CN104803034B - Food box packing machine - Google Patents

Food box packing machine Download PDF

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Publication number
CN104803034B
CN104803034B CN201510199300.1A CN201510199300A CN104803034B CN 104803034 B CN104803034 B CN 104803034B CN 201510199300 A CN201510199300 A CN 201510199300A CN 104803034 B CN104803034 B CN 104803034B
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CN
China
Prior art keywords
food
plate
mechanical grip
box
clamping device
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CN201510199300.1A
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CN104803034A (en
Inventor
彭涛
李亚东
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Chengdu Soontrue Rainbow Machinery Equipment Co Ltd
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Chengdu Soontrue Rainbow Machinery Equipment Co Ltd
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Priority to CN201510199300.1A priority Critical patent/CN104803034B/en
Publication of CN104803034A publication Critical patent/CN104803034A/en
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    • 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)
  • Specific Conveyance Elements (AREA)

Abstract

The present invention relates to field of food processing machinery and equipment, specifically food box packing machine, including lower case structure, row's box conveying mechanism and clamping device, described lower case structure and clamping device are both placed in arranging above box conveying mechanism, described lower case structure is arranged on clamping device one end, and the side of described clamping device is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device includes installation frame, described installation frame is provided with multiple mechanical grips, clamping device of the present invention achieves mechanical grip motion in three directions using guider, horizontal drive mechanism and upright driving mechanism, and it is capable of the adjustment of full-automation, so mechanical grip can be in the case of not by manpower, it is automatically obtained spacing adjustment, and only change the support box that track plates just adapt to sizes, eliminate artificial participation, improve production efficiency, enhance automaticity.

Description

Food box packing machine
Technical field
The present invention relates to field of food processing machinery and equipment, specifically food box packing machine.
Background technology
In existing food processing field, after the completion of food processing, it usually needs execution mounted box operation, but existing dress Box is essentially all directly to be put into food in support box by manual, which not only adds job costs, and due to needing Manually to participate in, also to easily cause the hygienic issues of food.
The existing patent improving for mounted box operation, if number of patent application is 201320555950.1, the applying date is 2013.9.6, entitled " a kind of device making dumplingss ", its technical scheme is：This utility model is related to a kind of dumplingss of making Device, including dumpling machine, the robot device running with dumpling machine cooperation and conveyer device；Conveyer device is joined with robot device Close and run.Its main improvement is to be provided with the mechanical arm with clip board engagement, is carried the dumpling of molding using mechanical arm To on conveyer belt, but said structure can not directly dumpling be placed in support box it is still desirable to manual put into support by dumpling In box.
Content of the invention
In order to overcome the food processing cannot being put by the way of automatization of existing food processing equipment presence Enter the problem in support box, a kind of currently proposed food box packing machine.
For realizing above-mentioned technical purpose, technical solution of the present invention is as follows：
A kind of food box packing machine it is characterised in that：Including lower case structure, row's box conveying mechanism and clamping device, described under Case structure and clamping device are both placed in arranging above box conveying mechanism, and described lower case structure is arranged on clamping device one end, described The side of clamping device is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device includes installation frame, described Installation frame is provided with multiple mechanical grips, and described mechanical grip is provided with the guiding for adjusting adjacent machine jaw spacing Device, described mechanical grip is connected with driving, and it realizes the horizontal drive mechanism of horizontal movement, is also associated with driving it to realize erecting The straight upright driving mechanism moving up and down.
Described conveyer belt one end is across above row's box conveying mechanism.
Clamping device concrete structure：
Described guider is track plates, and described track plates are provided with gathering sill.
Described gathering sill is groove.
Described at least three adjacent machine jaws be one group of mechanical grip, mechanical grip at least provided with one group, every group of machine It is correspondingly arranged on track plates on tool jaw, the top of each mechanical grip is correspondingly arranged on gathering sill, set above each mechanical grip It is equipped with perpendicular guide pillar, described perpendicular guide pillar is located in gathering sill corresponding thereto.
In gathering sill corresponding in every group of mechanical grip, gathering sill positioned at both sides simultaneously near or be located away Between gathering sill.
Each mechanical grip upper end is connected with the first contiguous block, and it is fixing that multiple first contiguous blocks are actively socketed on first simultaneously On cross bar, described first contiguous block is fixedly connected with perpendicular guide pillar.
Vertical cylinder centered on described upright driving mechanism, described center vertical cylinder is connected with the first fixed transverse rod.
The top of described each first contiguous block is correspondingly arranged on second contiguous block, described second contiguous block vertical direction On offer through hole, the perpendicular guide pillar being connected with described first contiguous block through through hole pass through its above the second contiguous block.
Multiple second contiguous blocks are socketed on the second fixed transverse rod simultaneously, and described second fixed transverse rod two ends are connected with cross bar Mounting seat, described cross bar mounting seat is connected with being transversely mounted plate with by linear slide rail.
Described horizontal drive mechanism is servomotor, and described servo motor output shaft is connected by Timing Belt with synchronizing wheel, Described synchronizing wheel is connected on first level conveying lever, and the synchronizing wheel at described first level conveying lever two ends passes through horizontal synchronization band It is connected with the synchronizing wheel at the second horizontal feed bar two ends.
It is provided with described two Timing Belts and is transversely mounted plate, vertical linear slide rail is passed through in the described plate side that is transversely mounted It is connected with a cross bar mounting seat, opposite side is passed through horizontal linear slide rail and is connected with fixed installation plate.
The operation principle of box packing machine is：
The food of box to be arranged is transported to clamping device from food forming machine upload by the belt conveyor transmitting box food to be arranged Lower section, the mechanical grip of clamping device moves downward and clamps food, and then clamping device moves by food carrying extremely upwards Support box above, carrying during, multiple mechanical grips adjust spacing each other by guider, and hold in the palm box from Start at lower case structure, be delivered to below the mechanical grip after adjustment spacing through row's box conveying mechanism, now under mechanical grip Fall, food is placed in corresponding support box.
The concrete operating principle of clamping device is：
Multiple mechanical grips, under the drive of horizontal drive mechanism, do the axial motion of horizontal X；Meanwhile, multiple Mechanical grip, in the presence of guider, adjusts level interval each other, realizes the motion of horizontal Y direction；Upper State in motor process, under the drive of upright driving mechanism, multiple mechanical grips do the upper and lower motion of vertical Z-direction.This Shen Please in the motion of horizontal X direction of principal axis refer to the forward and backward motion of horizontal direction；The motion of horizontal Y direction refers to horizontal direction Left and right motion；Vertically Z-direction motion refers to the upper and lower motion of vertical direction.
Concretely, guider is the track plates at least provided with three gathering sills, the mesh of the gathering sill on track plates Be to adjust the distance between adjacent machine jaw so that the distance between mechanical grip accommodates the adjacent recessed of food with support box Spacing between groove matches, and when the distance between such as the distance between adjacent machine jaw is than adjacent grooves in support box is little, then guides The track of groove is set to the mechanical grip of both sides toward respective lateral movement, and the mechanical grip at middle part keeps original path motion, this Sample just enables to increase the purpose of adjacent machine jaw spacing, and vice versa.Form except gathering sill, it is possible to use default rail Road, cam or existing structure realize identical technique effect.
Horizontal drive mechanism drives synchronizing wheel to rotate, with side synchronizing wheel by under the drive of Timing Belt, keep rotating, Gu Determining installing plate is to be fixedly installed, and is not subjected to displacement change, being transversely mounted plate and can do horizontal X under the drive of Timing Belt above it Direction of principal axis moves, due to fixedly mounting plate and being transversely mounted linear slide rail between plate, so be transversely mounted plate can be with respect to solid Determine installing plate and do the axial motion of horizontal X, be transversely mounted plate left and right two ends pass through linear slide rail respectively with cross bar mounting seat It is connected, and between two cross bar mounting seats, is connected with the second fixed transverse rod, the second fixed transverse rod is socketed with multiple second contiguous blocks, And be provided with mechanical grip below the second contiguous block, so mechanical grip can be followed does the axial motion of horizontal X.
