CN105555668B - 一种自动灌装线用仿生开袋装置 - Google Patents

一种自动灌装线用仿生开袋装置 Download PDF

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CN105555668B
CN105555668B CN201480011507.5A CN201480011507A CN105555668B CN 105555668 B CN105555668 B CN 105555668B CN 201480011507 A CN201480011507 A CN 201480011507A CN 105555668 B CN105555668 B CN 105555668B
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rotating shaft
handgrip
driven
arm
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CN105555668A (zh
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傅正兵
张心全
吴卫东
徐京城
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Anhui Yongcheng Electronic and Mechanical Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/30Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0071Gripping heads and other end effectors with needles engaging into objects to be gripped
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/086Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/106Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04Methods of, or means for, filling the material into the containers or receptacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16Feeding individual bags or carton blanks from piles or magazines by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B65B43/465Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/02Driving gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00Separating articles from piles
    • B65H3/22Separating articles from piles by needles or the like engaging the articles

Abstract

—种自动灌装线用仿生开袋装置,包括安装于灌装线上应对灌装袋(1)左右对称设置的支架(2),所述对称设置的支架(2)分别由拉杆带动可以水平相对运动,所述支架(2)的前端设置有面对灌装袋(1)的推袋板(201),在推袋板(201)上水平上下分别各设置有一排抓手孔(202,203),在推袋板(201)后面的支架(2)上对应所述两排抓手孔(202,203)分别设置有上下两排抓手,—个抓手驱动装置驱动两排抓手张开或合闭,抓手的抓指尖从上下两排抓手孔(202,203)中探出或缩回。该开袋装置解决了全自动称重包装设备中编织袋口自动开口的问题,对无覆膜编织袋、半覆膜编织袋和全覆膜编织袋都能进行生产,抓手模仿人手指甲钳住编织袋并将其袋口分开,在装袋完成还可以将袋口闭合为下一道工序做好准备,结构安装调整方便。

