CN110775351A - Be applied to automatic device of grabbing of food package assembly line - Google Patents

Abstract

The invention relates to the field of food packaging machinery, in particular to an automatic grabbing device applied to a food packaging production line. According to the food clamping device, after food is conveyed to the sealing plate of the clamping seat through the assembly line, the piston rod of the clamping cylinder is controlled to stretch out to drive the clamping plate to rotate downwards and towards the sealing plate of the clamping seat, so that the food in the clamping seat can be clamped and fixed; the control system controls the clamping arm to move so that the clamping mechanism moves upwards to a conveying plane of the third conveyor, and then controls the piston rod of the clamping cylinder to retract, so that the clamped food can be separated from the constraint of the clamping mechanism and move along with the third conveyor.

Description

Be applied to automatic device of grabbing of food package assembly line

Technical Field

The invention relates to the field of food packaging machinery, in particular to an automatic grabbing device applied to a food packaging production line.

Background

The food packaging machine is a machine capable of completing all or part of food packaging process, the packaging process comprises main processes of filling, wrapping, sealing and the like, and the machine is used for packaging products, so that the productivity can be improved, the labor intensity can be reduced, and the machine is suitable for the requirement of large-scale production. The current food packaging is generally that food to be packaged (such as cakes) is manually placed on a production line (namely a belt conveyor), and the food is conveyed to a packaging device of a corresponding process through the production line for packaging. However, the food items manually placed on the assembly line are mostly uneven, which causes the same unevenness of a plurality of food items when being conveyed to the packaging equipment, and is not beneficial to packaging the plurality of food items at the same time, in this case, a special person is generally required to arrange the food items into a group and arrange the food items orderly, and the mode is inefficient.

Disclosure of Invention

The invention provides an automatic grabbing device applied to a food packaging production line, which aims to solve the problem that the packaging efficiency is low because the existing food packaging equipment cannot arrange food regularly before packaging.

The invention adopts the following technical scheme: the utility model provides a be applied to automatic device of grabbing of food package assembly line, including frame, centre gripping arm and fixture, centre gripping arm one end is connected in the frame, and the centre gripping arm other end is connected fixture, and the drive of centre gripping arm fixture removes its characterized in that: the sorting mechanism comprises a sliding seat and a sorting rod, the sliding seat is fixed on the rack, the sorting rod is rotatably connected above the sliding block, and one end of the sorting rod extends to a conveying plane of the production line; the clamping mechanism comprises a clamping seat, a clamping plate and a clamping cylinder, one end of the clamping seat is a baffle, the other end of the clamping seat is open, the clamping plate is hinged to the upper end of the opening of the clamping seat, a piston rod of the clamping cylinder is hinged to the clamping plate, and the other end of the clamping cylinder, which extends out of the end relative to the piston rod, is hinged to the upper portion of the clamping seat.

As a further improvement, the clamping arm comprises a related joint seat, a translation motor and two translation rods, wherein one of the two translation rods is arranged on the left and the right, one end of each translation rod is rotatably connected to the rack, and the other end of each translation rod is rotatably connected to the joint seat; the clamping mechanism is connected to the other side of the joint seat, which is opposite to the translation rod; the translation motor is fixed to the frame, and translation motor drive one of them translation pole rotates.

As a further improvement, the clamping arm further comprises a lifting motor and two lifting rods, the two lifting rods are arranged one above the other, one ends of the two lifting rods are rotatably connected to the clamping seat, and the other ends of the two lifting rods are rotatably connected to the other side of the joint seat, which is relatively connected with the translation rod; the lifting motor is fixed on the joint seat and drives one of the lifting rods to rotate.

As a further improvement, the sequencing mechanism further comprises a sliding block which is positioned on the sliding seat and moves along the conveying direction of the assembly line, and the sequencing rod is rotatably connected to the sliding block; the sequencing rod relatively extends to the other end of the assembly line and is fixed with a swing rod, the slide base is along the both ends of slider moving direction all are equipped with vertical ascending backing pin, the slider is equipped with the spacer pin along the both ends of self moving direction, the spacer pin with the backing pin all is located the one side of keeping away from the assembly line, the swing rod is located two between the spacer pin, and the swing rod extends outside the scope between two backing pins.