On the premise of mechanical grip does the motion of horizontal X direction of principal axis, due to being provided with track plates above it, track plates are solid Dingan County fills, and does not move, along with the perpendicular guide pillar on mechanical grip is to stretch in corresponding gathering sill, so perpendicular guide pillar Horizontal Y direction motion can be done with the fluting track driving mechanical jaw of gathering sill.
First contiguous block and the socket of the first fixed transverse rod, and the first fixed transverse rod is connected with upright driving mechanism, so machine Motion in vertical Z-direction for the tool jaw is by upright driving mechanism the-the first fixed transverse rod-the first contiguous block-machinery folder The order of pawl drives realization successively.Because perpendicular guide pillar is through the second contiguous block, and no it is fixedly connected pass with the second contiguous block System, so perpendicular guide pillar can do the motion of vertical Z-direction with respect to the second contiguous block.
Mechanical grip concrete structure：
Described mechanical grip includes fixed plate, the first fixture block, the second fixture block and jaw cylinder, described jaw cylinder outfan It is connected with tooth bar, described tooth bar is engaged gear with band below, and described band is fixed on gear in fixed plate, described fixation Plate lower end is connected with the first fixture block, and described band presss from both sides being connected with the second fixture block, described first fixture block and second at the handle of gear Block is oppositely arranged.
The lower end of described first fixture block and the second fixture block is provided with circular groove.
It is provided with pore in the circular groove of described first fixture block and/or the second fixture block, at described pore, be connected with gas Pipe joint.
Described fixed plate at least includes fixing upper plate, fixing longitudinal side plate, fixing horizontal side plate and fixing base plate, described fixation Upper plate horizontally set, the end of its length direction is connected with the fixing longitudinal side plate being vertically arranged, and the side of its width connects There is the horizontal side plate of the fixation being vertically arranged, the bottom of described fixed side is horizontally connected with fixing base plate.
It is provided with through hole, described jaw cylinder outfan passes through through hole on described fixed side.
Described jaw cylinder is located at outside fixed side, and described tooth bar is located inside fixed side.
Described band is connected to fixing horizontal side plate the rotary shaft of gear.
Described first fixture block is fixed on fixing base plate.
The concrete operating principle of mechanical grip：
Jaw cylinder promotes tooth bar to move reciprocatingly, because tooth bar is engaged gear with band, thus rack drives band is tooth Wheel around rotary shaft rotate, because band is connected with the second fixture block gear, thus the second fixture block can with band gear around rotary shaft Do arc track to move back and forth.Because the first fixture block is fixedly disposed on fixing base plate, the action of the second fixture block is just Achieve the opening and closing movement with respect to the first fixture block.When mechanical grip declines crawl food, mechanical grip is opened, and clamps food After, mechanical grip rises, and after moving to above tray position, mechanical grip declines, and opens, and food is placed in support box, Then, above the food that mechanical grip rising moves to subsequent delivery and comes, repeat above-mentioned action.
Lower case structure concrete structure：
Described lower case structure includes fixed frame, is provided with multiple backplates of fixing support box position in described fixed frame, It is provided with fork plate between described adjacent backplate, described fork plate and fork plate cylinders, it is provided with sucker, institute below described backplate State sucker bottom and be connected with sucker cylinder.
The plurality of backplate is fixed at four angles, and described backplate is crowded around and formed a coffin placing support box.
Described fork plate, under the drive of fork plate cylinder, does the horizontal reciprocating passing in and out described coffin at coffin edge Motion.
Described fork plate is arranged at least one side of fixed frame.
The bottom of each coffin described is provided with multiple suckers, the plurality of sucker pass through connector and one or Multiple sucker cylinders.
Described sucker is sponge sucker.
Transversely arranged in described fixed frame have two coffins.
Described fork plate horizontally set, left and right two parts of fork plate are respectively on the coffin side positioned at left and right both direction Edge does the horizontal reciprocating movement of turnover coffin.
The concrete operating principle of lower case structure is：
During initial position, fork plate is located at the edge lower part of bottom one in a folded support box, and whole folded support box is supported, when When sucker below support box rises the support box holding lowermost end, fork plate level in the presence of fork plate cylinder retreats, from support box side Edge unclamps.Now sucker declines a segment distance, and whole folded support box also declines a segment distance together, and fork plate is in the effect of fork plate cylinder Lower level reach, holds penultimate support box in whole folded support box, and now the support box of original lowermost end is drawn onto conveyer belt by sucker Upper placement, and unclamp.
The concrete structure of row's box conveying mechanism：
Described row's box conveying mechanism includes row's box conveyer belt and row's box conveying motor, described row's box conveying Motor drive row Box conveyer belt moves.
It is horizontally arranged with belt conveyor, described belt conveyor one end is arranged on food forming machine above described row's box conveyer belt On.
Advantages of the present invention is：
1st, clamping device of the present invention achieves mechanical grip using guider, horizontal drive mechanism and upright driving mechanism Motion in three directions, and it is capable of the adjustment of full-automation, so mechanical grip can be by manpower In the case of, it is automatically obtained spacing adjustment, and only changes the support box that track plates just adapt to sizes, eliminate artificial ginseng With improve production efficiency, enhance automaticity.
2nd, the track plates structure of clamping device of the present invention is simple, by the setting of gathering sill, is capable of to mechanical grip Motion path guiding, it is to avoid complicated drive mechanism, and change simple, because track plates do not move, so more Change conveniently, the track plates directly changing different route guidance grooves can make mechanical grip move on default path, suitable with this Answer various sizes of support box, reduce the cost adapting to that the needs of sizes improve to equipment, be suitable for popularization and application.
3rd, clamping device of the present invention is provided with multiple mechanical grips, and multiple mechanical grips receive driving machine simultaneously or respectively The drive of structure, improves production efficiency, is capable of producing on a large scale.
4th, clamping device of the present invention passes through the first contiguous block and the form of the first fixed transverse rod is realized to mechanical grip perpendicular The motion of straight Z-direction, structure is simple, and all mechanical grips can be driven to do upper and lower fortune using a drive mechanism simultaneously Dynamic, improve the synchronicity of each mechanical grip, it is to avoid the asynchronous production error brought of each mechanical grip.
5th, the perpendicular guide pillar above the mechanical grip of clamping device of the present invention passes through the second contiguous block, and can be with respect to second Contiguous block moves up and down, and the second contiguous block so can be made only to realize driving mechanical jaw and do the axial motion of horizontal X, And do the motion of vertical Z-direction without limitation on mechanical grip, flexible connection now can realize above two work(simultaneously Can, the motion realized on three directions for mechanical grip serves very important effect.
6th, the present invention in cross bar mounting seat and is transversely mounted and is provided with the linear slide rail being vertically arranged between plate, is transversely mounted It is provided with horizontally disposed linear slide rail, linear slide rail enables to its interconnective two knot between plate and fixed installation plate Can mutually move between structure.
7th, the mechanical grip of the present invention is due to the structure employing tooth bar, band is matched gear with fixture block, so avoiding Two fixture blocks are clamping the unstable situation of the folder occurring during dumplingss, and clamp structure can accurately grip to dumplingss.
8th, the mechanical grip of the present invention is due to being provided with circular groove in the lower end of the first fixture block and the second fixture block, and It is provided with pore in the circular groove of the first fixture block and/or the second fixture block, at pore, is connected with gas-tpe fitting, when fixture block is in folder When taking and decontroling dumpling, pore can first be blown to dumpling, can play the effect avoiding fixture block directly to dumpling effect, Buffer the pressure between fixture block and dumpling, prevented clamping force excessive so that dumpling is bonded on fixture block, also make dumpling not variable Shape broken skin.
9th, the fixed plate structure of the mechanical grip of the present invention rationally, can be by the output shaft of jaw cylinder, band gear Rotary shaft is both connected to thereon.
10th, under the present invention, case structure automatically provides support box using frame for movement, it is to avoid the problem put manually, saves The productivity, fork plate and sucker cooperate, and multiple support boxes are transported to specified station from bottom to up successively, improve work effect Rate is so that the automaticity of food box packing machine is improved.
