CN110040296A - Manipulator for sheathing bags - Google Patents

Abstract

The bagging manipulator includes a lifting device, a mounting seat, a steering gear mechanism, a bag-supporting cam mechanism and an adjusting device. The rear side of the mounting seat is slid and connected to the lifting device. The steering gear mechanism is arranged on the front side of the mounting seat. The bag-supporting cam mechanism About the mounting seat, there are two groups symmetrically arranged on the left and right sides. The two groups of bag-supporting cam mechanisms are respectively slidingly arranged on the left and right sides of the steering gear mechanism along the left and right directions. The adjusting device is arranged above the mounting seat. The group support bag cam mechanism is connected. The present invention is scientific in principle and reasonable in design, adopts motor-driven mode, and realizes bagging operation by means of pure mechanical transmission.

Description

bagging manipulator

technical field

The invention belongs to the technical field of packaging machinery, in particular to a bagging manipulator.

Background technique

In recent years, with the increasing labor cost, in the packaging industry, there have been devices for automatic bagging instead of manual labor. However, these automatic bagging devices generally have large volume, complex structure, high price and reliability. Poor performance (using a cylinder) and other shortcomings.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a bagging manipulator with small volume, simple structure, low cost and high reliability.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the bagging manipulator includes a lifting device, a mounting seat, a steering gear mechanism, a bag-supporting cam mechanism and an adjusting device, the rear side of the mounting seat slides and is connected to the lifting device, and the steering The gear mechanism is arranged on the front side of the mounting seat, and two sets of bag-supporting cam mechanisms are symmetrically arranged on the left and right sides of the mounting seat. Above the mounting seat, the left end and the right end of the adjusting device are respectively connected with two sets of bag-supporting cam mechanisms.

The lifting device includes a first servo motor and a vertical slide rail. The upper and lower ends of the vertical slide rail are respectively provided with a first synchronizing wheel and a second synchronizing wheel, and the first synchronizing wheel and the second synchronizing wheel are connected by a synchronous belt. The rear end of the mounting seat is fixedly provided with a sliding block, the sliding block and the vertical sliding rail are slidably connected through a dovetail structure, and the front half of the synchronous belt is connected with the sliding block.

The steering gear mechanism includes a second servo motor, a steering shaft, a steering gear and a sector gear. The steering shaft is arranged in the horizontal direction of the left and right, the middle of the steering shaft is rotatably connected to the front side of the mounting seat through the bearing seat, and the second servo motor is fixed at the bottom of the mounting seat. Below, the steering gear is coaxially installed on the main shaft of the second servo motor, the center hole of the sector gear is coaxially fixed on the steering shaft, the sector gear is located above the steering gear and meshes with the steering gear; the upper part of the steering shaft is coaxially There are fixed horizontal slide rails on the left and right sides of the mounting base.

The bag-supporting cam mechanism on the left includes a bag-supporting motor, a cam, a Z-shaped mounting plate, a sliding seat and a bag-supporting rod. The bag-supporting motor is installed on the upper surface of the lower plate of the Z-shaped mounting plate. The center is connected, the cam is located under the lower plate of the Z-type mounting plate, the sliding seat is slidably connected to the horizontal slide rail on the left side, the lower surface of the upper plate of the Z-type mounting plate is fixed on the sliding seat by bolts, and the Z-type mounting plate is set on the sliding seat. A fixed shaft is set vertically on the front side of the upper plate, and a torsion spring and a sleeve located under the torsion spring are sleeved on the fixed shaft. A pressure rod is connected to the upper part of the pressure rod, and a roller is arranged on the pressure rod. Under the action of the torsion spring, the outer contour of the cam is rolled and press-fitted with the roller. The bag supporting plate is located below the bag supporting rod and is vertically arranged.

