing, face upward bearing (ball) cover 8 of bowing, face upward axle sleeve 11 of bowing ensure to face upward bow back shaft 5 and face upward that back shaft 5 of bowing passes face upward side plate 9 of bowing, face upward flange 6 of bowing, there is not axial displacement in telescope motor seat 10; Gear wheel 4 is positioned at faces upward back shaft 5 of bowing near the one end of facing upward motor 1 of bowing, engage with pinion 3, owing to facing upward the gear teeth only using gear wheel 1/4th four in the whole motion process of device of bowing, for saving space and weight reduction, do not interfere with telescope motor 13, therefore gear wheel 4 is designed to fan-shaped.
As Figure 1 and Figure 4, retractor device comprises telescope motor 13, motor output flange 31, link supports axle 30, slipper bearing 17, connecting rod bearing 29, connecting rod 28, slider support axle 19, slipper bearing end cap 20, flexible axle sleeve 25, slider bush 26, slide block 21, retractable support seat 15, ramp bearings 18, retractable support securing member 14, guide rail guide holder 22, guide rail copper sheathing 23 and expansion link 24, wherein telescope motor 13 is anchored on telescope motor seat 10, and the output shaft of telescope motor 13 connects motor output flange 31; One end of connecting rod 28 is connected with motor output flange 31 by link supports axle 30, slipper bearing 17, connecting rod bearing 29 ensures that it does not axially offset, the other end of connecting rod 28 is connected with slide block 21 by slipper bearing 17, slider support axle 19, and slipper bearing end cap 20, flexible axle sleeve 25 ensure that it does not axially offset; In slider support axle 19 is positioned over the retractable support seat 15 of both sides the first telescopic chute 16 by two ramp bearings 18 and the second telescopic chute 27, one end of every side retractable support seat 15 is anchored on to face upward by retractable support securing member 14 respectively bows on side plate 9 and telescope motor seat 10, and the other end of every side retractable support seat 15 is tightened together by guide rail guide holder 22; Guide rail copper sheathing 23 is embedded in guide rail guide holder 22, and expansion link 24 one end is fixed in slide block 21, and the other end is through bag holder 32 sticky in guide rail copper sheathing 23, connection; For ensure expansion link 24, slider support axle 19 can in guide rail copper sheathing 23, first telescopic chute 16 and the second telescopic chute 27 slide anteroposterior smooth and easy, first telescopic chute 16 and the axis of the second telescopic chute 27, the axis of guide rail copper sheathing 23, this three axis must in same plane.
As shown in Figure 5, upper sticky bagging apparatus comprises sticky bag holder 32, upper sticky bag connector 33, upper sticky bag gripper shoe 34, bump pad connectors 41, electric heating piece holder 35 and electric heating piece 36, wherein upper sticky bag holder 32 utilizes bearing pin to be fixed on expansion link 24 end, the upper sticky U-shaped holder of bag 32 is designed to U-shaped, make sticky bagging apparatus firmly indeformable on the one hand, during the opposing party's surface cover fruit, leave enough spaces to fruit; Upper sticky bag gripper shoe 34 is connected with upper sticky bag holder 32 by two upper sticky bag connectors 33, electric heating piece holder 35 is fixed in upper sticky bag gripper shoe 34 by two bump pad connectors 41, electric heating piece 36 is laid on electric heating piece holder 35 cross section, to the colloid heating in fruit bag.
As shown in Figure 6, lower sticky bagging apparatus comprises lower sticky bag holder 39, lower sticky bag gripper shoe 40, bump pad connectors 41, cushion block supporting seat 42, heating cushion block 43 and fruit barrier plate 44, sticky bag holder 39 is Z-type down, utilize bolt one end to be anchored on base plate 48, the other end connects lower sticky bag gripper shoe 40; Cushion block supporting seat 42 is fixed in lower sticky bag gripper shoe 40 by two bump pad connectors 41, and heating cushion block 43 is positioned at the groove of cushion block supporting seat 42, heats the top of top higher than cushion block supporting seat 42 of cushion block 43; Be connected with fruit barrier plate 44 foremost, the middle part design stem end slideway 45 of fruit barrier plate 44 at cushion block supporting seat 42, the width of this stem end slideway 45 from top to bottom diminishes gradually, is conducive to stem end along this stem end slideway 45 landing, is convenient to the sealing of fruit bag.
