CN111003258A - Pay-off module and equipment - Google Patents
Pay-off module and equipment Download PDFInfo
- Publication number
- CN111003258A CN111003258A CN201911115942.3A CN201911115942A CN111003258A CN 111003258 A CN111003258 A CN 111003258A CN 201911115942 A CN201911115942 A CN 201911115942A CN 111003258 A CN111003258 A CN 111003258A
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- swing arm
- box body
- sensor
- box
- feeding
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- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
Abstract
The invention provides a feeding module, which comprises two groups of swing arm feeding components arranged in a mirror image manner; the first swing arm is arranged on the first shaft, and the first swing arm driving assembly drives the first swing arm to swing around the axis of the first shaft; the first box body is arranged on the first swing arm in a sliding mode, and the first box body driving assembly drives the first box body to move along the axis direction of the first swing arm; the second swing arm is arranged on the second shaft, and the second swing arm driving assembly drives the second swing arm to swing around the axis of the second shaft; the second box body is arranged on the second swing arm in a sliding mode, and the second box body driving assembly drives the second box body to move along the axis direction of the second swing arm; the motion trail of the first box body and the motion trail of the second box body are positioned in the same plane. The invention provides a feeding module and equipment, wherein the feeding module adopts two groups of swing arm feeding assemblies arranged in a mirror image mode to realize fixed-point receiving and fixed-point sending of packaging materials, and the operation efficiency can be effectively improved. In addition, the invention also provides feeding equipment.
Description
Technical Field
The invention relates to the field of packaging, in particular to a feeding module and feeding equipment.
Background
Before a part of packaged commodities or packaged materials are finally delivered, the packaged commodities or the packaged materials are required to be orderly arranged in corresponding carriers in a preset mode through a sorting robot, and then the orderly arranged packaged commodities or the orderly arranged packaged materials are placed in a packaging box through the carriers. Generally, the starting point of the movement of the working end of the sorting robot performing the work is confirmed by a vision device, and the ending point of the movement of the working end is regularly changed according to the program setting. At present, the design idea of the whole set of equipment for completing the operation in the market is that one sorting robot corresponds to one carrier, and because the speed of motion of the sorting robot is large, the actions to be completed by the carrier are more, the speed of the whole set of operation is slower, the waiting time of the sorting robot is longer, and the operation time is not shortened.
Disclosure of Invention
In order to overcome the defects of the existing equipment, the invention provides a feeding module and equipment, wherein the feeding module adopts a first swing arm feeding assembly and a second swing arm feeding assembly which are arranged in a mirror image mode to realize fixed-point receiving and fixed-point sending of packaging materials, the operation efficiency can be effectively improved, and the feeding module has good usability in specific implementation.
Correspondingly, the invention provides a feeding module, which comprises a first swing arm feeding assembly and a second swing arm feeding assembly which are arranged in a mirror image manner;
the first swing arm feeding assembly comprises a first swing arm, a first shaft, a first swing arm driving assembly, a first box body and a first box body driving assembly; the first swing arm is arranged on the first shaft, and the first swing arm driving assembly drives the first swing arm to swing around the axis of the first shaft; the first box body is arranged on the first swing arm in a sliding mode, and the first box body driving assembly drives the first box body to move along the axis direction of the first swing arm;
the second swing arm feeding assembly comprises a second swing arm, a second shaft, a second swing arm driving assembly, a second box body and a second box body driving assembly; the second swing arm is arranged on the second shaft, and the second swing arm driving assembly drives the second swing arm to swing around the axis of the second shaft; the second box body is arranged on the second swing arm in a sliding mode, and the second box body driving assembly drives the second box body to move along the axis direction of the second swing arm;
the first shaft and the second shaft are coaxially connected, and the motion trail of the first box body and the motion trail of the second box body are located in the same plane.
