CN105563504A - Ring taking and sleeving mechanical arm for edible mushroom bags - Google Patents

Ring taking and sleeving mechanical arm for edible mushroom bags Download PDF

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Publication number
CN105563504A
CN105563504A CN201610026775.5A CN201610026775A CN105563504A CN 105563504 A CN105563504 A CN 105563504A CN 201610026775 A CN201610026775 A CN 201610026775A CN 105563504 A CN105563504 A CN 105563504A
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CN
China
Prior art keywords
ring
manipulator
sleeve
dilatation
main
Prior art date
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Granted
Application number
CN201610026775.5A
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Chinese (zh)
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CN105563504B (en
Inventor
方瑞成
庄宗钦
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Xiamen Qianda Automation Equipment Ltd Co
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Xiamen Qianda Automation Equipment Ltd Co
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Priority to CN201610026775.5A priority Critical patent/CN105563504B/en
Publication of CN105563504A publication Critical patent/CN105563504A/en
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Publication of CN105563504B publication Critical patent/CN105563504B/en
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Classifications

    • 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
    • B25J15/083Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B51/00Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags

Abstract

The invention relates to a ring taking and sleeving mechanical arm for edible mushroom bags. The ring taking and sleeving mechanical arm comprises a mechanical arm body, a horizontal driving mechanism and a vertical driving mechanism, wherein the horizontal driving mechanism and the vertical driving mechanism are used for driving the mechanical arm body to move. The mechanical arm body comprises a sleeve, an expansion shaft and a bag opening clamping jaw. The expansion shaft is sleeved with the sleeve. The upper segment of the expansion shaft is a thin shaft segment, and the lower segment of the expansion shaft is a thick shaft segment. The thin shaft segment can move up and down relative to the sleeve. The diameter of the upper end of the thick shaft segment is large than the inner diameter of the sleeve. A plurality of fingers of the bag opening clamping jaw are hinged to the lower end of the sleeve. When the expansion shaft is located in a lower position, the outer surface of the thin shaft segment is covered with the fingers; when the expansion shaft moves upwards, the fingers can be pushed open through the thick shaft segment, and therefore the bag opening clamping jaw is in an open state. The mechanical arm body is further provided with a ring pressing mechanism which is used for pressing down a sleeve ring and sleeving the bag opening with the sleeve ring. The ring taking and sleeving mechanical arm for the edible mushroom bags is simple in structure, low in cost, small in size, capable of taking and sleeving rings fully automatically, and convenient to operate.