As shown in Figure 1 and Figure 2, getter device comprises air pump 50, first magnetic valve 51, second magnetic valve 52, sucker 37 and inhaling hose 38, wherein air pump 50, first magnetic valve 51 and the second magnetic valve 52 are separately fixed on mechanical arm connecting bottom board 53, the outlet of air pump 50 is respectively by the inlet communication of inhaling hose 38 and the first magnetic valve 51 and the second magnetic valve 52, the outlet of the first magnetic valve 51 is communicated with the sucker 37 on lower sticky bagging apparatus by inhaling hose 38, and the outlet of the second magnetic valve 52 is communicated with the sucker 37 on upper sticky bagging apparatus by inhaling hose 38; Upper and lower sticky bagging apparatus respectively has two suckers 37, and two suckers 37 on each sticky bagging apparatus are fixed on up/down and glue in bag gripper shoe 34/40, and is communicated with by inhaling hose 38 between two suckers on each sticky bagging apparatus.
As shown in Figure 7, sucker 37 comprises sucker slide block 55, sucker base 56, sucker nut 57 and back-moving spring 58, sucker 37 entirety is fixed on up/down by sucker base 56 and sucker nut 57 and glues in bag gripper shoe 34/40, back-moving spring 58 is set on sucker slide block 55, and two ends abut with sucker base 56 and sucker slide block 55 respectively; Sucker slide block 55 inside has three through holes, and wherein the through hole of both sides is sucker ventilation hole 59, can connecting sucker flexible pipe or blocking as required, and middle through hole is communicated with sucker suction inlet 54; During work, fruit bag picks up by sucker suction inlet 54 contact fruit bag, and sucker slide block 55 presses need of work upward sliding in sucker base 56, and back-moving spring 58 can make sucker slide block 55 reset, and reaches requirements of one's work.
Operation principle of the present invention is:
Fruit bag is put on the base plate 48 of bagging mechanism, as shown in Figure 8, face upward facing upward in device of bowing motor 1 of bowing to reverse, being engaged by large and small gear 4,3 drives retractor device and upper sticky bagging apparatus to move downward, do not interfere with the front apron 47 in fruit bagging apparatus in order to the electric heating piece holder 35 in upper sticky bagging apparatus moves downward in process simultaneously, telescope motor 13 in retractor device reverses, drive upper sticky bagging apparatus to move backward by connecting rod 28, slide block 21, the sucker 37 directly caused in sticky bagging apparatus contacts with fruit bag; Now, air pump 50 works, and the first magnetic valve 51 cuts out, the second magnetic valve 52 is open-minded, and the sucker 37 in upper sticky bagging apparatus produces suction by the upper strata of fruit bag, pickup fruit bag.
As shown in Figure 9, face upward bow motor 1 and telescope motor 13 and rotate forward, sticky bagging apparatus is upwards travelled forward, each two suckers 37 directly caused in sticky bagging apparatus up and down align, and face upward motor 1 of bowing and reverse; As shown in Figure 10, upper sticky bagging apparatus drives two suckers 37 to move downward, and directly causes and contacts with two suckers 37 in lower sticky bagging apparatus, and this moment, the first magnetic valve 51 is open-minded, produces suction by the lower floor of fruit bag.
As shown in figure 11, face upward motor 1 of bowing and rotate forward, two suckers 37 in drive in sticky bagging apparatus move upward, and are separated by the sucker 37 glued up and down in bagging apparatus, and the levels of fruit bag is separated under the drive of sucker 37, reach the object into fruit bag support mouth.
Fruit is put into fruit bag along the stem end slideway 45 of fruit barrier plate 44 in lower sticky bagging apparatus, this moment, face upward motor 1 of bowing to reverse, in drive, sticky bagging apparatus moves downward, simultaneously, open the power supply of electric heating piece 36, when the levels contact of fruit bag, face upward motor 1 of bowing and continue reversion, now, first magnetic valve 51 and the second magnetic valve 52 are closed, on, sucker 37 in lower sticky bagging apparatus extrudes mutually, the sucker slide block 55 of sucker 37 is moved along sucker base 56 to Impact direction, as shown in figure 12, directly send a telegraph backing 36 to be formed fruit bag with heating cushion block 43 and extrude, colloid in fruit bag melts by the heat that electric heating piece 36 produces, under the effect of extruding force, the levels of fruit bag is bonded together by the colloid melted.In the process, stem end moves downward along stem end slideway 45, and stem end slideway 45 ensures that stem end is fixed on the centre position of fruit bag.Back-moving spring 58 on sucker 37 can change the length of sucker 37, and in support bag process, back-moving spring 58 works, and the sucker suction inlet 54 in upper and lower sticky bagging apparatus contacts with each other, but electric heating piece 56 does not contact with heating cushion block 43; In envelope process, back-moving spring 58 shortens under extruding force effect, and electric heating piece 56 contacts with heating cushion block 43, produces extruding force.