Description

一种自动灌装线用仿生开袋装置
技术领域
[0001] 本发明涉及一种自动灌装线用仿生开袋装置,是一种无法用吸盘或空气能打开的物料包装袋的仿生开袋装置。
背景技术
[0002] 随着科学的发展、技术的进步,现在大型的颗粒或粉体等物料包装企业(如:大米、面粉、饲料、化肥等)都采用了自动化生产流水线,全自动称重包装设备得到了充分的使用。目前全自动称重包装设备在物料袋的供给和将袋子口打开都是采用吸盘进行抓取和吸附完成的。而这些颗粒或粉体包装袋都采用PP编织袋,这种编织袋是用大约2毫米左右的编织条横竖编织起来的,透气性非常高。因此在使用全自动称重包装设备时无法利用吸盘进行开口,必须对编织袋进行双面覆膜处理来解决透气问题,而编织袋覆膜降低了生产效率增加了企业的成本,因此很多企业不能普及此类全自动称重包装设备。
发明内容
[0003] 本发明的目的是提供一种自动灌装线用仿生开袋装置,解决了袋子密封性差透气性强、覆膜又会大大增加生产成本的问题。
[0004] 本发明的技术方案如下:一种自动灌装线用仿生开袋装置,包括安装于灌装线上应对灌装袋左右对称设置的支架,所述对称设置的支架分别由拉杆带动可以水平相对运动,其中,所述支架的前端设置有面对灌装袋的推袋板,在推袋板上水平上下分别各设置有一排抓手孔,在推袋板后面的支架上对应所述两排抓手孔分别设置有上下两排抓手,一个抓手驱动装置驱动两排抓手张开或合闭,抓手的抓指尖从上下两排抓手孔中探出或缩回。
[0005] 方案进一步是:所述抓手驱动装置包括连接抓手的主动抓臂、从动抓臂和一个由驱动臂带动的摆臂,摆臂一端固定连接在第一转轴上,所述第一转轴随摆臂摆动而转动,在第一转轴上固定安装有一排抓臂,称为主动抓臂,在第一转轴上还设置有主动齿轮,平行于第一转轴设置有第二转轴,在第二转轴上固定安装有一排抓臂,称为从动抓臂,在第二转轴上对应所述主动齿轮设置有从动齿轮,主动齿轮和从动齿轮相互啮合,驱动臂带动摆臂驱动第一转轴转动,第一转轴的主动齿轮带动从动齿轮转动,从动齿轮带动第二转轴转动,随着第一转轴和第二转轴转动带动主动抓臂和从动抓臂张开或合闭。
[0006] 方案进一步是:所述驱动臂连接在一个气缸推臂上或者油缸推臂上或者由电机带动的推臂上。
[0007] 方案进一步是:在一侧所述支架推袋板两侧分别设置有面向灌装袋的辅助吸盘。
[0008] 方案进一步是:所述辅助吸盘的吸盘面缩进推袋板平面。
[0009] 方案进一步是:所述辅助吸盘的吸盘面缩进推袋板平面2_至4_。
[0010] 本发明解决了全自动称重包装设备中编织袋口自动开口的问题,对无覆膜编织袋、半覆膜编织袋和全覆膜编织袋都能进行生产,本发明抓手模仿人手指甲钳住编织袋并将其袋口分开,在装袋完成后还可以将袋口闭合为下一道工序做好准备,结构安装调整方便。
附图说明
[0011]图1为本发明结构不意图;
[0012]图2为本发明结构内部示意图,图1一边的俯视图;
[0013]图3为本发明推袋板侧结构示意图;
[0014]图4为本发明抓手张开示意图,图2中的A-A视图;
[0015]图5为本发明工作状态示意图。
具体实施方式
[0016] —种自动灌装线用仿生开袋装置,如图1至图5所示,所述装置包括安装于灌装线上应对灌装袋I左右对称设置的支架2,所述对称设置的支架分别由拉杆带动可以水平相对来回运动,其中,所述支架的前端设置有面对灌装袋的推袋板201,在推袋板上水平上下分别各设置有一排抓手孔202和203,抓手孔为垂直的长条形孔,孔与孔的水平间距是3cm-5cm,长条形孔的孔宽是Icm至2cm,在推袋板后面的支架上对应所述两排抓手孔分别设置有上下两排抓手,一个抓手驱动装置驱动两排抓手张开或合闭,抓手的抓指尖从上下两排抓手孔中探出或缩回;抓指尖的前端为小于30度的锐角设置,两个抓指尖从抓手孔中探出后分别向下、向上合拢,其探出的距离刚好能将两片编织袋中的一片捏住。
[0017] 实施例中:所述抓手驱动装置包括连接抓手的主动抓臂3、从动抓臂4和一个由驱动臂5带动的摆臂6,摆臂一端固定连接在第一转轴7上,所述第一转轴随摆臂摆动而转动,在第一转轴上固定安装有一排抓臂,称为所述的主动抓臂3,在第一转轴上还设置有主动齿轮8,平行于第一转轴设置有第二转轴9,在第二转轴上固定安装有一排抓臂,称为所述的从动抓臂4,在第二转轴上对应所述主动齿轮设置有从动齿轮10,主动齿轮和从动齿轮相互啮合,驱动臂带动摆臂驱动第一转轴转动,第一转轴的主动齿轮带动从动齿轮转动,从动齿轮带动第二转轴转动,随着第一转轴和第二转轴转动带动主动抓臂和从动抓臂张开或合闭。
[0018] 实施例中:所述驱动臂连接在一个气缸推臂11上或者油缸推臂上或者由电机带动的推臂上,本实施例使用的是气缸,由于摆臂是做弧形摆动,因此气缸通过铰链方式固定在支架上,当气缸推臂驱动摆臂做弧形摆动时,气缸也随之运动不会卡住。
[0019]实施例中:为了更进一步的抓住灌装袋,在两侧支架中的一侧所述支架推袋板两侧分别设置有面向灌装袋的辅助吸盘12,吸盘的后面连接有抽气栗;其中所述辅助吸盘的吸盘面缩进推袋板平面。
[0020] 作为一种最佳方案:所述辅助吸盘的吸盘面缩进推袋板平面2_至4_。
[0021] 当设备工作时,编织袋靠近开袋器前端时,由辅助吸盘瞬间将编织袋拉近到一侧支架的推袋板处,两侧支架向中间合拢,此时通过安装在气缸支架组件上的气缸组件(也可以利用微动摆幅电机代替)开始工作,气缸收缩带动主动抓手顺时针方向运动,主动抓手运动时带动主动轴转动,主动轴带动主动齿轮和从动抓手转动;主动齿轮与从动齿轮啮合,因此从动齿轮则逆时针方向转动,从动齿轮转动带动从动轴转动,从动轴带动副抓手,这样抓手就会从退袋板内侧转出推袋板的外侧去钳住物料编织袋。然后如图5箭头所示相向运动完成物料编织袋的开袋动作。
[0022]编织袋打开后进行物料灌装,灌装完成后开袋装置气缸组件中的气缸伸出带动主动抓手逆时针方向运动,主动抓手运动时带动主动轴转动,主动轴带动主动齿轮和从动抓手转动;主动齿轮与从动齿轮啮合,因此从动齿轮则顺时针方向转动,从动齿轮转动带动从动轴转动,从动轴带动从动抓手,这样抓手就会从推袋板外侧转出推袋板的内侧(如图4所示)松开物料编织袋,由于推袋板的阻挡物料编织袋的经玮编织条都被完全从抓手处脱离,完成灌装工作ο

