CN108750206B - Mechanical arm of packing machine - Google Patents
Mechanical arm of packing machineInfo
- Publication number
- CN108750206B CN108750206B CN201810908437.3A CN201810908437A CN108750206B CN 108750206 B CN108750206 B CN 108750206B CN 201810908437 A CN201810908437 A CN 201810908437A CN 108750206 B CN108750206 B CN 108750206B
- Authority
- CN
- China
- Prior art keywords
- sub
- strip
- clamp
- clamping
- shaped part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000012856 packing Methods 0.000 title description 2
- 238000004806 packaging method and process Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Abstract
The invention discloses a mechanical arm of a packaging machine, which relates to the field of packaging equipment and comprises a mounting seat and sub-clamp devices symmetrically arranged at two ends of the mounting seat, wherein the sub-clamp devices comprise a sub-clamp seat arranged on the mounting seat, a first strip-shaped part arranged on the sub-clamp seat, a second strip-shaped part arranged on the sub-clamp seat, an outer sub-clamp assembly arranged at one end of the first strip-shaped part and an inner sub-clamp assembly arranged at one end of the second strip-shaped part, the sub-clamp devices are provided with two states of opening and resetting closure towards two sides, two states of approaching and separating from each other are arranged between the inner sub-clamp assembly and the outer sub-clamp assembly, the outer sub-clamp assembly is provided with two states of opening and closure, and the inner sub-clamp assembly is also provided with two states of opening and closure. The invention has the advantages of various actions, simple structure and high practicability.
Description
Technical Field
The invention relates to the field of packaging equipment, in particular to a mechanical arm of a packaging machine.
Background
The structure of the existing packaging machine manipulator for clamping packaging bags on the market basically is that the top end of the mechanical arm is provided with a movable clamp and a fixed clamp which are matched with each other, the structure is relatively simple, the realized action is relatively single, only single-side packaging bags can be clamped, limitation exists on packaging bags such as folded edges, and the problem of poor practicability is solved.
Disclosure of Invention
In order to overcome the defects of the background technology, the invention provides the manipulator of the packaging machine, which has various actions, simple structure and high practicability.
The invention adopts the technical scheme that: the mechanical arm of the packaging machine comprises a mounting seat and sub-clamp devices symmetrically arranged at two ends of the mounting seat, wherein the sub-clamp devices comprise sub-clamp seats arranged on the mounting seat, first strip-shaped components arranged on the sub-clamp seats, second strip-shaped components arranged on the sub-clamp seats, outer sub-clamp components arranged at one ends of the first strip-shaped components and inner sub-clamp components arranged at one ends of the second strip-shaped components, the sub-clamp devices are provided with two states of opening and resetting and folding towards two sides, two states of approaching and keeping away from each other are arranged between the inner sub-clamp components and the outer sub-clamp components, the outer sub-clamp components are provided with two states of opening and folding, and the inner sub-clamp components are also provided with two states of opening and folding.
The sub-clamping seat is provided with a pin shaft part hinged with the mounting seat, a first stress rod and a reset rod extend out of the circumference of the pin shaft part, and a third reset piece used for connecting the sub-clamping devices at two sides is arranged on the reset rod.
The outer sub-clamp assembly comprises an outer fixed clamp fixedly arranged at the top end of the first strip-shaped component and an outer movable clamp hinged to the top end of the first strip-shaped component, and a first linkage mechanism for driving the outer movable clamp and the outer fixed clamp to cooperatively clamp materials is connected between the outer movable clamp and the first strip-shaped component.
The first linkage mechanism comprises a first installation shaft fixedly installed at the middle section of the first strip-shaped component, a first swing rod hinged to the first installation shaft, and a first pull rod respectively hinged to the end part of the first swing rod and the end part of the external moving clamp, wherein one end of the first swing rod connected with the first pull rod is a stress point.
The first force roller is hinged at one end of the first swing rod connected with the first pull rod, and a first reset piece for connecting the other end of the first swing rod and the tail end of the first strip-shaped component is arranged between the other end of the first swing rod and the tail end of the first strip-shaped component.
The inner sub-clamp assembly comprises an inner movable clamp fixedly arranged at the top end of the second strip-shaped component and an inner movable clamp hinged to the top end of the second strip-shaped component, and a second linkage mechanism for driving the inner movable clamp and the inner movable clamp to cooperatively clamp materials is connected between the inner movable clamp and the second strip-shaped component.
