CN105563504B - Edible mushroom bacterium bag takes ring set ring manipulator - Google Patents
Edible mushroom bacterium bag takes ring set ring manipulator Download PDFInfo
- Publication number
- CN105563504B CN105563504B CN201610026775.5A CN201610026775A CN105563504B CN 105563504 B CN105563504 B CN 105563504B CN 201610026775 A CN201610026775 A CN 201610026775A CN 105563504 B CN105563504 B CN 105563504B
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- CN
- China
- Prior art keywords
- manipulator
- dilatation
- shaft part
- ring
- main axis
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
-
- 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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Ring set ring manipulator is taken the present invention relates to a kind of edible mushroom bacterium bag, including a manipulator main body, and drive the horizontal drive mechanism and upright driving mechanism of the movement of manipulator main body, manipulator main body includes sleeve, main axis of dilatation and sack clamping jaw, main axis of dilatation is sheathed on sleeve inner, and main axis of dilatation epimere is thin shaft part, and hypomere is thick shaft part, thin shaft part can relative sleeve move up and down, thick shaft part upper end diameter is more than sleeve diameter；Several fingers of sack clamping jaw are hingedly connected to sleeve lower end, and when main axis of dilatation is in bottom, finger is covered in thin shaft part outer surface, and when being moved on main axis of dilatation, thick shaft part can push up open finger so that sack clamping jaw is in opened condition；Manipulator main body is additionally provided with ring pressing mechanism of perforation book, and sack is entangled for the collar to be pushed.This edible mushroom bacterium bag of the present invention take simple ring set ring manipulator mechanism, low cost, small volume, can full-automation take ring set ring, convenient operation.
Description
Technical field
The present invention relates to a kind of agriculturally edible mushroom manipulator, particularly a kind of edible mushroom bacterium bag takes ring set ring manipulator.
Background technology
Existing edible mushroom bacterium bag is typically with the collar and entangles polybag sack, then lid is filled in the collar, passes through
The cooperation of lid and the collar is so as to polybag sack be sealed.Initially agricultural edible mushroom bacterium bag takes ring set ring, is all by people
Work takes, manually covers, artificial pressure.It is artificial that because efficiency is slow, stability is poor, high cost, and due to individual skill qualification not
Together, often there are the quality problems such as processing is nonstandard, cannot seal, directly influence the packaging quality of edible mushroom so as to influence
The quality and yield of edible mushroom.And the equipment that the operation can be completed in the market, cost is all costly, and mechanism is complicated,
Build is big, and the action of a sequence can not be completed on a station.The present invention can solve the problem that mechanism is complicated, cost is high,
The big problem of build a, it is possible to achieve machine completes all process steps, i.e., take the collar, the set collar, gland ring, nest mouthful, contracting plastics automatically
The operations such as sack.
The content of the invention
It is an object of the invention to provide a kind of mechanism is simple, low cost, small volume automation takes ring set ring manipulator.
This edible mushroom bacterium bag takes ring set ring manipulator, including a manipulator main body, and drives the level of manipulator main body movement to drive
Motivation structure and upright driving mechanism, wherein, the manipulator main body includes sleeve, main axis of dilatation and sack clamping jaw, the main axis of dilatation
Be sheathed on sleeve inner, main axis of dilatation epimere is thin shaft part, hypomere is thick shaft part, thin shaft part can relative sleeve move up and down, thick axle
Section upper end diameter is more than sleeve diameter；Several fingers of the sack clamping jaw are hingedly connected to sleeve lower end, at main axis of dilatation
When bottom, finger is covered in thin shaft part outer surface, and when being moved on main axis of dilatation, thick shaft part can push up open finger so that mouth clip
Pawl is in opened condition；The manipulator main body is additionally provided with ring pressing mechanism of perforation book, and sack is entangled for the collar to be pushed.
Further, the ring pressing mechanism of perforation book includes a cylinder and a briquetting, and the briquetting band circular hole is sheathed on outside sleeve
Side, air cylinder driven briquetting is moved up and down.
Further, the manipulator main body is installed on the robotic arm.
Further, the horizontal drive mechanism is servomotor, and the motor drive machinery arm is moved horizontally.
Further, the upright driving mechanism is cylinder.
Further, the thick shaft part of the main axis of dilatation is in up big and down small taper.
Further, the quantity that the mouth clip cleft hand refers to is 3-10.
Further, the main axis of dilatation is provided with several ventholes.
