CN104443523A - Manipulator for box filler - Google Patents
Manipulator for box filler Download PDFInfo
- Publication number
- CN104443523A CN104443523A CN201410696368.6A CN201410696368A CN104443523A CN 104443523 A CN104443523 A CN 104443523A CN 201410696368 A CN201410696368 A CN 201410696368A CN 104443523 A CN104443523 A CN 104443523A
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- CN
- China
- Prior art keywords
- shaped guide
- guide rail
- pivot arm
- ring
- packing machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator for a box filler. The manipulator is installed on a rack of the box filler and comprises a center tower frame fixedly arranged on the rack, a plurality of parallel annular guide rails fixedly arranged on the center tower frame, a plurality of rotating arms which are installed on the center tower frame and capable of sliding along the annular guide rails, and grasper assemblies installed on the rotating arms in a lifting mode and used for grasping and releasing bottle bodies to be filled into boxes. The manipulator further comprises a transmission device capable of driving the rotating arms to slide along the annular guide rails. The manipulator for the box filler is simple in structure, good in box filling coherency and high in productivity and eradicates the phenomena that because of equipment starting and stopping impact in an intermittent mode, bottles fall off, and the boxes are broken.
Description
Technical field
the present invention relates to packing technique field, particularly a kind of packing machine manipulator.
Background technology
in the mechanical development in recent years of beverage packaging, it is more and more that manipulator uses in binning process.At present, the main bin patterns adopted is: first divided by road bottle to be cased, sequence, and waits for that Bottle grabbing device grabs bottle; During vanning, chest be arranged, the bottle sequenced will be picked up by such Bottle grabbing device, and bottle is transported in the chest waiting for vanning, completes vanning.This bin patterns can only each a few case ground step run, and the start-stop that equipment runs is impacted and caused down bottle to break case phenomenon often to have generation, and production capacity is low.
Summary of the invention
the object of this invention is to provide a kind of structure simple, can case continuously, packing machine manipulator that production capacity is high.
for achieving the above object, the technical solution used in the present invention is: a kind of packing machine manipulator, be arranged in the frame of described packing machine, comprise the center pylon be installed in described frame, be installed in many ring-shaped guide rails be parallel to each other on the pylon of described center, be arranged on the pylon of described center can along many pivot arms of the tracks travel of described ring-shaped guide rail, liftably be arranged on the handgrip assembly treating vanning bottle for pick-and-place on pivot arm described in every bar, described manipulator also comprises the driving device that described pivot arm can be driven to slide along described ring-shaped guide rail.
preferably, described driving device is chain gear apparatus, described chain gear apparatus comprises the imput shaft and driven shaft that are vertically arranged on pylon both sides, described center, the upper/lower terminal of described imput shaft and described driven shaft is all installed with a sprocket wheel, described imput shaft is connected by chain drive-belt with the described sprocket wheel with one end on described driven shaft, described manipulator also comprise be connected in described imput shaft for driving described chain gear apparatus to drive described pivot arm along the rotating servo motor of the tracks travel of described ring-shaped guide rail.
further preferably, described pivot arm comprises the first slide rail and the second slide rail, described first slide rail be provided be connected with the described chain drive-belt on described chain gear apparatus driving attaching parts, for locking with described second slide rail the latch segment be connected mutually; Described second slide rail is provided with and described ring-shaped guide rail phase roller one to one, the idler wheel surface of described roller contacts with rolling with the track medial support face of corresponding described ring-shaped guide rail, by the tracks travel of pivot arm described in described roller along described ring-shaped guide rail.
preferably, described manipulator also comprises the lift servo electricity cylinder that the relative support of described handgrip assembly can be driven to move up and down, the upper end of described pivot arm is also installed with electric cylinder erecting frame, described lift servo electricity cylinder is arranged on described electric cylinder erecting frame by slide block, described lift servo electricity cylinder also comprise can vertically be elevated lifting bar, for driving the lifting motor of described lifter rod lifting.
further preferably, described handgrip assembly comprise detouchable be connected to described lifting bar lower end grip bracket, be set on described pivot arm for described handgrip assembly pick-and-place wait case bottle time play the guiding role linear bearing, multiplely wait for pick-and-place the Bottle grabbing device of bottle of casing, described linear bearing and described grip bracket are fixedly connected.
still more preferably, the described Bottle grabbing device on described handgrip assembly has 24, in 4 row 6 row arrangements.
preferably, described ring-shaped guide rail has two, lays respectively at the two ends up and down of described center pylon, and the two end portions of all described ring-shaped guide rails is arc, and centre portion is linear.
further preferably, described pivot arm has six, and all described pivot arms are spaced apart along the track alignment of described ring-shaped guide rail, and corresponding described handgrip assembly and described lift servo electricity cylinder all have six covers.
due to the utilization of technique scheme, the present invention compared with prior art has following advantages: vanning manipulator of the present invention is by arranging center pylon, ring-shaped guide rail, pivot arm and handgrip assembly, make this manipulator when bottle is cased, can be linked up vanning, overcome the case equipment that causes of prior art discontinuous to run start-stop and impact the phenomenon causing down bottle to break case and occur, and structure is simple, vanning is stablized, production capacity is high.