The second linkage mechanism comprises a second installation shaft fixedly installed at the tail end of the second strip-shaped component, a second swing rod hinged to the second installation shaft, and a second pull rod respectively hinged to the second swing rod and the end part of the inner movable clamp, and one end, connected with the second pull rod, of the second swing rod is a stress point.
And a second stress roller is also hinged and installed at one end of the second swing rod connected with the second pull rod, and a second reset piece for connecting the other end of the second swing rod with the sub-clamping seat is arranged between the other end of the second swing rod and the sub-clamping seat.
The first strip-shaped part is fixedly provided with a guide seat which is in sliding fit with the second strip-shaped part, and the circumferential direction of the second strip-shaped part is provided with a step for limiting the movement range of the guide seat.
The second stress rod extends out of the tail end of the first strip-shaped component in the radial direction, a third stress roller is hinged to the end face of the second stress rod, and a fourth reset piece for connecting the guide seat and the sub-clamping seat is arranged between the guide seat and the sub-clamping seat.
The beneficial effects of the invention are as follows: through this scheme can realize three kinds of motion state, the son of both sides presss from both sides the device and outwards opens and supply hem bag to get into the centre gripping scope, then outer sub-clamp assembly and interior sub-clamp assembly centre gripping hem bag jointly four limit, and interior sub-clamp assembly and outer sub-clamp assembly can be used for opening and closing the hem bag with the motion that leaves in opposite directions moreover, have the action various, simple structure, advantage that the practicality is high.
Drawings
Fig. 1 is a schematic structural diagram of a manipulator of a packaging machine according to an embodiment of the present invention.
Fig. 2 is a schematic view of a back structure of a manipulator of a packaging machine according to an embodiment of the present invention.
Fig. 3 is a front view of the packer robot when opened to both sides.
Fig. 4 is a front view of the inner and outer sub-clip assemblies both closed.
Fig. 5 is a front view of the inner and outer sub-clip assemblies as they are moved away from each other.
Fig. 6 is a schematic structural view of the sub-holder.
Fig. 7 is a front view of the inner and outer sub-clip assemblies with both sub-clip assemblies open respectively.
Detailed Description
Embodiments of the invention are further described below with reference to the accompanying drawings:
As shown in the figure, the folding device comprises a mounting seat 1 and sub-clamping devices symmetrically arranged at two ends of the mounting seat 1, the sub-clamping devices comprise a sub-clamping seat 2 arranged on the mounting seat 1, a first strip-shaped part 3 arranged on the sub-clamping seat 2, a second strip-shaped part 4 arranged on the sub-clamping seat 2, an outer sub-clamping component 5 arranged at one end of the first strip-shaped part 3 and an inner sub-clamping component 6 arranged at one end of the second strip-shaped part 4, the sub-clamping devices are provided with two states of opening and resetting closure towards two sides, two states of approaching and keeping away from each other are arranged between the inner sub-clamping component 6 and the outer sub-clamping component 5, the outer sub-clamping component 5 is provided with two states of opening and closure, the inner sub-clamping component 6 is also provided with two states of opening and closure, three action states can be realized through the scheme, the sub-clamping devices at two sides are outwards opened for a folding bag to enter a clamping range, then the outer sub-clamping component and the inner sub-clamping component are used for clamping four sides of a bag together, and the inner sub-clamping component and the outer sub-clamping component can move towards each other and the other to open the folding bag, and the folding bag has the advantages of simple and practical folding action and high performance.
In this embodiment, the first and second bar members are preferably guide shafts.
The sub-clamping seat 2 is provided with a pin shaft part 21 hinged with the mounting seat 1, a first stress rod 22 and a reset rod 23 extend from the circumferential direction of the pin shaft part 21, a third reset piece 24 used for connecting two side sub-clamping devices is arranged on the reset rod 23, a fourth stress roller 25 hinged to the end part of the first stress rod 22 is arranged on two sides, the fourth stress roller 25 is concentrically arranged, a thrust is applied to the fourth stress roller, the sub-clamping seat rotates by a proper angle with the pin shaft part as the center, so that the manipulator is in an open state, and the third reset piece connected with the two side sub-clamping devices provides a pretightening force for resetting the two, and the third reset piece adopted in the embodiment is a tension spring and has the advantages of synchronous opening and synchronous resetting.