In an optional embodiment, the second box body comprises a second box body main body, and a bottom plate of the second box body main body is an opening and closing bottom plate;
the opening and closing bottom plate is driven to open and close based on the bottom plate opening and closing driving device.
In an optional embodiment, the second box further includes a second positioning frame, and the second positioning frame is disposed in the second box body.
In an optional implementation manner, the second box further includes a second push plate and a second push plate driving device, the second push plate is disposed in the second positioning frame, and the second push plate driving device drives the second push plate to reciprocate along a fixed direction.
In an optional implementation manner, a plurality of material in-place sensors are arranged on the side wall of the second positioning frame along the moving direction of the second push plate.
In an optional embodiment, the feeding module further comprises a first sensor assembly and a second sensor assembly;
the first sensor assembly comprises a first box body feeding position sensor, a first box body blanking position sensor, a first swing arm descending position sensor and a second swing arm ascending position sensor;
the first box feeding position sensor and the first box discharging position sensor are respectively arranged on the first swing arm, and the arrangement positions of the first box feeding position sensor and the first box discharging position sensor correspond to the stroke end positions of the first box moving to the root side and the end side of the first swing arm respectively;
the first swing arm in-place falling sensor and the second swing arm in-place lifting sensor are respectively arranged outside the first swing arm, and the arrangement positions of the first swing arm in-place falling sensor and the second swing arm in-place lifting sensor correspond to the stroke end positions of the first swing arm from swinging to a low point and a high point respectively;
the second sensor assembly comprises a second box body feeding position sensor, a second box body blanking position sensor, a second swing arm falling position sensor and a second swing arm lifting position sensor;
the second box feeding position sensor and the second box discharging position sensor are respectively arranged on the second swing arm, and the arrangement positions of the second box feeding position sensor and the second box discharging position sensor correspond to the stroke end positions of the second box moving to the root side and the end side of the second swing arm respectively;
the second swing arm descending in-place sensor and the second swing arm lifting in-place sensor are arranged outside the second swing arm respectively, and the setting positions of the second swing arm descending in-place sensor and the second swing arm lifting in-place sensor correspond to the stroke end positions of the second swing arm swinging to the low point and the high point respectively.
In an alternative embodiment, the first swing arm driving assembly is a first power cylinder, and the second swing arm driving assembly is a second power cylinder.
In an optional embodiment, the first box driving component is a first slider rail mechanism, and the second box driving component is a second slider rail mechanism.
Correspondingly, the invention provides delivery equipment, which comprises a delivery mechanical arm and the feeding module, wherein the feeding module is arranged on the delivery mechanical arm;
the delivery robot arm has a working end, and when the working end moves to a movement end point, the position of the working end corresponds to a position when the first box moves to a stroke end point on one side of the first arm root, or the position of the working end corresponds to a position when the second box moves to a stroke end point on one side of the second arm root.
The invention provides a feeding module and equipment, wherein the feeding module adopts a first swing arm feeding assembly and a second swing arm feeding assembly which are arranged in a mirror image mode to realize fixed-point receiving and fixed-point sending out of packaging materials, the operation efficiency can be effectively improved, and the feeding module has good usability in specific implementation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a schematic three-dimensional structure of a feeding device according to an embodiment of the invention;
FIG. 2 is a schematic front view of a feeding device according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a feeding device according to an embodiment of the present invention;
fig. 4 shows a left-side structural schematic diagram of the feeding device according to the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a three-dimensional structure schematic diagram of a feeding device according to an embodiment of the present invention, fig. 2 shows a front view structure schematic diagram of the feeding device according to the embodiment of the present invention, fig. 3 shows a top view structure schematic diagram of the feeding device according to the embodiment of the present invention, and fig. 4 shows a left view structure schematic diagram of the feeding device according to the embodiment of the present invention.
The embodiment of the invention provides feeding equipment, which comprises a goods conveying machine arm and a feeding module, wherein the feeding module comprises a first swing arm feeding assembly 1 and a second swing arm feeding assembly 2.