From the above description of the structure of the present invention, compared with the prior art, the present invention has the following advantages: according to the food sorting device, the rotating sorting rod is arranged on the production line to firstly block food in the conveying process, so that the food is collected, and then the sorting rod is rotated reversely, so that the food is sequentially moved to each position corresponding to the length direction of the baffle of the clamping seat along with the swinging of the sorting rod and the conveying of the production line; then, the piston rod of the clamping cylinder is controlled to extend out to drive the clamping plate to rotate downwards and towards the sealing plate of the clamping seat, so that the food in the clamping seat can be clamped and fixed; the control system controls the clamping arm to move so that the clamping mechanism moves upwards to a conveying plane of the third conveyor, and then controls the piston rod of the clamping cylinder to retract, so that the clamped food can be separated from the constraint of the clamping mechanism and move along with the third conveyor.

Drawings

Fig. 1 is a schematic perspective view of the present invention installed on a production line.

Fig. 2 is a schematic perspective view of the clamping mechanism.

Fig. 3 is a perspective view of the frame and various structures attached to the frame.

Fig. 4 is a schematic sectional view of the joint base and the lifter bar.

Fig. 5 is a schematic perspective view of the sequencing mechanism.

Fig. 6 is a top view of a sequencing rod of the sequencing mechanism receiving a food item.

Fig. 7 is a top view of the sequencing rod of the sequencing mechanism releasing a food product.

Fig. 8 is a perspective view of the gripper mechanism gripping the food items onto the third conveyor.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

As shown in fig. 1 and 8, the automatic grabbing device applied to the food packaging production line comprises a rack 3, a clamping arm 5, a clamping mechanism 4 and a sequencing mechanism 6, wherein the rack 3 is fixed on one side of the production line 1, the sequencing mechanism 6 is positioned on one side of the production line, and the sequencing mechanism 6 can be fixed on a side beam of the production line 1 or fixed on the rack 3. The two ends of the clamping arm 5 are respectively connected to the rack 3 and the clamping mechanism 4, and the sequencing mechanism 6 and the clamping mechanism 4 are sequentially arranged along the conveying direction of the assembly line 2. In addition, the present invention is further provided with a set of control system (not shown), which is a PLC controller for controlling the sequential operation of the gripping arm 5, the gripping mechanism 4 and the sorting mechanism 6.

As shown in fig. 1 and 3, the gripping arm 5 comprises a relative joint seat 55, two translation rods 51, a translation motor 52, two lifting rods 53 and a lifting motor 54. The two translation rods 51 are arranged left and right, one ends of the two translation rods are rotatably connected to the rack 1, and the other ends of the two translation rods 51 are rotatably connected to the joint seat 55. The translation motor 52 is fixed to the frame 3, and the translation motor 3 drives one of the translation rods 51 to rotate. As shown in fig. 3, since the two translation rods 51 are arranged in parallel left and right, when the translation motor 52 drives the translation rod 51 to rotate, the other translation rod 51 is driven to rotate, so as to drive the joint seat 55 to move left and right in the direction of the horizontal swing amplitude of the translation rod 51. In addition, the two lifting rods 53 are arranged in parallel one above the other, one end of each of the two lifting rods 53 is rotatably connected to the clamping mechanism 4, the other end of each of the two lifting rods 53 is rotatably connected to the other side of the joint base 55, which is relatively connected to the translation rod 51, the lifting motor 54 is fixed to the joint base 55, and the lifting motor 54 drives one of the lifting rods 53 to rotate. As shown in fig. 1, because the two lifting rods 53 are arranged in parallel one above the other, when the lifting motor 54 drives the lifting rod 53 to rotate, the other lifting rod 53 is driven to rotate, so as to drive the clamping mechanism 4 to move up and down in the direction of the vertical swing amplitude of the lifting rod 53, and finally, the clamping arm 5 can drive the clamping mechanism 4 to move in two axial directions, namely horizontal and vertical directions, relative to the production line 2 through the translation motor 52 and the lifting motor 54.