The adjustment device includes an adjustment screw parallel to the steering shaft and located above the steering shaft. The left and right ends of the steering shaft are respectively fixed with support rods, and the left and right ends of the adjustment screw are connected to the support rod through bearings. The threads on the side are rotated in opposite directions, and a nut seat is threadedly connected to the left and right sides of the adjusting screw. The lower end of the left nut seat is fixedly connected to the upper plate of the left Z-shaped mounting plate, The lower end of the nut seat is fixedly connected to the upper plate of the Z-shaped mounting plate on the right side, and one end of the adjusting screw is provided with a hand wheel.

Using the above technical solution, the function of the present invention is to open the bag mouth, and the vertical guide rail in the present invention is fixedly arranged at the rear of the bag store and above the bag taking device and the bag opening suction cup. The overall working process of the present invention is: take The bag device takes out the prefabricated bag made of PP/PE material from the lower part of the bag store through the suction cup, and transports the prefabricated bag to the bag opening station, and the bag opening suction cup opens the prefabricated bag mouth. In the present invention, the prefabricated bag is opened at the bag opening station (the bag opening rod is vertically downward), and then the prefabricated bag is carried along the arc trajectory (quarter arc) to make the prefabricated bag mouth face upward (the bag opening rod is facing downwards). horizontally back), and continue to move upward until the prefabricated bag is placed over the bagging unit. After the prefabricated bag is locked to the bagging device, the bag-supporting rod of the present invention is withdrawn from the bag and returned to the original path, thus completing the bagging work.

The concrete bagging operation process of the present invention is:

1) Bag support: The second servo motor drives the fan-shaped gear to rotate through the steering gear, and the fan-shaped gear drives the steering shaft to rotate, so that the plane where the two bag-supporting cam mechanisms are located is rotated forward and downward by 10° and is parallel to the vertical direction. At this time, the support The bag support plate on the bag rod can penetrate into the prefabricated bag that has been opened, and then the two bag support motors are activated at the same time. The rod drives the sleeve to rotate on the fixed shaft, and the bag support rod fixedly connected with the sleeve also rotates. The two bag support plates in the bag mouth of the bag hold the prefabricated bag tightly in the bag mouth, so that the prefabricated bag and the bag support rod move upward and backward together;

2) Bagging: After the bag-opening action is completed, the second servo motor is then started, and the steering gear mechanism drives the bag-opening cam mechanism to rotate 90°, so that the originally horizontally oriented bag mouth is vertically upward. When the bag mouth of the prefabricated bag faces upwards, the first servo motor starts, and the first servo motor drives the mounting seat, the steering gear mechanism, the bag-supporting cam mechanism and the adjusting device to move upward together through the synchronous belt until the prefabricated bag is put into the bag Install the bag support board;

3) Unpacking: Then the bag-holding motor is started, and the cam is rotated in the reverse direction, the two bag-holding rods are slightly closed, and the second servo motor is also started, and the two bag-holding rods are rotated upward through the steering gear mechanism until the bag-holding rod is The bag support plate on the upper part exits from the prefabricated bag mouth;

4) Return to the initial position: the bag-supporting rod is opened again, and the bag-supporting cam mechanism moves downward under the drive of the lifting device, and the bagging manipulator returns to the initial position to complete a bagging operation.

When the specifications of the prefabricated bags are changed, the adjustment screw is rotated by turning the adjustment handwheel of the adjustment device. Since the threads on the left and right sides of the adjustment screw are rotated in opposite directions, the two nut seats can move relative to each other at the same time or opposite to each other, so that The distance between the two bag support rods can be adjusted to be suitable for the opening function of prefabricated bags of different specifications.

To sum up, the present invention is scientific in principle and reasonable in design. It adopts motor-driven mode and purely mechanical transmission mechanism to realize bagging operation. It has simple structure, small volume, strong reliability and practicability, and has good market prospects.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Figure 2 is a schematic diagram of the present invention in a working state.