As shown in figure 13, face upward motor 1 of bowing and rotate forward, upper and lower sticky bagging apparatus is separated with fruit bag respectively, and bagging completes; And so forth, continuous, reliable, safe bagging is realized.
Claims (9)
1. a mechanism for packing apple in bag, it is characterized in that: this bagging mechanism entirety is installed on the robotic arm by mechanical arm connecting bottom board (53), comprise fruit bagging apparatus, face upward device of bowing, retractor device, upper sticky bagging apparatus, lower sticky bagging apparatus and getter device, wherein fruit bagging apparatus and getter device are arranged on mechanical arm connecting bottom board (53) respectively, described device of bowing of facing upward is arranged on fruit bagging apparatus, retractor device with face upward device of bowing and be connected, drive swing around facing upward back shaft of bowing (5) by facing upward device of bowing; Described sticky bagging apparatus be connected to retractor device output, drive flexible by retractor device, and swing around facing upward back shaft of bowing (5) together with retractor device, on this, sticky bagging apparatus has the electric heating piece (36) of encapsulation fruit bag; Described lower sticky bagging apparatus is arranged on fruit bagging apparatus, and is positioned at the below of sticky bagging apparatus, and this lower sticky bagging apparatus has the heating cushion block (43) corresponding with described electric heating piece (36); Described sticky bagging apparatus and lower sticky bagging apparatus have the sucker (37) of absorption fruit bag levels respectively, and described getter device is connected with the sucker (37) on upper sticky bagging apparatus and lower sticky bagging apparatus respectively by two-way inhaling hose (38); Described device of bowing of facing upward comprises and faces upward motor of bowing (1), faces upward motor cabinet of bowing (2), pinion (3), gear wheel (4), faces upward back shaft of bowing (5), faces upward flange of bowing (6), faces upward side plate of bowing (9), faces upward bearing of bowing (12) and telescope motor seat (10), wherein facing upward device entirety of bowing is arranged on fruit bagging apparatus by facing upward bearing of bowing (12), face upward motor of bowing (1) to be fixed on to face upward on bearing of bowing (12) by facing upward motor cabinet of bowing (2), the output shaft facing upward motor of bowing (1) is connected with pinion (3); Described back shaft of bowing (5) of facing upward is rotatably installed in and faces upward on bearing of bowing (12), be connected with gear wheel (4) near the one end of facing upward motor of bowing (1), this gear wheel (4) is meshed with described pinion (3); Described face upward side plate of bowing (9) and telescope motor seat (10) respectively with face upward flange of bowing (6) and be connected, face upward back shaft of bowing (5) by facing upward side plate of bowing (9), telescope motor seat (10), face upward flange of bowing (6) and pass; Described retractor device is connected to be faced upward on side plate of bowing (9) and telescope motor seat (10).
2. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described fruit bagging apparatus comprises backplanes support seat (46), base plate (48) and baffle plate assembly, wherein one end of base plate (48) is arranged on mechanical arm connecting bottom board (53) by backplanes support seat (46), and the other end of base plate (48) and both sides are respectively equipped with and ensure the fruit bag baffle plate assembly that position is fixing in fruit bagging apparatus.
3. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described in face upward back shaft of bowing (5) and be rotatably installed in face upward on bearing of bowing (12) by facing upward bearing of bowing (7), face upward back shaft of bowing (5) to be provided with away from the one end of facing upward motor of bowing (1) and to face upward bearing (ball) cover of bowing (8), face upward axle sleeve of bowing (11) facing upward back shaft of bowing (5) is arranged with, described face upward bearing (ball) cover of bowing (8) and face upward axle sleeve of bowing (11) face upward side plate of bowing (9) to what face upward back shaft of bowing (5) and face upward that back shaft of bowing (5) passes, telescope motor seat (10), face upward flange of bowing (6) axial limiting, described gear wheel (4) is for fan-shaped.
4. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described retractor device comprises telescope motor (13), motor output flange (31), link supports axle (30), slipper bearing (17), connecting rod (28), slider support axle (19), slider bush (26), slide block (21), retractable support seat (15), ramp bearings (18), retractable support securing member (14), guide rail guide holder (22), guide rail copper sheathing (23) and expansion link (24), wherein telescope motor (13) is arranged on to face upward and bows on device, the output shaft of telescope motor (13) is connected with motor output flange (31), one end of described connecting rod (28) is connected with motor output flange (31) by link supports axle (30), slipper bearing (17), and the other end of connecting rod (28) is connected with slide block (21) by slipper bearing (17), slider support axle (19), the two ends of described slider support axle (19) are positioned in the telescopic chute of retractable support seat (15) of both sides respectively by ramp bearings (17), one end of every side retractable support seat (15) is all anchored on to face upward by retractable support securing member (14) bows on device, and the other end of every side retractable support seat (15) all tightens together with guide rail guide holder (22), described guide rail copper sheathing (23) is embedded in guide rail guide holder (22), and one end of expansion link (24) is connected with slide block (21), and the other end is through bagging apparatus sticky in guide rail copper sheathing (23), connection.
5. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described sticky bagging apparatus comprises sticky bag holder (32), upper sticky bag connector (33), upper sticky bag gripper shoe (34), bump pad connectors (41), electric heating piece holder (35) and electric heating piece (36), wherein upper sticky bag holder (32) is connected with retractor device, and described sticky bag gripper shoe (34) is arranged on upper sticky bag holder (32) by upper sticky bag connector (33); Described electric heating piece holder (35) is fixed on upper sticky bag gripper shoe (34) by bump pad connectors (41), and electric heating piece (36) is laid on the cross section of electric heating piece holder (35); Described sticky bag gripper shoe (34) is provided with the sucker (37) on absorption fruit bag upper strata.
6. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described lower sticky bagging apparatus comprises lower sticky bag holder (39), sticky bag gripper shoe (40) down, bump pad connectors (41), cushion block supporting seat (42) and heating cushion block (43), wherein one end of lower sticky bag holder (39) is anchored on fruit bagging apparatus, the other end is connected with lower sticky bag gripper shoe (40), described cushion block supporting seat (42) is fixed on lower sticky bag gripper shoe (40) by bump pad connectors (41), heating cushion block (43) is positioned at the groove that cushion block supporting seat (42) is offered.
7. by mechanism for packing apple in bag according to claim 6, it is characterized in that: described cushion block supporting seat (42) be connected with foremost fruit barrier plate (44), the centre of this fruit barrier plate (44) has stem end slideway (45), and the width of described stem end slideway (45) from top to bottom diminishes gradually; The top of described heating cushion block (43) is higher than the top of cushion block supporting seat (42).
8. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described getter device comprises air pump (50), first magnetic valve (51), second magnetic valve (52), sucker (37) and inhaling hose (38), wherein air pump (50), first magnetic valve (51) and the second magnetic valve (52) are separately fixed on mechanical arm connecting bottom board (53), the outlet of described air pump (50) is respectively by the inlet communication of inhaling hose (38) and the first magnetic valve (51) and the second magnetic valve (52), the outlet of the first magnetic valve (51) is communicated with the sucker (37) on lower sticky bagging apparatus by inhaling hose (38), the outlet of the second magnetic valve (52) is communicated with the sucker (37) on upper sticky bagging apparatus by inhaling hose (38).
9. by mechanism for packing apple in bag according to claim 1, it is characterized in that: described sticky bagging apparatus and lower sticky bagging apparatus have two suckers (37) respectively, be communicated with by inhaling hose (38) between two suckers (37) on each sticky bagging apparatus; Described sucker (37) comprises sucker slide block (55), sucker base (56), sucker nut (57) and back-moving spring (58), sucker (37) entirety by sucker base (56) and sucker nut (57) be fixed on up/down glue bagging apparatus or on, described back-moving spring (58) is set on sucker slide block (55), and two ends abut with sucker base (56) and sucker slide block (55) respectively; Described sucker slide block (55) inside has three through holes, and wherein the through hole of both sides is sucker ventilation hole (59), connecting sucker flexible pipe or blocking, and middle through hole is communicated with sucker suction inlet (54); Described sucker slide block (55) is slided along sucker base (56), resets under the effect of back-moving spring (58).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210552165.0A CN103858715B (en) | 2012-12-17 | 2012-12-17 | A kind of mechanism for packing apple in bag |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210552165.0A CN103858715B (en) | 2012-12-17 | 2012-12-17 | A kind of mechanism for packing apple in bag |
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| CN103858715A CN103858715A (en) | 2014-06-18 |
| CN103858715B true CN103858715B (en) | 2015-07-29 |
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| CN201210552165.0A Expired - Fee Related CN103858715B (en) | 2012-12-17 | 2012-12-17 | A kind of mechanism for packing apple in bag |
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| CN108432522A (en) * | 2018-05-23 | 2018-08-24 | 农业部南京农业机械化研究所 | A kind of tree crown fruit bagging device and its application method |
| CN109041978A (en) * | 2018-09-12 | 2018-12-21 | 芜湖县兰馨油桃种植专业合作社 | A kind of semi-automatic bagging device suitable for peach |
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