11st, under the present invention, multiple backplates of case structure may be constructed multiple coffins, and each coffin can be placed One group of support box, so the present invention can provide multiple support boxes simultaneously, improves production efficiency.
Brief description
Fig. 1 is food box packing machine structural representation.
Fig. 2 is the structural representation of food box packing machine and food forming machine cooperation.
Fig. 3 is row's box conveying mechanism structural representation.
Fig. 4 is the structural representation at clamping device front upper place visual angle.
Fig. 5 is the structural representation at clamping device back lower place visual angle.
Fig. 6 is clamping device positive structure schematic.
Fig. 7 is clamping device top view.
Fig. 8 is the structural representation of mechanical grip.
Fig. 9 is the structural representation of pore on the fixture block of mechanical grip.
In accompanying drawing：
Lower case structure 1, arranges box conveying mechanism 2, clamping device 3, belt conveyor 4, food forming machine 5.
Row's box conveyer belt 201, row's box conveying motor 202.
Installation frame 301, mechanical grip 302, guider 303, horizontal drive mechanism 304, upright driving mechanism 305, Gathering sill 306, perpendicular guide pillar 307, the first contiguous block 308, the first fixed transverse rod 309, the second contiguous block 311, the second fixed transverse rod 312, cross bar mounting seat 313, it is transversely mounted plate 314, linear slide rail 315, synchronizing wheel 316, Timing Belt 317, first level conveys Bar 318, the second horizontal feed bar 319, fixedly mount plate 320.
Fixed plate 321, the first fixture block 322, the second fixture block 323, jaw cylinder 324, tooth bar 325, band are gear 326, circle Arc groove 327, gas-tpe fitting 328, fixing upper plate 329, fixing longitudinal side plate 330, fixing horizontal side plate 331, fixing base plate 332, Pore 333.
Specific embodiment
Embodiment 1
A kind of food box packing machine includes lower case structure 1, row's box conveying mechanism 2 and clamping device 3, described lower case structure 1 He Above clamping device 3 row's of being both placed in box conveying mechanism 2, described lower case structure 1 is arranged on clamping device 3 one end, described clamping The side of mechanism 3 is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device 3 includes installation frame 301, described Installation frame 301 is provided with multiple mechanical grips 302, and described mechanical grip 302 is provided with for adjusting adjacent machine jaw The guider 303 of 302 spacing, described mechanical grip 302 is connected with driving, and it realizes the horizontal drive mechanism of horizontal movement 304, it is also associated with driving it to realize the upright driving mechanism 305 vertically moving up and down.
The food of box to be arranged is transported to clamping device 3 from food forming machine 5 upload by the belt conveyor 4 transmitting box food to be arranged Lower section, the mechanical grip 302 of clamping device 3 moves downward and clamps food, and then clamping device 3 moves upwards by food It is carried to above support box, during carrying, between multiple mechanical grips 302 are adjusted each other by guider 303 Away from, and ask box from the beginning of at lower case structure 1, be delivered under the mechanical grip 302 after adjustment spacing through row's box conveying mechanism 2 Side, now mechanical grip 302 declines, and food is placed in corresponding support box.
Clamping device 3 of the present invention is achieved using guider 303, horizontal drive mechanism 304 and upright driving mechanism 305 Mechanical grip 302 motion in three directions, and it is capable of the adjustment of full-automation, so mechanical grip 302 can In the case of not by manpower, it is automatically obtained spacing adjustment, and only change the support that track plates just adapt to sizes Box, eliminates artificial participation, improves production efficiency, enhance automaticity.
Embodiment 2
A kind of food box packing machine includes lower case structure 1, row's box conveying mechanism 2 and clamping device 3, described lower case structure 1 He Above clamping device 3 row's of being both placed in box conveying mechanism 2, described lower case structure 1 is arranged on clamping device 3 one end, described clamping The side of mechanism 3 is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device 3 includes installation frame 301, described Installation frame 301 is provided with multiple mechanical grips 302, and described mechanical grip 302 is provided with for adjusting adjacent machine jaw The guider 303 of 302 spacing, described mechanical grip 302 is connected with driving, and it realizes the horizontal drive mechanism of horizontal movement 304, it is also associated with driving it to realize the upright driving mechanism 305 vertically moving up and down.
The operation principle of box packing machine is：
The food of box to be arranged is transported to clamping device 3 from food forming machine 5 upload by the belt conveyor 4 transmitting box food to be arranged Lower section, the mechanical grip 302 of clamping device 3 moves downward and clamps food, and then clamping device 3 moves upwards by food It is carried to above support box, during carrying, between multiple mechanical grips 302 are adjusted each other by guider 303 Away from, and ask box from the beginning of at lower case structure 1, be delivered under the mechanical grip 302 after adjustment spacing through row's box conveying mechanism 2 Side, now mechanical grip 302 declines, and food is placed in corresponding support box.
Conveyer belt one end is across above row's box conveying mechanism 2.
Guider 303 is track plates, and described track plates are provided with gathering sill 306.Gathering sill 306 is groove.At least Three adjacent machine jaws 302 are one group of mechanical grip 302, mechanical grip 302 at least provided with one group, every group of mechanical grip It is correspondingly arranged on track plates, the top of each mechanical grip 302 is correspondingly arranged on gathering sill 306, each mechanical grip 302 on 302 Top is provided with perpendicular guide pillar 307, and described perpendicular guide pillar 307 is located in gathering sill 306 corresponding thereto.
In gathering sill 306 corresponding in every group of mechanical grip 302, gathering sill 306 positioned at both sides simultaneously near or It is located away the gathering sill 306 of centre.
Each mechanical grip 302 upper end is connected with the first contiguous block 308, multiple first contiguous block 308 pivot bush units simultaneously On the first fixed transverse rod 309, described first contiguous block 308 is fixedly connected with perpendicular guide pillar 307.Upright driving mechanism 305 is Center vertical cylinder, described center vertical cylinder is connected with the first fixed transverse rod 309.The top of each first contiguous block 308 corresponds to It is provided with second contiguous block 311, described second contiguous block 311 vertical direction offers through hole, is connected with described first The perpendicular guide pillar 307 that block 308 is connected passes through the second contiguous block 311 above it through through hole.
Multiple second contiguous blocks 311 are socketed on the second fixed transverse rod 312 simultaneously, described second fixed transverse rod 312 two ends It is connected with cross bar mounting seat 313, described cross bar mounting seat 313 is connected with being transversely mounted plate 314 with by linear slide rail 315.
Described horizontal drive mechanism 304 is servomotor, and described servo motor output shaft passes through Timing Belt with synchronizing wheel 316 317 be connected, described synchronizing wheel 316 is connected on first level conveying lever 318, described first level conveying lever 318 two ends same Step wheel 316 is connected with the synchronizing wheel 316 at the second horizontal feed bar 319 two ends by horizontal synchronization band 317.
It is provided with two Timing Belts 317 and is transversely mounted plate 314, vertical line is passed through in described plate 314 side that is transversely mounted Property slide rail 315 be connected with a cross bar mounting seat 313, opposite side by horizontal linear slide rail 315 and fixed installation plate 320 phase Even.
The concrete operating principle of clamping device 3 is：
Multiple mechanical grips 302, under the drive of horizontal drive mechanism 304, do the axial motion of horizontal X；Same with this When, multiple mechanical grips 302, in the presence of guider 303, adjust level interval each other, realize horizontal Y-axis side To motion；In above-mentioned motor process, under the drive of upright driving mechanism 305, multiple mechanical grips 302 do vertical Z axis The upper and lower motion in direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction；Horizontal Y direction Motion refer to the left and right motion of horizontal direction；Vertically Z-direction motion refers to the upper and lower motion of vertical direction.
Concretely, guider 303 is the track plates at least provided with three gathering sills 306, the guiding on track plates The purpose of groove 306 is to adjust the distance between adjacent machine jaw 302 so that in the distance between mechanical grip 302 and support box The spacing accommodating between the adjacent grooves of food matches, and such as the distance between adjacent machine jaw 302 is than adjacent grooves in support box Between distance hour, then the track of gathering sill 306 be set to the mechanical grip 302 of both sides toward respective lateral movement, and the machine at middle part Tool jaw 302 keeps original path motion, so just enables to increase the purpose of adjacent machine jaw 302 spacing, vice versa. Form except gathering sill 306, it is possible to use predetermined trajectory, cam or existing structure realize identical technique effect.