Detailed ways

As shown in Figure 1, the bagging manipulator of the present invention includes a lifting device, a mounting seat 1, a steering gear mechanism, a bag-supporting cam mechanism and an adjusting device. The rear side of the mounting seat 1 slides and is connected to the lifting device, and the steering gear mechanism Set on the front side of the mounting seat 1, two sets of bag-supporting cam mechanisms are symmetrically arranged on the left and right sides of the mounting seat 1, and the two sets of bag-supporting cam mechanisms are respectively slidingly arranged on the left and right sides of the steering gear mechanism along the left and right directions, and the adjusting device is arranged on the left and right sides of the steering gear mechanism. Above the mounting seat 1, the left and right ends of the adjusting device are respectively connected with two sets of bag-supporting cam mechanisms.

The lifting device includes a first servo motor 2 and a vertical sliding rail 3. The upper and lower ends of the vertical sliding rail 3 are respectively provided with a first synchronizing wheel 4 and a second synchronizing wheel 5. They are connected by a synchronous belt 6, the rear end of the mounting seat 1 is fixedly provided with a sliding block, the sliding block and the vertical slide rail 3 are slidably connected through a dovetail structure, and the front half of the synchronous belt 6 is connected with the sliding block.

The steering gear mechanism includes a second servo motor 8, a steering shaft 9, a steering gear 10 and a sector gear 11. The steering shaft 9 is arranged along the left and right horizontal directions. The servo motor 8 is fixedly arranged under the bottom of the mounting seat 1, the steering gear 10 is coaxially mounted on the main shaft of the second servo motor 8, the central hole of the sector gear 11 is fixedly mounted on the steering shaft 9 in the same axial direction, and the sector gear 11 is located in the coaxial direction. Above the steering gear 10 and meshing with the steering gear 10 ; the upper part of the steering shaft 9 is fixedly provided with horizontal slide rails 13 located on the left and right sides of the mounting seat 1 , respectively.

The bag-supporting cam mechanism on the left includes a bag-supporting motor 14, a cam 15, a Z-shaped mounting plate 16, a sliding seat 17 and a bag-supporting rod 18. The bag-supporting motor 14 is installed on the upper surface of the lower flat plate of the Z-shaped mounting plate 16, and supports The main shaft of the bag motor 14 is connected to the center of the cam 15. The cam 15 is located below the lower plate of the Z-shaped mounting plate 16. The surface is fixed on the sliding seat 17 by bolts, and the front side of the upper plate of the Z-shaped mounting plate 16 is vertically arranged with a fixed shaft. The fixed shaft is sleeved with a torsion spring 19 and a sleeve 20 located under The two spring legs are press-fitted with the Z-shaped mounting plate 16 and the sleeve 20 respectively. The side of the sleeve 20 is connected with a pressure rod 21. The pressure rod 21 is provided with a roller 22. The outer contour is rolled and crimped with the roller 22, the rear end of the bag support rod 18 is fixedly connected to the front side of the sleeve 20, the front end of the bag support rod 18 is provided with a bag support plate 23, and the bag support plate 23 is located below the bag support rod 18. Vertical setting.

The adjusting device includes an adjusting screw 24 that is parallel to the steering shaft 9 and located above the steering shaft 9. The left and right ends of the steering shaft 9 are respectively fixed with support rods 25, and the left and right ends of the adjusting screw 24 are rotatably connected to the support rod 25 through bearings. The left and right sides of the screw 24 have opposite directions of thread rotation, and a nut seat 26 is threadedly connected to the left and right sides of the adjusting screw 24, and the lower end of the left nut seat 26 is fixedly connected to the left Z On the upper plate of the Z-shaped mounting plate 16, the lower end of the right nut seat 26 is fixedly connected to the upper plate of the right Z-shaped mounting plate 16, and one end of the adjusting screw 24 is provided with a hand wheel 27.