This edible mushroom bacterium bag of the present invention takes ring set ring manipulator and is had the following advantages that relative to prior art：
1. simple structure of the present invention, is taken ring, by ring pressing mechanism of perforation book to pushing automatically using sack clamping jaw mating sleeve
The collar, completion takes ring, the collar automatically.
2. main axis of dilatation of the invention, using up big and down small cone structure, this shaped lower end holds very much when manipulator is moved down
Easily enter in sack, sack clamping jaw top is opened in upper end when being moved on main axis of dilatation so that sack clamping jaw is opened, prevent from taking set during ring
Fall under ring, when finger draws in again, while tightening pocket opening, i.e. nest mouth, contracting plastic bag mouth operation.
3. main axis of dilatation is provided with several ventholes, and the effect of venthole is, attached to sack after main axis of dilatation enters sack
It is near to blow so that sack opens after the collar, is conducive to follow-up upper shield.
3. this edible mushroom bacterium bag of the invention takes that ring set ring manipulator mechanism is simple, low cost, small volume, can realize from
Dynamicization takes ring set ring manipulator.
Brief description of the drawings
Fig. 1 takes ring set ring manipulator front view for edible mushroom bacterium bag of the present invention；
Fig. 2 takes ring set ring manipulator left view for edible mushroom bacterium bag of the present invention；
Fig. 3 is the enlarged drawing of main axis of dilatation of the present invention 12；
Fig. 4 is the enlarged drawing of the collar of the present invention 6.
Drawing reference numeral explanation：1st, manipulator main body；11st, sleeve；12nd, main axis of dilatation；121st, thin shaft part；122nd, thick shaft part；13、
Sack clamping jaw；131st, finger；2nd, ring pressing mechanism of perforation book；21st, briquetting；22nd, cylinder；3rd, mechanical arm；4th, servomotor；51st, cylinder；52、
Cylinder；6th, the collar.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to the drawings 1 ~ 4, this edible mushroom bacterium bag of the invention takes ring set ring manipulator, including a manipulator main body 1, and
The horizontal drive mechanism and upright driving mechanism of the movement of manipulator main body 1 are driven, manipulator main body 1 includes sleeve 11, main axis of dilatation
12 and sack clamping jaw 13, the main axis of dilatation 12 is sheathed on inside sleeve 11, and the epimere of main axis of dilatation 12 is thin shaft part 121, and hypomere is thick
Shaft part 122, thin shaft part 121 can relative sleeve 11 move up and down, the upper end diameter of thick shaft part 122 be more than the internal diameter of sleeve 11；Mouth clip
Several fingers 131 of pawl 13 are hingedly connected to the lower end of sleeve 11, and when main axis of dilatation 12 is in bottom, finger 131 is covered in carefully
The outer surface of shaft part 121, when being moved on main axis of dilatation 12, thick shaft part 122 can push up open finger 131 so that sack clamping jaw 13 is in opening
State；Manipulator main body 1 is additionally provided with ring pressing mechanism of perforation book 2, and sack is entangled for the collar to be pushed.Ring pressing mechanism of perforation book 2 includes the He of cylinder 22
Briquetting 21, briquetting 21 is sheathed on the outside of sleeve 11 with circular hole, and cylinder 22 drives briquetting 21 to move up and down.It is additionally provided with main axis of dilatation
Several ventholes.
Manipulator main body 1 is arranged on mechanical arm 3.Horizontal drive mechanism is servomotor 4, the motor drive machinery arm water
Translation is dynamic, so that driving mechanical hand main body 1 is moved horizontally.Upright driving mechanism is cylinder 51, and cylinder 51 is arranged on mechanical arm 3
On, moved up and down by driving mechanical arm 3, so that the vertical direction of driving mechanical hand main body 1 is moved.
The thick shaft part of main axis of dilatation 12 be in up big and down small taper, using up big and down small cone structure, when manipulator is moved down this
Kind shaped lower end is easily entered in sack, and the top of sack clamping jaw 13 is opened in upper end when being moved on main axis of dilatation so that sack clamping jaw 13 dozens
Open, preventing from taking fall under the collar 6 during ring, when finger 131 draws in again, while tightening pocket opening.
In the present embodiment, mouth clip cleft hand refer to 131 quantity be 8.