Horizontal drive mechanism 304 drive synchronizing wheel 316 rotate, with side synchronizing wheel 316 by Timing Belt 317 drive Under, keep rotate, fixed installation plate 320 be fixedly installed, be not subjected to displacement change, above it be transversely mounted plate 314 with Step is moved with doing horizontal X direction of principal axis under 317 drive, due to fixedly mounting plate 320 and being transversely mounted linear between plate 314 Slide rail 315, so being transversely mounted plate 314 can do the axial motion of horizontal X with respect to fixed installation plate 320, is transversely mounted plate 314 left and right two ends are connected with two cross bar mounting seats 313 respectively by linear slide rail 315, and connect between two cross bar mounting seats 313 It is connected to the second fixed transverse rod 312, the second fixed transverse rod 312 is socketed with multiple second contiguous blocks 311, and the second contiguous block 311 Lower section is provided with mechanical grip 302, so mechanical grip 302 can be followed does the axial motion of horizontal X.
On the premise of mechanical grip 302 does the motion of horizontal X direction of principal axis, due to being provided with track plates, track plates above it For fixed installation, do not move, along with the perpendicular guide pillar 307 on mechanical grip 302 is to stretch to corresponding gathering sill 306 In, so perpendicular guide pillar 307 can do horizontal Y direction motion with the fluting track driving mechanical jaw 302 of gathering sill 306.
First contiguous block 308 is socketed with the first fixed transverse rod 309, and the first fixed transverse rod 309 and upright driving mechanism 305 It is connected, so motion in vertical Z-direction for the mechanical grip 302 is by upright driving mechanism 305- first fixed transverse rod The order of 309- the first contiguous block 308- mechanical grip 302 drives realization successively.Because perpendicular guide pillar 307 is through the second connection Block 311, and it is fixedly connected relation with the second contiguous block 311 nothing, so perpendicular guide pillar 307 can do with respect to the second contiguous block 311 The vertically motion of Z-direction.
Clamping device 3 of the present invention is achieved using guider 303, horizontal drive mechanism 304 and upright driving mechanism 305 Mechanical grip 302 motion in three directions, and it is capable of the adjustment of full-automation, so mechanical grip 302 can In the case of not by manpower, it is automatically obtained spacing adjustment, and only changes the support box that backplate just adapts to sizes, Eliminate artificial participation, improve production efficiency, enhance automaticity.
The track plates structure of clamping device 3 of the present invention is simple, by the setting of gathering sill 306, is capable of to machinery folder The guiding of the motion path of pawl 302, it is to avoid complicated drive mechanism, and change simple, because track plates do not move, institute Convenient to change, the track plates directly changing different route guidance grooves 306 can make mechanical grip 302 transport on default path Dynamic, various sizes of support box is adapted to this, reduces the cost adapting to that the needs of sizes improve to equipment, be suitable for Popularization and application.
Clamping device 3 of the present invention is provided with multiple mechanical grips 302, and multiple mechanical grips 302 receive simultaneously or respectively The drive of drive mechanism, improves production efficiency, is capable of producing on a large scale.
Clamping device 3 of the present invention passes through the first contiguous block 308 and the form of the first fixed transverse rod 309 is realized to mechanical grip 302 vertical Z-direction motion, structure is simple, and can drive all mechanical grips 302 using a drive mechanism simultaneously Do upper and lower motion, improve the synchronicity of each mechanical grip 302, it is to avoid the asynchronous band 317 of each mechanical grip 302 Produce error.
The perpendicular guide pillar 307 of mechanical grip 302 top of clamping device 3 of the present invention passes through the second contiguous block 311, and can phase Second contiguous block 311 is moved up and down, the second contiguous block 311 so can be made only to realize driving mechanical jaw 302 and do The axial motion of horizontal X, and do the motion of vertical Z-direction without limitation on mechanical grip 302, flexible connection energy now Enough realize above two function, the motion realized on three directions for mechanical grip 302 serves very important work simultaneously With.
Clamping device 3 of the present invention is provided with linear slide rail 315, horizontal in cross bar mounting seat 313 and being transversely mounted between plate 314 It is provided with linear slide rail 315, linear slide rail 315 enables to it and is connected with each other between bar mounting seat 313 and fixed installation plate 320 Two structures between can mutually move.
Embodiment 3
A kind of food box packing machine includes lower case structure 1, row's box conveying mechanism 2 and clamping device 3, described lower case structure 1 He Above clamping device 3 row's of being both placed in box conveying mechanism 2, described lower case structure 1 is arranged on clamping device 3 one end, described clamping The side of mechanism 3 is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device 3 includes installation frame 301, described Installation frame 301 is provided with multiple mechanical grips 302, and described mechanical grip 302 is provided with for adjusting adjacent machine jaw The guider 303 of 302 spacing, described mechanical grip 302 is connected with driving, and it realizes the horizontal drive mechanism of horizontal movement 304, it is also associated with driving it to realize the upright driving mechanism 305 vertically moving up and down.
The operation principle of box packing machine is：
The food of box to be arranged is transported to clamping device 3 from food forming machine 5 upload by the belt conveyor 4 transmitting box food to be arranged Lower section, the mechanical grip 302 of clamping device 3 moves downward and clamps food, and then clamping device 3 moves upwards by food It is carried to above support box, during carrying, between multiple mechanical grips 302 are adjusted each other by guider 303 Away from, and ask box from the beginning of at lower case structure 1, be delivered under the mechanical grip 302 after adjustment spacing through row's box conveying mechanism 2 Side, now mechanical grip 302 declines, and food is placed in corresponding support box.
Conveyer belt one end is across above row's box conveying mechanism 2.
Guider 303 is track plates, and described track plates are provided with gathering sill 306.Gathering sill 306 is groove.At least Three adjacent machine jaws 302 are one group of mechanical grip 302, mechanical grip 302 at least provided with one group, every group of mechanical grip It is correspondingly arranged on track plates, the top of each mechanical grip 302 is correspondingly arranged on gathering sill 306, each mechanical grip 302 on 302 Top is provided with perpendicular guide pillar 307, and described perpendicular guide pillar 307 is located in gathering sill 306 corresponding thereto.
In gathering sill 306 corresponding in every group of mechanical grip 302, gathering sill 306 positioned at both sides simultaneously near or It is located away the gathering sill 306 of centre.
Each mechanical grip 302 upper end is connected with the first contiguous block 308, multiple first contiguous block 308 pivot bush units simultaneously On the first fixed transverse rod 309, described first contiguous block 308 is fixedly connected with perpendicular guide pillar 307.Upright driving mechanism 305 is Center vertical cylinder, described center vertical cylinder is connected with the first fixed transverse rod 309.The top of each first contiguous block 308 corresponds to It is provided with second contiguous block 311, described second contiguous block 311 vertical direction offers through hole, is connected with described first The perpendicular guide pillar 307 that block 308 is connected passes through the second contiguous block 311 above it through through hole.
Multiple second contiguous blocks 311 are socketed on the second fixed transverse rod 312 simultaneously, described second fixed transverse rod 312 two ends It is connected with cross bar mounting seat 313, described cross bar mounting seat 313 is connected with being transversely mounted plate 314 with by linear slide rail 315.
Described horizontal drive mechanism 304 is servomotor, and described servo motor output shaft passes through Timing Belt with synchronizing wheel 316 317 be connected, described synchronizing wheel 316 is connected on first level conveying lever 318, described first level conveying lever 318 two ends same Step wheel 316 is connected with the synchronizing wheel 316 at the second horizontal feed bar 319 two ends by horizontal synchronization band 317.
It is provided with two Timing Belts 317 and is transversely mounted plate 314, vertical line is passed through in described plate 314 side that is transversely mounted Property slide rail 315 be connected with a cross bar mounting seat 313, opposite side by horizontal linear slide rail 315 and fixed installation plate 320 phase Even.