As shown in fig. 4, taking the joint seat 55 connected to the lifting rod 53 as an example, the connection manner of the translation rod 51 rotatably connected to the joint seat 55 and the rack 1 and the connection manner of the lifting rod 53 rotatably connected to the joint seat 55 and the clamping seat 41 may be: two end faces on the joint seat 55 are fixed with bearings 56, the end part of the lifting rod 53 is penetrated with a rotating shaft 57, two ends of the rotating shaft 57 extend out of the lifting rod 53, and two ends of the rotating shaft are respectively embedded into the bearings 56 on two end faces of the joint seat 55, so that the rotating connection of the lifting rod 53 and the joint seat 55 is realized. Taking the example that the lifting motor 54 on the joint seat 55 is connected to the lifting rod 53, the connection structure for the translation motor 52 to drive the translation rod 51 to rotate and the connection structure for the lifting motor 54 to drive the lifting rod 53 to rotate may be: bearings 56 are fixed on two end faces of the joint seat 55, a rotating shaft 57 penetrates through the end of the lifting rod 53, two ends of the rotating shaft 57 extend out of the lifting rod 53, two ends of the rotating shaft 57 are embedded into the bearings 56 on the two end faces of the joint seat 55 respectively, and the rotating shaft 57 at one end is fixedly connected with an output shaft of the lifting motor through a coupler 58, so that the lifting motor 54 drives the lifting rod 53 to rotate. Furthermore, the fixing connection manner described in this embodiment may be a manner of fastening by bolts, or directly fixing by welding.

As shown in fig. 1 to 3, the clamping mechanism 4 includes a clamping base 41, a clamping plate 42 and a clamping cylinder 43. One end of the clamping seat 41 is a baffle plate, the other end of the clamping seat 41 is open, the clamping plate 41 is hinged to the open upper end of the clamping seat 41, the hinged mode can be that a plurality of iron sheets with through holes are welded to the edge of the open upper end of the clamping seat 41, a round rod penetrates through the through holes of the iron sheets, and finally the round rod is welded to the clamping plate 42, so that the clamping plate 42 can rotate relative to the clamping seat 41. The clamping cylinder 43 is an air cylinder, a piston rod 431 of the clamping cylinder 43 is hinged to the clamping plate 42, the other end of the clamping cylinder 43, which is opposite to the extending end of the piston rod 431, is hinged above the clamping seat 41, specifically, as shown in fig. 2, two connecting columns 44 are vertically fixed on the clamping seat 41, and the upper end of the clamping cylinder 43 is hinged between the two connecting columns 44, so that the solid clamping cylinder rotates. When the equipment is operated, the food 7 is conveyed to the clamping seat 41 by the assembly line 1 and moves until the food is blocked by the baffle 411 of the clamping seat 41, at the moment, the piston rod 431 of the clamping cylinder 43 is controlled by the control system to extend out, the clamping plate 42 can be driven to turn downwards, so that the food 7 is clamped by the clamping plate 42 which is turned downwards and the baffle 411 of the clamping seat 41, and the clamped food 7 can be arranged and formed into a straight line by taking the side surface of the baffle 411 as a reference, after the clamping mechanism 4 and the food 7 are transferred to a designated position by the clamping arm 5, such as a third conveyor 2 above a middle assembly line 1 shown in figures 1 and 3, the food 7 arranged and formed into the straight line can move to a packaging device (not shown in the figure) under the conveying of the third conveyor 2, thereby facilitating the packaging device to package the food in a row at one time, and avoiding the step of arranging the food again, can effectively improve the efficiency of food packaging.