The main function of the present invention is to open the bag mouth, and the vertical guide rail 3 of the bagging manipulator 31 is fixedly arranged behind the bag store 28 and above the bag taking device 29 and the bag opening suction cup 30. The overall working process of the bagging manipulator 31 As shown in FIG. 2 , the bag taking device 29 takes out the prefabricated bag 32 made of PP/PE material from the lower part of the bag store 28 through the suction cup, and transports the prefabricated bag 32 to the bag opening station. The mouth of the prefabricated bag 32 is opened. The bagging manipulator 31 stretches the prefabricated bag 32 at the bag opening station (the bag support rod 18 faces vertically downward), and then takes the prefabricated bag 32 along the arc trajectory (quarter arc) to make the bag mouth of the prefabricated bag 32 upwards (the bag support bar 18 faces horizontally backwards), and continues to move upwards until the prefabricated bag 32 is placed on the bagging device 33 . After the prefabricated bag 32 is locked to the bagging device 33, the bag support rod 18 of the present invention is withdrawn from the bag and returned to the original path, thus completing the bagging work.

The bag magazine 28 , the bag taking device 29 , the bag opening suction cup 30 and the bag filling device 33 involved in the present invention are all conventional technologies, and their specific structures will not be described again.

The specific bagging operation process of the present invention is: as shown in Figure 1,

1) Bag opening: The second servo motor 8 drives the sector gear 11 to rotate through the steering gear 10, and the sector gear 11 drives the steering shaft 9 to rotate, so that the plane where the two bag opening cam 15 mechanisms are located is rotated forward and downward by 10° in the vertical direction. At this time, the bag support plate 23 on the bag support rod 18 can penetrate into the prefabricated bag 32 that has been opened, and then the two bag support motors 14 are activated at the same time, the bag support motor 14 drives the cam 15 to rotate, and the cam 15 The roller 22 that is pressed and rolled with the cam 15 is driven. The roller 22 drives the sleeve 20 to rotate on the fixed shaft through the pressure rod 21, and the bag support rod 18 fixedly connected with the sleeve 20 also rotates accordingly. The left bag support rod 18 is turned to the left, the right side of the bag support rod 18 is turned to the right, and the two bag support plates 23 extending into the bag mouth of the prefabricated bag 32 support the prefabricated bag 32 tightly in the bag mouth, so that the prefabricated bag 32 and the support The bag bar 18 moves up and back together;

2) Bagging: After the bag opening operation is completed, the second servo motor 8 is then started, and the steering gear 10 mechanism drives the bag opening cam 15 mechanism to rotate 90°, so that the originally horizontally oriented bag mouth is vertically upward. When the bag opening of the prefabricated bag 32 faces upwards, the first servo motor 2 is activated, and the first servo motor 2 drives the mounting seat 1, the steering gear 10 mechanism, the bag-supporting cam 15 mechanism and the adjusting device to move upward together through the synchronous belt 6 until the Put the prefabricated bag 32 on the bag support plate of the bagging device 33;

3) Unloading the bag: Then the bag-supporting motor 14 is started, and the cam 15 is driven to rotate in the reverse direction, the two bag-supporting rods 18 are slightly closed, and the second servo motor 8 is also activated, and the two bag-supporting rods 18 are moved upward through the steering gear 10 mechanism. Rotate until the bag support plate 23 on the bag support rod 18 is withdrawn from the mouth of the prefabricated bag 32;

4) Return to the initial position: the bag-supporting rod 18 is opened again, and the bag-supporting cam 15 mechanism moves downward under the driving of the lifting device, and the bagging manipulator 31 returns to the initial position to complete a bagging operation.

When the specification of the prefabricated bag 32 is changed, the adjusting screw 24 is rotated by rotating the adjusting hand wheel 27 of the adjusting device. Since the threads on the left and right sides of the adjusting screw 24 are rotated in opposite directions, the two nut seats 26 can be opposite to each other or at the same time. The distance between the two bag spreading rods 18 can be adjusted so as to be suitable for the spreading function of prefabricated bags 32 of different specifications.