The concrete operating principle of clamping device 3 is：
Multiple mechanical grips 302, under the drive of horizontal drive mechanism 304, do the axial motion of horizontal X；Same with this When, multiple mechanical grips 302, in the presence of guider 303, adjust level interval each other, realize horizontal Y-axis side To motion；In above-mentioned motor process, under the drive of upright driving mechanism 305, multiple mechanical grips 302 do vertical Z axis The upper and lower motion in direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction；Horizontal Y direction Motion refer to the left and right motion of horizontal direction；Vertically Z-direction motion refers to the upper and lower motion of vertical direction.
Concretely, guider 303 is the track plates at least provided with three gathering sills 306, the guiding on track plates The purpose of groove 306 is to adjust the distance between adjacent machine jaw 302 so that in the distance between mechanical grip 302 and support box The spacing accommodating between the adjacent grooves of food matches, and such as the distance between adjacent machine jaw 302 is than adjacent grooves in support box Between distance hour, then the track of gathering sill 306 be set to the mechanical grip 302 of both sides toward respective lateral movement, and the machine at middle part Tool jaw 302 keeps original path motion, so just enables to increase the purpose of adjacent machine jaw 302 spacing, vice versa. Form except gathering sill 306, it is possible to use predetermined trajectory, cam or existing structure realize identical technique effect.
Horizontal drive mechanism 304 drive synchronizing wheel 316 rotate, with side synchronizing wheel 316 by Timing Belt 317 drive Under, keep rotate, fixed installation plate 320 be fixedly installed, be not subjected to displacement change, above it be transversely mounted plate 314 with Step is moved with doing horizontal X direction of principal axis under 317 drive, due to fixedly mounting plate 320 and being transversely mounted linear between plate 314 Slide rail 315, so being transversely mounted plate 314 can do the axial motion of horizontal X with respect to fixed installation plate 320, is transversely mounted plate 314 left and right two ends are connected with two cross bar mounting seats 313 respectively by linear slide rail 315, and connect between two cross bar mounting seats 313 It is connected to the second fixed transverse rod 312, the second fixed transverse rod 312 is socketed with multiple second contiguous blocks 311, and the second contiguous block 311 Lower section is provided with mechanical grip 302, so mechanical grip 302 can be followed does the axial motion of horizontal X.
On the premise of mechanical grip 302 does the motion of horizontal X direction of principal axis, due to being provided with track plates, track plates above it For fixed installation, do not move, along with the perpendicular guide pillar 307 on mechanical grip 302 is to stretch to corresponding gathering sill 306 In, so perpendicular guide pillar 307 can do horizontal Y direction motion with the fluting track driving mechanical jaw 302 of gathering sill 306.
First contiguous block 308 is socketed with the first fixed transverse rod 309, and the first fixed transverse rod 309 and upright driving mechanism 305 It is connected, so motion in vertical Z-direction for the mechanical grip 302 is by upright driving mechanism 305- first fixed transverse rod The order of 309- the first contiguous block 308- mechanical grip 302 drives realization successively.Because perpendicular guide pillar 307 is through the second connection Block 311, and it is fixedly connected relation with the second contiguous block 311 nothing, so perpendicular guide pillar 307 can do with respect to the second contiguous block 311 The vertically motion of Z-direction.
Clamping device 3 of the present invention is achieved using guider 303, horizontal drive mechanism 304 and upright driving mechanism 305 Mechanical grip 302 motion in three directions, and it is capable of the adjustment of full-automation, so mechanical grip 302 can In the case of not by manpower, it is automatically obtained spacing adjustment, and only changes the support box that backplate just adapts to sizes, Eliminate artificial participation, improve production efficiency, enhance automaticity.
The track plates structure of clamping device 3 of the present invention is simple, by the setting of gathering sill 306, is capable of to machinery folder The guiding of the motion path of pawl 302, it is to avoid complicated drive mechanism, and change simple, because track plates do not move, institute Convenient to change, the track plates directly changing different route guidance grooves 306 can make mechanical grip 302 transport on default path Dynamic, various sizes of support box is adapted to this, reduces the cost adapting to that the needs of sizes improve to equipment, be suitable for Popularization and application.
Clamping device 3 of the present invention is provided with multiple mechanical grips 302, and multiple mechanical grips 302 receive simultaneously or respectively The drive of drive mechanism, improves production efficiency, is capable of producing on a large scale.
Clamping device 3 of the present invention passes through the first contiguous block 308 and the form of the first fixed transverse rod 309 is realized to mechanical grip 302 vertical Z-direction motion, structure is simple, and can drive all mechanical grips 302 using a drive mechanism simultaneously Do upper and lower motion, improve the synchronicity of each mechanical grip 302, it is to avoid the asynchronous band 317 of each mechanical grip 302 Produce error.
The perpendicular guide pillar 307 of mechanical grip 302 top of clamping device 3 of the present invention passes through the second contiguous block 311, and can phase Second contiguous block 311 is moved up and down, the second contiguous block 311 so can be made only to realize driving mechanical jaw 302 and do The axial motion of horizontal X, and do the motion of vertical Z-direction without limitation on mechanical grip 302, flexible connection energy now Enough realize above two function, the motion realized on three directions for mechanical grip 302 serves very important work simultaneously With.
Clamping device 3 of the present invention is provided with linear slide rail 315, horizontal in cross bar mounting seat 313 and being transversely mounted between plate 314 It is provided with linear slide rail 315, linear slide rail 315 enables to it and is connected with each other between bar mounting seat 313 and fixed installation plate 320 Two structures between can mutually move.
Mechanical grip 302 concrete structure：
Described mechanical grip 302 includes fixed plate 321, the first fixture block 322, the second fixture block 323 and jaw cylinder 324, institute State jaw cylinder 324 outfan and be connected with tooth bar 325, described tooth bar 325 is engaged gear 326 with band below, described band Gear 326 is fixed in fixed plate 321, described fixed plate 321 lower end is connected with the first fixture block 322, and described band is gear 326 Handle at be connected with the second fixture block 323, described first fixture block 322 and the second fixture block 323 are oppositely arranged.
The lower end of described first fixture block 322 and the second fixture block 323 is provided with circular groove 327.First fixture block 322 and/ Or second fixture block 323 circular groove 327 in be provided with pore 333, be connected with gas-tpe fitting 328 at described pore 333.
Described fixed plate 321 at least includes fixing upper plate 329, fixing longitudinal side plate 330, fixing horizontal side plate 331 and fixes Base plate 332, described fixing upper plate 329 horizontally set, the end of its length direction is connected with the fixing longitudinal side plate being vertically arranged 330, the side of its width is connected with the horizontal side plate of the fixation being vertically arranged 331, the bottom lateral connection of described fixed side There is fixing base plate 332.
It is provided with through hole, described jaw cylinder 324 outfan passes through through hole on fixed side.Jaw cylinder 324 is located at solid Determine outside side plate, described tooth bar 325 is located inside fixed side.Band is connected to fixing horizontal side plate the rotary shaft of gear 326 331.First fixture block 322 is fixed on fixing base plate 332.
The concrete operating principle of mechanical grip 302：
Jaw cylinder 324 promotes tooth bar 325 to move reciprocatingly, because tooth bar 325 is engaged gear 326 with band, thus tooth Bar 325 drives band that gear 326 is rotated around rotary shaft, because band is connected with the second fixture block 323 gear 326, so the second folder Block 323 can do arc track gear 326 around rotary shaft with band and move back and forth.Because the first fixture block 322 is fixedly disposed at On fixing base plate 332, so the action of the second fixture block 323 is achieved that the opening and closing movement with respect to the first fixture block 322.Work as machine When tool jaw 302 declines crawl food, mechanical grip 302 is opened, and after clamping food, mechanical grip 302 rises, and moves to support After above disk position, mechanical grip 302 declines, and opens, and food is placed in support box, then mechanical grip 302 rises and moves Above the food coming to subsequent delivery, repeat above-mentioned action.