The delivery robot according to the embodiment of the present invention is a DELTA robot controlled by a microcomputer, etc., the start position of the working end of the DELTA robot is determined by a vision device, and the end position of the movement of the working end of the DELTA robot is set according to a preset program, and the goods are taken out from an external device and placed at the corresponding position in a fixed area.
The first swing arm feeding assembly 1 and the second swing arm feeding assembly 2 are arranged in a mirror image mode.
Specifically, the first swing arm feeding assembly comprises a first swing arm 10, a first shaft 12, a first swing arm driving assembly, a first box body 11 and a first box body driving assembly; the root of the first swing arm 10 is arranged on the first shaft 12, and the first swing arm driving assembly drives the first swing arm 10 to swing around the axis of the first shaft 12; the first box body 11 is arranged on the first swing arm 10 in a sliding mode, and the first box body driving assembly drives the first box body 11 to move along the axis direction of the first swing arm 10.
The second swing arm feeding assembly comprises a second swing arm 20, a second shaft 22, a second swing arm driving assembly, a second box body 21 and a second box body driving assembly; the second swing arm base 20 is arranged on the second shaft 22, and the second swing arm driving assembly drives the second swing arm 20 to swing around the second shaft axis; the second box body 21 is arranged on the second swing arm 20 in a sliding manner, and the second box body driving assembly drives the second box body 21 to move along the axis direction of the second swing arm;
the first shaft 12 and the second shaft 22 are coaxially connected, and the movement locus of the first box 11 and the movement locus of the second box 21 are located in the same plane. With the above embodiment, the first and second cases 11 and 21 can be alternately driven to the same position for loading and driven to the same position for unloading; for the delivery robot arm, the working tail end does not need to be switched aiming at different boxes, the execution efficiency is high, and the execution convenience is better.
Specifically, since the first swing arm feeding assembly 1 and the second swing arm feeding assembly 2 are arranged in a mirror image manner, the structure of the feeding module will be described below by taking the second swing arm feeding assembly 2 as an example.
Specifically, the second swing arm 20 is a rectangular plate-shaped structure, and the second swing arm 20 is hinged to a second shaft 22; the second shaft 22 is fixed and can be fixed to an external support (not shown in this embodiment). Optionally, the second swing arm driving assembly is a second power cylinder (the power cylinder is larger in size and is not shown in the figure); a hinge fixing part 24 is arranged at the root of the outer side surface of the second arm 20, and is coaxially connected and fixed with the second arm 20 at the axial position of the second shaft 20; an eccentric connecting plate 23 is fixedly connected to the outer side of the hinge fixing piece 24; the swing driving of the second arm 20 can be realized by driving the eccentric connecting plate 23 through the first power cylinder.
Specifically, the second box driving assembly is a second slider guide rail mechanism. The second slide block guide rail mechanism comprises a belt motor 501, a belt 502, a belt pulley, a guide rail 503, a slide block 504 and a connecting plate 505; the body of the belt motor 501 is fixed on the outer side of the second arm 20, two belt pulleys are respectively arranged at two axial ends of the inner side of the second arm 20, and one of the belt pulleys is fixedly connected with the output shaft of the belt motor 502; the belt 502 is wound around the two pulleys, respectively; the two guide rails 503 are fixed on the inner side of the second arm 20 along the axial direction of the second arm 20; the two sliders 504 are respectively fitted on the two guide rails 503; the connecting plate 505 is fixedly connected with the sliding block 504, and the connecting plate 505 is fixedly connected to a certain position of the belt 502; the second case 21 is fixedly connected to the connection plate 505. The second casing 21 is movable in the axial direction of the second arm 20 by the second casing driving assembly.