Accompanying drawing explanation
accompanying drawing 1 is the structural representation of packing machine manipulator of the present invention;
accompanying drawing 2 is the birds-eye view of accompanying drawing 1;
accompanying drawing 3 is the structural representation of the first slide rail of pivot arm in packing machine manipulator of the present invention;
accompanying drawing 4 is the structural representation of the second slide rail of pivot arm in packing machine manipulator of the present invention;
accompanying drawing 5 is the enlarged diagram of part A in accompanying drawing 1;
accompanying drawing 6 is the enlarged diagram of part B in accompanying drawing 1;
wherein: 1, frame; 2, center pylon; 3, ring-shaped guide rail; 4, rotating servo motor; 5, pivot arm; 51, the first slide rail, 52 second slide rails; 53, attaching parts is driven; 54, latch segment; 55, electric cylinder erecting frame; 56, roller; 6, handgrip assembly; 61, grip bracket; 62, linear bearing; 63, Bottle grabbing device; 7, lift servo electricity cylinder; 71, lifting bar; 72, slide block; 8, chain gear apparatus; 81, imput shaft; 82, driven shaft; 83, sprocket wheel; 84, chain drive-belt.
Detailed description of the invention
below in conjunction with accompanying drawing, technical scheme of the present invention is further elaborated.
shown in Figure 1, a kind of packing machine manipulator, is arranged in the frame 1 of packing machine.Comprise the center pylon 2 be installed in frame 1, many ring-shaped guide rails 3 be parallel to each other be installed on center pylon 2, be arranged on center pylon 2 can annularly the tracks travel of guide rail 3 many pivot arms 5, be liftably arranged on every bar pivot arm 5 wait for pick-and-place the handgrip assembly 6 of bottle of casing, this manipulator also comprises can the driven rotary arm 5 annularly driving device that slides of guide rail 3.Ring-shaped guide rail 3 has two in the present embodiment, lays respectively at the two ends up and down of center pylon 2.Shown in Figure 2, pivot arm has 6 to be positioned between two ring-shaped guide rails 3, and annularly the track alignment of guide rail 3 is spaced apart respectively.
shown in Figure 1, in the present embodiment, driving device is chain gear apparatus 8, chain gear apparatus 8 comprises the imput shaft 81 and driven shaft 82 that are vertically arranged on center pylon 2 both sides, imput shaft 81 is all installed with a sprocket wheel 83 with the upper/lower terminal of driven shaft 82, and imput shaft 81 is connected by chain drive-belt 84 with the sprocket wheel 83 with one end on driven shaft 82.This manipulator also comprises the drive sprocket set 8 driven rotary arm 5 annularly rotating servo motor 4 that slides of guide rail 3, this rotating servo motor 4 is arranged on the lower end of imput shaft 81, drive imput shaft 81 to rotate by rotating servo motor 4 thus drive driven shaft 82 to rotate, realizing chain drive-belt 84 run-in synchronism between imput shaft 81 and driven shaft 82 upper/lower terminal sprocket wheel 83.
see shown in Fig. 3 to Fig. 6, in the process moved up and down along pivot arm 5, pivot arm 5 is caused to be out of shape in order to prevent handgrip assembly 6, in the present embodiment, pivot arm 5 comprises two slide rails, be respectively the first slide rail 51 and the second slide rail 52, the first slide rail 51 is provided be connected with the chain drive-belt 84 on chain gear apparatus 8 driving attaching parts 53, for locking with the second slide rail 52 phase the latch segment 54 be connected; Second slide rail is provided with and ring-shaped guide rail 3 phase roller 56 one to one, because ring-shaped guide rail 3 has 2, therefore, roller 56 also has two, 56, the roller of roller 56 contacts with rolling with the track medial support face of ring-shaped guide rail 3, and pivot arm 5 can the tracks travel of annularly guide rail 3 by roller 56.Shown in Figure 2, in the present embodiment, the two end portions of ring-shaped guide rail 3 is arc, and centre portion is linear, then the path of motion that pivot arm 5 is formed in rotary course is kidney-shaped column intrinsic curve.