The mounting mode of the sub-clamping seat is not limited to the hinged mounting mode, other movable mounting modes can be adopted, for example, a strip-shaped sliding groove is formed in the mounting seat, and the sub-clamping seat can be mounted on the mounting seat through opposite or separated parallel displacement movement, so that the sub-clamping devices on two sides can be opened, reset and closed.
In addition, two fourth atress rollers are concentric to be set up, in practical application, with fourth atress roller contact be the cam that rotates, fourth atress roller rolls on the periphery of cam, but when moving the bump of cam, receives a thrust, and the manipulator just becomes the open state, after crossing the bump, the manipulator resets and folds.
The third restoring member in this embodiment is not limited to a tension spring, but may also be a torsion spring, which may be mounted on the pin shaft, and the extending end of the torsion spring is in interference fit with the mounting seat.
The fourth stress roller 25 in this embodiment is not limited to be concentrically arranged, but may be arranged in parallel, so long as the force in the same direction is applied to the same simultaneously, so as to ensure that the sub-clamping mechanisms on two sides move simultaneously.
The outer sub-clamp assembly 5 comprises an outer fixed clamp 51 fixedly arranged at the top end of the first strip-shaped part 3 and an outer movable clamp 52 hinged at the top end of the first strip-shaped part 3, a first linkage mechanism for driving the outer movable clamp 52 and the outer fixed clamp 51 to cooperatively clamp materials is connected between the outer movable clamp 52 and the first strip-shaped part 3, the first linkage mechanism comprises a first mounting shaft 53 fixedly arranged at the middle section of the first strip-shaped part 3, a first swing rod 54 hinged on the first mounting shaft 53 and a first pull rod 55 hinged at the end part of the first swing rod 54 and the end part of the outer movable clamp 52 respectively, one end of the first swing rod 54 connected with the first pull rod 55 is a stress point, a first stress roller 56 is hinged at one end of the first swing rod 54 connected with the first pull rod 55, a first reset piece 57 for connecting the other end of the first swing rod 54 and the end of the first strip-shaped part 3 is arranged, a thrust force is applied to the first stress roller, the first swing rod rotates around the first mounting shaft, and the first swing rod is in a state of opening the outer movable clamp through the first swing rod and the first fixed clamp; when the thrust force disappears, the pretightening force of the first reset piece drives the first swing rod to reversely reset and rotate, the first swing rod enables the outer movable clamp and the outer fixed clamp to be closed through the first pull rod, and the first reset piece adopts a tension spring;
The first restoring member in this embodiment is not limited to a tension spring, but may also be a torsion spring, where the torsion spring is mounted on the first mounting shaft, and an extending end of the torsion spring is in interference fit with the first swing rod.
The inner sub-clamp assembly 6 comprises an inner clamp 61 fixedly mounted at the top end of the second strip-shaped part4 and an inner movable clamp 62 hinged at the top end of the second strip-shaped part4, a second linkage mechanism for driving the inner movable clamp 62 and the inner clamp 61 to clamp materials in a matched manner is connected between the inner movable clamp 62 and the second strip-shaped part4, the second linkage mechanism comprises a second mounting shaft 63 fixedly mounted at the tail end of the second strip-shaped part4, a second swinging rod 64 hinged on the second mounting shaft 63 and a second pull rod 65 respectively hinged at the ends of the second swinging rod 64 and the inner movable clamp 62, one end of the second swinging rod 64 connected with the second pull rod 65 is a stress point, a second stress roller 66 is hinged at one end of the second swinging rod 64 connected with the second pull rod 65, a second reset piece 67 for connecting the inner movable clamp 62 and the inner movable clamp 61 is arranged between the other end of the second swinging rod and the sub-clamp seat 2, and the working principle of the inner sub-clamp assembly is the same as that of the outer sub-clamp assembly, and the working principle of the inner sub-clamp assembly is not repeated.
The first strip-shaped part 3 is fixedly provided with a guide seat 7 which is in sliding fit with the second strip-shaped part 4, the circumferential direction of the second strip-shaped part 4 is provided with a step 41 which limits the movement range of the guide seat 7, the tail end of the first strip-shaped part 3 radially extends out of a second stressed rod 31, the end face of the second stressed rod 31 is hinged with a third stressed roller 32, a fourth reset piece 8 which is connected with the guide seat 7 and the sub-clamping seat 2 is arranged between the guide seat 7 and the sub-clamping seat 2, when a pushing force is applied to the third stressed roller, the first strip-shaped part slides forwards along the length direction to drive the outer sub-clamping assembly to be far away from the inner sub-clamping assembly, the guide shaft ensures that the distance between the outer sub-clamping assembly and the inner sub-clamping assembly in the width direction is unchanged, the step on the second strip-shaped part can limit the movement range of the guide seat, and after the pushing force disappears, the pre-tightening force of the fourth reset piece drives the guide seat and the first strip-shaped part to reset, and the fourth reset piece in the embodiment adopts a tension spring.