Specifically, the second box body comprises a second box body main body 600, a bottom plate of the second box body main body is an opening and closing bottom plate, and the opening and closing bottom plate comprises a first splice plate 603 and a second splice plate 604; the opening and closing bottom plate is driven to open and close based on a bottom plate opening and closing driving device, specifically, the bottom plate opening and closing driving device comprises a first opening and closing cylinder 601 and a second opening and closing cylinder 602, and the first opening and closing cylinder 601 and the second opening and closing cylinder 602 respectively control opening and closing movements of a first splicing plate 603 and a second splicing plate 604.
Specifically, a second positioning frame 605 is further disposed in the second box body 600, and the second positioning frame 605 is disposed in the second box body 600 and used for limiting different goods.
The second box body further comprises a second push plate 607 and a second push plate driving device, the second push plate 607 is arranged in the first positioning frame 605, and the second push plate driving device drives the second push plate 607 to reciprocate along a fixed direction for pressing goods; specifically, the second push plate driving device can be a flexible tentacle and is mainly controlled by driving through an air pressure control element. In addition, a plurality of material in-place sensors are arranged on the side wall of the first positioning frame along the movement direction of the first push plate. Through the arrangement of the material in-place sensor, the trigger reference can be provided for the movement of the second push plate.
Based on the introduction of the structure of the feeding module, the first swing arm feeding assembly and the second swing arm feeding assembly are arranged in a mirror image mode, the movement track of the first box body and the movement track of the second box body are located in the same plane, under the condition that the first box body and the second box body are guaranteed to have the same movement starting point and movement end point through the swinging movement of the first swing arm and the second swing arm, the first box body and the second box body do not interfere with each other in the process of moving along the first swing arm and the second swing arm, and for external equipment, the positions of material feeding and material discharging are fixed, so that the feeding module can be widely applied to the existing production environment, and the feeding module has good practicability.
Specifically, in order to realize the automatic operation of the feeding module and the feeding device, optionally, the feeding module further comprises a first sensor assembly and a second sensor assembly;
the feeding module further comprises a first sensor assembly and a second sensor assembly; due to the perspective, the marks of the sensor in fig. 4 are only used to illustrate the arrangement position, and the specific embodiment can be understood by combining the text.
Specifically, the first sensor assembly comprises a first box feeding position sensor 704, a first box discharging position sensor 705, a first swing arm falling position sensor 703 and a second swing arm lifting position sensor 706;
the first box feeding position sensor 704 and the first box discharging position sensor 705 are respectively arranged on the first swing arm 10, and the arrangement positions respectively correspond to the stroke end positions of the first box moving to the root side and the end side of the first swing arm 10;
the first swing arm in-place falling sensor 903 and the second swing arm in-place lifting sensor 706 are respectively arranged outside the first swing arm 10, and the arrangement positions respectively correspond to the stroke end positions of the first swing arm 10 swinging to a low point and a high point;
the second sensor assembly comprises a second box feeding position sensor 701, a second box discharging position sensor 702, a second swing arm falling position sensor 703 and a second swing arm lifting position sensor 706; since the second swing arm in-place falling sensor and the second swing arm in-place lifting sensor are respectively overlapped with the first swing arm in-place falling sensor and the second swing arm in-place lifting sensor in the attached drawing figure 4, the same mark is used for marking the specific setting position of the second swing arm in the attached drawing figure.
The second box feeding position sensor 701 and the second box discharging position sensor 702 are respectively arranged on the second swing arm 20, and the arrangement positions respectively correspond to the stroke end positions of the second box moving to the root side and the end side of the second swing arm;
the second swing arm landing in-place sensor 703 and the second swing arm lifting in-place sensor 706 are respectively arranged outside the second swing arm, and the arrangement positions respectively correspond to the stroke end positions of the second swing arm swinging to a low point and a high point.