As shown in fig. 5 to 7, the sequencing mechanism 6 includes a slide base 61, a slide block 62 and a sequencing rod 63, the slide base 61 is fixed on the frame 3 and located at a side of the assembly line 1, the slide block 62 is located on the slide base 61 and moves along a conveying direction of the assembly line 1, a screw mechanism 68 is disposed on the specific slide base 61, the screw mechanism includes a screw 69 rotatably connected to the slide base and a screw motor 68 controlled by a control system, the screw 69 is spirally connected to the slide block 62, the screw motor 68 is fixed on the slide base 61, and an output shaft of the screw motor 68 is fixedly connected to the screw 69, which is consistent with a ball screw structure in the prior art, and the screw motor 68 drives the screw 69 to rotate, so that the slide block 62 moves on the slide base 61. The slide block 62 is further fixed with a rotating shaft (not shown in the figure), the rotating shaft is sleeved with a shaft sleeve 64, the sequencing rod 63 is fixedly connected to one side of the shaft sleeve 64, and one end of the sequencing rod 63 extends to the conveying plane of the production line 1, so that the sequencing rod 63 rotates relative to the slide block 62 and is positioned on the conveying plane of the production line 1 to rotate.

Continuing with fig. 5 to 7, the other end of the sequencing rod 63 extending relatively to the assembly line 1 is fixed with a swing rod 65, that is, the swing rod 65 is fixed on the other side of the shaft sleeve 64 opposite to the sequencing rod 63. Slide 61 is followed slider 62 moving direction's both ends all are equipped with vertical ascending backing pin 66, slider 62 is gone up and is equipped with spacer pin 67 along self moving direction's both ends, spacer pin 67 with backing pin 66 all is located slide 61 and keeps away from one side of assembly line 1. The swing rod 65 is located between the two limit pins 67, and the swing rod 65 extends out of the range between the two stop pins 66.

Further, assembly line 1 includes two first conveyer 11 and the second conveyer 12 of end to end, first conveyer 11 and second conveyer 12 and above-mentioned third conveyer 2 are the band conveyer among the prior art. The second conveyor 12 is provided with a light sensor 13 at one end close to the first conveyor 11, the light sensor 13 is used for sensing the quantity of the food passing through, the sensed quantity is converted into an electric signal to be transmitted to the control system, the control system controls the first conveyor 11 to pause according to the written program after the preset quantity is reached, the specific pause time is the time for transferring the food to the third conveyor 2 through the second conveyor 12 and the clamping mechanism 4, the second conveyor 12 is always in the running state in the process, the mode can enable the quantity of the food conveyed to the clamping mechanism 4 through the second conveyor 12 to be consistent every time, and grouped packaging of the food is facilitated. And simultaneously the screw motor 68 of the screw mechanism, the translation motor 52 and the lifting motor 54 of the gripper arm 5 and the gripper cylinder 43 of the gripper mechanism 4 are operated according to the program written by the control system. Preferably, the speed of the screw mechanism driving the slide block 62 to move is approximately consistent with the moving speed of the second conveyor 12. The second conveyor 12 is also provided with a light sensor for counting at a position close to one side of the initial position of the clamping seat 41, the light sensor faces the opening of the clamping seat 41, and after the light sensor at the position senses a preset number of foods, a signal is transmitted to the control system, and the control system receives the signal to sequentially control the operation of the clamping mechanism 4 and the clamping arm 5.

The operation process of the invention is as follows:

as shown in fig. 6, when the screw mechanism drives the slider 62 to move towards the end away from the clamping mechanism 4, and in this process, when the swing rod 65 moves to the position of the stop pin 66, the slider 62 continues to move and the swing rod 65 can make the sorting rod 63 swing towards the end of the clamping mechanism 4 by the stop pin 66 until the swing rod 65 is stopped after being stopped by the stop pin 67, at this time, the sorting rod 63 can be positioned on the conveying plane of the assembly line 1 to be in a state of being inclined relative to the conveying direction, and at this time, the food 7 in the conveying process can be stopped by the sorting rod 63 and sequentially lean against the sorting rod 63 to be orderly arranged by taking the side edge of the sorting rod 63 as a reference;