Description

Ring set ring manipulator got by edible fungi bag
Technical field
The present invention relates to one agriculturally edible mushroom manipulator, particularly ring set ring manipulator got by a kind of edible fungi bag.
Background technology
Existing edible fungi bag normally adopts the collar to entangle polybag sack, then fills in the collar by lid, is sealed by polybag sack by the cooperation of lid and the collar.Initial agriculture edible fungi bag get ring set ring, be all by manually getting, manually overlap, manually press.Manually because efficiency is slow, poor stability, cost is high, and due to individual skill qualification different, often exist processing nonstandard, the quality problems such as cannot to seal, directly have influence on the packaging quality of edible mushroom thus affect the Quality and yield of edible mushroom.And the equipment of this operation can be completed in the market, cost is all very expensive, and mechanism is complicated, and build is large, can not complete the action of a sequence on a station.The present invention can solve mechanism's complexity, cost is high, build is large problem, and the machine that can realize completes all process steps, namely automatically gets the operation such as the collar, the cover collar, gland ring, nest mouth, contracting plastic bag mouth.
Summary of the invention
The automation that a kind of mechanism is simple, cost is low, volume is little is the object of the present invention is to provide to get ring set ring manipulator.Ring set ring manipulator got by this edible fungi bag, comprise a manipulator main body, and the horizontal drive mechanism of driving device hand main body movement and upright driving mechanism, wherein, described manipulator main body comprises sleeve, main axis of dilatation and sack jaw, and described main axis of dilatation is sheathed on sleeve inner, main axis of dilatation epimere is thin shaft part, hypomere is thick shaft part, and thin shaft part can move up and down by relative sleeve, and thick shaft part upper end diameter is greater than sleeve diameter; Several fingers of described sack jaw are articulated with sleeve lower end respectively, and when main axis of dilatation is in bottom, finger covers thin shaft part outer surface, and when main axis of dilatation moves, thick shaft part can back down finger, makes sack jaw in opened condition; Described manipulator main body is also provided with ring pressing mechanism of perforation book, entangles sack for being pressed down by the collar.
Further, described ring pressing mechanism of perforation book comprises a cylinder and a briquetting, and described briquetting band circular hole, be sheathed on outside sleeve, air cylinder driven briquetting moves up and down.
Further, described manipulator main body is installed on the robotic arm.
Further, described horizontal drive mechanism is servomotor, and this motor drive machinery arm moves horizontally.
Further, described upright driving mechanism is cylinder.
Further, the taper that the thick shaft part of described main axis of dilatation is big up and small down.
Further, the quantity that described mouth clip cleft hand refers to is 3-10.
Further, described main axis of dilatation is provided with several ventholes.
This edible fungi bag of the present invention is got ring set ring manipulator and is had the following advantages relative to prior art tool:
1. structure of the present invention is simple, adopts sack jaw engagement sleeves cylinder automatically to get ring, by ring pressing mechanism of perforation book to pressing down the collar, completing and automatically getting ring, the collar.
2. main axis of dilatation of the present invention, adopt up big and down small cone structure, when manipulator moves down, this shaped lower end is easy to enter in sack, when main axis of dilatation moves, sack jaw backs down by upper end, sack jaw is opened, prevents from getting in ring process to fall under the collar, when finger draws in again, tightening pocket opening, i.e. nest mouth, contracting plastic bag mouth operation simultaneously.
3. main axis of dilatation is provided with several ventholes, and the effect of venthole is, after main axis of dilatation enters sack, blows near sack, sack is opened after the collar, be conducive to follow-up upper shield.
3. this edible fungi of the present invention bag gets that ring set ring manipulator mechanism is simple, cost is low, volume is little, can realize automation and get ring set ring manipulator.
Accompanying drawing explanation
Fig. 1 is that ring set ring manipulator front view got by edible fungi bag of the present invention;
Fig. 2 is that ring set ring manipulator left view got by edible fungi bag of the present invention;
Fig. 3 is the enlarged drawing of main axis of dilatation 12 of the present invention;
Fig. 4 is the enlarged drawing of the collar 6 of the present invention.
Drawing reference numeral illustrates: 1, manipulator main body; 11, sleeve; 12, main axis of dilatation; 121, thin shaft part; 122, thick shaft part; 13, sack jaw; 131, point; 2, ring pressing mechanism of perforation book; 21, briquetting; 22, cylinder; 3, mechanical arm; 4, servomotor; 51, cylinder; 52, cylinder; 6, the collar.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
With reference to accompanying drawing 1 ~ 4, ring set ring manipulator got by this edible fungi bag of the present invention, comprise a manipulator main body 1, and the horizontal drive mechanism of driving device hand main body 1 movement and upright driving mechanism, manipulator main body 1 comprises sleeve 11, main axis of dilatation 12 and sack jaw 13, and it is inner that described main axis of dilatation 12 is sheathed on sleeve 11, main axis of dilatation 12 epimere is thin shaft part 121, hypomere is thick shaft part 122, and thin shaft part 121 can move up and down by relative sleeve 11, and thick shaft part 122 upper end diameter is greater than sleeve 11 internal diameter; Several fingers 131 of sack jaw 13 are articulated with sleeve 11 lower end respectively, when main axis of dilatation 12 is in bottom, finger 131 covers thin shaft part 121 outer surface, when main axis of dilatation 12 moves, thick shaft part 122 can back down finger 131, makes sack jaw 13 in opened condition; Manipulator main body 1 is also provided with ring pressing mechanism of perforation book 2, entangles sack for being pressed down by the collar.Ring pressing mechanism of perforation book 2 comprises cylinder 22 and briquetting 21, and circular hole is with by briquetting 21, is sheathed on outside sleeve 11, and cylinder 22 drives briquetting 21 to move up and down.Main axis of dilatation is also provided with several ventholes.
Manipulator main body 1 is arranged on mechanical arm 3.Horizontal drive mechanism is servomotor 4, and this motor drive machinery arm moves horizontally, thus driving mechanical hand main body 1 moves horizontally.Upright driving mechanism is cylinder 51, and cylinder 51 is arranged on mechanical arm 3, is moved up and down by driving machine mechanical arm 3, thus driving mechanical hand main body 1 vertical direction moves.
The taper that the thick shaft part of main axis of dilatation 12 is big up and small down, adopt up big and down small cone structure, when manipulator moves down, this shaped lower end is easy to enter in sack, when main axis of dilatation moves, sack jaw 13 backs down by upper end, sack jaw 13 is opened, prevent from getting the collar in ring process to fall for 6 times, when finger 131 draws in again, tightening pocket opening simultaneously.
In the present embodiment, mouth clip cleft hand refers to that the quantity of 131 is 8.
During practical operation, manipulator main body 1, under servomotor 4 level drives, arrives feed zone and gets the collar.The step of specifically getting the collar is, original state cylinder 52 is in extended configuration, and now main axis of dilatation 12 is in bottom, and mouth clip cleft hand refers to that 131 cover outside thin shaft part 121.Cylinder 51 driving machine mechanical arm 3 moves down, thus manipulator main body 1 moves down, main axis of dilatation 12 lower end enters in the collar 6 ring wall, the collar 6 is enclosed within sleeve 11, and is positioned at sack jaw top, now cylinder 52 moves, make main axis of dilatation 12 relative sleeve 11 moves, the finger 131 of sack jaw 13 is backed down, avoids the collar 6 to come off from sleeve 11, complete and automatically get ring step.
Collar step is, after getting loops bundle, manipulator main body 1 moves to the sub-upper end of bacterium bag for the treatment of the collar, and cylinder 51 stretches, and collar manipulator main body 1 moves down, and is inserted in bacterium bag by main axis of dilatation 12.Cylinder 52 stretches, and cylinder 51 shrinks, and is slowly regained by sack jaw 13, is tightened up by bacterium bag mouth.Now, cylinder 22 drives briquetting 21 descending, is pressed in bag by the collar 6, completes collar step.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.All any amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. ring set ring manipulator got by an edible fungi bag, comprise a manipulator main body, and the horizontal drive mechanism of driving device hand main body movement and upright driving mechanism, it is characterized in that, described manipulator main body comprises sleeve, main axis of dilatation and sack jaw, and described main axis of dilatation is sheathed on sleeve inner, main axis of dilatation epimere is thin shaft part, hypomere is thick shaft part, and thin shaft part can move up and down by relative sleeve, and thick shaft part upper end diameter is greater than sleeve diameter; Several fingers of described sack jaw are articulated with sleeve lower end respectively, and when main axis of dilatation is in bottom, finger covers thin shaft part outer surface, and when main axis of dilatation moves, thick shaft part can back down finger, makes sack jaw in opened condition; Described manipulator main body is also provided with ring pressing mechanism of perforation book, entangles sack for being pressed down by the collar.
2. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, it is characterized in that, described ring pressing mechanism of perforation book comprises a cylinder and a briquetting, and described briquetting band circular hole, be sheathed on outside sleeve, air cylinder driven briquetting moves up and down.
3. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, it is characterized in that, described manipulator main body is installed on the robotic arm.
4. ring set ring manipulator got by a kind of edible fungi bag according to claim 3, it is characterized in that, described horizontal drive mechanism is servomotor, and this motor drive machinery arm moves horizontally.
5. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, it is characterized in that, described upright driving mechanism is cylinder.
6. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, it is characterized in that, the taper that the thick shaft part of described main axis of dilatation is big up and small down.
7. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, it is characterized in that, the quantity that described mouth clip cleft hand refers to is 3-10.
8. ring set ring manipulator got by a kind of edible fungi bag according to claim 1, and it is characterized in that, described main axis of dilatation is provided with several ventholes.
CN201610026775.5A 2016-01-17 2016-01-17 Edible mushroom bacterium bag takes ring set ring manipulator Active CN105563504B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610026775.5A CN105563504B (en) 2016-01-17 2016-01-17 Edible mushroom bacterium bag takes ring set ring manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610026775.5A CN105563504B (en) 2016-01-17 2016-01-17 Edible mushroom bacterium bag takes ring set ring manipulator