In specific implementation, the first swing arm descending in-place sensor, the second swing arm ascending in-place sensor, the second swing arm descending in-place sensor and the second swing arm ascending in-place sensor can be used for acquiring the swinging positions of the first arm and the second arm, the position of the first box on the first arm is acquired through the first box feeding in-place sensor and the first box blanking in-place sensor, the position of the second fiber on the second arm is acquired through the second box feeding in-place sensor and the second box blanking in-place sensor, and the interference of the movement of the first box and the movement of the second box can be avoided by controlling the movement of each part.
In a specific implementation, when the working end of the DELTA mechanical arm moves to the end of the movement, the position of the working end corresponds to the position when the first box moves to the end of the stroke on the side of the first arm root, or the position of the working end corresponds to the position when the second box moves to the end of the stroke on the side of the second arm root.
The invention provides a feeding module and equipment, wherein the feeding module adopts a first swing arm feeding assembly and a second swing arm feeding assembly which are arranged in a mirror image mode to realize fixed-point receiving and fixed-point sending out of packaging materials, the operation efficiency can be effectively improved, and the feeding module has good usability in specific implementation.
The feeding module and the feeding device provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A feeding module is characterized by comprising a first swing arm feeding assembly and a second swing arm feeding assembly which are arranged in a mirror image manner;
the first swing arm feeding assembly comprises a first swing arm, a first shaft, a first swing arm driving assembly, a first box body and a first box body driving assembly; the first swing arm is arranged on the first shaft, and the first swing arm driving assembly drives the first swing arm to swing around the axis of the first shaft; the first box body is arranged on the first swing arm in a sliding mode, and the first box body driving assembly drives the first box body to move along the axis direction of the first swing arm;
the second swing arm feeding assembly comprises a second swing arm, a second shaft, a second swing arm driving assembly, a second box body and a second box body driving assembly; the second swing arm is arranged on the second shaft, and the second swing arm driving assembly drives the second swing arm to swing around the axis of the second shaft; the second box body is arranged on the second swing arm in a sliding mode, and the second box body driving assembly drives the second box body to move along the axis direction of the second swing arm;
the first shaft and the second shaft are coaxially connected, and the motion trail of the first box body and the motion trail of the second box body are located in the same plane.
2. The feed module of claim 1, wherein the second housing includes a second housing body, the bottom panel of the second housing body being an opening and closing bottom panel;
the opening and closing bottom plate is driven to open and close based on the bottom plate opening and closing driving device.
3. The feed module of claim 2, wherein the second housing further comprises a second positioning frame disposed within the second housing body.
4. The feed module of claim 3, wherein the second housing further comprises a second pusher and a second pusher driving device, the second pusher being disposed within the second positioning frame, the second pusher driving device driving the second pusher to reciprocate in a fixed direction.
5. The feed module as set forth in claim 3, wherein a plurality of material-in-position sensors are disposed on the side wall of the second positioning frame along the moving direction of the second pushing plate.
6. The feed module of claim 1, wherein the feed module further comprises a first sensor assembly and a second sensor assembly;
the first sensor assembly comprises a first box body feeding position sensor, a first box body blanking position sensor, a first swing arm descending position sensor and a second swing arm ascending position sensor;
the first box feeding position sensor and the first box discharging position sensor are respectively arranged on the first swing arm, and the arrangement positions of the first box feeding position sensor and the first box discharging position sensor correspond to the stroke end positions of the first box moving to the root side and the end side of the first swing arm respectively;
the first swing arm in-place falling sensor and the second swing arm in-place lifting sensor are respectively arranged outside the first swing arm, and the arrangement positions of the first swing arm in-place falling sensor and the second swing arm in-place lifting sensor correspond to the stroke end positions of the first swing arm from swinging to a low point and a high point respectively;
the second sensor assembly comprises a second box body feeding position sensor, a second box body blanking position sensor, a second swing arm falling position sensor and a second swing arm lifting position sensor;
the second box feeding position sensor and the second box discharging position sensor are respectively arranged on the second swing arm, and the arrangement positions of the second box feeding position sensor and the second box discharging position sensor correspond to the stroke end positions of the second box moving to the root side and the end side of the second swing arm respectively;
the second swing arm descending in-place sensor and the second swing arm lifting in-place sensor are arranged outside the second swing arm respectively, and the setting positions of the second swing arm descending in-place sensor and the second swing arm lifting in-place sensor correspond to the stroke end positions of the second swing arm swinging to the low point and the high point respectively.