Claims (6)

1.一种自动灌装线用仿生开袋装置,包括安装于灌装线上应对灌装袋左右对称设置的支架,所述对称设置的支架分别由拉杆带动可以水平相对运动,其特征在于,所述支架的前端设置有面对灌装袋的推袋板,在推袋板上水平上下分别各设置有一排抓手孔,在推袋板后面的支架上对应所述两排抓手孔分别设置有上下两排抓手,一个抓手驱动装置驱动两排抓手张开或合闭,抓手的抓指尖从上下两排抓手孔中探出或缩回。
2.根据权利要求1所述的一种自动灌装线用仿生开袋装置,其特征在于,所述抓手驱动装置包括连接抓手的主动抓臂、从动抓臂和一个由驱动臂带动的摆臂,摆臂一端固定连接在第一转轴上,所述第一转轴随摆臂摆动而转动,在第一转轴上固定安装有一排抓臂,称为主动抓臂,在第一转轴上还设置有主动齿轮,平行于第一转轴设置有第二转轴,在第二转轴上固定安装有一排抓臂,称为从动抓臂,在第二转轴上对应所述主动齿轮设置有从动齿轮,主动齿轮和从动齿轮相互啮合,驱动臂带动摆臂驱动第一转轴转动,第一转轴的主动齿轮带动从动齿轮转动,从动齿轮带动第二转轴转动,随着第一转轴和第二转轴转动带动主动抓臂和从动抓臂张开或合闭。
3.根据权利要求2所述的一种自动灌装线用仿生开袋装置,其特征在于,所述驱动臂连接在一个气缸推臂上或者油缸推臂上或者由电机带动的推臂上。
4.根据权利要求1所述的一种自动灌装线用仿生开袋装置,其特征在于,在一侧所述支架推袋板两侧分别设置有面向灌装袋的辅助吸盘。
5.根据权利要求4所述的一种自动灌装线用仿生开袋装置,其特征在于,所述辅助吸盘的吸盘面缩进推袋板平面。
6.根据权利要求5所述的一种自动灌装线用仿生开袋装置,其特征在于,所述辅助吸盘的吸盘面缩进推袋板平面2_至4_。
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