The guide seat 7 is clamped and installed with the first strip-shaped part 3 and the second strip-shaped part 4, and is fixed through bolts, so that the assembly and disassembly are convenient.
In this embodiment, all parts connected by the tension spring are provided with bolts or bolts for the tension spring hook.
In addition, the mechanical arm is not limited to adopting a linkage mechanism, and the tail ends of the outer moving clamp and the inner moving clamp can be connected with a telescopic device, such as an air cylinder, the air cylinder is arranged on the sub-clamp seat, and the air cylinder stretches to drive the outer moving clamp and the outer fixed clamp and the inner moving clamp to be matched with the inner fixed clamp.
The sub-clamping seat 2 is provided with a guide shaft mounting seat 26 which is fixedly mounted, the first strip-shaped part is slidably mounted on the guide shaft mounting seat 26, the second strip-shaped part is fixedly mounted on the guide shaft mounting seat 26, the guide shaft mounting seat and the sub-clamping seat can be integrally formed, and compared with the integral forming, the detachable structure is adopted in the embodiment, the outer sub-clamping assembly and the inner sub-clamping assembly can be replaced, so that the processing difficulty is reduced, the cost is reduced, and the practicability is good; in addition, the guide shaft mounting seat is fixedly connected with the sub-clamping seat through bolts, and the sub-clamping seat is provided with a strip-shaped groove matched with the bolts, so that the mounting position of the guide shaft mounting seat can be adjusted according to actual conditions, and the guide shaft mounting seat can be suitable for products with different specifications.
The two ends of the first pull rod are respectively provided with a joint bearing, one ends of the joint bearings are respectively fixedly connected with the first pull rod, the other ends of the joint bearings are hinged to the first swing rod and the external moving clamp, and the two ends of the second pull rod are also provided with the joint bearings, so that the structure of the second pull rod is similar to that of the first pull rod.
The inner moving clamp 62 and the outer moving clamp 52 are both provided with clamping skins for clamping materials, and the clamping skins are made of flexible materials, so that the hemmed bags are not damaged during clamping.
There are also the following ways regarding the implementation of the mounting of the first strip-like member and the second strip-like member:
1. the first strip-shaped component is fixed, the second strip-shaped component is of a structure of sliding motion back and forth, and at the moment, two states of approaching and separating the inner sub-clip component and the outer sub-clip component can be realized by moving the second strip-shaped component when the outer sub-clip component and the inner sub-clip component are required to be adjusted;
2. The first strip-shaped part and the second strip-shaped part are of structures capable of sliding back and forth, and two states of approaching and separating the inner sub-clamp assembly and the outer sub-clamp assembly are respectively realized by moving the second strip-shaped part and the first strip-shaped part towards or away from each other.
Furthermore, in all the embodiments of the first strip-like member and the second strip-like member, the following structures may be added: the first strip-shaped part is provided with a rack, the second strip-shaped part is also provided with a rack, a gear mechanism matched with the rack is arranged between the first strip-shaped part and the second strip-shaped part, and the first strip-shaped part and the second strip-shaped part realize opposite or opposite displacement through the meshing fit of the gear and the rack and the rotation of the driving gear.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The skilled person will know: while the invention has been described in terms of the foregoing embodiments, the inventive concepts are not limited to the invention, and any modifications that use the inventive concepts are intended to be within the scope of the appended claims.