During practical operation, manipulator main body 1 reaches feed zone and takes the collar under the drive of the level of servomotor 4.Specifically take set
The step of ring is that 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
Cover in the outside of thin shaft part 121.Cylinder 51 drives mechanical arm 3 to move down, so that manipulator main body 1 is moved down, the lower end of main axis of dilatation 12 enters
In the ring wall of the collar 6, the collar 6 is enclosed within sleeve 11, and positioned at sack clamping jaw top, is now moved on cylinder 52 so that main axis of dilatation 12
Moved on relative sleeve 11, the top of finger 131 of sack clamping jaw 13 is opened, it is to avoid the collar 6 comes off from sleeve 11, and completion takes ring automatically
Step.
Collar step is taken after ring terminates, and manipulator main body 1 is moved to the bacterium bag sack upper end for treating the collar, and cylinder 51 is stretched
Exhibition, collar manipulator main body 1 moves down, main axis of dilatation 12 is inserted in bacterium bag.Cylinder 52 stretches, and cylinder 51 shrinks, by sack clamping jaw
13 slow withdrawals, bacterium bag sack is tightened up.Now, cylinder 22 drives briquetting 21 descending, and the collar 6 is pressed into bag, completes the collar
Step.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
All any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of edible mushroom bacterium bag takes ring set ring manipulator, including a manipulator main body, and drives the movement of manipulator main body
Horizontal drive mechanism and upright driving mechanism, it is characterised in that the manipulator main body includes sleeve, main axis of dilatation and mouth clip
Pawl, the main axis of dilatation is sheathed on sleeve inner, and main axis of dilatation epimere is thin shaft part, and hypomere is thick shaft part, and thin shaft part can relative sleeve
Move up and down, thick shaft part upper end diameter is more than sleeve diameter；Several fingers of the sack clamping jaw are hingedly connected under sleeve
End, when main axis of dilatation is in bottom, finger is covered in thin shaft part outer surface, and when being moved on main axis of dilatation, thick shaft part can push up open hand
Refer to so that sack clamping jaw is in opened condition；The manipulator main body is additionally provided with ring pressing mechanism of perforation book, and bag is entangled for the collar to be pushed
Mouthful.
2. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that the ring pressing mechanism of perforation book
Including a cylinder and a briquetting, the briquetting band circular hole is sheathed on sleeve outside, and air cylinder driven briquetting is moved up and down.
3. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that the manipulator master
Body is installed on the robotic arm.
4. a kind of edible mushroom bacterium bag according to claim 3 takes ring set ring manipulator, it is characterised in that the horizontal drive
Mechanism is servomotor, and the motor drive machinery arm is moved horizontally.
5. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that the vertical driving
Mechanism is cylinder.
6. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that the main axis of dilatation is thick
Shaft part is in up big and down small taper.
7. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that the sack clamping jaw
The quantity of finger is 3-10.
8. a kind of edible mushroom bacterium bag according to claim 1 takes ring set ring manipulator, it is characterised in that on the main axis of dilatation
It is provided with several ventholes.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563504A CN105563504A (en) | 2016-05-11 |
| CN105563504B true CN105563504B (en) | 2017-06-16 |
Family
ID=55874412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610026775.5A Active CN105563504B (en) | 2016-01-17 | 2016-01-17 | Edible mushroom bacterium bag takes ring set ring manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563504B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009377B (en) * | 2017-05-02 | 2023-08-29 | 苏州和丰工业设备有限公司 | Dual-purpose clamping jaw |
| CN107600473B (en) * | 2017-08-31 | 2022-12-27 | 浙江宏业装备科技有限公司 | Full-automatic reason material reason bag packagine machine |
| CN109229577B (en) * | 2018-09-20 | 2024-06-14 | 漳州金黑宝食用菌机械有限公司 | Automatic bag-shrinking, lantern ring and bag-opening-overturning mechanism for edible fungus culture bag |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2444630A1 (en) * | 1978-12-22 | 1980-07-18 | Emballage Ste Gle Pour | ECLIPSABLE GRIPPING HEAD |
| JP2006150517A (en) * | 2004-11-30 | 2006-06-15 | Toyo Glass Kikai Kk | Gripping device of container |
| DE102012209921A1 (en) * | 2012-06-13 | 2013-12-19 | Areva Gmbh | grab |
| 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 |
-
2016
- 2016-01-17 CN CN201610026775.5A patent/CN105563504B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105563504A (en) | 2016-05-11 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Manipulator of edible fungus bag ring Effective date of registration: 20230103 Granted publication date: 20170616 Pledgee: Postal Savings Bank of China Limited Xiamen Tong'an District Sub-branch Pledgor: XIAMEN QIANDA AUTOMATION EQUIPMENT Ltd. Registration number: Y2022980029998 |