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CN105563504B CN105563504B (en) 2017-06-16

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4291910A (en) * 1978-12-22 1981-09-29 Societe Generale Pour L'emballage Disappearing grasping head
JP2006150517A (en) * 2004-11-30 2006-06-15 Toyo Glass Kikai Kk Gripping device of container
CN203665543U (en) * 2014-01-16 2014-06-25 苏州怡丰工业设备有限公司 Lifting mechanical arm
CN104364059A (en) * 2012-06-13 2015-02-18 阿海珐有限公司 Gripper
CN104552321A (en) * 2013-10-17 2015-04-29 常州市天阳物资有限公司 Gripper
CN205290997U (en) * 2016-01-17 2016-06-08 厦门祺安达自动化设备有限公司 Edible mushroom bag gets ring lantern ring manipulator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4291910A (en) * 1978-12-22 1981-09-29 Societe Generale Pour L'emballage Disappearing grasping head
JP2006150517A (en) * 2004-11-30 2006-06-15 Toyo Glass Kikai Kk Gripping device of container
CN104364059A (en) * 2012-06-13 2015-02-18 阿海珐有限公司 Gripper
CN104552321A (en) * 2013-10-17 2015-04-29 常州市天阳物资有限公司 Gripper
CN203665543U (en) * 2014-01-16 2014-06-25 苏州怡丰工业设备有限公司 Lifting mechanical arm
CN205290997U (en) * 2016-01-17 2016-06-08 厦门祺安达自动化设备有限公司 Edible mushroom bag gets ring lantern ring manipulator

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