This embodiment does not limit the shape, material, structure, etc. of the present invention in any form, and any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention belong to the protection of the technical solution of the present invention scope.

Claims (5)

1. manipulator for sheathing bags, it is characterised in that: including lifting device, mounting base, steering gear, support bag cam mechanism and tune Regulating device, mounting base rear lateral portion are slided and are connected on lifting device, and steering gear is arranged on front side of mounting base, and support bag is convex Wheel mechanism is symmetrically set with two groups about mounting base, and two groups of support bag cam mechanisms are slidably arranged in left-right direction respectively to be turned To the left and right side of gear mechanism, regulating device is arranged above mounting base, and the left end of regulating device and right end are respectively with two Group support bag cam mechanism connection.

2. manipulator for sheathing bags according to claim 1, it is characterised in that: lifting device includes first servo motor and vertical Sliding rail, vertical rails top and bottom are respectively arranged with the first synchronizing wheel and the second synchronizing wheel, and the first synchronizing wheel is synchronous with second It is connected between wheel by toothed belt transmission, the rear end of mounting base is fixedly installed sliding block, and sliding block and vertical rails pass through dovetail Type structure is slidably connected, and the preceding half range of synchronous belt is connected with sliding block.

3. manipulator for sheathing bags according to claim 1, it is characterised in that: steering gear include the second servo motor, Steering shaft, tooth sector and sector gear, steering shaft are arranged along left and right horizontal direction, are rotated and are connected by bearing block in the middle part of steering shaft It connects on front side of mounting base, the second servo motor is fixed at mounting base bottom part down, and tooth sector is coaxial to be mounted on second On the main shaft of servo motor, the centre bore of sector gear is coaxial to be fixedly mounted in steering shaft, and sector gear, which is located at, turns to tooth It is simultaneously engaged with tooth sector wheel top；Steering shaft upper portion is coaxial to be fixedly installed the water for being located at mounting base left and right side Smooth rail.

4. manipulator for sheathing bags according to claim 3, it is characterised in that: the support bag cam mechanism in left side includes support bag electricity Machine, cam, Z-type mounting plate, slide and support bag bar, support bag motor are mounted on the upper surface of the lower plate of Z-type mounting plate, support bag electricity The main shaft of machine and the center of cam connect, and cam is located at the lower section of the lower plate of Z-type mounting plate, and slide is slidably connected at left side On horizontal slide rail, the upper flat plate lower surface of Z-type mounting plate, which is bolted, to be arranged on slide, the upper flat plate of Z-type mounting plate Front side is vertically arranged fixing axle, and torsional spring and the casing below torsional spring, two spring legs difference of torsional spring are arranged in fixing axle Cooperating with Z-type mounting plate and casing press, set tube side part is connected with compression bar, it is provided with idler wheel on compression bar, under the action of torsional spring, The outer profile and idler wheel of cam roll press fit, and support bag rod rear end is fixedly connected on front side of casing, and support bag bar front end is provided with Bag supporting plate is supportted, support bag supporting plate is located at below support bag bar and is vertically arranged.

5. manipulator for sheathing bags according to claim 3, it is characterised in that: regulating device includes being parallel to steering shaft and being located at Adjusting screw rod above steering shaft, steering shaft left and right ends are fixed with support rod respectively, and adjusting screw rod left and right ends pass through axis Hold and be rotatably connected on support rod, the left side of adjusting screw rod and the thread rotary orientation of right side on the contrary, adjusting screw rod left side A nut seat is threaded with right side, the nut seat lower end in left side is fixedly connected on the upper of the Z-type mounting plate in left side On plate, the nut seat lower end on right side is fixedly connected on the upper flat plate of the Z-type mounting plate on right side, and one end of adjusting screw rod is arranged There is handwheel.