then, as shown in fig. 7, the screw mechanism drives the slider to move towards one end close to the clamping mechanism 4, so that the swing rod 65 is blocked by the blocking pin 66, and the sequencing rod 63 slowly swings towards the clamping mechanism 4 along with the movement of the slider 62, in the process, the food 7 leaning against the side edge of the sequencing rod 63 sequentially moves to each position corresponding to the length direction of the baffle 411 of the clamping seat 41 along with the conveying of the assembly line 1, and in this way, the food can be prevented from deviating from the position of the clamping seat 41 in the conveying process, so that the clamping seat 41 can be prevented from clamping the food 7 at the deviating position;

finally, as shown in fig. 8, when the food 7 is all moved into the holding seat 41 through the opening of the holding seat 41, the control system controls the piston rod 431 of the holding cylinder 43 to extend out, so as to drive the holding plate 42 to rotate downward and toward the closing plate 411 of the holding seat 41, thereby holding and fixing the food 7 in the holding seat 41; then the control system controls the clamping arm 5 to move, so that the clamping mechanism 4 moves upwards to the conveying plane of the third conveyor 2, and then the piston rod 431 of the clamping cylinder 43 retracts, so that the clamped food can be separated from the constraint of the clamping mechanism 4 and move along with the third conveyor 2, the clamped food 7 forms a group in linear arrangement in this way, and the group of food is moved on the third conveyor 2, when the group of food 7 is conveyed to the packaging equipment by the third conveyor 2, disposable packaging can be carried out, the step of sorting and arranging the food again can be omitted, and therefore the food packaging efficiency can be effectively improved.

The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.

Claims (4)

1. The utility model provides a be applied to automatic device of grabbing of food package assembly line, including frame, centre gripping arm and fixture, centre gripping arm one end is connected in the frame, and the centre gripping arm other end is connected fixture, and the drive of centre gripping arm fixture removes its characterized in that: the sorting mechanism comprises a sliding seat and a sorting rod, the sliding seat is fixed on the rack, the sorting rod is rotatably connected above the sliding block, and one end of the sorting rod extends to a conveying plane of the production line; the clamping mechanism comprises a clamping seat, a clamping plate and a clamping cylinder, one end of the clamping seat is a baffle, the other end of the clamping seat is open, the clamping plate is hinged to the upper end of the opening of the clamping seat, a piston rod of the clamping cylinder is hinged to the clamping plate, and the other end of the clamping cylinder, which extends out of the end relative to the piston rod, is hinged to the upper portion of the clamping seat.

2. The automatic picking device applied to the food packaging production line of claim 1, wherein: the clamping arm comprises a relevant joint seat, a translation motor and two translation rods, wherein one of the two translation rods is arranged from left to right, one end of each translation rod is rotatably connected to the rack, and the other end of each translation rod is rotatably connected to the joint seat; the clamping mechanism is connected to the other side of the joint seat, which is opposite to the translation rod; the translation motor is fixed to the frame, and translation motor drive one of them translation pole rotates.

3. The automatic picking device applied to the food packaging production line of claim 2, wherein: the clamping arm further comprises a lifting motor and two lifting rods, the two lifting rods are arranged one above the other, one ends of the two lifting rods are rotatably connected to the clamping seat, and the other ends of the two lifting rods are rotatably connected to the other side, opposite to the translation rod, of the joint seat; the lifting motor is fixed on the joint seat and drives one of the lifting rods to rotate.

4. The automatic picking device applied to the food packaging production line of claim 1, wherein: the sequencing mechanism also comprises a sliding block which is positioned on the sliding seat and moves along the conveying direction of the assembly line, and the sequencing rod is rotatably connected to the sliding block; the sequencing rod relatively extends to the other end of the assembly line and is fixed with a swing rod, the slide base is along the both ends of slider moving direction all are equipped with vertical ascending backing pin, the slider is equipped with the spacer pin along the both ends of self moving direction, the spacer pin with the backing pin all is located the one side of keeping away from the assembly line, the swing rod is located two between the spacer pin, and the swing rod extends outside the scope between two backing pins.

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