shown in Figure 3, in the present embodiment, manipulator also comprises the lift servo electricity cylinder for driving the relative support 1 of handgrip assembly 6 to move up and down.Also be installed with electric cylinder erecting frame 55 in the upper end of the first slide rail 51 of pivot arm 5, lift servo electricity cylinder 7 is arranged on this electric cylinder erecting frame 55 by slide block 72.This lift servo electricity cylinder 7 also comprises lifting bar 71, the lifting motor for driving lifting bar 71 to be elevated that can vertically be elevated.Shown in Figure 1, handgrip assembly 6 comprise detouchable be connected to lifting bar 71 lower end grip bracket 61, be set on pivot arm 5 for handgrip assembly 6 pick-and-place wait case bottle time play the guiding role linear bearing 62, wait for pick-and-place the multiple Bottle grabbing devices 63 of bottle of casing, linear bearing 62 and grip bracket 61 are fixedly connected.Because of in the present embodiment, pivot arm 5 has 6, and correspondingly, handgrip assembly 6 all has 6 covers with lift servo electricity cylinder 7, and the quantity of Bottle grabbing device 63 can arrange according to reality every case bottling quantity, and in the present embodiment, Bottle grabbing device 63 has 24, in 4 row 6 row arrangements.
during vanning, bottle to be cased and casing to be bottled transfer to the both sides of manipulator respectively by bottle delivery system and casing delivery system, shown in Fig. 1, Fig. 2, by motion controller and PLC control program by Signal transmissions on rotating servo motor 4 and lift servo motor, rotating servo motor 4 is impelled to drive imput shaft 81 to drive driven shaft 82 to rotate, realize the run-in synchronism of upper and lower chain drive-belt 84, thus the track alignment of driven rotary arm 5 annularly guide rail 3 slides.Meanwhile, after lift servo motor receives signal transmission, lifting bar 71 is driven vertically to move up and down, the action that the Bottle grabbing device 63 simultaneously on handgrip assembly 6 carries out grabbing bottle according to change in location and puts bottle.Keep synchronously carrying out by bottle delivery system and casing delivery system, handgrip assembly 6 can be made to link up continual vanning.
in sum, packing machine manipulator of the present invention, by arranging center pylon, ring-shaped guide rail, chain gear apparatus, lift servo electricity cylinder and handgrip assembly, coherent continual vanning can be carried out, the equipment that causes under interval bin patterns that overcomes runs start-stop and impacts the bottle that falls brought and break the problem of case, and the reliable and stable and production capacity of casing significantly promotes.
above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (8)
1. a packing machine manipulator, be arranged in the frame (1) of described packing machine, it is characterized in that: comprise the center pylon (2) be installed in described frame (1), be installed in many ring-shaped guide rails (3) be parallel to each other on described center pylon (2), be arranged on described center pylon (2) can along many pivot arms (5) of the tracks travel of described ring-shaped guide rail (3), liftably be arranged on the handgrip assembly (6) treating vanning bottle for pick-and-place on pivot arm (5) described in every bar, described manipulator also comprises the driving device that described pivot arm (5) can be driven to slide along described ring-shaped guide rail (3).
2. packing machine manipulator according to claim 1, it is characterized in that: described driving device is chain gear apparatus (8), described chain gear apparatus (8) comprises the imput shaft (81) and driven shaft (82) that are vertically arranged on pylon (2) both sides, described center, described imput shaft (81) is upper with described driven shaft (82), lower two ends are all installed with a sprocket wheel (83), described imput shaft (81) is connected by chain drive-belt (84) with the described sprocket wheel (83) with one end on described driven shaft (82), described manipulator also comprise be connected in described imput shaft (81) for driving described chain gear apparatus (8) to drive described pivot arm (5) along the rotating servo motor of the tracks travel of described ring-shaped guide rail (3).
3. packing machine manipulator according to claim 2, it is characterized in that: described pivot arm (5) comprises the first slide rail (51) and the second slide rail (52), described first slide rail be provided be connected with the described chain drive-belt (84) on described chain gear apparatus (8) driving attaching parts (53), for locking with described second slide rail the latch segment be connected mutually; Described second slide rail is provided with and described ring-shaped guide rail (3) phase roller (56) one to one, the idler wheel surface of described roller (56) contacts with rolling with the track medial support face of corresponding described ring-shaped guide rail (3), by the tracks travel of described roller (56) described pivot arm (5) along described ring-shaped guide rail (3).
4. packing machine manipulator according to claim 1, it is characterized in that: described manipulator also comprises lift servo electricity cylinder (7) that the relatively described support (1) of described handgrip assembly (6) can be driven to move up and down, the upper end of described pivot arm (5) is also installed with electric cylinder erecting frame (55), described lift servo electricity cylinder (7) is arranged on described electric cylinder erecting frame (55) by slide block (72), and described lift servo electricity cylinder (7) also comprises lifting bar (71), the lifting motor for driving described lifting bar (71) to be elevated that can vertically be elevated.