The mechanical grip 302 of the present invention is due to the structure employing tooth bar 325, band is matched gear 326 with fixture block, institute To avoid two fixture blocks in the situation clamping the folder shakiness occurring during dumplingss, and clamp structure can accurately be carried out to dumplingss Gripping.
The mechanical grip 302 of the present invention is recessed because the lower end in the first fixture block 322 and the second fixture block 323 is provided with circular arc It is provided with pore 333, at pore 333 in groove 327, and the circular groove 327 of the first fixture block 322 and/or the second fixture block 323 It is connected with gas-tpe fitting 328, when fixture block is when gripping and decontrol dumpling, pore 333 can first be blown to dumpling, Neng Gouqi To avoid fixture block directly to dumpling effect effect, buffered the pressure between fixture block and dumpling, prevent clamping force excessive so that Dumpling is bonded on fixture block, also makes dumpling be unlikely to deform broken skin.
The fixed plate 321 of the mechanical grip 302 of the present invention is rational in infrastructure, can be by the output shaft of jaw cylinder 324, band handle The rotary shaft of gear 326 is both connected to thereon.
Embodiment 4
A kind of food box packing machine includes lower case structure 1, row's box conveying mechanism 2 and clamping device 3, described lower case structure 1 He Above clamping device 3 row's of being both placed in box conveying mechanism 2, described lower case structure 1 is arranged on clamping device 3 one end, described clamping The side of mechanism 3 is provided with the conveyer belt for transmitting box food to be arranged；Described clamping device 3 includes installation frame 301, described Installation frame 301 is provided with multiple mechanical grips 302, and described mechanical grip 302 is provided with for adjusting adjacent machine jaw The guider 303 of 302 spacing, described mechanical grip 302 is connected with driving, and it realizes the horizontal drive mechanism of horizontal movement 304, it is also associated with driving it to realize the upright driving mechanism 305 vertically moving up and down.
The operation principle of box packing machine is：
The food of box to be arranged is transported to clamping device 3 from food forming machine 5 upload by the belt conveyor 4 transmitting box food to be arranged Lower section, the mechanical grip 302 of clamping device 3 moves downward and clamps food, and then clamping device 3 moves upwards by food It is carried to above support box, during carrying, between multiple mechanical grips 302 are adjusted each other by guider 303 Away from, and ask box from the beginning of at lower case structure 1, be delivered under the mechanical grip 302 after adjustment spacing through row's box conveying mechanism 2 Side, now mechanical grip 302 declines, and food is placed in corresponding support box.
Conveyer belt one end is across above row's box conveying mechanism 2.
Guider 303 is track plates, and described track plates are provided with gathering sill 306.Gathering sill 306 is groove.At least Three adjacent machine jaws 302 are one group of mechanical grip 302, mechanical grip 302 at least provided with one group, every group of mechanical grip It is correspondingly arranged on track plates, the top of each mechanical grip 302 is correspondingly arranged on gathering sill 306, each mechanical grip 302 on 302 Top is provided with perpendicular guide pillar 307, and described perpendicular guide pillar 307 is located in gathering sill 306 corresponding thereto.
In gathering sill 306 corresponding in every group of mechanical grip 302, gathering sill 306 positioned at both sides simultaneously near or It is located away the gathering sill 306 of centre.
Each mechanical grip 302 upper end is connected with the first contiguous block 308, multiple first contiguous block 308 pivot bush units simultaneously On the first fixed transverse rod 309, described first contiguous block 308 is fixedly connected with perpendicular guide pillar 307.Upright driving mechanism 305 is Center vertical cylinder, described center vertical cylinder is connected with the first fixed transverse rod 309.The top of each first contiguous block 308 corresponds to It is provided with second contiguous block 311, described second contiguous block 311 vertical direction offers through hole, is connected with described first The perpendicular guide pillar 307 that block 308 is connected passes through the second contiguous block 311 above it through through hole.
Multiple second contiguous blocks 311 are socketed on the second fixed transverse rod 312 simultaneously, described second fixed transverse rod 312 two ends It is connected with cross bar mounting seat 313, described cross bar mounting seat 313 is connected with being transversely mounted plate 314 with by linear slide rail 315.
Described horizontal drive mechanism 304 is servomotor, and described servo motor output shaft passes through Timing Belt with synchronizing wheel 316 317 be connected, described synchronizing wheel 316 is connected on first level conveying lever 318, described first level conveying lever 318 two ends same Step wheel 316 is connected with the synchronizing wheel 316 at the second horizontal feed bar 319 two ends by horizontal synchronization band 317.
It is provided with described two Timing Belts 317 and is transversely mounted plate 314, described plate 314 side that is transversely mounted is passed through vertically Linear slide rail 315 be connected with a cross bar mounting seat 313, opposite side passes through horizontal linear slide rail 315 and fixed installation plate 320 are connected.
The concrete operating principle of clamping device 3 is：
Multiple mechanical grips 302, under the drive of horizontal drive mechanism 304, do the axial motion of horizontal X；Same with this When, multiple mechanical grips 302, in the presence of guider 303, adjust level interval each other, realize horizontal Y-axis side To motion；In above-mentioned motor process, under the drive of upright driving mechanism 305, multiple mechanical grips 302 do vertical Z axis The upper and lower motion in direction.In the application, the motion of horizontal X direction of principal axis refers to the forward and backward motion of horizontal direction；Horizontal Y direction Motion refer to the left and right motion of horizontal direction；Vertically Z-direction motion refers to the upper and lower motion of vertical direction.
Concretely, guider 303 is the track plates at least provided with three gathering sills 306, the guiding on track plates The purpose of groove 306 is to adjust the distance between adjacent machine jaw 302 so that in the distance between mechanical grip 302 and support box The spacing accommodating between the adjacent grooves of food matches, and such as the distance between adjacent machine jaw 302 is than adjacent grooves in support box Between distance hour, then the track of gathering sill 306 be set to the mechanical grip 302 of both sides toward respective lateral movement, and the machine at middle part Tool jaw 302 keeps original path motion, so just enables to increase the purpose of adjacent machine jaw 302 spacing, vice versa. Form except gathering sill 306, it is possible to use predetermined trajectory, cam or existing structure realize identical technique effect.
Horizontal drive mechanism 304 drive synchronizing wheel 316 rotate, with side synchronizing wheel 316 by Timing Belt 317 drive Under, keep rotate, fixed installation plate 320 be fixedly installed, be not subjected to displacement change, above it be transversely mounted plate 314 with Step is moved with doing horizontal X direction of principal axis under 317 drive, due to fixedly mounting plate 320 and being transversely mounted linear between plate 314 Slide rail 315, so being transversely mounted plate 314 can do the axial motion of horizontal X with respect to fixed installation plate 320, is transversely mounted plate 314 left and right two ends are connected with two cross bar mounting seats 313 respectively by linear slide rail 315, and connect between two cross bar mounting seats 313 It is connected to the second fixed transverse rod 312, the second fixed transverse rod 312 is socketed with multiple second contiguous blocks 311, and the second contiguous block 311 Lower section is provided with mechanical grip 302, so mechanical grip 302 can be followed does the axial motion of horizontal X.
On the premise of mechanical grip 302 does the motion of horizontal X direction of principal axis, due to being provided with track plates, track plates above it For fixed installation, do not move, along with the perpendicular guide pillar 307 on mechanical grip 302 is to stretch to corresponding gathering sill 306 In, so perpendicular guide pillar 307 can do horizontal Y direction motion with the fluting track driving mechanical jaw 302 of gathering sill 306.
First contiguous block 308 is socketed with the first fixed transverse rod 309, and the first fixed transverse rod 309 and upright driving mechanism 305 It is connected, so motion in vertical Z-direction for the mechanical grip 302 is by upright driving mechanism 305- first fixed transverse rod The order of 309- the first contiguous block 308- mechanical grip 302 drives realization successively.Because perpendicular guide pillar 307 is through the second connection Block 311, and it is fixedly connected relation with the second contiguous block 311 nothing, so perpendicular guide pillar 307 can do with respect to the second contiguous block 311 The vertically motion of Z-direction.
