Material feeding device and method for opposite conveying manipulator
Technical Field
The invention relates to a feeding device and a feeding method for a counter-conveying manipulator, and belongs to the technical field of conveying machinery.
Background
At present, before strip-shaped articles such as fine dried noodles enter a packaging machine bag making device, the strip-shaped articles are conveyed through a scraping plate conveying line or a material box conveying line, the length of the conventional fine dried noodles conveying line on the market is generally about 4 meters, mess is easily caused in the conveying process, the occupied factory building space is large, and the input cost is high.
Disclosure of Invention
The invention aims to solve the problems that the conveying belt is used for conveying fine dried noodles easily to cause mess before the fine dried noodles enter a bag making machine of a packaging machine, the occupied factory space of the conveying belt is large, and the input cost is high.
The technical scheme of the invention is as follows: the feeding method for the opposite conveying manipulator is characterized by comprising the following steps:
(1) Two sets of conveying devices are used for respectively terminating weighed noodles from two ends of the device, materials enter a trough, noodle trimming devices are arranged on two sides of the trough, and noodle trimming is carried out on the end faces of the noodles through swinging of a baffle; the lower part of the trough is provided with an oscillation material arranging device, and the clearance of the noodles or the inclination of the noodles are eliminated through oscillation; the materials are respectively conveyed to the middle position of the equipment in opposite directions through the trough;
(2) Two sets of manipulator grabbing mechanisms positioned between the two sets of conveying devices are used for grabbing noodles in the trough of the two sets of conveying devices respectively, the noodles are directly put into an elongated bag making device of a packaging machine, the two manipulators act alternately, the right manipulator grabs the noodles while the right manipulator grabs the noodles, the left manipulator grabs the noodles while the right manipulator grabs the noodles, the actions of the two manipulators are opposite, and the alternate feeding of the materials is realized;
(3) The noodle pushing device positioned below the manipulator device is used for carrying out noodle alignment and arrangement on the end face of the noodle, and pushing the noodle to a proper position in the bag making device, so that accurate and orderly packaging is realized.
An apparatus for implementing the method for feeding materials to a conveyor robot, comprising: the machine frame is provided with a manipulator grabbing mechanism arranged in the middle of the machine frame, and the manipulator grabbing mechanisms are symmetrically arranged on the two sides of the machine frame.
The invention has the advantages that: the device has the advantages of compact and simple structure, low input cost, small occupied space, alternate work of two manipulators, great improvement of work efficiency, reliable work and difficult mess in the conveying process.
Drawings
FIG. 1 is a schematic general structural view of an embodiment of the present invention;
fig. 2 is a right side view of fig. 1.
Detailed Description
Referring to fig. 1 and 2, the feeding device for a counter-conveying manipulator according to the present invention is characterized by comprising: the machine frame 11, the manipulator material grabbing mechanism installed in the middle of the machine frame 11, the face transporting and aligning mechanisms symmetrically installed on two sides of the machine frame 11.
The manipulator grabbing mechanism comprises a manipulator 1, a manipulator arm 2, a driven gear 3, sector gears 4, eccentric wheels 5 and parallel connecting rods 16, wherein the manipulator arm 1 is arranged at one end of the manipulator arm 2, the manipulator arm 2 is arranged on a frame 11, the driven gear 3 is arranged at the other end of the manipulator arm 2 and is meshed with the sector gears 4 arranged on the side surfaces of the frame 11, the eccentric wheels 5 are arranged on the side surfaces of the frame 11, two ends of the parallel connecting rods 16 are respectively arranged on the two manipulator arms 1 and used for keeping the opening direction of the manipulator arm 1 to be vertical and downward all the time, when a motor drives the eccentric wheels 5 to rotate, the eccentric wheels 5 transmit power to the sector gears 4 through the connecting rods, the sector gears 4 drive the driven gears 3 to rotate, and the driven gears 3 transmit rotating force to the manipulator arm 2 so as to drive the manipulator arm 1 connected to the manipulator arm 2 to realize reciprocating motion of grabbing surfaces in a conveying surface groove 6.
The dough transporting and dough trimming mechanism comprises a dough transporting groove 6, a dough trimming panel 7, an oscillating plate 8, five grooved wheels 9, a rotating arm wheel 10, a frame 11, a pushing panel 12, an electromagnetic clutch 13, a swinging arm 14, a bag making device 15 and a dough trimming cross arm 17; two sides of the middle part of the frame 11 are symmetrically provided with a set of flour conveying groove conveying mechanism which consists of a plurality of flour conveying grooves 6 which are arranged on a conveying chain at intervals, the flour-aligning plate 7 is fixed on a flour-aligning cross arm 17, and two ends of the flour-aligning cross arm 17 are arranged at two sides of the frame 11; the oscillating plate 8 is arranged on a guide rail, and two sides of the guide rail are arranged on a frame 11; the noodle aligning plate 7 and the oscillating plate 8 together finish the arrangement of the noodles falling into the noodle conveying groove 6 by the weighing machine; the five grooved wheels 9 and the rotating arm wheel 10 are mutually matched and arranged on the frame 11, and the motor drives the rotating arm wheel 10 to rotate so as to stir the five grooved wheels 9 to intermittently rotate, so that the surface conveying groove 6 regularly advances; when the manipulator 1 grabs noodles from the noodle conveying groove 6 and rotates to the position above the bag making device 15 on the packaging machine, the manipulator 1 is opened, most of the noodles fall into the bag making device 15, the non-falling part is driven by the electromagnetic clutch 13 arranged on the packaging machine to rotate by the swing arm 14, the swing arm 14 controls the push panel 12 to push the noodles into the bag making device 15 through the connecting rod, the noodle pushing panel is used for carrying out noodle alignment on the end face of the noodles, and the other purpose is to push the noodles to a proper position in the bag making device and match with the color code position of a bag film in the bag making device, so that accurate and orderly packaging is realized. .
When the noodle conveying device works, the motor drives the rotating arm wheel 10 to rotate and stir the five grooved wheels 9 to intermittently rotate, so that the noodle conveying groove 6 regularly advances, and the noodle finishing in the noodle conveying groove 6 is completed by the flush plate 7 and the oscillating plate 8 together while the noodle conveying groove 6 advances. The motor drives the eccentric wheel 5 to rotate simultaneously, the eccentric wheel 5 transmits power to the sector gear 4 through the connecting rod, the sector gear 4 drives the driven gear 3 to rotate, the driven gear 3 transmits rotating force to the mechanical arm 2, and then the mechanical arm 1 connected to the mechanical arm 2 is driven to realize reciprocating motion of grabbing the face in the face conveying groove 6, when one mechanical arm 1 grabs the noodles from the face conveying groove 6 and rotates to the position above the bag making device 15 on the packaging machine, the mechanical arm 1 is opened, the noodles fall into the bag making device 15 by about two thirds, a part which does not fall into the bag making device falls into the bag making device 15 is driven to rotate by the electromagnetic clutch 13 arranged on the packaging machine, and the swinging arm 14 drives the pushing panel 12 to push the noodles into the bag making device 15 through the connecting rod. Meanwhile, the other manipulator 1 transmits power to the sector gear 4 through the eccentric wheel 5, the sector gear 4 drives the driven gear 3 to rotate, the driven gear 3 transmits rotating force to the manipulator 2, and then the manipulator 1 connected to the manipulator 2 is driven to move to the grabbing surface above the surface conveying groove 6, and the two manipulators 1 reciprocate in a staggered mode.