5. packing machine manipulator according to claim 4, it is characterized in that: described handgrip assembly (6) comprise detouchable be connected to described lifting bar (71) lower end grip bracket (61), be set on described pivot arm (5) for described handgrip assembly (6) pick-and-place wait case bottle time play the guiding role linear bearing (62), multiplely wait for pick-and-place the Bottle grabbing device (63) of bottle of casing, described linear bearing (62) and described grip bracket (61) are fixedly connected.
6. packing machine manipulator according to claim 5, is characterized in that: the described Bottle grabbing device (63) on described handgrip assembly (6) has 24, in 4 row 6 row arrangements.
7. packing machine manipulator according to claim 1, it is characterized in that: described ring-shaped guide rail (3) has two, lay respectively at the two ends up and down at described center pylon (2), the two end portions of all described ring-shaped guide rails (3) is arc, and centre portion is linear.
8. according to the arbitrary described packing machine manipulator of claim 1 to 7, it is characterized in that: described pivot arm (5) has six, all described pivot arms (5) are spaced apart along the track alignment of described ring-shaped guide rail (3), and corresponding described handgrip assembly (6) all has six covers with described lift servo electricity cylinder (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410696368.6A CN104443523B (en) | 2014-11-26 | 2014-11-26 | Recrater mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410696368.6A CN104443523B (en) | 2014-11-26 | 2014-11-26 | Recrater mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104443523A true CN104443523A (en) | 2015-03-25 |
| CN104443523B CN104443523B (en) | 2016-12-07 |
Family
ID=52890432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410696368.6A Active CN104443523B (en) | 2014-11-26 | 2014-11-26 | Recrater mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104443523B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346754A (en) * | 2015-11-26 | 2016-02-24 | 楚天科技股份有限公司 | Bottle grasping device |
| CN109436426A (en) * | 2018-11-03 | 2019-03-08 | 谢森涛 | It is a kind of rotatably to equipping punch-out equipment |
| CN114671064A (en) * | 2022-04-20 | 2022-06-28 | 广州昂特机械设备有限公司 | Dress holds in palm device and equipment for packing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4016706A (en) * | 1976-03-31 | 1977-04-12 | Owens-Illinois, Inc. | Method of controlling shrinkage of a sleeve wrap on a container |
| CN1091376A (en) * | 1992-12-19 | 1994-08-31 | 赫尔曼·克朗塞德机械工厂克朗塞有限公司 | Wrapping machine |
| CN101508350A (en) * | 2009-01-22 | 2009-08-19 | 广州市万世德包装机械有限公司 | Rotary type container loader |
| CN102745357A (en) * | 2012-07-31 | 2012-10-24 | 广州达意隆包装机械股份有限公司 | Boxing machine |
| CN203497255U (en) * | 2013-10-23 | 2014-03-26 | 山东新华医疗器械股份有限公司 | Clamp type large volume parenteral positioning transfer machine |
| CN204236821U (en) * | 2014-11-26 | 2015-04-01 | 江苏新美星包装机械股份有限公司 | Packing machine manipulator |
-
2014
- 2014-11-26 CN CN201410696368.6A patent/CN104443523B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4016706A (en) * | 1976-03-31 | 1977-04-12 | Owens-Illinois, Inc. | Method of controlling shrinkage of a sleeve wrap on a container |
| CN1091376A (en) * | 1992-12-19 | 1994-08-31 | 赫尔曼·克朗塞德机械工厂克朗塞有限公司 | Wrapping machine |
| CN101508350A (en) * | 2009-01-22 | 2009-08-19 | 广州市万世德包装机械有限公司 | Rotary type container loader |
| CN102745357A (en) * | 2012-07-31 | 2012-10-24 | 广州达意隆包装机械股份有限公司 | Boxing machine |
| CN203497255U (en) * | 2013-10-23 | 2014-03-26 | 山东新华医疗器械股份有限公司 | Clamp type large volume parenteral positioning transfer machine |
| CN204236821U (en) * | 2014-11-26 | 2015-04-01 | 江苏新美星包装机械股份有限公司 | Packing machine manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346754A (en) * | 2015-11-26 | 2016-02-24 | 楚天科技股份有限公司 | Bottle grasping device |
| CN105346754B (en) * | 2015-11-26 | 2017-10-27 | 楚天科技股份有限公司 | Grab bottle |
| CN109436426A (en) * | 2018-11-03 | 2019-03-08 | 谢森涛 | It is a kind of rotatably to equipping punch-out equipment |
| CN114671064A (en) * | 2022-04-20 | 2022-06-28 | 广州昂特机械设备有限公司 | Dress holds in palm device and equipment for packing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104443523B (en) | 2016-12-07 |
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