Clamping device 3 of the present invention is achieved using guider 303, horizontal drive mechanism 304 and upright driving mechanism 305 Mechanical grip 302 motion in three directions, and it is capable of the adjustment of full-automation, so mechanical grip 302 can In the case of not by manpower, it is automatically obtained spacing adjustment, and only changes the support box that backplate just adapts to sizes, Eliminate artificial participation, improve production efficiency, enhance automaticity.
The track plates structure of clamping device 3 of the present invention is simple, by the setting of gathering sill 306, is capable of to machinery folder The guiding of the motion path of pawl 302, it is to avoid complicated drive mechanism, and change simple, because track plates do not move, institute Convenient to change, the track plates directly changing different route guidance grooves 306 can make mechanical grip 302 transport on default path Dynamic, various sizes of support box is adapted to this, reduces the cost adapting to that the needs of sizes improve to equipment, be suitable for Popularization and application.
Clamping device 3 of the present invention is provided with multiple mechanical grips 302, and multiple mechanical grips 302 receive simultaneously or respectively The drive of drive mechanism, improves production efficiency, is capable of producing on a large scale.
Clamping device 3 of the present invention passes through the first contiguous block 308 and the form of the first fixed transverse rod 309 is realized to mechanical grip 302 vertical Z-direction motion, structure is simple, and can drive all mechanical grips 302 using a drive mechanism simultaneously Do upper and lower motion, improve the synchronicity of each mechanical grip 302, it is to avoid the asynchronous band 317 of each mechanical grip 302 Produce error.
The perpendicular guide pillar 307 of mechanical grip 302 top of clamping device 3 of the present invention passes through the second contiguous block 311, and can phase Second contiguous block 311 is moved up and down, the second contiguous block 311 so can be made only to realize driving mechanical jaw 302 and do The axial motion of horizontal X, and do the motion of vertical Z-direction without limitation on mechanical grip 302, flexible connection energy now Enough realize above two function, the motion realized on three directions for mechanical grip 302 serves very important work simultaneously With.
Clamping device 3 of the present invention is provided with linear slide rail 315, horizontal in cross bar mounting seat 313 and being transversely mounted between plate 314 It is provided with linear slide rail 315, linear slide rail 315 enables to it and is connected with each other between bar mounting seat 313 and fixed installation plate 320 Two structures between can mutually move.
Mechanical grip 302 concrete structure：
Described mechanical grip 302 includes fixed plate 321, the first fixture block 322, the second fixture block 323 and jaw cylinder 324, institute State jaw cylinder 324 outfan and be connected with tooth bar 325, described tooth bar 325 is engaged gear 326 with band below, described band Gear 326 is fixed in fixed plate 321, described fixed plate 321 lower end is connected with the first fixture block 322, and described band is gear 326 Handle at be connected with the second fixture block 323, described first fixture block 322 and the second fixture block 323 are oppositely arranged.
The lower end of described first fixture block 322 and the second fixture block 323 is provided with circular groove 327.First fixture block 322 and/ Or second fixture block 323 circular groove 327 in be provided with pore 333, be connected with gas-tpe fitting 328 at described pore 333.
Described fixed plate 321 at least includes fixing upper plate 329, fixing longitudinal side plate 330, fixing horizontal side plate 331 and fixes Base plate 332, described fixing upper plate 329 horizontally set, the end of its length direction is connected with the fixing longitudinal side plate being vertically arranged 330, the side of its width is connected with the horizontal side plate of the fixation being vertically arranged 331, the bottom lateral connection of described fixed side There is fixing base plate 332.
It is provided with through hole, described jaw cylinder 324 outfan passes through through hole on fixed side.Jaw cylinder 324 is located at solid Determine outside side plate, described tooth bar 325 is located inside fixed side.Band is connected to fixing horizontal side plate the rotary shaft of gear 326 331.First fixture block 322 is fixed on fixing base plate 332.
The concrete operating principle of mechanical grip 302：
Jaw cylinder 324 promotes tooth bar 325 to move reciprocatingly, because tooth bar 325 is engaged gear 326 with band, thus tooth Bar 325 drives band that gear 326 is rotated around rotary shaft, because band is connected with the second fixture block 323 gear 326, so the second folder Block 323 can do arc track gear 326 around rotary shaft with band and move back and forth.Because the first fixture block 322 is fixedly disposed at On fixing base plate 332, so the action of the second fixture block 323 is achieved that the opening and closing movement with respect to the first fixture block 322.Work as machine When tool jaw 302 declines crawl food, mechanical grip 302 is opened, and after clamping food, mechanical grip 302 rises, and moves to support After above disk position, mechanical grip 302 declines, and opens, and food is placed in support box, then mechanical grip 302 rises and moves Above the food coming to subsequent delivery, repeat above-mentioned action.
The mechanical grip 302 of the present invention is due to the structure employing tooth bar 325, band is matched gear 326 with fixture block, institute To avoid two fixture blocks in the situation clamping the folder shakiness occurring during dumplingss, and clamp structure can accurately be carried out to dumplingss Gripping.
The mechanical grip 302 of the present invention is recessed because the lower end in the first fixture block 322 and the second fixture block 323 is provided with circular arc It is provided with pore 333, at pore 333 in groove 327, and the circular groove 327 of the first fixture block 322 and/or the second fixture block 323 It is connected with gas-tpe fitting 328, when fixture block is when gripping and decontrol dumpling, pore 333 can first be blown to dumpling, Neng Gouqi To avoid fixture block directly to dumpling effect effect, buffered the pressure between fixture block and dumpling, prevent clamping force excessive so that Dumpling is bonded on fixture block, also makes dumpling be unlikely to deform broken skin.
The fixed plate 321 of the mechanical grip 302 of the present invention is rational in infrastructure, can be by the output shaft of jaw cylinder 324, band handle The rotary shaft of gear 326 is both connected to thereon.
Lower case structure 1 concrete structure：
Described lower case structure 1 includes fixed frame, is provided with multiple backplates of fixing support box position in described fixed frame, It is provided with fork plate between described adjacent backplate, described fork plate and fork plate cylinders, it is provided with sucker, institute below described backplate State sucker bottom and be connected with sucker cylinder.
The plurality of backplate is fixed at four angles, and described backplate is crowded around and formed a coffin placing support box.Described Fork plate, under the drive of fork plate cylinder, does the horizontal reciprocating movement passing in and out described coffin at coffin edge.
Described fork plate is arranged at least one side of fixed frame.The bottom of each coffin described is provided with multiple Sucker, the plurality of sucker passes through connector and one or more sucker cylinders.
Described sucker is sponge sucker.Transversely arranged in described fixed frame have two coffins.
Described fork plate horizontally set, left and right two parts of fork plate are respectively on the coffin side positioned at left and right both direction Edge does the horizontal reciprocating movement of turnover coffin.
The concrete operating principle of lower case structure 1 is：
During initial position, fork plate is located at the edge lower part of bottom one in a folded support box, and whole folded support box is supported, when When sucker below support box rises the support box holding lowermost end, fork plate level in the presence of fork plate cylinder retreats, from support box side Edge unclamps.Now sucker declines a segment distance, and whole folded support box also declines a segment distance together, and fork plate is in the effect of fork plate cylinder Lower level reach, holds penultimate support box in whole folded support box, and now the support box of original lowermost end is drawn onto conveyer belt by sucker Upper placement, and unclamp.
The concrete structure of row's box conveying mechanism 2：
Described row's box conveying mechanism 2 row's of including box conveyer belt 201 and row's box conveying motor 202, described row's box conveying electricity Machine 202 drives row's box conveyer belt 201 to move.
It is horizontally arranged with belt conveyor 4, described belt conveyor 4 one end is arranged on food above described row's box conveyer belt 201 On forming machine 5.
Under the present invention, case structure 1 automatically provides support box using frame for movement, it is to avoid the problem put manually, saves The productivity, fork plate and sucker cooperate, and multiple support boxes are transported to specified station from bottom to up successively, improve work effect Rate is so that the automaticity of food box packing machine is improved.
Under the present invention, multiple backplates of case structure 1 may be constructed multiple coffins, and each coffin can place one Group support box, so the present invention can provide multiple support boxes simultaneously, improves production efficiency.