Claims (2)
1. Packaging machine manipulator, its characterized in that: the clamping device comprises a mounting seat (1) and sub-clamping devices symmetrically arranged at two ends of the mounting seat (1), wherein the sub-clamping devices comprise sub-clamping seats (2) arranged on the mounting seat (1), first strip-shaped components (3) arranged on the sub-clamping seats (2), second strip-shaped components (4) arranged on the sub-clamping seats (2), outer sub-clamping components (5) arranged at one ends of the first strip-shaped components (3) and inner sub-clamping components (6) arranged at one ends of the second strip-shaped components (4), the sub-clamping devices are provided with two states of opening and resetting and folding towards two sides, two states of approaching and separating away from each other are arranged between the inner sub-clamping components (6) and the outer sub-clamping components (5), the outer sub-clamping components (5) are provided with two states of opening and folding, and the inner sub-clamping components (6) are also provided with two states of opening and folding;
The outer sub-clamp assembly (5) comprises an outer fixed clamp (51) fixedly arranged at the top end of the first strip-shaped part (3) and an outer movable clamp (52) hinged to the top end of the first strip-shaped part (3), and a first linkage mechanism for driving the outer movable clamp (52) and the outer fixed clamp (51) to cooperatively clamp materials is connected between the outer movable clamp (52) and the first strip-shaped part (3);
the inner sub-clamp assembly (6) comprises an inner clamp (61) fixedly arranged at the top end of the second strip-shaped part (4) and an inner movable clamp (62) hinged at the top end of the second strip-shaped part (4), and a second linkage mechanism for driving the inner movable clamp (62) and the inner clamp (61) to cooperatively clamp materials is connected between the inner movable clamp (62) and the second strip-shaped part (4);
The first linkage mechanism comprises a first installation shaft (53) fixedly installed at the middle section of the first strip-shaped component (3), a first swing rod (54) hinged on the first installation shaft (53) and a first pull rod (55) respectively hinged with the end part of the first swing rod (54) and the end part of the external moving clamp (52), and one end, connected with the first pull rod (55), of the first swing rod (54) is a stress point;
One end of the first swing rod (54) connected with the first pull rod (55) is also hinged with a first stress roller (56), and a first reset piece (57) for connecting the other end of the first swing rod and the tail end of the first strip-shaped part (3) is arranged between the other end of the first swing rod and the tail end of the first strip-shaped part;
The second linkage mechanism comprises a second installation shaft (63) fixedly installed at the tail end of the second strip-shaped component (4), a second swing rod (64) hinged on the second installation shaft (63), and a second pull rod (65) respectively hinged with the second swing rod (64) and the end part of the inner movable clamp (62), and one end, connected with the second pull rod (65), of the second swing rod (64) is a stress point;
one end of the second swing rod (64) connected with the second pull rod (65) is also hinged with a second stress roller (66), and a second reset piece (67) for connecting the other end of the second swing rod with the sub-clamping seat (2) is arranged between the other end of the second swing rod and the sub-clamping seat;
The first strip-shaped part (3) is fixedly provided with a guide seat (7) which is in sliding fit with the second strip-shaped part (4), and the circumferential direction of the second strip-shaped part (4) is provided with a step (41) for limiting the movement range of the guide seat (7);
The second stress rod (31) radially extends out of the tail end of the first strip-shaped component (3), a third stress roller (32) is hinged to the end face of the second stress rod (31), and a fourth reset piece (8) for connecting the guide seat (7) and the sub-clamping seat (2) is arranged between the guide seat and the sub-clamping seat.
2. The packaging machine manipulator of claim 1, wherein: the sub-clamping seat (2) is provided with a pin shaft part (21) hinged with the mounting seat (1), a first stress rod (22) and a reset rod (23) extend out of the circumference of the pin shaft part (21), and a third reset piece (24) used for connecting the two-side sub-clamping devices is arranged on the reset rod (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908437.3A CN108750206B (en) | 2018-08-10 | Mechanical arm of packing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908437.3A CN108750206B (en) | 2018-08-10 | Mechanical arm of packing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108750206A CN108750206A (en) | 2018-11-06 |
| CN108750206B true CN108750206B (en) | 2024-07-09 |
Family
ID=
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203845089U (en) * | 2014-06-09 | 2014-09-24 | 瑞安市瑞志机械有限公司 | Machine clamp device of bag feeding type packaging machine |
| CN208576795U (en) * | 2018-08-10 | 2019-03-05 | 温州科迪机械有限公司 | Packing machine manipulator |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203845089U (en) * | 2014-06-09 | 2014-09-24 | 瑞安市瑞志机械有限公司 | Machine clamp device of bag feeding type packaging machine |
| CN208576795U (en) * | 2018-08-10 | 2019-03-05 | 温州科迪机械有限公司 | Packing machine manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cai Xuguang Inventor after: Cai Jianwu Inventor after: You Chuanhao Inventor before: You Chuanhao Inventor before: Cai Xuguang Inventor before: Cai Jianwu |
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| GR01 | Patent grant |