7. The feeder module of any one of claims 1 to 6, wherein the first swing arm drive assembly is a first power cylinder and the second swing arm drive assembly is a second power cylinder.
8. The feed module of any one of claims 1-6, wherein the first case drive assembly is a first slider track mechanism and the second case drive assembly is a second slider track mechanism.
9. A delivery apparatus comprising a delivery robot arm and a feeder module as claimed in any one of claims 1 to 8;
the delivery robot arm has a working end, and when the working end moves to a movement end point, the position of the working end corresponds to a position when the first box moves to a stroke end point on one side of the first arm root, or the position of the working end corresponds to a position when the second box moves to a stroke end point on one side of the second arm root.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911115942.3A CN111003258B (en) | 2019-11-14 | 2019-11-14 | Pay-off module and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911115942.3A CN111003258B (en) | 2019-11-14 | 2019-11-14 | Pay-off module and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111003258A true CN111003258A (en) | 2020-04-14 |
| CN111003258B CN111003258B (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911115942.3A Active CN111003258B (en) | 2019-11-14 | 2019-11-14 | Pay-off module and equipment |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1950261A (en) * | 2004-02-27 | 2007-04-18 | 斯坦达德克纳普公司 | Packaging machine |
| CN101100224A (en) * | 2007-07-20 | 2008-01-09 | 杭州中亚机械有限公司 | Soft bag packing device |
| CN202717059U (en) * | 2012-06-19 | 2013-02-06 | 上海欧朔包装机械有限公司 | Manipulator bag fetching and packing arrangement device |
| CN105711871A (en) * | 2014-12-19 | 2016-06-29 | 乌尔曼包装系统有限责任及合伙两合公司 | Method for transferring items to be packaged into containers and for transporting the filled containers onward |
| CN106144077A (en) * | 2016-08-19 | 2016-11-23 | 广东省自动化研究所 | A kind of air-conditioning internal machine overlaps foaming system automatically |
| JP2017105475A (en) * | 2015-12-07 | 2017-06-15 | 大和製衡株式会社 | Boxing device |
| CN208882205U (en) * | 2018-09-08 | 2019-05-21 | 王贤淮 | The alternating of container and lid exchanges splicing case apparatus |
-
2019
- 2019-11-14 CN CN201911115942.3A patent/CN111003258B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1950261A (en) * | 2004-02-27 | 2007-04-18 | 斯坦达德克纳普公司 | Packaging machine |
| CN101100224A (en) * | 2007-07-20 | 2008-01-09 | 杭州中亚机械有限公司 | Soft bag packing device |
| CN202717059U (en) * | 2012-06-19 | 2013-02-06 | 上海欧朔包装机械有限公司 | Manipulator bag fetching and packing arrangement device |
| CN105711871A (en) * | 2014-12-19 | 2016-06-29 | 乌尔曼包装系统有限责任及合伙两合公司 | Method for transferring items to be packaged into containers and for transporting the filled containers onward |
| JP2017105475A (en) * | 2015-12-07 | 2017-06-15 | 大和製衡株式会社 | Boxing device |
| CN106144077A (en) * | 2016-08-19 | 2016-11-23 | 广东省自动化研究所 | A kind of air-conditioning internal machine overlaps foaming system automatically |
| CN208882205U (en) * | 2018-09-08 | 2019-05-21 | 王贤淮 | The alternating of container and lid exchanges splicing case apparatus |
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| Publication number | Publication date |
|---|---|
| CN111003258B (en) | 2021-11-02 |
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