Claims (24)

1. a kind of food box packing machine it is characterised in that：Including lower case structure（1）, row box conveying mechanism（2）And clamping device（3）, Described lower case structure（1）And clamping device（3）The row's of being both placed in box conveying mechanism（2）Top, described lower case structure（1）It is arranged on Clamping device（3）One end, described clamping device（3）Side be provided with the conveyer belt for transmitting box food to be arranged；Described folder Hold mechanism（3）Including installation frame（301）, described installation frame（301）It is provided with multiple mechanical grips（302）, described machinery Jaw（302）On be provided with for adjusting adjacent machine jaw（302）The guider of spacing（303）, described mechanical grip （302）It realizes the horizontal drive mechanism of horizontal movement to be connected with driving（304）, it is also associated with driving its realization vertically to transport up and down Dynamic upright driving mechanism（305）；
At least three adjacent machine jaws（302）For one group of mechanical grip（302）, mechanical grip（302）At least provided with one group, Every group of mechanical grip（302）On be correspondingly arranged on track plates, each mechanical grip（302）Top be correspondingly arranged on gathering sill （306）, each mechanical grip（302）Top is provided with perpendicular guide pillar（307）, described perpendicular guide pillar（307）Positioned at leading corresponding thereto To groove（306）Interior；
In every group of mechanical grip（302）Corresponding gathering sill（306）In, positioned at the gathering sill of both sides（306）Simultaneously near or Person is located away the gathering sill of centre（306）；
Each mechanical grip（302）Upper end is connected with the first contiguous block（308）, multiple first contiguous blocks（308）Movable sleeve simultaneously It is connected on the first fixed transverse rod（309）On, described first contiguous block（308）On be fixedly connected with perpendicular guide pillar（307）；
Described upright driving mechanism（305）Centered on vertical cylinder, described center vertical cylinder and the first fixed transverse rod（309）Even Connect；
Described each first contiguous block（308）Top be correspondingly arranged on second contiguous block（311）, described second contiguous block （311）Through hole is offered on vertical direction, with described first contiguous block（308）Connected perpendicular guide pillar（307）Pass through through through hole The second contiguous block above it（311）；
Multiple second contiguous blocks（311）It is socketed in the second fixed transverse rod simultaneously（312）On, described second fixed transverse rod（312）Two End is connected with cross bar mounting seat（313）, described cross bar mounting seat（313）With by linear slide rail（315）Be transversely mounted plate （314）It is connected；
Described horizontal drive mechanism（304）For servomotor, described servo motor output shaft and synchronizing wheel（316）By Timing Belt （317）It is connected, described synchronizing wheel（316）It is connected in first level conveying lever（318）On, described first level conveying lever（318） The synchronizing wheel at two ends（316）By horizontal synchronization band and the second horizontal feed bar（319）The synchronizing wheel at two ends（316）It is connected.
Transmit the belt conveyor of box food to be arranged（4）By the food of box to be arranged from food forming machine（5）Clamping device is transported in upload （3）Lower section, clamping device（3）Mechanical grip（302）Move downward and food is clamped, then clamping device（3）Upwards Motion extremely holds in the palm food carrying above box, during carrying, multiple mechanical grips（302）By guider（303）Adjust Whole spacing each other, and hold in the palm box from lower case structure（1）Place starts, through row's box conveying mechanism（2）It is delivered between adjustment Away from after mechanical grip（302）Lower section, now mechanical grip（302）Decline, food is placed in corresponding support box.
2. food box packing machine according to claim 1 it is characterised in that：Described conveyer belt one end is across in row's box conveyer Structure（2）Top.
3. food box packing machine according to claim 2 it is characterised in that：Described guider（303）For track plates, described Gathering sill is provided with track plates（306）.
4. food box packing machine according to claim 3 it is characterised in that：Described gathering sill（306）For groove.
5. food box packing machine according to claim 1 it is characterised in that：It is provided with described two Timing Belts and be transversely mounted Plate（314）, described it is transversely mounted plate（314）Vertical linear slide rail is passed through in side（315）With a cross bar mounting seat（313）Phase Even, opposite side passes through horizontal linear slide rail（315）With fixed installation plate（320）It is connected.
6. food box packing machine according to claim 1 it is characterised in that：Described mechanical grip（302）Including fixed plate （321）, the first fixture block（322）, the second fixture block（323）With jaw cylinder（324）, described jaw cylinder（324）Outfan connects There is tooth bar（325）, described tooth bar（325）With band below gear（326）Engagement, described band is gear（326）It is fixed on Fixed plate（321）On, described fixed plate（321）Lower end is connected with the first fixture block（322）, described band is gear（326）Handle Place is connected with the second fixture block（323）, described first fixture block（322）With the second fixture block（323）It is oppositely arranged.
7. food box packing machine according to claim 6 it is characterised in that：Described first fixture block（322）With the second fixture block （323）Lower end be provided with circular groove（327）.
8. food box packing machine according to claim 7 it is characterised in that：Described first fixture block（322）And/or second fixture block （323）Circular groove（327）In be provided with pore（333）, described pore（333）Place is connected with gas-tpe fitting（328）.
9. the food box packing machine according to claim 6,7 or 8 it is characterised in that：Described fixed plate（321）At least include Fixing upper plate（329）, fixing longitudinal side plate（330）, fixing horizontal side plate（331）With fixing base plate（332）, described fixing upper plate （329）Horizontally set, the end of its length direction is connected with the fixing longitudinal side plate being vertically arranged（330）, the side of its width While being connected with the horizontal side plate of the fixation being vertically arranged（331）, the bottom of described fixed side is horizontally connected with fixing base plate（332）.
10. food box packing machine according to claim 9 it is characterised in that：It is provided with through hole on described fixed side.
11. food box packing machines according to claim 10 it is characterised in that：Described jaw cylinder（324）Outfan passes through Through hole.
12. food box packing machines according to claim 11 it is characterised in that：Described jaw cylinder（324）Positioned at affixed side Outside plate, described tooth bar（325）Inside fixed side.
13. food box packing machines according to claim 12 it is characterised in that：Described band is gear（326）Rotary shaft even It is connected on fixing horizontal side plate（331）.
14. food box packing machines according to claim 13 it is characterised in that：Described first fixture block（322）It is fixed on fixation Base plate（332）On.
15. food box packing machines according to claim 1 it is characterised in that：Described lower case structure（1）Including fixed frame, Multiple backplates of fixing support box position are installed in described fixed frame, between described adjacent backplate, are provided with fork plate, described Fork plate and fork plate cylinders, are provided with sucker below described backplate, described sucker bottom is connected with sucker cylinder.
16. food box packing machines according to claim 15 it is characterised in that：The plurality of backplate is fixed at four angles, Described backplate is crowded around and is formed a coffin placing support box.
17. food box packing machines according to claim 16 it is characterised in that：Described fork plate under the drive of fork plate cylinder, Do the horizontal reciprocating movement passing in and out described coffin at coffin edge.
18. food box packing machines according to claim 17 it is characterised in that：Described fork plate is arranged on fixed frame at least On one side.
19. food box packing machines according to claim 18 it is characterised in that：The bottom of each coffin described is provided with Multiple suckers, the plurality of sucker passes through connector and one or more sucker cylinders.
20. food box packing machines according to claim 19 it is characterised in that：Described sucker is sponge sucker.
21. food box packing machines according to claim 20 it is characterised in that：Transversely arranged in described fixed frame have two Coffin.
22. food box packing machines according to claim 21 it is characterised in that：Described fork plate horizontally set, fork plate left and right Two parts do the horizontal reciprocating movement of turnover coffin respectively at the coffin edge positioned at left and right both direction.
23. food box packing machines according to claim 1 it is characterised in that：Described row's box conveying mechanism（2）The row's of including box Conveyer belt（201）With row's box conveying motor（202）, described row's box conveying motor（202）The row's of driving box conveyer belt（201）Motion.
24. food box packing machines according to claim 23 it is characterised in that：Described row's box conveyer belt（201）Top is laterally It is provided with belt conveyor（4）, described belt conveyor（4）One end is arranged on food forming machine.
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